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arXiv 2019年

作者： Le, Son T. Morris, Michelle A. Cardone, Antonio Guros, Nicholas B. Klauda, Jeffery B. Sperling, Brent A. Richter, Curt A. Pant, Harish C. Balijepalli, Arvind Alternative Computing Group Nanoscale Device Characterization Division National Institute of Standards and Technology GaithersburgMD20899 United States Theiss Research La JollaCA92037 United States Biophysics Group Microsystems and Nanotechnology Division National Institute of Standards and Technology GaithersburgMD20899 United States Information Systems Group Software and Systems Division National Institute of Standards and Technology GaithersburgMD20899 United States University of Maryland Institute for Advanced Computer Studies University of Maryland College ParkMD20742 United States Department of Chemical and Biomolecular Engineering University of Maryland College ParkMD20742 United States Chemical Process and Nuclear Measurements Group Chemical Sciences Division National Institute of Standards and Technology GaithersburgMD20899 United States National Institute of Neurological Disorders and Stroke National Institutes of Health BethesdaMD20892 United States

We show that simple, commercially sourced n-channel silicon field-effect transistors (nFETs) operating under closed loop control exhibit an;«3-fold improvement in pH readout resolution to (7.2±0.3)×10-3at a bandwidth of 10 Hz when compared with the open loop operation commonly employed by integrated ion-sensitive field-effect transistors (ISFETs). We leveraged the improved nFET performance to measure the change in solution pH arising from the activity of a pathological form of the kinase Cdk5, an enzyme implicated in Alzheimer's disease, and showed quantitative agreement with previous measurements. The improved pH resolution was realized while the devices were operated in a remote sensing configuration with the pH sensing element off-chip and connected electrically to the FET gate terminal. We compared these results with those measured by using a custom-built dual-gate 2D field-effect transistor (dg2DFET) fabricated with 2D semi-conducting MoS2 channels and a moderate device gain, a=8. Under identical solution conditions the pH resolution of the nFETs was only 2-fold worse than the dg2DFETs pH resolution of (3.9±0.7)×10-3. Finally, using the nFETs, we demonstrated the effectiveness of a custom polypeptide, p5, as a therapeutic agent in restoring the function of Cdk5. We expect that the straight-forward modifications to commercially sourced nFETs demonstrated here will lower the barrier to widespread adoption of these remote-gate devices and enable sensitive bioanalytical measurements for high throughput screening in drug discovery and precision medicine applications. Copyright © 2019, The Authors. All rights reserved.

关键词： Metals

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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

arXiv

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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Interdependent order allocation in the two-echelon supply chain using agent-based negotiation 36

Interdependent order allocation in the two-echelon supply ch...

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第36届中国控制会议

作者： Jian Wang Huimin Miao System Engineering Institute School of AutomationHuazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Hubei Province Key Laboratory of Systems Science in Metallurgical Process Wuhan University of Science and Technology

ISBN: (纸本)9781538629185

Nowadays,many researches study the negotiation-based order allocation problem in the supply chain environment,aiming to improve the efficiency of the allocation and the profits of the supply chain *** competition and cooperation in supplier’s side are mainly addressed because of independent *** this paper,we analyze an interdependent order allocation problem in a two-echelon supply *** supply chain consists of a manufacturer echelon and a supplier *** to the interdependence,both the competition and cooperation in the manufacturer echelon are *** agent-based negotiation algorithm is developed to support the order allocation process and the conflicts *** show in experiments that orders under various supply chain contexts can be successfully allocated through the algorithm.

关键词： Supply chain system order allocation agent-based negotiation

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Building an Aerial-Ground Robotics System for Precision Farming: An Adaptable Solution

arXiv

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arXiv 2019年

作者： Pretto, Alberto Aravecchia, Stéphanie Burgard, Wolfram Chebrolu, Nived Dornhege, Christian Falck, Tillmann Fleckenstein, Freya Fontenla, Alessandra Imperoli, Marco Khanna, Raghav Liebisch, Frank Lottes, Philipp Milioto, Andres Nardi, Daniele Nardi, Sandro Pfeifer, Johannes Popović, Marija Potena, Ciro Pradalier, Cédric Rothacker-Feder, Elisa Sa, Inkyu Schaefer, Alexander Siegwart, Roland Stachniss, Cyrill Walter, Achim Winterhalter, Wera Wu, Xiaolong Nieto, Juan Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy International Research Lab 2958 Georgia Tech-CNRS Metz France Department of Computer Science University of Freiburg Germany Toyota Research Institute Los Altos United States Photogrammetry & Robotics Lab University of Bonn Germany Robert Bosch GmbH Corporate Research Renningen Germany Osimo Italy Autonomous Systems Lab. Department of Mechanical and Process Engineering ETH Zurich Zürich Switzerland Department of Environmental Systems Science Institute of Agricultural Sciences ETH Zurich Zürich Switzerland IT+Robotics Srl Padova Italy Smart Robotics Lab. Department of Computing Imperial College London London United Kingdom CSIRO Data61 Australia

