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23rd International Conference on Circuits, Systems, Communications and Computers, CSCC 2019

作者： Strmiska, Martin Koudelkova, Zuzana Tomas Bata University in Zlin Faculty of Applied Informatics Department of Automation and Control Engineering Nad Stranemi 4511 Zlin760 05 Czech Republic Tomas Bata University in Zlin Faculty of Applied Informatics Department of Informatics and Artificial Intelligence Nad Stranemi 4511 Zlin760 05 Czech Republic

Brain computer interface (BCI) is a device that allows us to scan brainwaves. Achieved signals can be processed using a computer and the analyzed brain activity can be than monitored. In this paper, the use of the non-invasive brain scanning method applied on person at solving a system of equations is described. This solving the system of equations was obtained by two mathematical methods. The measurement was performed for solving equations by Gaussian elimination and by substitution methods separately. The results of the measurements were visualized by graphing the brain activity. The aim of the work is to determine the more practical method of those two. © 2019 The Authors, published by EDP Sciences.

关键词： Brain computer interface

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Multi-person remote heart-rate measurement from human faces - a CNN based approach

Multi-person remote heart-rate measurement from human faces ...

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IEEE International Conference on Consumer Electronics - Berlin (ICCE-Berlin)

作者： Thomas Pursche Marcel Walz Roland Clauß Robert Roth Bernd Tibken Reinhard Möller School of Electrical Information and Media Engineering Automatic Control University of Wuppertal Wuppertal Germany Faculty of Electrical Information and Media Engineering Automatic Control University of Wuppertal Wuppertal Germany Faculty of Electrical Information and Media Engineering Automation/Computer Science University of Wuppertal Wuppertal Germany

The conventional heart rate measurement techniques using electrocardiogram, wrist belts and so on, are attached with some disadvantages like discomfort, irritation of the skin and even more. From this starting point various video based heart rate measurement techniques were developed in the last years. All of these techniques use video data of the human faces to extract information to estimate the heart rate of the person in front of the camera. Most of them work with the detection of minimal changes in the color spectrum of the recorded video data. With these extracted information and multiple concluding steps, they are able to estimate the heart rate of the person sitting in front of the camera. All of these approaches have some big disadvantages, they are only able to measure the heart rate of one person - and in a small number of cases up to three persons. So the main objective of this work is to adapt and enhance existing research approaches of processing visual biological signals. The focus is set on the design and deployment of a new system, which is able to process visual data as well as detect and localize human faces by using artificial neural networks and calculate each individuals heart rate from the processed data's information. For the first time in this research area, different scenarios with more than three observed participants are being analyzed to calculate the heart rate for each of them separately. It will be shown that by using the applied technical architecture and technologies, it is possible to deploy a comparable and qualitatively competitive system. In addition, the implemented system proves the feasibility of processing various faces' signals and calculating the respective heart rates simultaneously within an acceptable range of tolerance.

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Reliability Analysis of Assembly Processes Performed by Human-Robot Interaction

Reliability Analysis of Assembly Processes Performed by Huma...

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International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT)

作者： Mustafa Çoban Özgür Turay Kaymakçı Gökhan Gelen Department of Mechatronics Engineering Bursa Technical University Bursa Turkey Faculty of Electric Electronic Control and Automation Engineering Yıldız Technical University İstanbul Turkey

Together with innovations in robot technologies and the emergence of the fourth industrial revolution called Industry 4.0, collaborative robot applications have improved. Collaborative robots are the robots that provide the safe handling of many processes such as assembly, pick and place, palletizing in factories. The reliability analysis of the system has great importance in order to determine the failure conditions and failure possibilities that will occur in the systems enabling these operations. In this study, reliability analysis of assembly processes performed by human-robot interaction is presented. The reliability block diagram of the system is created and the reliability value of the system over time is determined. Then, Markov model indicating the fault conditions in the system is created and the probability of occurrence of these fault conditions is determined. The results show that if the system operates continuously for five years, the reliability will drop below 10% and the reasons that decrease the reliability are discussed in the last section.

