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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Ting Yuan Chi Zhang Feng Yi Pingping Lv Shupei Li Meitong Zhang Faculty of Electrical Engineering and Computer Science Ningbo University Ningbo Instituteof Materials Technology and Engineering Chinese Academy of Sciences Ningbo China Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo China Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences College of Materials Science and Opto-Electronic Technology University of Chinese Academy of Sciences Ningbo China School of Electrical Engineering Hebei University of Science and Technology Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China

In this paper, an adaptive position control method combining proportional-derivative (PD) control, RBF neural network-based sliding mode (SM) control, and feedforward (FF) control, i.e., PD-FF-SM control, is proposed to deal with the dynamic uncertainties, disturbances, and slow response in lower limb exoskeleton robot system. The Lagrange method is utilized to establish dynamic models that ignore the uncertainties and disturbances in the swing phase and supporting phase. Then, the PD feedback controller is designed with a sliding surface function, to keep the system stable. The FF controller is adopted to improve the response by using dynamic models. And the RBF neural network-based SM controller is designed to compensate for the uncertainties and disturbances. The system’s stability is verified by Lyapunov’s theorem. The simulation results show that the proposed control method can effectively reduce the error of position tracking and response time with inaccurate dynamic modeling.

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Development of a Soft robotics Diaphragm to Simulate Respiratory Motion

Development of a Soft Robotics Diaphragm to Simulate Respira...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Hamid Naghibi Jeroen van Dorp Momen Abayazid Robotics and Mechatronics group Faculty of Electrical Engineering Mathematics and Computer Science Technical Medical Centre University of Twente the Netherlands

ISBN: (数字)9781728159072

ISBN: (纸本)9781728159089

Liver cancer is the second leading cause of cancer deaths worldwide. Without treatment, the five-year survival rate is less than 5%. Liver tumors are often detected using MRI. MRI is preferable over other imaging modalities include absence of ionizing radiation, superior soft tissue contrast resolution, and multiplanar imaging capabilities. Needle interventions are then needed for further diagnosis (biopsy) and treatment (ablation). Respiratory motion is the main cause of inaxccurate needle placement leading to misdiagnosis and insufficient treatment. In order to train clinicians to compensate for the liver respiratory motion during intervention, and also test needle insertion robotics technologies, a realistic liver motion simulator is of great interest which can be used inside MRI scanner. In this study, an MR-compatible soft robotic platform is developed to simulate liver respiratory motion. Pneumatically actuated soft robotic actuators were developed and validated using finite element simulations. A feedforward controller was developed to control the input air pressures of the pneumatic actuators to simulate the respiratory motion. The evaluative experiments indicated that the developed soft robotics diaphragm could acceptably simulate liver respiratory motion in the two directions of motion: superior-inferior and anterior-posterior directions.

关键词： Actuators Liver Bending Muscles Soft robotics Shape Phantoms

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A majority vote, modelled by asynchronous readers and asynchronous writers 39

A majority vote, modelled by asynchronous readers and asynch...

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39th WoTUG Conference on Communicating Process Architectures, CPA 2017 and 40th WoTUG Conference on Communicating Process Architectures, CPA 2018

作者： Boode, Antoon H. Broenink, Jan F. Robotics and Mechatronics Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Enschede Netherlands InHolland University of Applied Science Delft Netherlands

ISBN: (纸本)9781614999485

Reading and writing is modelled in CSP using actions containing the symbols? and!. These reading actions and writing actions are synchronous, and there is aone-to-one relationship between occurrences of pairs of these actions. In the CPA conference 2017, we introduced the extended half-synchronous alphabetised parallel operator X Y, which disconnects the writing to and reading from a channel in time;the reading processes are divided into sets which are set-wise asynchronous, but intra-set-wise synchronous, giving full flexibility to the reads. In this paper, we allow multiple writers to write to the same channel set-wise asynchronously, but intra-set-wise synchronously and we study the impact on our (Extended) Vertex Removing Synchronised Product. The advantages we accomplish are that the extension of X Y gives more flexibility by indexing the writing actions and the reading actions, leading to a straightforward majority vote design. Furthermore, the extension of X Y preserves the advantages of the X Y operator. © 2019 The authors and IOS Press. All rights reserved.

关键词： (extended) vertex removing synchronised product Asynchronous and synchronous read actions Asynchronous and synchronous write actions CSP Half-synchronous alphabetised parallel operator

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Asynchronous readers and asynchronous writers 39

Asynchronous readers and asynchronous writers

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39th WoTUG Conference on Communicating Process Architectures, CPA 2017 and 40th WoTUG Conference on Communicating Process Architectures, CPA 2018

ISBN: (纸本)9781614999485

Reading and writing is modelled in CSP using actions containing the symbols? and!. These reading actions and writing actions are synchronous, and there is a one-to-one relationship between occurrences of pairs of these actions. In the CPA conference 2016, we introduced the half-synchronous alphabetised parallel operator X ↓ Y, which disconnects the writing to and reading from a channel in time. We introduce in this paper an extension of X ↓ Y, where the definition of X ↓ Y is relaxed;the reading processes are divided into sets which are set-wise asynchronous, but intra-set-wise synchronous, giving full flexibility to the asynchronous writes and reads. Furthermore, we allow multiple writers to the same channel and we study the impact on a Vertex Removing Synchronised Product. The advantages we accomplish are that the extension of X ↓ Y gives more flexibility by indexing the reading actions and allowing multiple write actions to the same channel. Furthermore, the extension of X ↓ Y reduces the end-to-end processing time of the processor or coprocessor in a distributed computing system. We show the effects of these advantages in a case study describing a Controlled Emergency Stop for a processor-coprocessor combination. © 2019 The authors and IOS Press. All rights reserved.

