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4th International Conference on Industrial automation, Robotics and control engineering, IARCE 2024

作者： Gu, Tao Cong, Li Yang, Jing Guo, Yuzhu Wang, Lina School of Automation Science and Electrical Engineering Beihang University Beijing China School of Electronic Information Beihang University Engineering dept. Beijing China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing China

ISBN: (纸本)9798350380323

Inertial navigation has gained extensive application because it solely relies on built-in Inertial Measurement Unit (IMU) devices. Nevertheless, due to its inherent accumulative integral error, inertial navigation is often integrated with other external devices in practical situations, which unfortunately leads to unavoidable privacy breaches. To address these issues, an Inertial Navigation Neural Network (INN) is designed to generate high-precision position estimations without relying on any other auxiliary information. The INN model consists of attitude correction and velocity regression modules. The attitude module employs a convolutional network to correct the attitude information, and the obtained rotation matrices are then fed into a recurrent neural network to regress incremental velocities and produce high-precision positions. The proposed model is validated on the simulated trajectories based on the Precise Strapdown Inertial Navigation System (PSINS) toolbox. Experimental studies demonstrated that the proposed method has a significant corrective effect on high-dynamic strapdown inertial navigation settings. The accumulated position errors are an order of magnitude smaller than those of traditional track reckoning algorithms and achieved a comparable performance with integrated navigation. © 2024 IEEE.

关键词： Inertial navigation systems

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Use of accelerometers for material inner defect detection

Use of accelerometers for material inner defect detection

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作者： Krejcar, Ondrej Frischer, Robert Dept. of Measurement and Control Center for Applied Cybernetics Faculty of Electrical Engineering and Computer Science Ostrava Poruba Czech Republic Dept. of Automation and Computing in Metallurgy VSB Technical University of Ostrava Ostrava Poruba Czech Republic

ISBN: (纸本)9788070438657

This paper deals with a possibility of non-destructive diagnostics of solid objects by software analysis of vibration spectrum by accelerometers. By a use of MATLAB platform, a processing and information evaluation from accelerometer is possible. Accelerometer is placed on the measured object. The analog signal needs to be digitized by a special I/O device to be processed offline with FFT (Fast Fourier Transformation). The power spectrum is then examined by developed evaluating procedures.

关键词： Accelerometers

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Design of a real time evaluation system for multiple neuro-biological signals

Design of a real time evaluation system for multiple neuro-b...

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作者： Zhang, T. Nakamura, M. Sugi, T. Shibasaki, H. Dept. of Automation Tsinghua University Beijing 100084 China Dept. of Advanced Systems Control Engineering Saga University Saga 840-8502 Japan National Institutes of Health Bethesda MD 20892-1428 United States

ISBN: (纸本)9784990288013

This paper introduces the design of a real time evaluation system for multiple neuro-biological signals. In this system, multiple types of neuro-biological signals can be automatically processed in a single system in real time, including EEG, EMG, EOG, ECG, etc. It not only can display the wave shapes of these signals both in online and offline, calculate the feature parameters, but also can evaluate these signals based on different criteria. Therefore, it is possible to provide information about multiple types of neuro-biological signals simultaneously, which will provide great assistance for doctors to interpret neuro-biological signals for judging the diseases and for engineers to define the control signals for BCI device using different types of neuro-biological signals. This system will be an open system that can integrate more kinds of neuro-biological signals. New functions can be easily added into this system according to different requests. ©ISAROB 2007.

关键词： Electrocardiograms

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Tremor analysis by decomposition of acceleration into gravity and inertial acceleration using inertial measurement unit

Tremor analysis by decomposition of acceleration into gravit...

