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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wu, Xi Li, Chenzui Zou, Kehan Xi, Ning Chen, Fei T-Stone Robotics Institute The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Hong Kong The University of Hong Kong Department of Industrial and Manufacturing System Engineering Hong Kong Hong Kong

ISBN: (纸本)9781665481090

Musculoskeletal models are pivotal in the domains of rehabilitation and resistance training to analyze muscle conditions. However, individual variability in musculoskeletal parameters and the immeasurability of some internal biomechanical variables pose significant obstacles to accurate personalized modelling. Furthermore, muscle activation estimation can be challenging due to the inherent redundancy of the musculoskeletal system, where multiple muscles drive a single joint. This study develops a whole-body musculoskeletal model for strength and conditioning training and calibrates relevant muscle parameters with an electromyography-based optimization method. By utilizing the personalized musculoskeletal model, muscle activation can be subsequently estimated to analyze the performance of exercises. Bench press and deadlift are chosen for experimental verification to affirm the efficacy of this approach. © 2024 IEEE.

关键词： Electromyography

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Five questions and answers about artificial intelligence

arXiv

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arXiv 2024年

作者： Prieto, Alberto Prieto, Beatriz Department of Computer Engineering Automation and Robotics CITIC-UGR University of Granada Spain

Rapid advances in Artificial Intelligence (AI) are generating much controversy in society, often without scientific basis. As occurred the development of other emerging technologies, such as the introduction of electricity in the early 20th century, AI causes both fascination and fear. Following the advice of the philosopher R.W. Emerson's advice 'the knowledge is the antidote to fear', this paper seeks to contribute to the dissemination of knowledge about AI. To this end, it reflects on the following questions: the origins of AI, its possible future evolution, its ability to show feelings, the associated threats and dangers, and the concept of AI singularity. © 2024, CC BY-NC-SA.

关键词： Adversarial machine learning

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Time Transfer and Clock Synchronization Analysis over Spine-Leaf Networks

Time Transfer and Clock Synchronization Analysis over Spine-...

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IEEE International Symposium on Precision Clock Synchronization for Measurement, Control and Communication, ISPCS

作者： Alberto Ortega Víctor Vázquez Carlos Megías Jesús González Manuel Rodríguez-Álvarez Javier Díaz Eduardo Ros Department of Computer Engineering Automation and Robotics CITIC University of Granada Granada Spain

ISBN: (数字)9798350366112

ISBN: (纸本)9798350366129

The integration of a time synchronization and time transfer system in data center networks is an increasingly common demand. Since moving the entire infrastructure of a data center network to switches with time-dedicated hardware is nowadays a considerable expense of resources, it is convenient to analyze and study it. In this paper we work on real hardware, presenting a characterization of the problem for a Spine-Leaf network by means of load variation tests proposed by the ITU, using the PTP protocol and common non-PTP aware switches. Through this study we manage to show, thanks to real measurements, the problem of dynamic asymmetry and how it affects the time distribution. Additionally, it is shown that if the network load is quadrupled, the PTP pk-pk offset through the network does not even double. Finally, thanks to long-term tests, we can conclude that time synchronization in a Spine-Leaf network shows considerable resilience to load changes.

关键词： Data centers Protocols Load management Time measurement Hardware ITU Synchronization Resilience

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Augmented Reality Enabled Telepresence Framework for Intuitive Robotic Teleoperation

Augmented Reality Enabled Telepresence Framework for Intuiti...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xu, Zheng Lin, Zecai Liu, Huanghua Ren, Qingsong Gao, Anzhu Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Institute of Medical Robotics and Department of Automation Shanghai200240 China

ISBN: (纸本)9798350325706

In terms of telepresence for robotic teleoperation, the existing remote surgery provides the patient's side real-time videos to remote operators. Its effectiveness is limited due to the lack of depth information, occlusion, and restricted viewing angles. To address it, this paper develops a robotic telepresence framework integrating augmented reality (AR) and 3D reconstruction technology, providing a 3D virtual patient's side environment for remote operators. The real scene of the patient's side is reconstructed by a monocular camera with a manipulator before the operation, and the manipulator is teleoperated by the operator at the remote's side. The manipulator's pose is fused into the classic SVO+REMODE algorithm to improve the reconstructed accuracy. On the remote's side, an AR head-mounted display (HMD) is deployed to provide telepresence for operators under a similar environment, and the reconstructed scene of the patient's side is registered to the remote room, from which the operator can see the whole scene of the patient body and surrounding objects. An ArUco cube is used to evaluate the superimposed error between virtual and real displays, and the effectiveness is validated in an experimental platform for remote surgery. © 2023 IEEE.

