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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Seifullaev, Ruslan Teixeira, Andre M. H. Ahlen, Anders Uppsala University Division of Systems and Control Department of Information Technology Sweden Uppsala University Division of Signals and Systems Department of Electrical Engineering Sweden

ISBN: (纸本)9798350316339

We address the problem of event-triggered networked control of nonlinear systems under simultaneous deception and Denial-of-Service (DoS) attacks. By DoS attacks, we refer to disruptions in the communication channel that prevent sensor measurements from reaching the controller. When the system undergoes a deception attack, the controller receives a modified output, deviating from the sensor's original measurement. We implement the input delay approach and the Lyapunov-Krasovskii technique to obtain sufficient conditions, expressed in terms of linear matrix inequalities (LMIs), that characterize the duration of the DoS interruptions under which input-to-state stability (ISS) of the closed-loop system is preserved. Furthermore, we explore scenarios involving simultaneous attacks, where the DoS is modeled as a stochastic Bernoulli process. The closed-loop system is then considered as a stochastic impulsive system. In a similar manner, we derive conditions to ensure mean-square ISS for this case. A numerical example illustrates the efficiency of the results. © 2024 IEEE.

关键词： Stochastic systems

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An EMG-Modulated Asymmetric Arm Bike for Stroke Rehabilitation 46

An EMG-Modulated Asymmetric Arm Bike for Stroke Rehabilitati...

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46th Annual International Conference of the IEEE engineering in Medicine and Biology Society, EMBC 2024

作者： Pedrazzini, Elia Francesco Torrendell, Santiago Price Kadone, Hideki Hassan, Modar Suzuki, Kenji Gradauate School of Systems & Information Engineering Ibaraki Tsukuba Japan University of Tsukuba Hospital Center for Innovative Medicine and Engineering Ibaraki Japan University of Tsukuba Faculty of Systems Information and Engineering Tsukuba Japan

ISBN: (纸本)9798350371499

Arm cycling has been proven to be an effective exercise for stroke rehabilitation. It strengthens the upper body, improves arm control, and can aid in restoring walking abilities. Promoting the engagement of the paretic arm is crucial, and tailoring the load to accommodate the limitations of the paretic side is a practical approach to encourage the safe use of this arm. We propose that the load modulation can be based on the EMG activity of the weaker side. This work assesses the feasibility of implementing arm cycling with asymmetric loading modulated by EMG activity and proposes a device design. We conducted two user experiments. The results of the first experiment show that asymmetric loading in arm cycling reduces peak activity in the targeted muscles. The second experiment underscores the potential to modulate the magnitude of the load using EMG *** relevance - This work explores a novel approach to address motor impairments' unique and evolving challenges. © 2024 IEEE.

关键词： Walking aids

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A Neck Orthosis with Multi-Directional Stiffness for Resistance Training 46

A Neck Orthosis with Multi-Directional Stiffness for Resista...

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46th Annual International Conference of the IEEE engineering in Medicine and Biology Society, EMBC 2024

作者： Torrendell, Santiago Price Kadone, Hideki Hassan, Modar Chen, Yang Suzuki, Kenji University of Tsukuba Graduate School of Systems & Information Engineering Ibaraki Japan University of Tsukuba Hospital Center for Innovative Medicine and Engineering Japan University of Tsukuba Faculty of Systems Information and Engineering Tsukuba Japan

ISBN: (纸本)9798350371499

Neck pain is a common condition that affects the general population and burdens the health system. Physical therapy is widely accepted as the most effective approach for addressing this condition but there is no consensus on which set of exercises give optimal results. In this context, mobile neck orthosis can potentially expand the number of exercise treatments as they provide multilateral support in contrast to traditional unilateral exercises. In this regard, a passive system of adjustable stiffness is a practical solution that does not require complex control strategies to regulate the load. Considering this, this work proposes a novel passive orthosis for neck exercises involving cervical rotation and flexion. Firstly, the actuation concept is explained along with the relevant parameters that affect the system's stiffness. Then, a user experiment with volunteers with no clinical conditions was carried out to quantify muscle effort changes using the device with different stiffness configurations. The results showed significant changes for all movements. Particularly, similar muscle activation to traditional therapies was found during cervical rotations. © 2024 IEEE.

关键词： Orthotics

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Enhancing Robot Arm Trajectory Tracking through Reinforcement Learning based Compensation 4

Enhancing Robot Arm Trajectory Tracking through Reinforcemen...