The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of human effort and yield. With this vision, the Flourish research project aimed to develop an adaptable robotic solution for precision farming that combines the aerial survey capabilities of small autonomous unmanned aerial vehicles (UAVs) with targeted intervention performed by multi-purpose unmanned ground vehicles (UGVs). This paper presents an overview of the scientific and technological advances and outcomes obtained in the project. We introduce multi-spectral perception algorithms and aerial and ground-based systems developed for monitoring crop density, weed pressure, crop nitrogen nutrition status, and to accurately classify and locate weeds. We then introduce the navigation and mapping systems tailored to our robots in the agricultural environment, as well as the modules for collaborative mapping. We finally present the ground intervention hardware, software solutions, and interfaces we implemented and tested in different field conditions and with different crops. We describe a real use case in which a UAV collaborates with a UGV to monitor the field and to perform selective spraying without human intervention. Copyright © 2019, The Authors. All rights reserved.

关键词： Mapping

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Correction: Sustainable bioproduction of the blue pigment indigoidine: Expanding the range of heterologous products in R. toruloides to include non-ribosomal peptides

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Green Chemistry 2019年第21期21卷 6027-6029页

作者： Maren Wehrs John M. Gladden Yuzhong Liu Lukas Platz Jan-Philip Prahl Jadie Moon Gabriella Papa Eric Sundstrom Gina M. Geiselman Deepti Tanjore Jay D. Keasling Todd R. Pray Blake A. Simmons Aindrila Mukhopadhyay Biological Systems and Engineering Division Lawrence Berkeley National Laboratory Berkeley CA 94720 USA Institut für Genetik Technische Universität Braunschweig Braunschweig Germany Joint BioEnergy Institute Lawrence Berkeley National Laboratory Emeryville CA 94608 USA Biological and Engineering Sciences Center Sandia National Laboratories 7011 East Avenue Livermore California 94551 USA Advanced Biofuels and Bioproducts Process Development Unit Lawrence Berkeley National Laboratory Emeryville CA 94608 USA Department of Plant and Microbial Biology University of California Berkeley CA 94720 USA Department of Bioengineering University of California Berkeley CA 94720 USA Department of Chemical and Biomolecular Engineering University of California Berkeley CA 94720 USA The Novo Nordisk Foundation Center for Biosustainability Technical University of Denmark Denmark Synthetic Biochemistry Center Institute for Synthetic Biology Shenzhen Institutes for Advanced Technologies Shenzhen China Environmental Genomics and Systems Biology Division Lawrence Berkeley National Laboratory Berkeley CA 94720 USA

Correction for ‘Sustainable bioproduction of the blue pigment indigoidine: Expanding the range of heterologous products in R. toruloides to include non-ribosomal peptides’ by Maren Wehrs et al., Green Chem., 2019, 2...

Correction for ‘Sustainable bioproduction of the blue pigment indigoidine: Expanding the range of heterologous products in R. toruloides to include non-ribosomal peptides’ by Maren Wehrs et al., Green Chem., 2019, 21, 3394–3406.

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Distributed Least Squares Solver for Network Linear Equations

arXiv

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arXiv 2018年

作者： Yang, Tao George, Jemin Qin, Jiahu Yi, Xinlei Wu, Junfeng State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China U.S. Army Research Laboratory AdelphiMD20783 United States Department of Automation University of Science and Technology of China Hefei230027 China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden College of Control Science and Engineering Zhejiang University Hangzhou310027 China

In this paper, we study the problem of finding the least square solutions of over-determined linear algebraic equations over networks in a distributed manner. Each node has access to one of the linear equations and holds a dynamic state. We first propose a distributed least square solver over connected undirected interaction graphs and establish a necessary and sufficient on the step-size under which the algorithm exponentially converges to the least square solution. Next, we develop a distributed least square solver over strongly connected directed graphs and show that the proposed algorithm exponentially converges to the least square solution provided the step-size is sufficiently small. Moreover, we develop a finite-time least square solver by equipping the proposed algorithms with a finite-time decentralized computation mechanism. The theoretical findings are validated and illustrated by numerical simulation examples. Copyright © 2018, The Authors. All rights reserved.

关键词： Linear equations

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Reaction flux versus reaction force: easy to stabilize?