关键词： Reliability Service robots Safety Robotic assembly Sensors Relays

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Extensions of the open-source framework Aerostack 3.0 for the development of more interactive flights between UAVs

Extensions of the open-source framework Aerostack 3.0 for th...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Wojciech Giernacki Jacek Cieślak Martin Molina Pascual Campoy Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznań Poland Department of Artificial Intelligence Technical University of Madrid (UPM) Madrid Spain Computer Vision and Aerial Robotics (CVAR) Centre for Automation and Robotics Technical University of Madrid (UPM) Madrid Spain

ISBN: (数字)9781728142784

ISBN: (纸本)9781728142791

The basis for properly verified R&D works is to provide reliable prototyping tools at three most important stages: computer simulation, laboratory tests and real-world experiments. In the laboratory-limited conditions, particular importance is attributed to the first two stages, especially in the context of the safety development of autonomous flights of unmanned aerial vehicle (UAV) groups in various missions. The open-source framework Aerostack support those needs and its effectiveness has been proven in the International Micro Air Vehicle Indoor Competitions (IMAV 2013, 2016, 2017) and Mohammed Bin Zayed International Robotics Challenge (MBZIRC 2020). In the paper, the exemplary functionalities for the new version of Aerostack Version 3.0 Distribution Sirocco (Aerial robotics framework for the industry), extended additionally with a library of new behaviors, are presented. The mission of UAVs can be developed fast and effectively in order to conduct test flights with real drones in lab, before one will decide to fly autonomously outdoor. The representative results obtained for low-cost *** 2.0 UAV models in two missions, are presented. The first mission is autonomous patrolling the area by a pair of UAVs, the second - intercepting the intruder in guarded area by the guard UAV.

关键词： Robots Trajectory Drones Libraries Software Computer architecture

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Progressive Inertial Poser: Progressive Real-Time Kinematic Chain Estimation for 3D Full-Body Pose from Three IMU Sensors

arXiv

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arXiv 2025年

作者： Zhu, Zunjie Zhao, Yan Hu, Yihan Wang, Guoxiang Qiu, Hai Zheng, Bolun Yan, Chenggang Xu, Feng School of Communication Engineering Hangzhou Dianzi University Hangzhou323000 China Key Laboratory of Micro-nano Sensing and IoT of Wenzhou Wenzhou Institute of Hangzhou Dianzi University Wenzhou325038 China School of Control Science and Engineering Tiangong University Tianjin300387 China College of Business Lishui University Lishui310018 China Costar Intelligent Optoelectronics Technology Co. Ltd China School of Automation Hangzhou Dianzi University Hangzhou323000 China Faculty of Applied Sciences Macao Polytechnic University 999078 China School of software and BNRist Tsinghua University Beijing100084 China

The motion capture system that supports full-body virtual representation is of key significance for virtual reality. Compared to vision-based systems, full-body pose estimation from sparse tracking signals is not limited by environmental conditions or recording range. However, previous works either face the challenge of wearing additional sensors on the pelvis and lower-body or rely on external visual sensors to obtain global positions of key joints. To improve the practicality of the technology for virtual reality applications, we estimate full-body poses using only inertial data obtained from three Inertial Measurement Unit (IMU) sensors worn on the head and wrists, thereby reducing the complexity of the hardware system. In this work, we propose a method called Progressive Inertial Poser (ProgIP) for human pose estimation, which combines neural network estimation with a human dynamics model, considers the hierarchical structure of the kinematic chain, and employs a multi-stage progressive network estimation with increased depth to reconstruct full-body motion in real time. The encoder combines Transformer Encoder and bidirectional LSTM (TE-biLSTM) to flexibly capture the temporal dependencies of the inertial sequence, while the decoder based on multi-layer perceptrons (MLPs) transforms high-dimensional features and accurately projects them onto Skinned Multi-Person Linear (SMPL) model parameters. Quantitative and qualitative experimental results on multiple public datasets show that our method outperforms state-of-the-art methods with the same inputs, and is comparable to recent works using six IMU sensors. Copyright © 2025, The Authors. All rights reserved.

