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Portable and Lightweight Signal Processing Approach for sEMG-Based Human–Machine Interaction in Robotic Hands

International Journal of Advanced Computer Science and Applications 2025年第4期16卷 768-776页

作者： Nguyen, Ngoc-Khoat Faculty of Control and Automation Electric Power University Hanoi Viet Nam

Surface electromyography (sEMG) presents a viable biosignal for the control of robotic prosthetic hands, as it directly correlates with underlying muscle activity. This study introduces an efficient, computationally lightweight signal processing methodology designed for real-time embedded systems. The proposed methodology comprises a preprocessing pipeline, incorporating bandpass and notch filtering, followed by segmentation via overlapping sliding windows. Time-domain features, specifically Mean Absolute Value (MAV), Zero Crossing (ZC), Waveform Length (WL), Slope Sign Change (SSC), and Variance (VAR), are extracted to characterize relevant muscular activation patterns. By prioritizing computational efficiency and embedded system feasibility, this method establishes a practical framework for user intent recognition and real-time control of wearable robotic hands, particularly within assistive and rehabilitative applications. The experimental findings clearly indicate that the extracted features effectively differentiate between various hand gestures, allowing for accurate, real-time control of the wearable robotic hand. The system's high responsiveness, low latency, and resilience to noise underscore its suitability for assistive and rehabilitative applications. With its focus on computational simplicity and feasibility for embedded implementation, the proposed method provides a practical basis for recognizing user intent in human-machine interaction systems. © (2025), (Science and Information Organization). All Rights Reserved.

关键词： Robotic arms

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Model Identification and control of Electromagnetic Actuation in Continuous Casting Process With Improved Quality

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IEEE/CAA Journal of Automatica Sinica 2023年第1期10卷 203-215页

作者： Isabela Birs Cristina Muresan Dana Copot Clara Ionescu Research Group of Dynamical Systems and Control Faculty of Engineering and ArchitectureGhent University and with EEDT Decision&ControlFlanders Make ConsortiumTech Lane Science Park 125 and 131B-9052 GhentBelgium.I.Birs the Automation Department Faculty of Automation and Applied InformaticsTechnical University of Cluj-NapocaRomania IEEE

This paper presents an original theoretical framework to model steel material properties in continuous casting line process. Specific properties arising from non-Newtonian dynamics are herein used to indicate the natural convergence of distributed parameter systems to fractional order transfer function models. Data driven identification from a real continuous casting line is used to identify model of the electromagnetic actuator device to control flow velocity of liquid steel. To ensure product specifications, a fractional order control is designed and validated on the system. A projection of the closed loop performance onto the quality assessment at end production line is also given in this paper.

关键词： Electromagnetic actuator fractional order control fractional order system model non-Newtonian material

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Design Software in Tasks of Algorithmization of Manipulation Robots in Assembly of Parts with a Shaft-Bushing Connection Method

Design Software in Tasks of Algorithmization of Manipulation...

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2024 International Russian Smart Industry Conference, SmartIndustryCon 2024

作者： Arkhipov, Maksim V. Malkarov, Artem Yu. Matrosova, Vladlena V. Moscow Polytechnic University Faculty of Mechanical Engineering Department of Automation and Control Moscow Russia

ISBN: (纸本)9798350395044

This article presents developments by its authors: the IndustrialKit library package and the RCWorkspace application based on it. The library allows developers of third-party applications to use the functionality of programming and modeling robotic technological complexes in their products. The object-oriented concept of the package provides opportunities for offline training of manipulation robots in a developed simulation environment, subsequent transfer and launch of programs on real robots, organization of feedback control and obtaining statistical data from industrial equipment - common models of robots and various equipment devices, which is achieved through a unified structure of program modules. The connection of external visual models of production system components - robots, tools and parts - is demonstrated. An example of performing the task of assembling parts with spline joints is also given. © 2024 IEEE.