关键词： Coprocessor

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Semantic Local Planning for Mobile Robots through Path Optimization Services on the Edge: a Scenario-based Evaluation

Semantic Local Planning for Mobile Robots through Path Optim...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Tim Klaas Jens Lambrecht Eugen Funk Faculty of Electrical Engineering and Computer Science Technische Universität Berlin Berlin Germany Gestalt Robotics GmbH Berlin Germany

ISBN: (数字)9781728189567

ISBN: (纸本)9781728189574

Autonomous mobile transport systems are a key enabler for flexible production organization. In order to enhance the software life cycle management and the overall function range, service-based offloading of software function towards cloud and edge is a valid alternative to monolithic onboard software architectures. We introduce an approach towards an edge-computing-based improvement of the classic autonomous navigation stack in terms of considering semantic policies using visual object detection and localization. Thus, context-aware navigation in regards to safety and efficiency can be implemented, e.g. to fulfill directions of standards and guidelines for production, hospital or public domains. Our semantic path planning is implemented as an addition or as a replacement of common local planning services following a microservice approach. The semantic optimization of the initial trajectory is successfully shown in regards to the following policies: keeping to the right side of the surrounding environment, avoiding to drive near to closed doors and passing humans on the right side. In addition, we reveal implementation of further policies by adapting the optimization policies and show within a scenario-based evaluation that the usage of edge computing in comparison to onboard computing yields performance gains.

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Self-supervised Depth Estimation to Regularise Semantic Segmentation in Knee Arthroscopy

arXiv

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arXiv 2020年

作者： Liu, Fengbei Jonmohamadi, Yaqub Maicas, Gabriel Pandey, Ajay K. Carneiro, Gustavo Australian Institute for Machine Learning School of Computer Science University of Adelaide School of Electrical Engineering and Robotics Science and Engineering Faculty Queensland University of Technology

Intra-operative automatic semantic segmentation of knee joint structures can assist surgeons during knee arthroscopy in terms of situational awareness. However, due to poor imaging conditions (e.g., low texture, overexposure, etc.), automatic semantic segmentation is a challenging scenario, which justifies the scarce literature on this topic. In this paper, we propose a novel self-supervised monocular depth estimation to regularise the training of the semantic segmentation in knee arthroscopy. To further regularise the depth estimation, we propose the use of clean training images captured by the stereo arthroscope of routine objects (presenting none of the poor imaging conditions and with rich texture information) to pre-train the model. We fine-tune such model to produce both the semantic segmentation and self-supervised monocular depth using stereo arthroscopic images taken from inside the knee. Using a data set containing 3868 arthroscopic images captured during cadaveric knee arthroscopy with semantic segmentation annotations, 2000 stereo image pairs of cadaveric knee arthroscopy, and 2150 stereo image pairs of routine objects, we show that our semantic segmentation regularised by self-supervised depth estimation produces a more accurate segmentation than a state-of-the-art semantic segmentation approach modeled exclusively with semantic segmentation annotation. Copyright © 2020, The Authors. All rights reserved.

关键词： Endoscopy

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Automated Controller Placement for Software-Defined Networks to Resist DDoS Attacks

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computers, Materials & Continua 2021年第9期68卷 3147-3165页

作者： Muhammad Reazul Haque Saw Chin Tan Zulfadzli Yusoff Kashif Nisar Lee Ching Kwang Rizaludin Kaspin Bhawani Shankar Chowdhry Rajkumar Buyya Satya Prasad Majumder Manoj Gupta Shuaib Memon Faculty of Computing&Informatics Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Engineering Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Computing and Informatics University Malaysia SabahJalan UMSKota Kinabalu Sabah88400Malaysia Telekom Malaysia Research&Development TM Innovation CentreCyberjaya63000SelangorMalaysia National Center of Robotics and Automation Mehran University of Engineering&TechnologyJamshoroPakistan Department of Computer Science and Engineering Hanyang UniversitySeoul04763South Korea School of Electrical and Electronic Engineering Nanyang Technological University639798Singapore Cloud Computing and Distributed Systems Laboratory The University of MelbourneMelbourneVIC 3053Australia Department of Electrical and Electronic Engineering Bangladesh University of Engineering and Technology(BUET)Dhaka1205Bangladesh Department of Electronics and Communication Engineering JECRC UniversityVidhaniJaipur303905India Auckland Institute of Studies Mt AlbertAucklandNew Zealand