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4th International Conference on Electrical, Computer, Communications and Mechatronics engineering, ICECCME 2024

作者： Sun, Chenwei Ovtcharova, Jivka Intelligent Systems and Production Engineering FZI Research Center for Information Technology Karlsruhe Germany

ISBN: (纸本)9798350391183

This paper proposes a reinforcement learning (RL) based compensator for minimising the trajectory tracking deviation of a robot arm under external disturbances. The compensator adaptively incorporates the weighted joint position errors into the reference joint position values, with the weighting factor provided by the RL action output. The effectiveness of the method has been verified on a simulated robot model with realistic physical properties in Gazebo simulator. The focus of this study is on evaluating the linear tracking performance of the robot under both sinusoidal and constant forces applied to the its end-effector. The experiment results show that the proposed method can reduce the mean tool center point (TCP) trajectory deviation over 44%. The result also demonstrate the feasibility of compensation without requiring the TCP position information, using only the robot joint information, offering a more cost-efficient solution. © 2024 IEEE.

关键词： Reinforcement learning

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A novel method for measuring center-axis velocity of unmanned aerial vehicles through synthetic motion blur images

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Autonomous Intelligent systems 2024年第1期4卷 179-194页

作者： Quanxi Zhan Yanmin Zhou Junrui Zhang Chenyang Sun Runjie Shen Bin He School of Electronics and Information Engineering Tongji UniversityShanghai201804China Sino-German Center of Intelligent Systems Tongji UniversityShanghai201804China

Accurate velocity measurement of unmanned aerial vehicles(UAVs)is essential in various *** vision-based methods rely heavily on visual features,which are often inadequate in low-light or feature-sparse *** study presents a novel approach to measure the axial velocity of UAVs using motion blur images captured by a UAV-mounted monocular *** introduce a motion blur model that synthesizes imaging from neighboring frames to enhance motion blur *** synthesized blur frames are transformed into spectrograms using the Fast Fourier Transform(FFT)*** then apply a binarization process and the Radon transform to extract light-dark stripe spacing,which represents the motion blur *** length is used to establish a model correlating motion blur with axial velocity,allowing precise velocity *** tests in a hydropower station penstock demonstrated an average velocity error of 0.048 m/s compared to ultra-wideband(UWB)*** root-mean-square error was 0.025,with an average computational time of 42.3 ms and CPU load of 17%.These results confirm the stability and accuracy of our velocity estimation algorithm in challenging environments.

关键词： Hydroelectric power plants UAV Motion blur Axial velocity measurement

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Time-Varying Formation Tracking Control of Heterogeneous Multi-Agent systems With Intermittent Communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems Control theory Autonomous systems Stability

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Leader-Following Consensus of Multi-Agent systems via Fully Distributed Event-Based Control

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Journal of Shanghai Jiaotong university(Science) 2024年第4期29卷 640-645页

作者： GENG Zongsheng ZHAO Dongdong ZHOU Xingwen YAN Lei YAN Shi School of Information Science and Engineering Lanzhou UniversityLanzhou730000China Engineering Research Center of Open-Source Software and Real-Time Systems of Ministry of Education Lanzhou UniversityLanzhou730000China

This paper aims to study the leader-following consensus of linear multi-agent systems on undirected ***,we construct an adaptive event-based protocol that can be implemented in a fully distributed way by using only local relative *** protocol is also resource-friendly as it will be updated only when the agent violates the designed event-triggering function.A sufficient condition is proposed for the leader-following consensus of linear multi-agent systems based on the Lyapunov approach,and the Zeno-behavior is ***,two numerical examples are provided to illustrate the effectiveness of the theoretical results.

关键词： consensus multi-agent systems event-based control adaptive control fully distributed protocol

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Elderly Pedestrian-Crossing Strategy When Perceiving an Autonomous Vehicle in a Shared Space 4

Elderly Pedestrian-Crossing Strategy When Perceiving an Auto...

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4th IEEE International Conference on Human-Machine systems, ICHMS 2024

作者： Dong, Yichen Andrijanto Yano, Hiroaki Itoh, Makoto University Of Tsukuba Degree Program Of Risk And Resilience Engineering Tsukuba Japan Institute Of Systems And Information Engineering University Of Tsukuba Tsukuba Japan University Of Tsukuba Institute Of Systems And Information Engineering Center For Artificial Intelligence Research Tsukuba Japan

ISBN: (纸本)9798350315790

This study clarified a pedestrian crossing strategy for elderly Japanese pedestrians when perceiving an autonomous vehicle in a shared space by eliminating road features. Crossing strategy is the basis of pedestrian crossing behavior, and this study distinguishes two types of crossing strategies: conservative and aggressive. We proposed a process for pedestrians who use a strategy to cross the road. Experimental data collected in a virtual reality facility were analyzed to investigate pedestrian-crossing strategies. The variables contributing to the pedestrian crossing behavior and crossing strategy selection were explored. The results indicated that the proposed crossing strategy predicted the observed behaviors of the participants. Pedestrian crossing behavior is influenced by gender, age, and vehicle speed. Higher vehicle speed and pedestrian age lead to pedestrians increasing their crossing time and selecting a conservative walking strategy. The study also showed that males selected an aggressive strategy more frequently than females and that males needed more time to cross the road than females. © 2024 IEEE.