关键词： Virtual reality

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Optimal Pump Scheduling to Pressure Management for Large-Scale Water Distribution Systems 4th

Optimal Pump Scheduling to Pressure Management for Large-Sca...

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4th International Conference on Advanced engineering Theory and Applications, AETA 2017

作者： Dai, Pham Duc Cuong, Le Quang Van Dai, Bui Department of Automation and Control Engineering Faculty of Energy Engineering 175 Tayson DongDa Hanoi Viet Nam Department of Electrical Engineer Faculty of Energy Engineering 175 Tayson DongDa Hanoi Viet Nam

ISBN: (纸本)9783319698137

Water loss is a global problem. Water loss in leakages in water distribution systems (WDSs) can be significantly reduced as pressures at outlets of pumping stations are optimized. Due to the introduction of binary variables for describing on/off operations of pumps, the optimal pressure management is formulated as a large-scale mixed integer nonlinear programming (MINLP) problem which is extremely difficult to be solved by MINLP algorithms. Many studies have employed meta-heuristic algorithms to solve such the MINLP problem, but only applied for small-scale networks and it took an expensive computation time. This paper develops an efficient formulation of MINLP for optimal pressure managing problem. It is due to the fact that the large-scale MINLP can be decomposed into small-scaled MINLPs, hence it can be solved efficiently by MINLP solvers based gradient methods in an reasonable computation time. To demonstrate the efficiency of our solution approach, the real-world water distribution systems in Thainguyen city in Vietnam will be considered for optimization of pressure management. The resulted pumping schedules lead to higher reduction of excessive pressures and water leakage amounts in comparison with those by the current pumping schedule. © Springer International Publishing AG 2018.

关键词： Water distribution systems

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An arbitrary-order predefined-time exact differentiator for signals with exponential growth bound

arXiv

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arXiv 2021年

作者： Gómez-Gutiérrez, David Aldana-López, Rodrigo Seeber, Richard Angulo, Marco Tulio Fridman, Leonid Intel Tecnología de México Intel Labs Intelligent Systems Research Lab Jalisco Mexico Tecnológico Nacional de México Instituto Tecnológico José Mario Molina Pasquel y Henríquez Unidad Académica Zapopan Jalisco Mexico Zaragoza Spain Graz University of Technology Institute of Automation and Control Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz Austria CONACyT - Institute of Mathematics Universidad Nacional Autonoma de México Juriquilla Mexico Universidad Nacional Autonoma de México Engineering Faculty Ciudad Universitaria Mexico

There is a growing interest in differentiation algorithms that converge in fixed time with a predefined Upper Bound on the Settling Time (UBST). However, existing differentiation algorithms are limited to signals having an n-th order Lipschitz derivative. Here, we introduce a general methodology based on time-varying gains to circumvent this limitation, allowing us to design n-th order differentiators with a predefined UBST for the broader class of signals whose (n+1)-th derivative is bounded by a function with bounded logarithmic derivative. Unlike existing methods whose time-varying gain tends to infinity, our approach yields a time-varying gain that remains bounded at convergence time. We show how this last property maintains exact convergence using bounded gains when considering a compact set of initial conditions and improves the algorithm’s performance to measurement noise. © 2021, CC BY-NC-ND.

