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Basic Study on Cybernic Interface for Amyotrophic Lateral Sclerosis Patients to Perform Daily Living Tasks by Transiting Seamlessly Between Cyberspace and Physical Space

Basic Study on Cybernic Interface for Amyotrophic Lateral Sc...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Uehara, Akira Sankai, Yoshiyuki Center for Cybernics Research R&d Center for Frontiers of Mirai in Policy and Technology Faculty of Engineering Information and Systems Tennodai 1-1-1 Ibraki Tsukuba Japan

ISBN: (纸本)9798350312072

Amyotrophic lateral sclerosis (ALS) gradually make it difficult for the patients to move, breath, and express their will as their symptoms progress associated with motor neuron. It is important for the patients to be able to not only communicate their daily needs to someone such as family member of caregivers but also perform their daily activities and participate in society and fulfill social roles without constant support by other people. To improve their ability of independence, the purpose of this study is to develop a cybernic interface that can perform daily living tasks by transiting seamlessly between cyberspace and physical space based on the patient's remaining voluntary motor functions, and confirm the basic performance of the developed interface. The system consists of bio-electrical signals measurement unit, display unit, processor unit, and IoT unit. The system controlled the flipping up and down the head-mounted display (HMD) by estimating the intention of transition between cyberspace and physical space based on the bio-electrical signals of the forearm. When the HMD is attached to the user's face, the user can move at the virtual environment, operate IoT device at the room of physical world via virtual environment, and select voice output for expressing own state by the gaze. To confirm the basic performance of the developed interface for performing daily living tasks by oneself, we conducted basic experiment with an able-bodied participant. As a result, the participant was able to flip up the HMD, move at virtual environment, and operate the TV and lock at the physical space without moving own body similar to ALS patients. In conclusion, we confirmed the basic performance of performing daily living tasks to improve the ability of independence for ALS patients. The cybernic interface that can connect central nervous system to cyberspace and physical space has a potential for removing constraints due to motor dysfunctions and spatial limitation. © 20

关键词： Virtual reality

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Considerations for Optimal Sensor Placement for Higher Accuracy Object Localization for Urban Air Mobility

Considerations for Optimal Sensor Placement for Higher Accur...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Lombaerts, Thomas Kawamura, Evan Kannan, Keerthana Ippolito, Corey Stepanyan, Vahram Gorospe, George Dolph, Chester NASA Ames Research Center KBR Intelligent Systems Division Mail Stop 269-1 Moffett FieldCA94035 United States NASA Ames Research Center Intelligent Systems Division Mail Stop 269-1 Moffett FieldCA94035 United States Aeronautics Systems Engineering Branch NASA Langley Research Center LangleyVA94035 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Previous research into object localization has shown that sensor placement and alignment plays an important role in achieving higher accuracy levels of the estimated location of a tracked Urban Air Mobility Vehicle. In general, a near-orthogonal intersection between the ground node observation vectors results in the highest accuracy due to a smaller overlapping uncertainty region between both. This applies to triangulation by means of ground node camera angle observations as well as trilateration by means of ground node distance measurements. However, this simple concept is not easily fulfilled with a network of a limited number of static ground nodes and a moving object to be localized. This case study performs sensitivity analyses and explores practical ways on how to achieve higher estimate accuracy levels in this context. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Sensitivity analysis

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Auto-focusing method for wide-spectral-illumination lens-Free imaging 14

Auto-focusing method for wide-spectral-illumination lens-Fre...

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Holography, Diffractive Optics, and Applications XIV 2024

作者： Zhang, Jialin Yang, Ying Wang, Zhenguo Research Center for Intelligent Information Technology Nantong University No. 9 Seyuan Road Jiangsu Province Nantong China Information and Systems Engineering Fukuoka Institute of Technology Fukuoka Japan

ISBN: (纸本)9781510682085

Auto-focusing plays a crucial role in lens-free holographic microscopy. In this research, we propose a new axialdifference- based Robert method aimed at improving the accuracy of distance estimation under wide-spectral illumination. By establishing connections between intensity derivation, spectral distribution changes, and object distribution, we develop a robust method. The procedure involves image acquisition, preprocessing, axial difference computation, and sharpness-based distance determination. Both simulations and experiments verify the method's ability to enhance auto-focusing accuracy in wide-spectral illumination scenarios. To demonstrate its broad applicability, experiments are carried out using ultra-wide-spectral illumination on various samples, including a resolution target and a Tilia stem cross-section. © 2024 SPIE. All rights reserved.

