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American Control Conference

作者： Pedro Casau Christopher G. Mayhew Ricardo G. Sanfelice Carlos Silvestre Department of Electrical and Computer Engineering and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal Department of Computer Engineering University of California Santa Cruz CA 95064 Department of Electrical and Computer Engineering of the Faculty of Science and Technology of the University of Macau Macao China

ISBN: (纸本)9781479917730

In this paper, we show that the existence of centrally synergistic potential functions on the n-dimensional sphere, denoted by S~n, is a sufficient condition for the global asymptotic stabilization of a point in S~n. Additionally, if these functions decrease exponentially fast during flows and are bounded from above and from below by some polynomial function of the tracking error, then the reference point can be globally exponentially stabilized. We construct two kinds of centrally synergistic functions: the first kind consists of a finite family of potential functions on S~n while the second kind consists of an uncountable number of potential functions on S~n. While the former generates a simpler jump logic, the latter is optimal in the sense that it generates flows with minimal length.

关键词： Tin Manifolds Robots Trajectory Robustness Three-dimensional displays computers

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An automatic screw tightening shaft based on enhanced variable gain PID control

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International Journal of Simulation: Systems, science and Technology 2015年第5期16卷 14.1-14.9页

作者： Liu, Sibang Ge, Shuzhi Sam Qin, Gang Li, Min School of Automation Engineering University of Electronic Science and Technology of China ChengduSichuan611731 China Center for Robotics University of Electronic Science and Technology of China ChengduSichuan611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore119077 Singapore Centre for Robotics University of Electronic Science and Technology of China ChengduSichuan611731 China School of Computer Science and Engineering University of Electronic Science and Technology of China ChengduSichuan611731 China

In this paper, a modular designed automatic screw tightening shaft system, which is based on enhanced variable gain PID control, is proposed. Designed for the autonomous screw tightening operation, the screw tightening shaft enjoys huge potential for industry application. The screw tightening shaft and the screw tightening process are both mathematically modeled as an uncertain feedback system because of the uncertain properties. And the control performance is verified by choosing proper controller parameters that the closed loop system is stable on the basis of the Routh stability criterion whereas the torque tracking error exponentially converges to a small residue. Furthermore, it can be seen from the simulation and experiment results on the screw tightening shaft system that the proposed autonomous system is valid and effective. © 2015, UK Simulation Society. All rights reserved.

关键词： Three term control systems

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Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay

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International Journal of Automation and computing 2014年第1期11卷 100-108页

作者： Shafiqul Islam Xiaoping P.Liu Abdulmotaleb El Saddik Lakmal Seneviratne Jorge Dias School of Information Technology and Engineering University of Ottawa School of Engineering and Applied Sciences Harvard University Robotics and Mechanical Engineering Khalifa University of Science & Technology Department of Systems and Computer Engineering Carleton University Electrical Engineering New York University Division of Engineering Kings College London Robotics and Electrical and Computer Engineering Khalifa University of Science & Technology Institute of Systems and Robotics University of Coimbra

In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is *** design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave *** adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave ***-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation *** stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote ***,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.

关键词： Teleoperation telerobotics Lyapunov-Krasovskii functional time varying delay passive systems

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Supervised Collective Classification for Crowdsourcing

Supervised Collective Classification for Crowdsourcing

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IEEE Globecom Workshops

作者： Pin-Yu Chen Chia-Wei Lien Fu-Jen Chu Pai-Shun Ting Shin-Ming Cheng Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor USA Amazon Corporate LLC Institute for Robotics and Intelligent Machines Georgia Institute of Technology Atlanta USA Department of Computer Science and Information Engineering National Taiwan University of Science and Technology Taipei Taiwan

ISBN: (纸本)9781467395274

Crowdsourcing utilizes the wisdom of crowds for collective classification via information (e.g., labels of an item) provided by labelers. Current crowdsourcing algorithms are mainly unsupervised methods that are unaware of the quality of crowdsourced data. In this paper, we propose a supervised collective classification algorithm that aims to identify reliable labelers from the training data (e.g., items with known labels). The reliability (i.e., weighting factor) of each labeler is determined via a saddle point algorithm. The results on several crowdsourced data show that supervised methods can achieve better classification accuracy than unsupervised methods, and our proposed method outperforms other algorithms.

