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International Electronics Symposium (IES)

作者： Barlian Henryranu Prasetio Computer Engineering and Robotics Lab Faculty of Computer Science University of Brawijaya Malang Indonesia

One technique that is commonly used for mobile robots is an inverted pendulum based model. This research has been implementing a mobile robot technique in an unstable environment. The goal is to design and implementing a discrete digital control system that will provide robot stability. The PID controller algorithm and Ensemble Kalman filter (EnKF) implementation would be an ideal test model of this robot. Both of these algorithms are able to improve the performance of control systems. This robot already tested the performance of the PID control system and the EnKF algorithm. The performance of the PID controller algorithm and EnKF is tested by software. The Control system performance is directly dependent on the EnKF algorithm and input parameters of PID controller. Research uses EnKF algorithm and PID controller as a balancing robot. The covariance filter tuned by manually. Experiments carried out by the method of trial and error by varying the process noise covariance matrix. The system overshoot can be reduced by processing noise covariance matrix. The experiment results showed system optimal on Q_accelerometer: 0001, Q_gyroscope: 0.05 R_measurement: 12:03, P = 1790,005, I = 0.129 and D = 96 881.

关键词： Robot sensing systems Covariance matrices Kalman filters Filtering algorithms Software algorithms Mobile robots

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Distributed state estimation for linear multi-agent systems with time-varying measurement topology

Distributed state estimation for linear multi-agent systems ...

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作者： Viegas, Daniel Batista, Pedro Oliveira, Paulo Silvestre, Carlos Philip Chen, C.L. Institute for Systems and Robotics Instituto Superior Técnico Av. Rovisco Pais Lisboa1049-001 Portugal Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Taipa China Department of Computer and Information Science Faculty of Science and Technology University of Macau Taipa China

This paper addresses the problem of distributed state estimation in formations of vehicles with time-varying measurement topology. One or more vehicles have access to measurements of their own state, while the rest must rely on measurements relative to other vehicles in the vicinity and limited communication to estimate their own state, and it is assumed that the vehicles may gain or lose access to some measurements over time. The proposed solution consists in the implementation of a local state observer on-board each vehicle, and the effects of changes in the measurement topology on the estimation error dynamics are studied resorting to switched systems theory. Sufficient conditions for exponential stability of the global estimation error dynamics are presented for two different switching laws. The results are applied to the practical case of a formation of Autonomous Underwater Vehicles (AUVs), and simulation results are presented that validate the proposed solution. © 2015 Elsevier Ltd.

关键词： Multi agent systems

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Towards a child-robot symbiotic co-development: A theoretical approach

Towards a child-robot symbiotic co-development: A theoretica...

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AISB Convention 2015

作者： Charisi, Vicky Davison, Daniel Wijnen, Frances Van Der Meij, Jan Reidsma, Dennis Prescott, Tony Van Joolingen, Wouter Evers, Vanessa Dept. of Electrical Engineering Mathematics and Computer Science HMI University of Twente Enschede Netherlands Faculty of Behavioural Management and Social Sciences ELAN University of Twente Enschede Netherlands Sheffield Robotics University of Sheffield Mappin Street Sheffield United Kingdom Freudenthal Institute for Science and Mathematics Education Faculty of Science Utrecht University Utrecht Netherlands

12One of the main characteristics for an effective learning is the possibility for learners to choose their own ways and pace of learning, according to their personal previous experiences and needs. Social interaction during the learning process has a crucial role to the skills that learners may develop. In this paper, we present a theoretical approach, which considers relevant theories of child's development in order to proceed from a child-child collaborative learning approach to a childrobot symbiotic co-development. In this symbiotic interaction, the robot is able to interact with the learner and adapt its behaviours according to the child's behaviour and development. This sets some theoretical foundations for an on-going research project that develops technologies for a social robot that facilitates learning through symbiotic interaction.

关键词： Learning systems

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Measurement-control system for an automotive vehicle engine mount

Measurement-control system for an automotive vehicle engine ...

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International Carpathian Control Conference (ICCC)

作者： Bogdan Sapiński Maciej Rosół Łukasz Jastrzębski Faculty of Mechanical Engineering and Robotics Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Cracow Poland

The measurement-control system developed for testing the automotive vehicle engine mounts based on a MR damper operated in squeeze mode has been installed in a purpose-built test facility. The paper summarises the structural design of the system, the procedure applied in identification of characteristics of signal processing from sensors and selected results of preliminary tests.

关键词： Rotation measurement Pulse measurements Manuals Force Pulse width modulation

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Spatio-temporal comparison between ERD/ERS and MRCP-based movement prediction 8

Spatio-temporal comparison between ERD/ERS and MRCP-based mo...