关键词： Computer software

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A Simplified-Model Predictive controller Design for a Four-Wheel Omnidirectional Robot 1

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25th International Symposium on Measurement and control in Robotics, ISMCR 2023

作者： Mocanu, Razvan Achirei, Stefan Dosoftei, Catalin Popovici, Tudor Faculty of Automation Control and Computer Engineering "Gheorghe Asachi" Technical University of Iasi Iasi700050 Romania

ISBN: (数字)9783031510854

ISBN: (纸本)9783031510847

This study introduces a model-based predictive controller to drive an omnidirectional robot to a specific location within a logistic environment. An object map is obtained from a LIDAR sensor. The proposed control structure enhances the safety, optimality, and efficiency of the trajectory of the omnidirectional mobile robot. The study employs simulation techniques of the kinematics and dynamics of the robot to assess the efficacy of a predictive control approach. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Mobile robots

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Parallel Seeds:From Foundation Models to Foundation Intelligence for Agricultural Sustainability

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IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 481-484页

作者： Laiyi Fu Shunkang Ling Danyang Wu Mengzhen Kang Fei-Yue Wang Hequan Sun the Shool of Automation Science and Engineering Faculty of Electronic and Information Engineering Xi'an Jiaotong University the College of Information Engineering Northwest A&F University IEEE the State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences

THE development of agriculture faces significant challenges due to population growth, climate change, land depletion, and environmental pollution, threatening global food security [1]. This necessitates the development of sustainable agriculture, where a fundamental step is crop breeding to improve agronomic or economic traits, e.g., increasing yields of crops while decreasing resource usage and minimizing pollution to the environment [2].

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Segment-Based Trajectory Prediction and Risk Assessment for RSU-assisted CAVs at Signalized Intersections

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-19页

作者： Cao, Yue Shangguan, Wei Visser, Arnoud Chen, Junjie Chai, Linguo Cai, Baigen School of Automation and Intelligence Beijing Jiaotong University Beijing China School of Automation and Intelligence and State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing China Intelligent Robotics and Computer Vision Lab of the Informatics Institute Faculty of Science University of Amsterdam The Netherlands

Detecting surrounding situations and reacting accordingly to avoid collisions remains a challenging task for autonomous driving. This task requires predicting the trajectories of surrounding agents and assessing the potential risk of future situations, which can be difficult to achieve solely through onboard vehicle devices. Therefore, this paper proposes a cooperative architecture for trajectory prediction and risk assessment conducted on roadside devices (RSUs) to assist Connected and Autonomous Vehicles (CAVs). Firstly, we develop a segmentbased prediction model (SegNet) tailored to hub signalized intersections. Intersections are divided into multiple segments, and the Curvilinear coordinates are utilized to indicate the geometric road features. The model leverages individual interaction cues in the ego segment and group features in the merging segments, while also incorporating traffic signal information to generate multimodal prediction results. In terms of risk assessment, we utilize the prediction results to provide hierarchical assistance, such as risk values, risk maps, and reference trajectories. Offline experimental results demonstrate that our SegNet model achieves competitive and well-balanced performance compared to stateof-the-art methods on the CitySim Database, with more accurate and smooth prediction trajectories. Through real-time CARLA and SUMO co-simulation, the performance of assisted CAVs indicates that they can safely and effectively navigate with the support of the proposed architecture. IEEE

关键词： Real time systems

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Single-channel ultrahigh frequency moisture meter with direct measurement of moisture content of bulk materials

Single-channel ultrahigh frequency moisture meter with direc...

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2024 International Conference Automatics and Informatics, ICAI 2024

作者： Kalandarov, Palvan I. Ubaydullayeva, Shakhnoza R. Ismailov, Mirhalil A. Nikolov, Nikola N. Alexandrova, Mariela Tashkent Inst. of Irrigation and Agricultural Mechanization Engineers National Research University Department "Automation and Control of Technology Process in Production" Tashkent Uzbekistan Faculty of Computer Science and Automation Technical University of Varna Department of Automation Varna Bulgaria

ISBN: (纸本)9798350353907

The article discusses the theoretical foundations of the design of a single-channel ultrahigh frequency moisture meter with direct measurement of the moisture content of bulk materials. In accordance with the requirements of the methodology for selecting efficiency criteria, it is necessary to develop structural diagrams of measuring devices. For these purposes, the standard deviation of the random error is determined, characterizing the accuracy. It includes the main components: sensitivity error, zero error and additive component. Mathematical models of structures are constructed and the standard deviation of random errors, which are caused by certain parameters and additive fluctuations, is calculated. A single-parameter ultrahigh-frequency method for determining the moisture content is proposed. This method provides high accuracy of a single-channel ultrahigh frequency moisture meter with direct measurement of the moisture content of bulk materials. The measuring device can be used in the agricultural industry, where humidity is one of the important parameters, starting with harvesting and ending with the release of finished products. © 2024 IEEE.