关键词： Classification Crowdsourcing unsupervised

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Adaptive NN Control for Uncertain Pure-Feedback Nonlinear Systems With State Constraints Subject to Unknown Disturbances

Adaptive NN Control for Uncertain Pure-Feedback Nonlinear Sy...

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IEEE Annual Conference on Decision and Control

作者： Zhong-Liang Tang Shuzhi Sam Ge Keng Peng Tee School of Computer Science and Engineering and Center for Robotics University of Electronic Science and Technology of China Chengdu 610054 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Institute for Infocomm Research A*STAR Singapore 138632 Singapore

ISBN: (纸本)9781479978878

This paper addresses the output tracking control for a class of non-affine nonlinear systems in pure-feedback form with unknown dynamics subject to full state constraints and unknown external time-varying bounded disturbances. This problem is challenging due to the non-affine structure coupling with the constraints on states and external disturbances. To overcome the problem, the mean value theorem is applied to deduce the variables with affine appearance in the system dynamics, and the integral Barrier Lyapunov Functionals (iBLFs) are utilized in the recursive backstepping design to handle the unknown deduced control gains and state constraints together, and adapting parameters are developed to estimate the unknown bounds on neural networks (NNs) reconstruction errors and external disturbances. Through Lyapunov synthesis, all signals in the closed-loop system are proved to be semiglobally uniformly ultimately bounded (SGUUB), and all state constraints are guaranteed provided that the states are initially in the constrained regions, and tracking errors are ensured to converge to an adjustable neighborhood of desired trajectory. An application to Van der Pol oscillator with state constraints illustrates the performance of proposed control.

关键词： Relaxation oscillators Unknown external disturbance System dynamics Mean Value Theorem for Integrals Constraint tracking control Closed loop systems

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Towards Automated Provisioning and Emergency Handling in Renewable Energy Powered Datacenters

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Journal of computer science & Technology 2014年第4期29卷 618-630页

作者：李超王锐胡杨周睿晋刘铭刘龙军袁景凌李涛钱德沛 ACM IEEE Department of Electrical and Computer Engineering University of Florida Gainesville FL 32611 U.S.A. CCF School of Computer Science and Engineering Beihang University Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University School of Computer Science and Technology Wuhan University of Technology

Designing eco-friendly system has been at the forefront of computing research. Faced with a growing concern about the server energy expenditure and the climate change, both industry and academia start to show high interest in computing systems powered by renewable energy sources. Existing proposals on this issue mainly focus on optimizing resource utilization or workload performance. The key supporting hardware structures for cross-layer power management and emergency handling mechanisms are often left unexplored. This paper presents GreenPod, a research framework for exploring scalable and dependable renewable power management in datacenters. An important feature of GreenPod is that it enables joint management of server power supplies and virtualized server workloads. Its interactive communication portal between servers and power supplies allows dataeenter operators to perform real-time renewable energy driven load migration and power emergency handling. Based on our system prototype, we discuss an important topic： virtual machine （VM） workloads survival when facing extended utility outage and insufficient onsite renewable power budget. We show that whether a VM can survive depends on the operating frequencies and workload characteristics. The proposed framework can greatly encourage and facilitate innovative research in dependable green computing.

关键词： data center server system renewable energy green computing

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Robotic Software System for the Disaster Circumstances: System of Team KAIST in the DARPA robotics Challenge Finals

Robotic Software System for the Disaster Circumstances: Syst...

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeongsoo Lim Inwook Shim Okkee Sim Hyunmin Joe Inhyeok Kim Jungho Lee Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory Department of Electrical Engineering College of Information Science and Technology Korea Advanced Institute of Science and Technology Rainbow Co.

ISBN: (纸本)9781479968862

We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense Advanced Research Projects Agency suggested. This system was developed under the consideration of the stability of whole system, the systemic software environment for multiple developers, and the recovery routine when the system encounters a seriously abnormal situation. With these design goals, we devised our strategy for three domains: system, vision, and communication. Following the strategy we made two software frameworks (PODO and VPC) and one logical flow of data for remote process management. With this software system, we conducted all Tasks in the DARPA robotics Challenge Finals, and we won the competition.

关键词： Software systems DARPA design target robotics Disasters Religious Missions flow datas

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Moth-inspired plume tracing via autonomous underwaer vehicle with only a pair of separated chemical sensors

Moth-inspired plume tracing via autonomous underwaer vehicle...