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Task Allocation Game with the Loss Function 42

Task Allocation Game with the Loss Function

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42nd Chinese Control Conference, CCC 2023

作者： Zhao, Zhengwu Zhang, Chunyan College of Artificial Intelligence Nankai University Department of Automation Tianjin300071 China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China

ISBN: (纸本)9789887581543

Task allocation problem has drawn a wide attention in the field of artificial intelligence, and we introduce the loss function into task allocation game model to simulate the issue of maintaining a balance between economic development and environmental protection. The article establishes a mathematical model of the game, studies how the task payoff difference varies when changing parameters of the model, and uses the fixation probability to analyze the impact of the loss function on self-organized evolution of task allocation in the group. We draw three main conclusions, firstly synergistic benefit facilitates the formation of division of labor, secondly the loss function has both positive and negative effects on cooperation in the group, and finally the loss function significantly reduces the willingness of individuals to perform task. The paper presents a new application scenario of task allocation game, and provides a novel idea for controlling environmental pollution. © 2023 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Environmental protection

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Color Transfer Algorithm for Interior Design Based on Deep Learning

Color Transfer Algorithm for Interior Design Based on Deep L...

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International Conference on Smart Technologies For Smart Nation (SmartTechCon)

作者： Kayalvizhi Rajadurai Elango Vaidyanathan Madhan Mohankumar Nandini Kumaresan Arun Joseph Santhosh Sivaraj Department of Robotics and Automation Easwari Engineering College Chennai

It is suggested that a topologically informed colour transfer method for interior design be used to match areas that have significant colour variability and colours that are just moderately rich. First, the image of the interior design is segmented, then the topology complete information of each region is calculated, and last, the region-matching relationship is determined based on the topology in order to improve the accuracy of the colour transfer; Second, colour is transferred between matched zones, and colour correction is applied to areas that do not get colour input in order to enhance the color's integrity as it is transferred; In conclusion, the algorithm for colour harmony works to improve colour harmony after the colour transfer by lowering the amount of noise. According to the findings of the experiments, the algorithm is able to keep the image's rich colour throughout while also improving the matching relationship and making colour adjustments locally, which leads to better colour transfer results. Targets can be captured and tracked with TOP technology. The use of neural networks and deep learning allows ambient perception to train and self-play the network, allowing it to continually update and locate the optimal grid path. The method of vertical falling grabbing is utilised in order to obtain and determine the quickest path to return to the grid in order to complete the procedure.

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Search Space Optimization for Autonomous Mobile Robots Using Meta-Heuristics 14

Search Space Optimization for Autonomous Mobile Robots Using...

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14th International Conference on Computing Communication and Networking Technologies, ICCCNT 2023

作者： Benni, Rashmi Totad, Shashikumar Karibasappa, K.G. Karadgi, Sachin Kle Technological University School of Computer Science Karnataka Hubballi580031 India Kle Technological University Department of Automation & Robotics Karnataka Hubballi580031 India

ISBN: (纸本)9798350335095

Optimizing search space for autonomous mobile robots is a critical problem that affects their ability to efficiently navigate and perform tasks in various environments. Considering the growing level of complexity of robotic systems, the area of search space for finding optimal solutions can be very large and time-consuming. Meta-heuristics are a class of algorithms designed for exploring large search spaces and locating near-optimal solutions. Their application is one of the strategies and approaches to addressing this challenge. This research paper presents metaheuristic techniques such as the firefly algorithm(FA), particle swarm optimization(PSO), and differential evolution(DE) in search space optimization of autonomous mobile robots. Also, it covers an overview of each algorithm, indicating its benefits and drawbacks and demonstrating how it potentially performs in varied search space environments. The study also looks at how various hyper-parameters influence the way each algorithm performs. The findings indicate that these factors significantly affect the algorithm's functioning and the most appropriate values can be identified through a parameter-tuning technique. We also discuss some challenges and possibilities for future study in this area. Furthermore, for researchers and practitioners interested in using meta-heuristics to address search space optimization problems for robots or any other search space-related applications this study offers insightful guidance. © 2023 IEEE.