In software-defined networks(SDNs),controller placement is a critical factor in the design and planning for the future Internet of Things(IoT),telecommunication,and satellite communication *** research has concentrated largely on factors such as reliability,latency,controller capacity,propagation delay,and energy ***,SDNs are vulnerable to distributed denial of service(DDoS)attacks that interfere with legitimate use of the *** ever-increasing frequency of DDoS attacks has made it necessary to consider them in network design,especially in critical applications such as military,health care,and financial services networks requiring high *** propose a mathematical model for planning the deployment of SDN smart backup controllers(SBCs)to preserve service in the presence of DDoS *** a number of input parameters,our model has two distinct ***,it determines the optimal number of primary controllers to place at specific locations or nodes under normal operating ***,it recommends an optimal number of smart backup controllers for use with different levels of DDoS *** goal of the model is to improve resistance to DDoS attacks while optimizing the overall cost based on the *** simulated results demonstrate that the model is useful in planning for SDN reliability in the presence of DDoS attacks while managing the overall cost.

关键词： SDN automated controller placement SBC ILP DDoS attack

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A discrete-time reputation-based resilient consensus algorithm for synchronous or asynchronous communications

arXiv

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arXiv 2021年

作者： Ramos, Guilherme Silvestre, Daniel Silvestre, Carlos The Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Portugal NOVA University of Lisbon The Institute for Systems and Robotics Instituto Superior Técnico University of Lisbon Lisbon1049-001 Portugal The Dep. of Electrical and Computer Engineering The Faculty of Science and Technology The University of Macau China Instituto Superior Técnico Technical University of Lisbon Lisbon Portugal

We tackle the problem of a set of agents achieving resilient consensus in the presence of attacked agents. We present a discrete-time reputation-based consensus algorithm for synchronous and asynchronous networks by developing a local strategy where, at each time, each agent assigns a reputation (between zero and one) to each neighbor. The reputation is then used to weigh the neighbors' values in the update of its state. Under mild assumptions, we show that: (i) the proposed method converges exponentially to the consensus of the regular agents;(ii) if a regular agent identifies a neighbor as an attacked node, then it is indeed an attacked node;(iii) if the consensus value of the normal nodes differs from that of any of the attacked nodes' values, then the reputation that a regular agent assigns to the attacked neighbors goes to zero. Further, we extend our method to achieve resilience in the scenarios where there are noisy nodes, dynamic networks and stochastic node selection. Finally, we illustrate our algorithm with several examples, and we delineate some attacking scenarios that can be dealt by the current proposal but not by the state-of-the-art approaches. Copyright © 2021, The Authors. All rights reserved.

关键词： Stochastic systems

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Semiparametric modeling of the spatiotemporal trends in natural gas consumption: Methodology, results, and consequences

Semiparametric modeling of the spatiotemporal trends in natu...

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作者： Brabec, Marek Konár, Ondřej Kasanický, Ivan Malý, Marek Pelikán, Emil Institute of Computer Science The Czech Academy of Sciences Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic Faculty of Mathematics and Physics Department of Probability and Mathematical Statistics Charles University in Prague Prague Czech Republic

Household consumption of natural gas is usually considered to be quite stable as cooking, space, and water heating belong to basic needs. The improvement of technologies together with possibilities of switching to alternative sources can, however, lead to a decreasing consumption trend. Knowing more about such trend, especially of its spatial distribution, can be useful for strategic planning. In this paper, we describe a general statistical methodology allowing to study the spatiotemporal behavior of consumption. It is based on semiparametric modeling. Formalized error and sensitivity analyses are part of the methodology. Presented methods are illustrated on large-scale data from the Czech Republic. © 2019 John Wiley & Sons, Ltd.

关键词： Natural gas

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Calibrated and partially calibrated semi-generalized homographies

arXiv

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arXiv 2021年

作者： Bhayani, Snehal Sattler, Torsten Barath, Daniel Beliansky, Patrik Heikkilä, Janne Kukelova, Zuzana Center for Machine Vision and Signal Analysis University of Oulu Finland Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Computer Vision and Geometry Group Department of Computer Science ETH Zürich Faculty of Mathematics and Physics Charles University Prague Czech Republic Visual Recognition Group Faculty of Electrical Engineering Czech Technical University in Prague

In this paper, we propose the first minimal solutions for estimating the semi-generalized homography given a perspective and a generalized camera. The proposed solvers use five 2D-2D image point correspondences induced by a scene plane. One group of solvers assumes the perspective camera to be fully calibrated, while the other estimates the unknown focal length together with the absolute pose parameters. This setup is particularly important in structurefrom-motion and visual localization pipelines, where a new camera is localized in each step with respect to a set of known cameras and 2D-3D correspondences might not be available. Thanks to a clever parametrization and the elimination ideal method, our solvers only need to solve a univariate polynomial of degree five or three, respectively a system of polynomial equations in two variables. All proposed solvers are stable and efficient as demonstrated by a number of synthetic and real-world experiments. Copyright © 2021, The Authors. All rights reserved.

关键词： Cameras

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