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8th International Conference on Bio-Inspired Systems and Signal Processing, BIOSIGNALS 2015

作者： Seeland, Anett Manca, Laura Kirchner, Frank Kirchner, Elsa Andrea Robert-Hooke-Straße 1 Bremen28359 Germany Faculty of Biology and Chemistry University of Bremen Leobener Str. Bremen28359 Germany Robotics Group Faculty of Mathematics and Computer Science University of Bremen Robert-Hooke-Straße 1 Bremen28359 Germany

ISBN: (纸本)9789897580697

In brain-computer interfaces (BCIs) based on electroencephalography (EEG), two distinct types of EEG patterns related to movement have been used for detecting the brain's preparation for voluntary movements: a) event-related patterns in the time domain named movement related cortical potentials (MRCPs) and b) patterns in the frequency domain named event-related desynchronization/synchronization (ERD/ERS). The applicability of those patterns in BCIs is often evaluated by the classification performance. To this end, the known spatio-temporal differences in EEG activity can be of interest, since they might influence the classification performance of the two different patterns. In this paper, we compared the classification performance based on ERD/ERS and MRCP while varying the time point of prediction as well as the used electrode sites. Empirical results were obtained from eight subjects performing voluntary right arm movements. Results show: a) classification based on MRCP is superior compared to ERD/ERS close to the movement onset whereas the opposite results farther away from the movement onset, b) the performance maximum of MRCP is located at central electrodes whereas it is at fronto-central electrodes for ERD/ERS. In summary, the results contribute to a better insight into the spatial and temporal differences between ERD/ERS and MRCP in terms of prediction performance.

关键词： Brain computer interface

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Gene expression imputation across multiple brain regions provides insights into schizophrenia risk (vol 51, pg 659, 2019)

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NATURE GENETICS 2019年第6期51卷 1068-1068页

作者： Huckins, Laura M. Dobbyn, Amanda Ruderfer, Douglas M. Hoffman, Gabriel Wang, Weiqing Pardinas, Antonio F. Rajagopal, Veera M. Als, Thomas D. Nguyen, Hoang T. Girdhar, Kiran Boocock, James Roussos, Panos Fromer, Menachem Kramer, Robin Domenici, Enrico Gamazon, Eric R. Purcell, Shaun Demontis, Ditte Borglum, Anders D. Walters, James T. R. O'Donovan, Michael C. Sullivan, Patrick Owen, Michael J. Devlin, Bernie Sieberts, Solveig K. Cox, Nancy J. Im, Hae Kyung Sklar, Pamela Stahl, Eli A. Pamela Sklar Division of Psychiatric Genomics Icahn School of Medicine at Mount Sinai New York NY USA Department of Genetics and Genomics Icahn School of Medicine at Mount Sinai New York NY USA Department of Psychiatry Icahn School of Medicine at Mount Sinai New York NY USA Icahn Institute for Genomics and Multiscale Biology Icahn School of Medicine at Mount Sinai New York NY USA Vanderbilt University Medical Center Nashville TN USA MRC Centre for Neuropsychiatric Genetics and Genomics Cardiff University Cardiff UK Department of Biomedicine Aarhus University Aarhus Denmark The Lundbeck Foundation Initiative for Integrative Psychiatric Research iPSYCH Denmark Center for Integrative Sequencing Aarhus University Aarhus Denmark Department of Human Genetics David Geffen School of Medicine University of California Los Angeles Los Angeles CA USA Human Brain Collection Core National Institute of Mental Health Bethesda MD USA Laboratory of Neurogenomic Biomarkers Centre for Integrative Biology (CIBIO) University of Trento Trento Italy Clare Hall University of Cambridge Cambridge UK University of North Carolina at Chapel Hill Chapel Hill NC USA Karolinska Institutet Stockholm Sweden Department of Psychiatry University of Pittsburgh Pittsburgh PA USA Systems Biology Sage Bionetworks Seattle WA USA Section of Genetic Medicine Department of Medicine University of Chicago Chicago IL USA Integrated Technology Research Laboratories Pharmaceutical Research Division Takeda Pharmaceutical Company Limited Fujisawa Japan Neuropsychiatry Section Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Neuropsychiatric Signaling Program Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Psychiatry JJ Peters Virginia Medical Center Bronx NY USA Department of Neuroscience Icahn School of Medicine at Mount Sinai New York New York NY USA Friedman Brain Institute

Transcriptomic imputation approaches combine eQTL reference panels with large-scale genotype data in order to test associations between disease and gene expression. These genic associations could elucidate signals in complex genome-wide association study (GWAS) loci and may disentangle the role of different tissues in disease development. We used the largest eQTL reference panel for the dorso-lateral prefrontal cortex (DLPFC) to create a set of gene expression predictors and demonstrate their utility. We applied DLPFC and 12 GTEx-brain predictors to 40,299 schizophrenia cases and 65,264 matched controls for a large transcriptomic imputation study of schizophrenia. We identified 413 genic associations across 13 brain regions. Stepwise conditioning identified 67 non-MHC genes, of which 14 did not fall within previous GWAS loci. We identified 36 significantly enriched pathways, including hexosaminidase-A deficiency, and multiple porphyric disorder pathways. We investigated developmental expression patterns among the 67 non-MHC genes and identified specific groups of pre- and postnatal expression.