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9th International Conference on Information Technology and Applications in Biomedicine, ITAB 2009

作者： Šprdlík, Otakar Hurák, Zdeněk Hoskovcová, Martina Růžička, Evžen Institute of Information Theory and Automation ASCR Czech Republic Czech Technical University in Prague Faculty of Electrical Engineering Dept. of Control Eng. Czech Republic Charles University in Prague 1st Faculty of Medicine Dept. of Neurology Czech Republic

ISBN: (纸本)9781424453795

Decomposition of acceleration was investigated as an alternative to commonly used direct spectral analysis of measured acceleration or angular velocity for tremor quantification. Orientation estimation algorithm was devised to decompose the measured acceleration into inertial acceleration caused by sensor movement in inertial reference frame and gravitational artifact. Resulting signals, beside measured acceleration and angular velocity, were used to assess tremor amplitude and frequency by spectral peak detection. The algorithm was tested on experimental data from a clinical study including patients with essential tremor. Influence of sensor calibration and connections of results to analytic approach are analyzed briefly. ©2009 IEEE.

关键词： Acceleration

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Self calibrating procedure for a 3D force observer

Self calibrating procedure for a 3D force observer

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44th IEEE Conference on Decision and control, and the European control Conference, CDC-ECC '05

作者： Gámez García, J. Robertsson, A. Ortega, J. Gómez Johansson, R. Dept. of Automatic Control Lund University PO Box 118 SE-221 00 Lund Sweden System Engineering and Automation Department Jaen University Campus Las Lagunillas 23071 Jaen Spain

ISBN: (纸本)0780395689

In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamics of the end effector and manipulator. To solve this problem, an observer, which fuses information from force sensors and accelerometers, was designed recently In order to estimate the contact force exerted by a manipulator to its environment [1]. This paper introduced a high-speed, high-accuracy, versatile, simple, and fully autonomous technique for the calibration of this robotic manipulator 3D force observer by means of active motion. To verify the improvement, an impedance control scheme was used. A dynamic model of the robot-grinding tool using the new sensors was obtained by system Identification. The experiments were carried out on an ABB industrial robot with open control system architecture. © 2005 IEEE.

关键词： Force control

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Fuzzy controlled Adaptive Follow the Gap Obstacle Avoidance Algorithm 21

Fuzzy Controlled Adaptive Follow the Gap Obstacle Avoidance ...

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Proceedings of the 7th International Conference on Robotics and Artificial Intelligence

作者： Bilal Yucel Abdurrahman Yilmaz Osman Ervan Hakan Temeltas Control and Automation Engineering Dept. Robotics Laboratory Istanbul Technical University Turkey

ISBN: (纸本)9781450385855

Follow the Gap Method (FGM) and Improved Follow the Gap Method (FGM-I) are geometric obstacle avoidance algorithms for navigation. In these methods, the vehicle detects the gaps around the object and navigates to the midpoint of the optimal gap calculated according to a defined function. One missing point of these algorithms is failure to the goal point when there is an obstacle near to it. Another drawback is that early consideration of obstacles causes long trajectories. In this paper, Adaptive Follow the Gap (A-FGM) is presented to overcome these two points. In A-FGM, a fuzzy controlled evaluation radius is set and only obstacles within this region are included in the evaluation. A differential drive robot is used in simulations and results show that A-FGM increases the success rate of reaching the goal and efficiency of previous algorithms. The source code of the developed approach is shared on GitHub 1.

关键词： Mobile Robots Fuzzy control Path Planning Robot Navigation Adaptive control Obstacle Avoidance

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Multi-view people detection on arbitrary ground in real-time

Multi-view people detection on arbitrary ground in real-time

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8th International Conference on Computer Vision Theory and Applications, VISAPP 2013

作者： Kiss, Ákos Szirányi, Tamás Distributed Events Analysis Research Group Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics Budapest Hungary

ISBN: (纸本)9789898565471

We show a method to detect accurate 3D position of people from multiple views, regardless of the geometry of the ground. In our new method we search for intersections of 3D primitives (cones) to find positions of feet. The cones are computed by back-projecting ellipses covering feet in input images. Instead of computing complex intersection body, we use approximation to speed up intersection computing. We found that feet positions are determined accurately, and the height map of the ground can be reconstructed with small error. We compared our method to other multiview-detectors - using somewhat different test methodology -, and achieved comparable results, with the benefit of handling arbitrary ground. We also present accurately reconstructed height map of non-planar ground. Our algorithm is fast and most of steps are parallelizable, making it possibly available for smart camera systems.