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Progressive Inertial Poser: Progressive Real-Time Kinematic Chain Estimation for 3D Full-Body Pose from Three IMU Sensors

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Zhu, Zunjie Zhao, Yan Hu, Yihan Wang, Guoxiang Qiu, Hai Zheng, Bolun Yan, Chenggang Xu, Feng Hangzhou Dianzi University School of Communication Engineering Hangzhou 323000 China Wenzhou Institute of Hangzhou Dianzi University Key Laboratory of Micro-nano Sensing and IoT of Wenzhou Wenzhou 325038 China Tiangong University School of Control Science and Engineering Tianjin 300387 China Lishui University College of Business Lishui 310018 China Costar Intelligent Optoelectronics Technology Co. Ltd China Hangzhou Dianzi University School of Automation Hangzhou 323000 China Macao Polytechnic University Faculty of Applied Sciences 999078 Macao Tsinghua University School of software and BNRist Beijing 100084 China

关键词： full-body virtual representation IMU sensors kinematic chain motion capture neural network progressive estimation virtual reality

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PID2018 Benchmark Challenge: Model-based Feedforward Compensator with A Conditional Integrator

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IFAC-PapersOnLine 2018年第4期51卷 888-893页

作者： Yuan, Jie Ates, Abdullah Dehghan, Sina Zhao, Yang Fei, Shumin Chen, YangQuan School of Automation Southeast University Nanjing210096 China Engineering Faculty Computer Engineering Department Inonu University Malatya44280 Turkey Mechatronics Embedded Systems and Automation Lab University of California MercedCA95340 United States School of Science and Engineering Shandong University Jinan250061 China Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University Nanjing210096 China

Since proportional-integral-derivative (PID) controllers absolutely dominate the control engineering, numbers of different control structures and theories have been developed to enhance the efficiency of PID controllers. Thus, it is essential and inspiring to operate different PID control strategies to the PID2018 Benchmark Challenge. In this paper, a novel control strategy is designed for this refrigeration system, where a feedforward compensator and a conditional integrator are utilized to compensate the disturbances and remove the steady-state error in the benchmark problem, respectively. The simulation results given in the benchmark problem show the straightforward effectiveness of the proposed control structure compared with the existing control methods. © 2018

关键词： controllers Benchmarking Disturbance rejection Electric control equipment Proportional control systems Refrigeration Three term control systems Two term control systems Conditional integrators Feed forward compensation Model based method PID controllers Refrigeration system

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Silicone Oil Damping for Quasi-static Micro Scanners with Electrostatic Staggered Vertical Comb Drives

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IFAC-PapersOnLine 2019年第15期52卷 37-42页

作者： Richard Schroedter Jan Grahmann Klaus Janschek Fraunhofer Institute for Photonic Microsystems Active Microscanner Systems Maria-Reiche-Str.2 01109 Dresden Germany Automation and Control Institute (ACIN) Faculty of Electrical Engineering and Information Technology TU Wien Gußhausstraße 27-29 1040 Wien Austria Institute of Automation Faculty of Electrical and Computer Engineering Technische Universität Dresden 01062 Dresden Germany

Many applications like image projection, distance sensors or spectroscopy require high speed quasi-static operating scanners with the size of several millimeters for the laser beam guidance. Quasi-static micro scanners with electrostatic staggered vertical comb drives of sizes up to 5 mm achieve remarkable mechanical deflections of ±8 degree and eigenfrequencies of several hundred Hertz. Closed-loop control of the scanner position highly reduces parasitic eigenfrequency oscillation when driving an arbitrary trajectory like triangle or saw tooth, but requires position feedback and high performant drive electronics for real-time control. In this contribution we investigate silicone oil to attenuate undesired oscillations by passive mechanic damping. We present experimental results with different viscosity and determine the resulting system parameters such as damping coefficient, eigenfrequency and permittivity, supported by transient simulations. While the permittivity, refractive index and damping increase significantly, the deceasing eigenfrequency results in slower admissible trajectories. The overall performance is assessed and compared to the active damping approach using closed-loop control of the micro scanner operating in air. Finally, a potential packaging technology is presented.

关键词： laser beam guidance quasi-static micro scanner electrostatic staggered vertical comb drive silicone oil viscous passive damping permittivity close-loop trajectory control

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