关键词： Gene expression Genome-wide association studies Schizophrenia Transcriptomics

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Corrections to “Single-Processor Scheduling Problem With Dynamic Models of Task Release Dates” [ Mar 11 264-271]

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2016年第7期46卷 1017-1017页

作者： Adam Janiak Wladyslaw Janiak Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wrocław Poland Faculty of Computer Science and Management Wrocław University of Technology Wrocław Poland

In the above paper, the acknowledgment for financial support is missing. The statement is provided in the footnote below.

关键词： Dynamic scheduling Approximation algorithms Processor scheduling Resource management

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Autonomous underwater panel operation by GIRONA500 UVMS: A practical approach to autonomous underwater manipulation

Autonomous underwater panel operation by GIRONA500 UVMS: A p...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Patryk Cieslak Pere Ridao Mariusz Giergiel Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland Computer Vision and Robotics Research Institute CIRS Building Girona Catalonia Spain

This paper proposes a controller for the GIRONA500 Underwater Vehicle Manipulator System and reports experimental results for an autonomous floating-base valve-turning manipulation application. The selected method is based on kinematic control, avoiding the need for a complex, and difficult to obtain, hydrodynamic model. The method relies on the decoupled control of the vehicle and manipulator velocities using a combination of the task priority redundancy resolution and the task concurrence approaches. The paper discusses the manipulation tasks needed, their hierarchical organisation, and a set of strategies that were needed to complement the `standard' task-priority approach to successfully solve the floating-base manipulation problem in water tank experimental conditions.

关键词： Vehicles Kinematics Manipulators Joints Jacobian matrices Valves

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Online safety verification of trajectories for unmanned flight with offline computed robust invariant sets

Online safety verification of trajectories for unmanned flig...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： D. Althoff M. Althoff S. Scherer Robotics Institute Carnegie Mellon Univ. Pittsburgh USA Faculty of Computer Science Technische Universitat Munchen Garching Germany

We address the problem of verifying motion plans for aerial robots in uncertain and partially-known environments. Thereby, the initial state of the robot is uncertain due to errors from the state estimation and the motion is uncertain due to wind disturbances and control errors caused by sensor noise. Since the environment is perceived at runtime, the verification of partial motion plans must be performed online (i.e. during operation) to ensure safety within the planning horizon and beyond. This is achieved by efficiently generating robust control invariant sets based on so-called loiter circles, where the position of the aerial robot follows a circular pattern. Verification of aerial robots is challenging due to the nonlinearity of their dynamics, the high dimensionality of their state space, and their potentially high velocities. We use novel techniques from reachability analysis to overcome those challenges. In order to ensure that the robot never finds itself in a situation for which no safe maneuver exists, we provide a technique that ensures safety of aerial robots beyond the planning horizon. Our method is applicable to all kinds of robotic systems that follow reference trajectories, such as bipedal robotic walking, robotic manipulators, automated vehicles, and the like. We evaluate our method by simulations of high speed helicopter flights.

关键词： Trajectory Robot sensing systems Safety Robustness Planning Vehicles

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Robotic joint design by agonist and antagonist arrangement with twisting small-diameter round-belts

Robotic joint design by agonist and antagonist arrangement w...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： T. Inoue S. Yamamoto R. Miyata S. Hirai Faculty of Dept. Computer Science and System Engineering Okayama Prefectural Univ. Japan Dept. of Computer Science and System Engineering Okayama Prefectural Univ. Faculty of Dept. Robotics Ritsumeikan Univ. Japan

This paper develops a novel robotic joint mechanism by means of twisting a small-diameter round-belt, which enables slow movements of joint rotation unlike direct-drive actuator mechanisms. The actuator mechanism proposed in this manuscript is composed of two small-diameter round-belts located near the joint with opposite configurations. The two round-belts are twisted by DC motors placed on a motor stage, which can be activated by a step motor. This novel mechanism realizes movement of the robotic joint around its axis due to contraction forces generated by twisting both round-belts. That is, these round-belts act as agonist and antagonist actuators for the robotic joint, which give a human-like compliance to the rotational motion of the joint. Experimental results using the proposed one-link robot show that a high position resolution of the joint control can be achieved by increases and decreases in the amount of twisting. In addition, we clearly indicate a linear relationship between twisting and the joint angle of the robot. Finally, this paper reveals that the antagonistic twist-actuator system has a secondary role as a gear reducer that is capable of largely decreasing the velocity of joint movement.

关键词： DC motors Force Actuators Robot sensing systems Belts Force measurement

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