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arXiv 2019年

作者： Klamt, Tobias Rodriguez, Diego Baccelliere, Lorenzo Chen, Xi Chiaradia, Domenico Cichon, Torben Gabardi, Maßimiliano Guria, Paolo Holmquist, Karl Kamedula, Malgorzata Karaoguz, Hakan Kashiri, Navvab Laurenzi, Arturo Lenz, Christian Leonardis, Daniele Hoffman, Enrico Mingo Muratore, Luca Pavlichenko, Dmytro Porcini, Francesco Ren, Zeyu Schilling, Fabian Schwarz, Max Solazzi, Maßimiliano Felsberg, Michael Frisoli, Antonio Gustmann, Michael Jensfelt, Patric Nordberg, Klas Roßmann, Jürgen Süß, Uwe Tsagarakis, Nikos G. Behnke, Sven Autonomous Intelligent Systems University of Bonn Germany Humanoids and Human-Centred Mechatronics Istituto Italiano di Tecnologia Genoa Italy Department of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden PERCRO Laboratory TeCIP Institute Sant'Anna School of Advanced Studies Pisa Italy Institute for Man-Machine Interaction RWTH Aachen University Germany Computer Vision Laboratory Linköping University Sweden Lausanne Switzerland Kerntechnische Hilfsdienst GmbH Karlsruhe Germany School of Electrical and Electronic Engineering University of Manchester United Kingdom

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Sensorless nonlinear control of fed-batch Escherichia coli cultivation bioprocess using the state-dependent approach 12th

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12th Portuguese Conference on Automatic Control, CONTROLO 2016

作者： Iratni, Abdelhamid Araújo, Rui Rastegar, Saeid Mostefai, Mohammed Faculty of Science and Technology Electrical Engineering Department University of Bordj Bou Arreridj El Anasser Algeria Department of Electrical and Computer Engineering Institute for Systems and Robotics University of Coimbra Coimbra Portugal Automatic Control Laboratory of Setif Electrical Engineering Department Faculty of Technology University of Setif1 Sétif Algeria

ISBN: (纸本)9783319436708

The cultivation of Escherichia coli bacteria is widely used by geneticists and biopharmaceuticals to produce medicines and vaccines. In such industries, Bioprocesses are known by their harsh environment and very expensive physical sensors. This paper deals with nonlinear estimation and control of fed-batch Escherichia coli bioprocess. Enhancing the process performance and maximizing its efficiency by optimizing the control of Escherichia coli cultures depends on the availability of appropriate online sensors for the main culture components. In this study, an innovative method for nonlinear estimation and control of bioprocesses is designed and assessed. The new algorithm for control and estimation of Escherichia coli bioprocess states, based on the State-Dependent Riccati Equation technique, is validated by numerical simulation. The results obtained clearly demonstrate the effectiveness of the proposed technique for Biosystems in measuring, monitoring, and control of their natural nonlinear dynamics. © Springer International Publishing Switzerland 2017.

关键词： Extended Kalman filters

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Data-Driven Model-Free Iterative Tuning Approach for Smooth and Accurate Tracking

Data-Driven Model-Free Iterative Tuning Approach for Smooth ...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Xiaocong Li Si-Lu Chen Jun Ma Chek Sing Teo Kok Kiong Tan Mechatronics Group Singapore Institute of Manufacturing Technology Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Chinese Academy of Sciences Ningbo Zhejiang China Department of Electrical and Computer Engineering National University of Singapore Singapore

The feedback controller tuning for tray indexing can be challenging and time-consuming depending on the experience of the control engineer. Inappropriate tuning of the feedback controller often results in unacceptable tracking accuracy, humming sound, and even chips dislodged. In this paper, we propose a data-driven iterative feedback tuning approach within a three-degree-of-freedom control structure. The penalty function is introduced which takes into account both the tracking accuracy and jerk minimization, and it is particularly suitable for the tray indexing application. In contrast to the traditional model-based control, the proposed approach method makes use of the closed-loop experimental data to fine-tune the controller without system modeling, i.e. a model-less approach. The performance improvement is demonstrated with a case study based on a typical industrial timing-belt setup.