关键词： Moisture meters

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Polyphonic sound event localization and detection based on Multiple Attention Fusion ResNet

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Mathematical Biosciences and Engineering 2024年第2期21卷 2004-2023页

作者： Zhang, Shouming Zhang, Yaling Liao, Yixiao Pang, Kunkun Wan, Zhiyong Zhou, Songbin Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming650500 China Institute of Intelligent Manufacturing Guangdong Academy of Science Guangdong Key Laboratory of Modern Control Technology Guangzhou510030 China

Sound event localization and detection have been applied in various fields. Due to the polyphony and noise interference, it becomes challenging to accurately predict the sound event and their occurrence locations. Aiming at this problem, we propose a Multiple Attention Fusion ResNet, which uses ResNet34 as the base network. Given the situation that the sound duration is not fixed, and there are multiple polyphonic and noise, we introduce the Gated Channel Transform to enhance the residual basic block. This enables the model to capture contextual information, evaluate channel weights, and reduce the interference caused by polyphony and noise. Furthermore, Split Attention is introduced to the model for capturing cross-channel information, which enhances the ability to distinguish the polyphony. Finally, Coordinate Attention is introduced to the model so that the model can focus on both the channel information and spatial location information of sound events. Experiments were conducted on two different datasets, TAU-NIGENS Spatial Sound Events 2020, and TAU-NIGENS Spatial Sound Events 2021. The results demonstrate that the proposed model significantly outperforms state-of-the-art methods under multiple polyphonic and noise-directional interference environments and it achieves competitive performance under a single polyphonic environment. ©2024 the Author(s), licensee AIMS Press. This is an open access article distributed under the terms of the Creative Commons Attribution License.

关键词： Deep learning

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Direct force control of the electromagnetic force of linear induction motor with end effects 33

Direct force control of the electromagnetic force of linear ...

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33rd International Scientific Conference Electronics, ET 2024

作者： Markov, Bojidar Technical Faculty University of Food Technologies Department of Automation information and control techniques 26 Maritca Blvd. Plovdiv4002 Bulgaria

ISBN: (纸本)9798350376449

This article investigates the possibility controlling of a linear induction motor with end effects. Linear induction motor is a special type of electrical machine with an open electromagnetic system and therefore has additional electromagnetic losses named end-effects. In literature has many methods for controlling an induction machine. This article proposes to explore the method known as Direct force control applied as a method for control of a linear induction motor. This method is suitable because gives a quick response to reference values. © 2024 IEEE.

关键词： Induction motors

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Trajectory-Tracking and Centralized control for Mapping Tasks Using Multiple Drones 11

Trajectory-Tracking and Centralized Control for Mapping Task...

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11th International Conference on Electrical Engineering, Computer Science and Informatics, EECSI 2024

作者： Argiliana, Shania Ekawati, Estiyanti Mukhlish, Faqihza Institut Teknologi Bandung Instrumentation and Control Master Program Faculty of Industrial Technology Indonesia Center for Instrumentation Technology and Automation Institut Teknologi Bandung Faculty of Industrial Technology Indonesia

ISBN: (纸本)9798350355314

This study focuses on improving multiple drones' trajectory tracking accuracy and completion time in mapping assignments. A centralized control system is applied to drones to achieve such performance. The system tracking accuracy is supported by dense square fiducial markers (SFM) as positioning media. The drone's position is assumed to be at the camera's center, leading to more precise calculations. Detecting multiple markers also ensures that the drones do not lose positional information over long distances, resulting in more accurate position estimation. The test is conducted indoors with two drones, with trajectory tracking tests performed along the x-axis and y-axis within a 5 × 4 m2 area. The test shows that the root means squared tracking error (RMSTE) when the drones moved along the positive x-axis was 5.2 cm, less than 20% of the drone's diameter. During the mapping assignment, the drones traced an S-shaped route and obtained RMSTE values of 12.3 cm for drone A and 22.5 cm for drone B, with a travel time of 51 seconds from takeoff to landing. Therefore, detecting multiple markers improves trajectory tracking capabilities, enabling drones to perform mapping tasks efficiently, even in confined areas. © 2024 IEEE.

关键词： Drones

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