关键词： Particle swarm optimization (PSO)

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Behavioral-based circular formation control for robot swarms

Behavioral-based circular formation control for robot swarms

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IEEE International Conference on robotics and automation (ICRA)

作者： Jesús Bautista Héctor García de Marina Department of Computer Engineering Automation and Robotics University of Granada (UGR-CITIC) Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but different speeds. Instead of controlling the spatial relations between the robots, our formation control algorithm aims to deploy a dense robot swarm that mimics the behavior of tornado schooling fish. To achieve this objective safely, we employ a combination of a scalable overtaking rule, a guiding vector field, and a control barrier function with an adaptive radius to facilitate smooth overtakes. The decision-making process of the robots is distributed, relying only on local information. Practical applications include defensive structures or escorting missions with the added resiliency of a swarm without a centralized command. We provide a rigorous analysis of the proposed strategy and validate its effectiveness through numerical simulations involving a high density of unicycles.

关键词： Robot kinematics MIMICs Numerical simulation Fish Formation control Vectors Orbits

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Cubature Kalman Filter Under Minimum Error Entropy With Fiducial Points for INS/GPS Integration

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IEEE/CAA Journal of Automatica Sinica 2022年第3期9卷 450-465页

作者： Lujuan Dang Badong Chen Yulong Huang Yonggang Zhang Haiquan Zhao Institute of Artificial Intelligence and Robotics Xi’an Jiaotong UniversityXi’an 710049China IEEE Department of Automation Harbin Engineering UniversityHarbin 150001China School of Electrical Engineering Southwest Jiaotong UniversityChengdu 610000China

Traditional cubature Kalman filter(CKF)is a preferable tool for the inertial navigation system(INS)/global positioning system(GPS)integration under Gaussian *** CKF,however,may provide a significantly biased estimate when the INS/GPS system suffers from complex non-Gaussian *** address this issue,a robust nonlinear Kalman filter referred to as cubature Kalman filter under minimum error entropy with fiducial points(MEEF-CKF)is *** MEEF-CKF behaves a strong robustness against complex nonGaussian noises by operating several major steps,i.e.,regression model construction,robust state estimation and free parameters *** concretely,a regression model is constructed with the consideration of residual error caused by linearizing a nonlinear function at the first *** MEEF-CKF is then developed by solving an optimization problem based on minimum error entropy with fiducial points(MEEF)under the framework of the regression *** the MEEF-CKF,a novel optimization approach is provided for the purpose of determining free parameters *** addition,the computational complexity and convergence analyses of the MEEF-CKF are conducted for demonstrating the calculational burden and convergence *** enhanced robustness of the MEEF-CKF is demonstrated by Monte Carlo simulations on the application of a target tracking with INS/GPS integration under complex nonGaussian noises.

关键词： Cubature Kalman filter(CKF) inertial navigation system(INS)/global positioning system(GPS)integration minimum error entropy with fiducial points(MEEF) non-Gaussian noise

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Simulation of magnetization process and Faraday effect of magnetic bilayer films

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Chinese Physics B 2024年第9期33卷 590-597页

作者： Sheng Gao An Du Lei Zhang Tian-Guang Li Da-Cheng Ma Department of Basic and General Studies Shenyang Institute of Science and TechnologyShenyang 110167China College of Science Northeastern UniversityShenyang 110819China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern UniversityShenyang 110819China Office of Academic Research Shenyang Institute of Science and TechnologyShenyang 110167China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy ofSciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110016China

We described ferromagnetic film and bilayer films composed of two ferromagnetic layers coupled through antiferromagnetic interfacial interaction by classical Heisenberg model and simulated their magnetization state,magnetic permeability,and Faraday effect at zero and finite temperature by using the Landau–Lifshitz–Gilbert(LLG)*** results indicate that in a microwave field with positive circular polarization,the ferromagnetic film has one resonance peak while the bilayer film has two resonance ***,the resonance peak disappears in ferromagnetic film,and only one resonance peak emerges in bilayer film in the negative circularly polarized microwave *** the microwave field’s frequency exceeds the film’s resonance frequency,the Faraday rotation angle of the ferromagnetic film is the greatest,and it decreases when the thickness of the two halves of the bilayer is *** the microwave field’s frequency remains constant,the Faraday rotation angle fluctuates with temperature in the same manner as spontaneous magnetization *** a DC magnetic field is applied in the direction of the anisotropic axis of the film,the Faraday rotation angle varies with the DC magnetic field and shows a similar shape of the hysteresis loop.

关键词： magnetic bilayer films magnetic permeability hysteresis loop Faraday effect Landau-Lifshitz-Gilbert(LLG)equation

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