关键词： Tuning Adaptive control Iterative methods Indexing Feedforward systems Cost function Minimization

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The limits and potentials of deep learning for robotics

arXiv

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arXiv 2018年

作者： Sünderhauf, Niko Brock, Oliver Scheirer, Walter Hadsell, Raia Fox, Dieter Leitner, Jürgen Upcroft, Ben Abbeel, Pieter Burgard, Wolfram Milford, Michael Corke, Peter Brisbane Australia Robotics and Biology Laboratory Technische Universität Berlin Germany Department of Computer Science and Engineering University of Notre Dame IN United States DeepMind London United Kingdom Paul G. Allen School of Computer Science & Engineering University of Washington WA United States Oxbotica Ltd. Oxford United Kingdom UC Berkeley Department of Electrical Engineering and Computer Sciences CA United States Department of Computer Science University of Freiburg Germany

The application of deep learning in robotics leads to very specific problems and research questions that are typically not addressed by the computer vision and machine learning communities. In this paper we discuss a number of robotics-specific learning, reasoning, and embodiment challenges for deep learning. We explain the need for better evaluation metrics, highlight the importance and unique challenges for deep robotic learning in simulation, and explore the spectrum between purely data-driven and model-driven approaches. We hope this paper provides a motivating overview of important research directions to overcome the current limitations, and help fulfill the promising potentials of deep learning in robotics. Copyright © 2018, The Authors. All rights reserved.

关键词： Deep learning

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The dynamic interactions between chemotherapy drugs and plasmid DNA investigated by atomic force microscopy

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Science China Materials 2017年第3期60卷 269-278页

作者：李密刘连庆肖秀斌席宁王越超 State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Department of Electrical and Computer Engineering Michigan State University

The advent of atomic force microscopy （AFM） provides a powerful tool for imaging individual DNA molecules. Chemotherapy drugs are often related to DNAs. Though many specific drug-DNA interactions have been observed by AFM, knowledge about the dynamic interactions between chemotherapy drugs and plasmid DNAs is still scarce. In this work, AFM was applied to investigate the nanoscale interactions between plasmid DNAs and two commercial chemotherapy drugs （methotrexate and cisplatin）. Plasmid DNAs were immobilized on mica which was coated by silanes in advance. AFM imaging distinctly revealed the dynamic changes of single plasmid DNAs after the stimulation of methotrexate and cisplatin. Geometric features of plasmid DNAs were extracted from AFM images and the statistical results showed that the geometric features of plasmid DNAs changed significantly after the stimulation of drugs. This research provides a novel idea to study the actions of chemotherapy drugs against plasmid DNAs at the single-molecule level.

关键词： atomic force microscopy plasmid DNA drug methotrexate cisplatin

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Mobile robot localisation and navigation using LEGO NXT and ultrasonic sensor

arXiv

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arXiv 2018年

作者： Liu, Yanan Fan, Rui Yu, Bin Junaid Bocus, M. Liu, Ming Ni, Hepeng Fan, Jiahe Mao, Shixin Bristol Robotics Laboratory University of Bristol Bristol United Kingdom Robotics and Multi-Perception Laboratory Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Department of Electrical and Electronic Engineering University of Bristol BristolBS8 1UB United Kingdom School of Mechanical Engineering Shandong University Jinan250061 China School of Communication Engineering Jilin University Changchun130000 China Shenzhen Sanhang Industrial Technology Research Institute Shenzhen518000 China

Mobile robots are becoming increasingly important both for individuals and industries. Mobile robotic technology is not only utilised by experts in this field but is also very popular among amateurs. However, implementing a mobile robot to perform tasks autonomously can be expensive because of the need for various types of sensors and the high price of robot platforms. Hence, in this paper we present a mobile robot localisation and navigation system which uses a LEGO ultrasonic sensor in an indoor map based on the LEGO MINDSTORM NXT. This provides an affordable and ready-to-use option for most robot fans. In this paper, an effective method is proposed to extract useful information from the distorted readings collected by the ultrasonic sensor. Then, the particle filter is used to localise the robot. After robot's position is estimated, a sampling-based path planning method is proposed for the robot navigation. This method reduces the robot accumulative motion error by minimising robot turning times and covering distances. The robot localisation and navigation algorithms are implemented in MATLAB. Simulation results show an average accuracy between 1 and 3 cm for three different indoor map locations. Furthermore, experiments performed in a real setup show the effectiveness of the proposed methods. Copyright © 2018, The Authors. All rights reserved.

关键词： Mobile robots

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Corrigendum to “Active control of flexible marine risers” [J. Sound Vib. 320 (2009) 758–776]

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Journal of Sound and Vibration 2019年 457卷 212-212页

作者： B.V.E. How S.S. Ge Y.S. Choo Centre for Offshore Research and Engineering National University of Singapore Singapore 117576 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Social Robotics Lab Interactive Digital Media Institute National University of Singapore Singapore 117576 Singapore

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Real-time force control of an SEA-based body weight support unit with the 2-DOF control structure

arXiv

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arXiv 2018年

作者： Sun, Yubo Lei, Yuqi Zou, Wulin Li, Jianmin Yu, Ningbo Institute of Robotics and Automatic Information Systems Nankai University Haihe Education Park Tianjin300353 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Haihe Education Park Tianjin300353 China Department of Electrical and Computer Engineering Carnegie Mellon University 5000 Forbes Ave PittsburghPA15213 United States School of Mechanical Engineering Tianjin University Tianjin300072 China