关键词： Holography

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Dynamic Self-Triggered Control for Nonzero-Sum Games of Unknown Nonlinear Constrained systems via Generalized Fuzzy Hyperbolic Models

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IEEE Transactions on systems, Man, and Cybernetics: systems 2025年第5期55卷 3506-3518页

作者： Liu, Fan Su, Hanguang Zhang, Huaguang Luo, Biao Wang, Jiawei Northeastern University School of Information Science and Engineering Shenyang110004 China Northeastern University School of Information Science and Engineering State Key Laboratory of Synthetical Automation for Process Industries Shenyang110004 China Central South University School of Automation Changsha410083 China Northeastern University National Frontiers Science Center for Industrial Intelligence and Systems Optimization Shenyang110819 China

In this article, a novel adaptive dynamic programming algorithm is devised to handle the multiplayer nonzero-sum (NZS) games of completely unknown nonlinear systems, subject to state and input constraints under the dynamic self-triggered mechanism. Initially, in order to eliminate the demand for system dynamics, a generalized fuzzy hyperbolic model based identifier is established, which only relies on input-output data. Then, the equivalent transformation of the reconstructed system is implemented by virtue of barrier functions. With the aid of the nonquadratic utility function, the Hamilton-Jacobi equation of the NZS game is derived. After that, an adaptive critic scheme with experience replay is employed to acquire the Nash equilibrium solution. Furthermore, a novel dynamic self-triggered rule is proposed with the dead-zone operation, which not only significantly reduces source consumption but also overcomes the implementation difficulty of monitoring hardware in the event-triggered mechanism. Moreover, the stability of the system and the uniform ultimate boundedness of the critic weights are guaranteed. Ultimately, two simulation examples are given to validate the feasibility of the developed method. © 2025 IEEE.

关键词： Adaptive algorithms

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Cooperative Lane Changing in Mixed Traffic can be Robust to Human Driver Behavior

arXiv

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arXiv 2023年

作者： Li, Anni Chavez Armijos, Andres S. Cassandras, Christos G. The Division of Systems Engineering Center for Information and Systems Engineering Boston University BrooklineMA02446 United States

We derive time and energy-optimal control policies for a Connected Autonomous Vehicle (CAV) to complete lane change maneuvers in mixed traffic. The interaction between CAVs and Human-Driven Vehicles (HDVs) requires designing the best possible response of a CAV to actions by its neighboring HDVs. This interaction is formulated using a bilevel optimization setting with an appropriate behavioral model for an HDV’s. Then, an iterated best response (IBR) method is used to determine a Nash equilibrium. However, we also show that when a common and simple-to-detect condition applies, the optimal lane-changing policy is in fact independent of HDV behavior with a CAV changing lanes by cooperating with another CAV in the target lane and always merging ahead of it. Thus, the dependence on the interaction between CAVs and HDVs may be eliminated in such cases. Simulation results are included to show the effectiveness of our controllers in terms of cost, safety guarantees, and disruption to the traffic flow when uncontrollable HDVs are present. Copyright © 2023, The Authors. All rights reserved.

关键词： Behavioral research

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Drive Stabilization of Multi-Degree-of-Freedom Maglev Planar Motor Based on Closed Loop System Identification

Drive Stabilization of Multi-Degree-of-Freedom Maglev Planar...

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2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Nakata, Keigo Ohnishi, Wataru Koseki, Takafumi Nakamura, Yuichiro Takahashi, Kenji Sekiguchi, Hiroyuki The University of Tokyo Dept. of Electrical Engineering and Information systems Tokyo Japan Advanced Technology R&D Center Mitsubishi Electric Corporation Hyogo Japan

ISBN: (纸本)9798331533892

Magnetic levitation planar motor can move at high speed and with high accuracy, and prevent vibration and noise because of no friction. This technology leads to the application of a transport system that requires high-speed and high-precision movement. However, the design of appropriate control algorithms is essential to achieve stability and high-speed, high-precision control of the maglev planar motor. In this research, we stabilized a maglev planar motor on the basis of system identification. Initially, we designed a whole control system for the movement of the maglev planar motor. Furthermore, we conducted system identification and verified that the maglev planar motor works with the designed control system and evaluated its motion performance. Through experiments, it was confirmed that accurate motion control was possible. This research is expected to be a basis for improving control performance soon. © 2025 IEEE.