关键词： Computer vision

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Sampled-data fault tolerant controller design for a T-S fuzzy system

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Transactions of the Korean Institute of Electrical Engineers 2019年第7期68卷 916-922页

作者： Sol Kim, Han Hoon Joo, Young School of IT Information and Control Engineering Kunsan National Univerity Korea Republic of Dept. of Control and Automation Engineering Korea Maritime and Ocean University Korea Republic of

This paper deals with the fault tolerant control design problem for a Takagi-Sugeno (T-S) fuzzy system. The exact discretization approach is employed to derive the linear matrix inequality (LMI)-based stability condition of the system in which the continuous-time and discrete-time state variables are mixed due to the sampled-data controller feeding back the sampled state vector. Moreover, it is assumed that the controller includes an uncertain fault matrix that varies in time. Therefore, the time-varying fault matrix appears in the stability condition, which complicates the analysis. To handle this problem, the fault matrix is decomposed into both time dependent and independent terms using its upper and lower bounds. And then, the resulting stability condition is constructed to only depend on the time independent terms of the fault matrix. Finally, the proposed sampled-data fault tolerant controller design method is validated through the simulation example. Copyright © The Korean Institute of Electrical Engineers

关键词： Linear matrix inequalities

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Driving Physiological Indicator Recognition Based on Smart Bracelet Data 16

Driving Physiological Indicator Recognition Based on Smart B...

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16th COTA International Conference of Transportation Professionals: Green and Multimodal Transportation and Logistics, CICTP 2016

作者： Zhao, Li Li, Chaofei Guo, Weiwei Tan, Jiyuan Li, Li Yin, Kaili Research Institute of Highway Ministry of Transport Beijing China College of Electrical and Control Engineering North China Univ. of Technology Beijing China Dept. of Automation Tsinghua Univ. Beijing China

ISBN: (数字)9780784479896

ISBN: (纸本)9780784479896

Various research on heart rate variability (HRV) have focused on the characteristics of the peaks and the valleys of a heart rate graph and most have been analyzed using medical devices. This paper developed a driving physiological indicator extraction method. The method is based on a pulse signal detection with a feature point identification model and an abnormal signal detection combined with a revamp model. According to physiological theory and the relationship between pulse and ECG readings, the pulse feature points can be detected. This method is easier and more accurate than the existing wavelet pulse signal detection method, which can be used in the wearable devices, such as the smart band and the smart watch. The method was also validated efficiently and accurately in the experiments. © 2016 ASCE.

关键词： Signal detection

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Fault tolerant sliding mode chaotic synchronization controller design for an interval type-2 fuzzy system

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Transactions of the Korean Institute of Electrical Engineers 2019年第9期68卷 1143-1150页

作者： Kim, Han Sol Joo, Young Hoon School of IT Information and Control Engineering Kunsan National Univerity Korea Republic of Dept. of Control and Automation Engineering Korea Maritime and Ocean University Korea Republic of

This paper deals with the fault tolerant interval type-2 fuzzy integral sliding mode controller design for time-varying uncertain chaotic systems including actuator faults. The overall control system consists of driving and response chaotic systems, and the control objective is to synchronize the state variables of these systems. To this end, the chaotic system including uncertain terms is expressed by the interval type-2 fuzzy model. Also, the failure occurring in the actuator is represented by a fault matrix having time-varying unknown parameters. In this paper, the fault matrix is divided into the time-varying and time-invariant terms, which makes the sufficient condition have only time-invariant part of the fault matrix. Finally, we validate the proposed method through simulation examples. Copyright © The Korean Institute of Electrical Engineers

关键词： Linear matrix inequalities

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