Body weight support (BWS) is a fundamental technique in rehabilitation. Along with the dramatic progressing of rehabilitation science and engineering, BWS is quickly evolving with new initiatives and has attracted deep research effort in recent years. We have built up a novel gravity offloading system, in which the patient is allowed to move freely in the three-dimensional Cartesian space and receives support against gravity. Thus, the patients, especially for those that suffer from neurological injury such as stroke or spinal cord injury, can focus their residual motor control capabilities on essential therapeutic trainings of balance and gait. The realtime force control performance is critical for the BWS unit to provide suitable support and avoid disturbance. In this work, we have re-designed our BWS unit with a series elastic actuation structure to improve the human-robot interaction performance. Further, the 2 degrees of freedom (2-DOF) control approach was taken for accurate and robust BWS force control. Both simulation and experimental results have validated the efficacy of the BWS design and real-time control methods. Copyright © 2018, The Authors. All rights reserved.

关键词： Force control

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Minimum uncertainty latent variable models for robot recognition of sequential human activities

Minimum uncertainty latent variable models for robot recogni...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Han, Fei Reardon, Christopher Parker, Lynne E. Zhang, Hao Human-Centered Robotics Lab Department of Computer Science Colorado School of Mines GoldenCO80401 United States US Army Research Laboratory AdelphiMD20783 United States Distributed Intelligence Laboratory Department of Electrical Engineering and Computer Science University of Tennessee TN37996 United States

ISBN: (纸本)9781509046331

Recognition of sequential human activities, such as 'sitting down' and 'standing up', is a common but challenging problem in human-robot interaction, which requires modeling their underlying temporal patterns. Although previous sequence modeling methods, such as Hidden Conditional Random Fields (HCRFs), demonstrated satisfactory recognition accuracy, they do not explicitly model the uncertainty in underlying temporal patterns, which can provide valuable information to characterize sequential activities. To address this problem, we introduce a novel Minimum Uncertainty HCRF (MU, or μHCRF). Different from traditional HCRF-based techniques that only utilize the negative log-likelihood of the categories' conditional probability as the loss function, the proposed μ-HCRF also introduces a regularization term to model the underlying temporal pattern of the latent variables. As another theoretical contribution, we provide a derivation to show that the formulated problem has a closed-form solution, and prove that inference of the proposed μHCRF is tractable. Extensive empirical study is performed to evaluate our approach, using four public benchmark datasets. Experimental results have shown that our μHCRFs outperform previous techniques and achieve state-of-the-art performance on human activity recognition, especially on sequential activities. © 2017 IEEE.

关键词： Human robot interaction

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Wearable Electronics: Self‐Bondable and Stretchable Conductive Composite Fibers with Spatially Controlled Percolated Ag Nanoparticle Networks: Novel Integration Strategy for Wearable Electronics (Adv. Funct. Mater. 49/2020)

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Advanced Functional Materials 2020年第49期30卷 2070321-2070321页

作者： Chaebeen Kwon Duhwan Seong Jeongdae Ha Dongwon Chun Jee‐Hwan Bae Kukro Yoon Minkyu Lee Janghoon Woo Chihyeong Won Seungmin Lee Yongfeng Mei Kyung‐In Jang Donghee Son Taeyoon Lee Nanobio Device Laboratory School of Electrical and Electronic Engineering Yonsei University 50 Yonsei‐ro Seodaemun‐gu Seoul 03722 Republic of Korea Department of Electrical and Computer Engineering Sungkyunkwan University 2066 Seobu‐ro Jangan‐gu Suwon‐si Gyeonggi‐do 16419 Republic of Korea Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) 333 Techno Jungang‐daero Hyeonpung‐eup Dalseong‐gun Daegu 42988 Republic of Korea Advanced Analysis Center Korea Institute of Science and Technology (KIST) 5 Hwarang‐ro 14‐gil Seongbuk‐gu Seoul 02792 Republic of Korea Department of Materials Science Fudan University Shanghai 200438 P. R. China

In article number 2005447, Donghee Son, Taeyoon Lee, and co‐workers develop self‐bondable and self‐weavable fibers as novel components for fiber‐based electronic devices. The fibers are both conductive and stretchable, which eliminates the trade‐off associated with the percolation theory. The integration with self‐bondable and self‐weavable interconnects represents a new integration strategy for fiber‐based devices.

关键词： fiber component integration self‐bondable conductive fibers stretchable and flexible interconnects wearable electronics

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