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IFAC-PapersOnLine 2017年第1期50卷 558-563页

作者： Hoang N.H. Dochain D. Hudon N. Department of Process Systems Engineering and Control University of Technology VNU-HCM 268 Ly Thuong Kiet Str. Dist. 10 HCM City Viet Nam ICTEAM Université catholique de Louvain Belgium Department of Chemical Engineering Queen's University Kingston ON Canada

Chemical reaction rate, also known as the reaction flux involved in chemical reactors, plays a central role as the source generating the abnormal dynamics characteristics. This paper proposes a structural approach for the stabilization of such systems through the control of the reaction flux by considering the Lyapunov stability theory within a standard thermodynamic framework. More precisely, the reaction flux is structurally considered as a nonlinear function of conjugated reaction force. The thermodynamic constraint of such a relationship is that the inherent non-negative definiteness property of the irreversible entropy production due to chemical reaction has to be fulfilled. Consequently, it allows to reexpress a large class of reaction rates described by the mass-action-law and more interestingly, the operation of the reaction system at a desired set-point consists in controlling the reaction force on the basis of an affinity-related storage function. Numerical simulations for a non isothermal continuous stirred tank reactor (CSTR) involving one reversible reaction operated with multiple steady states illustrate the application of the theoretical developments. © 2017

关键词： affinity CSTR entropy production Lyapunov function thermodynamics

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Towards autonomous reconfiguration in distribution networks: An approach based on finite state automaton models

Towards autonomous reconfiguration in distribution networks:...

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2017 Energy and Sustainability in Small Developing Economies, ES2DE 2017

作者： Košt'álová, Alena Carvalho, Pedro M. S. Kubalčík, Marek Dep. of Computer and Communication Systems Tomas Bata University in Zlin Czech Republic Electrical Engineering and Computer Dep. Instituto Superior Tecnico Lisbon Portugal Department of Process Control Tomas Bata University in Zlin Czech Republic

ISBN: (纸本)9781538620663

The demand on distribution network reconfiguration abilities is increasing. This paper proposes a Finite State Automaton model of a distribution network that deals with topologically safe reconfiguration. Autonomous operation of distribution networks can be designed, analysed and implemented in day-to-day operation with the aid of these automata: through supervisory control. Two approaches to supervisor design are proposed. One for the normal operating mode and the other for the contingency mode. Simple and comprehensive examples illustrate the approaches. © 2017 IEEE.

关键词： Topology

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Challenges in Skill-based engineering of Industrial Automation systems

Challenges in Skill-based Engineering of Industrial Automati...

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IEEE International Conference on Emerging Technologies and Factory Automation

作者： Somayeh Malakuti Jurgen Bock Michael Weser Pierre Venet Patrick Zimmermann Mathias Wiegand Julian Grothoff Constantin Wagner Andreas Bayha ABB Corporate Research Center Ladenburg Germany R&D Corporate Research KUKA Deutschland GmbH Augsburg Germany Digital Engineering Fraunhofer IGCV Augsburg Germany Advanced Product Engineering Festo AG & Co. KG Esslingen Germany Chair of Process Control Engineering RWTH Aachen University Aachen Germany Model-based Systems Engineering Fortiss GmbH Munich Germany

Skill-based engineering is gaining attention as a means to increase flexibility and changeability in engineering industrial automation systems. This paper proposes the Skill-based engineering Model (SEM), which formally describes the core entities that play a role in skill-based engineering. Accordingly, we propose a four dimensional classification scheme for skills, and assess the suitability of a property model and OWL ontologies to describe and match skills. For each case, we identify a list of challenges that must be addressed to make skill-based engineering a reality in industrial automation systems. We believe that this paper can guide researchers to study various open aspects of skill-based engineering to make it feasible in complex industrial automation systems.

关键词： Skill Property Ontology PPR model Taxonomy

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Principles of functioning of the autonomous device for weed control for precision agriculture

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IOP Conference Series: Materials Science and engineering 2020年第1期747卷

作者： A I Dyshekov I G Smirnov M A Mirzaev M A Shereuzhev Laboratory of intelligent digital systems of monitoring diagnostics and process control in agricultural production Federal Scientific Agroengineering Center VIM Moscow 367032 Russia Department of intellectualization automatization and robotic of rural production Federal Scientific Agroengineering Center VIM Moscow 109428 Russia Laboratory of innovative structural polymer composite and biocomposite parts of agricultural machinery Federal Scientific Agroengineering Center VIM Moscow 109428 Russia Special mechanical engineering Bauman Moscow State Technical University Moscow 105005 Russia

The article shows the results of creation of a system aimed at reducing the negative impact on the ecological situation and biological systems while eliminating weeds in beetroot production. Methods of controlling weeds using machine vision technology are examined. For machine vision algorithms a library of images has been prepared. An algorithm and technical device have been developed for cultivating the soil on the early stages of beet growth.

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