关键词： Crosswalks

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Identification Method of Partial Discharge Sources by Clustering and Wavelets Transform for High Voltage Rotating Machine 10

Identification Method of Partial Discharge Sources by Cluste...

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10th International Conference on Condition Monitoring and Diagnosis, CMD 2024

作者： Kamiya, Tomoki Nakamura, Yusuke Okamoto, Tetsushi Kikuta, Shinsuke Infrastructure Systems Research and Development Center Toshiba Infrastructure Systems & Solutions Corporation Tokyo Japan Insulation Engineering Center Rotaiting Machinery Systems Division Tmeic Corporation Kanagawa Japan

ISBN: (纸本)9788986510225

In recent years, large rotating machines have become larger in capacity and higher in voltage, and long-term reliability has become an extremely important issue. The windings of large rotating machines allow partial discharge, so they are designed to provide gradient mitigation of the electric field ground insulation. The design consists of a low resistance layer and a semiconductive layer, but the insulation degradation in this section, especially the low resistance layer, has become a problem. Since partial discharge is considered to occur as insulation degradation progresses, it is important to detect this partial discharge to diagnose the degradation of the low resistance layer. Therefore, there is a need for a technique to distinguish between partial discharges occurring in the low resistance layer and the main insulation layer. In this paper, we focus on the difference in waveform shapes of partial discharges generated in the low resistance layer and the main insulation layer, and apply wavelet transform after classifying the waveforms using a clustering method. By using this method, we have developed the method to distinguish between partial discharges occurring in the low resistance layer and the main insulation layer. © 2024 The Korean Institute of Electrical Engineers (KIEE).

关键词： Partial discharges

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Brain inspired iontronic fluidic memristive and memcapacitive device for self-powered electronics

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Microsystems & Nanoengineering 2025年第1期11卷 465-476页

作者： Muhammad Umair Khan Bilal Hassan Anas Alazzam Shimaa Eissa Baker Mohammad Center for Cyber-Physical Systems-System on Chip Lab Khalifa UniversityAbu Dhabi 127788UAE Department of Computer and Information Engineering Khalifa UniversityAbu Dhabi 127788UAE Department of Electrical Engineering Khalifa UniversityAbu Dhabi 127788UAE Division of Engineering New York UniversityAbu Dhabi 129188UAE Department of Mechanical and Nuclear Engineering Khalifa UniversityAbu Dhabi 127788UAE Department of Chemistry Khalifa UniversityAbu Dhabi 127788UAE

Ionic fluidic devices are gaining interest due to their role in enabling self-powered neuromorphic computing *** this study,we present an approach that integrates an iontronic fluidic memristive(IFM)device with low input impedance and a triboelectric nanogenerator(TENG)based on ferrofluid(FF),which has high input *** incorporating contact separation electromagnetic(EMG)signals with low input impedance into our FF TENG device,we enhance the FF TENG’s performance by increasing energy harvesting,thereby enabling the autonomous powering of IFM devices for self-powered ***,replicating neuronal activities using artificial iontronic fluidic systems is key to advancing neuromorphic *** fluidic devices,composed of soft-matter materials,dynamically adjust their conductance by altering the solution *** developed voltage-controlled memristor and memcapacitor memory in polydimethylsiloxane(PDMS)structures,utilising a fluidic interface of FF and polyacrylic acid partial sodium salt(PAA Na^(+)).The confined ion interactions in this system induce hysteresis in ion transport across various frequencies,resulting in significant ion memory *** IFM successfully replicates diverse electric pulse patterns,making it highly suitable for neuromorphic ***,our system demonstrates synapse-like learning functions,storing and retrieving short-term(STM)and long-term memory(LTM).The fluidic memristor exhibits dynamic synapse-like features,making it a promising candidate for the hardware implementation of neural *** TENG/EMG device adaptability and seamless integration with biological systems enable the development of advanced neuromorphic devices using iontronic fluidic materials,further enhanced by intricate chemical designs for self-powered electronics.

关键词： iontronic memristive ionic fluidic devices memcapacitive ff teng s ff teng fluidic triboelectric nanogenerator teng based

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