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OCEANS

作者： Yu Tian Wei Li Fumin Zhang State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China Department of Computer and Electrical Engineering and Computer Science California State University Bakersfield CA USA School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

Effective chemical plume tracing strategies are important for autonomous underwater vehicles (AUVs) to perform a variety of missions of searching for underwater targets, such as oil spill sources and deep-sea hydrothermal vents. In such circumstances where fluid flow direction cannot be measured by AUVs or fluid flow direction provides little or wrong information about the distribution of a dynamic chemical plume or its source location, chemical plume tracing strategies that rely on information of fluid flow direction may not work effectively. In this paper, a modified moth-inspired chemical plume tracing strategy is presented, which could trace a turbulent chemical plume without need of information of flow direction. The strategy estimates the direction of plume centerline based on information from a pair of spatially separated chemical sensors symmetrically mounted on an AUV's nose together with the AUV's zigzag plume-tracing trajectory, and employs the estimated direction of plume centerline to implement the plume tracing. The proposed strategy is implemented in a computer simulation environment and the simulation results demonstrate that with the strategy an AUV could track a turbulent chemical plume over a long distance and finally localize the plume source.

关键词： Chemicals Chemical and biological sensors Position measurement Chemical sensors Trajectory Robots

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Measurement of Biomechanical Interactions at the Stump-Socket Interface in Lower Limb Prostheses

Measurement of Biomechanical Interactions at the Stump-Socke...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： V. Noll J. Wojtusch J. Schuy M. Grimmer P. Beckerle S. Rinderknecht the Institute for Mechatronic Systems in Mechanical Engineering Department of Mechnical Engineering TU Darmstadt Germany the Simulation Systems Optimization and Robotics Group Department of Computer Science TU Darmstadt Germany the Locomotion Laboratory Institute of Sport Science TU Darmstadt Germany

ISBN: (纸本)9781424492695

This paper introduces a novel measuring approach for detecting relative movement between stump and socket in lower limb prostheses. The application of the motion capturing based measuring approach is shown at a single male trans-tibial amputee using a Patella Tendon Bearing (PTB) socket. It further investigates and assesses the feasibility of measuring the relative movement between stump and socket during level walking at different velocities and allocating it to the coinciding loads. Representative results for the two translational degrees of freedom in the sagittal plane are presented and discussed. For the proximodistal (pd) direction, a linear correlation between applied load and relative movement is found, while for the anteroposterior (ap) direction the stump movement is largely influenced by the motion sequence during the respective gait event. Additionally, the effect of walking speed is discussed.

关键词： Biomechanical Interactions Stump-Socket Interface Lower Limb Prostheses

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A Novel Gesture Driven Fuzzy Interface System For Car Racing Game

A Novel Gesture Driven Fuzzy Interface System For Car Racing...

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IEEE International Conference on Fuzzy Systems

作者： Chiranjib Saha Debdipta Goswami Sriparna Saha Amit Konar Anna Lekova Atulya K. Nagar Department of of Electronics and Telecommunication Engineering Jadavpur University Kolkata-700050 India Institute of System Engineering and Robotics Bulgarian Academy of Sciences Sofia Bulgaria Department of Mathematics and Computer Science Liverpool Hope University United Kingdom

ISBN: (纸本)9781467374293

The recently developed Kinect sensor has opened a new horizon to Human-computer Interface (HCI) and its native connection with Microsoft's product line of Xbox 360 and Xbox One video game consoles makes completely hands-free control in next generation of gaming. Games that requires a lot of degree of freedoms, especially the driving control of a car in racing games is best suitable to be driven by gestures, as the use of simple buttons does not scale to the increased number of assistive, comfort, and infotainment functions. In this paper, we propose a Mamdani type-I fuzzy inference system based data processing module which effectively takes into account the dependence of actual steering angle with the distance of two palm positions and angle generated with respect to the sagittal plane. The FIS output variable controls the duration of a virtual "key-pressed" event which mocks the users pressing of actual keys assigned to control car direction in the original game. The acceleration and brake(deceleration) of the vehicle is controlled using the relative displacement of left and right feet. The proposed experimental setup, interfacing Kinect and a desktop based racing game, has shown that the virtual driving environment can be easily applied to any games belonging to this particular genre.

关键词： Novel Gesture Driven Fuzzy Interface System Car Racing Game HCI computer human interaction Game theory interface system game player Gestures Automobile driving Hunting Game animals virtual drive Cars relative displacement DETRAINING Car owner acceleration

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