关键词： Degrees of freedom (mechanics)

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Adaptive Traffic Light Control for Competing Vehicle and Pedestrian Flows

arXiv

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arXiv 2023年

作者： Chen, Yingqing Cassandras, Christos G. Division of Systems Engineering and Center for Information and Systems Engineering Boston University BrooklineMA02446 United States

We study the Traffic Light Control (TLC) problem for a single intersection, considering both straight driving vehicle flows and corresponding crossing pedestrian flows with the goal of achieving a fair jointly optimal sharing policy in terms of average waiting times. Using a stochastic hybrid system model, we design a quasi-dynamic policy controlling the traffic light cycles with several threshold parameters applied to the light cycles and the partially observed contents of vehicle and pedestrian queues. Infinitesimal Perturbation Analysis (IPA) is then used to derive a data-driven gradient estimator of a cost metric with respect to the policy parameters and to iteratively adjust these parameters through an online gradient-based algorithm in order to improve overall performance on this intersection and adapt the policy to changing traffic conditions. The controller is applied to a simulated intersection in the town of Veberöd, Sweden, to illustrate the performance of this approach using real traffic data from this intersection. Copyright © 2023, The Authors. All rights reserved.

关键词： Stochastic systems

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A Novel Predictive Model for Edge Computing Resource Scheduling Based on Deep Neural Network

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Computer Modeling in engineering & Sciences 2024年第4期139卷 259-277页

作者： Ming Gao Weiwei Cai Yizhang Jiang Wenjun Hu Jian Yao Pengjiang Qian School of Artificial Intelligence and Computer Science Jiangnan UniversityWuxi214122China The Center for Intelligent Systems and Applications Research School of Artificial Intelligence and Computer ScienceJiangnan UniversityWuxi214122China School of Information Engineering Huzhou UniversityHuzhou313000China

Currently,applications accessing remote computing resources through cloud data centers is the main mode of operation,but this mode of operation greatly increases communication latency and reduces overall quality of service(QoS)and quality of experience(QoE).Edge computing technology extends cloud service functionality to the edge of the mobile network,closer to the task execution end,and can effectivelymitigate the communication latency ***,the massive and heterogeneous nature of servers in edge computing systems brings new challenges to task scheduling and resource management,and the booming development of artificial neural networks provides us withmore powerfulmethods to alleviate this ***,in this paper,we proposed a time series forecasting model incorporating Conv1D,LSTM and GRU for edge computing device resource scheduling,trained and tested the forecasting model using a small self-built dataset,and achieved competitive experimental results.

关键词： Edge computing resource scheduling predictive models

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Maximizing Safety and Efficiency for Cooperative Lane-Changing: A Minimally Disruptive Approach

arXiv

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arXiv 2023年

作者： Chavez Armijos, Andres S. Li, Anni Cassandras, Christos G. The Division of Systems Engineering The Center for Information and Systems Engineering Boston University BrooklineMA02446 United States

This paper addresses cooperative lane-changing maneuvers in mixed traffic, aiming to minimize traffic flow disruptions while accounting for uncooperative vehicles. The proposed approach adopts controllers combining Optimal control with Control Barrier Functions (OCBF controllers) which guarantee spatio-temporal constraints through the use of fixed-time convergence. Additionally, we introduce robustness to disturbances by deriving a method for handling worst-case disturbances using the dual of a linear programming problem. We present a near-optimal solution that ensures safety, optimality, and robustness to changing behavior of uncooperative vehicles. Simulations demonstrate the effectiveness of the proposed approach in enhancing efficiency and safety. © 2023, CC BY-NC-ND.

关键词： Controllers

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Scaling up the Optimal Safe Control of Connected and Automated Vehicles to a Traffic Network: A Hierarchical Framework of Modular Control Zones

arXiv

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arXiv 2023年

作者： Xu, Kaiyuan Cassandras, Christos G. The Division of Systems Engineering Center for Information and Systems Engineering Boston University BrooklineMA02446 United States

We consider the problem of scaling up optimal and safe controllers for Connected and Automated Vehicles (CAVs) from a single Control Zone (CZ) around a traffic conflict area to an entire network. The goal is to jointly minimize travel time and energy consumption for all CAVs, while providing speed-dependent safety guarantees within a CZ and satisfying velocity and acceleration constraints. A hierarchical modular CZ framework is developed consisting of a lower level where decentralized controllers are used that combine Optimal control and Control Barrier Functions (OCBF) and a higher level where a feedback flow controller is proposed to coordinate adjacent CZs. The flow controller is parameterized by a terminal velocity constraint that serves as the interface between CZs. Simulation results show that the proposed modular control zone framework outperforms a direct extension of the OCBF framework to multiple CZs without any flow control. Copyright © 2023, The Authors. All rights reserved.

关键词： Flow control

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