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Trust Consensus Protocol for Heterogeneous Underwater Robotic Systems

IFAC-PapersOnLine 2016年第23期49卷 341-346页

作者： Mazdin, Petra Arbanas, Barbara Haus, Tomislav Bogdan, Stjepan Petrovic, Tamara Miskovic, Nikola University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Underwater Systems and Technologies Croatia

In this paper we analyze the application of a binary trust-consensus protocol in multi-agent systems with switching communication topology. Trust represents belief of one agent that the other one is capable of executing a specific task. The approach is motivated by an underwater robot system in which robots, called aMussels, are dispersed in the environment and measure environmental properties (for example sea-current) over a longer period of time, with sensors which are prone to failures. The goal is to apply the binary trust-consensus protocol to enable the system to autonomously detect failures of aMussels. Since direct communication between aMussels is energy consuming, a new type of moving robot, called aFish, is introduced that serves as a carrier of information. Since aFish have a limited communication range, communication topology is switching. Simulations are run first in Matlab for a homogeneous system, and then in a realistic simulation environment for the described scenario with heterogeneous agents. Results show that the protocol converges to the correct trust values and that the convergence time depends on the connectivity of the communication graph. © 2016

关键词： Multi agent systems MATLAB Robots Topology Communication graphs Communication topologies Direct communications Environmental property Heterogeneous multi agent systems Limited communication range Switching topology trust consensus

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Plenary Lectures

Plenary Lectures

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Mediterranean Conference on control and Automation (MED)

作者： Bart De Moor Yasamin Mostofi Maryam Kamgarpour Zdenko Kovačić Maja Cepanec Airlie Chapmar Mehran Mesbahi Department of Electrical Engineering (ESAT-STADIUS) KU Leuven Leuven Belgium Department of Electrical & Computer Engineering University of of California Santa Barbara CA USA Automatic Control Laboratory Swiss Federal Institute of Technology Zurich Zurich Switzerland University of Zagreb Faculty of Electrical Engineering and Computing University of Zagreb Faculty of Education and Rehabilitation Sciences University of Melbourne Australia University of Washington USA

The following topics are dealt with: control system synthesis; stability; nonlinear control systems; closed loop systems; robust control; feedback; Lyapunov methods; mobile robots; uncertain systems; and position cont... 详细信息

ISBN: (纸本)9781538674994;9781538678909

关键词： Robot sensing systems Electrical engineering Education Autism Robot kinematics Decision making

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User-friendly visual creation of R2RML mappings in SQuaRE

User-friendly visual creation of R2RML mappings in SQuaRE

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3rd International Workshop on Visualization and Interaction for Ontologies and Linked Data, VOILA 2017

作者： Bąk, Jaroslaw Blinkiewicz, Michal Lawrynowicz, Agnieszka Institute of Control and Information Engineering Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Faculty of Computing Poznan University of Technology Piotrowo 3 Poznan60-965 Poland

We present the recent progress of SQuaRE (SPARQL Queries and R2RML mappings Environment) which is aimed at providing support for ontology-based data access. The latest SQuaRE's progress is based on the results of an evaluation conducted in order to gather user experience about using the tool. We describe the evaluation, results, newly implemented features as well as our future development plans.

关键词： Mapping

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Development of structure and behavioral model for screw driving in-pipe inspection robot based on adaptive mechanism on legs 8

Development of structure and behavioral model for screw driv...

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8th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS, MBD 2017

作者： Osman, Krešimir Kovačić, Zdenko Sales and Technical Department Termo Servis Ltd Ul. grada Vukovara 72 Zagreb10000 Croatia Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb10000 Croatia

ISBN: (纸本)9788001061749

This paper presents the beginning of research in connection with the development of a pipeline inspection robot. The authors aimed to describe and present a structure and behavior model of a robot designed for inspecting the interior of pipelines to be used for gas distribution. The robot structure comprises a driving section and a driven section, where each has three legs with two ankles. The driven section contains a group of wheel sets adaptable by pressing against the interior wall of the pipeline, thus maintaining balance and stability of the robot, especially when passing through brackets and T-branches in the pipeline. The driven section of the robot is powered by an electric motor and a planetary gearbox where torque is transmitted to the legs with wheels, thus moving the robot based on the screw principle through the interior of the pipeline. In addition, a robot behavior model (mathematical model) was made for the structure presented, including its kinematic and dynamic models. © 2017 National Technical University of Athens. All rights reserved.

关键词： Robots

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Correction: Tips from an expert panel on the development of a clinical research protocol

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BMC medical research methodology 2024年第1期24卷 300页

作者： Abdelrahman M Makram Randa Elsheikh Omar M Makram Nguyen Thanh Van Nguyen Hai Nam Nguyen Khoi Quan Nguyen Tran Minh Duc Ngoc Quynh Tram Nguyen Gibson Omwansa Javes Sara S Elsheikh Atsuko Imoto Peter Lee Norio Ohmagari Hirotsugu Aiga Yasuhiko Kamiya Patricia Takako Endo Nguyen Tien Huy Department of Anesthesia and Intensive Care Medicine October 6 University Giza Egypt. abd-makram@***. Online Research Club (http://***) Nagasaki Japan. abd-makram@***. Department of Obstetrics and Gynecology Stadtkrankenhaus Korbach KorbachHesse 34497 Germany. abd-makram@***. Deanery of Biomedical Sciences at Edinburgh Medical School University of Edinburgh Edinburgh UK. Online Research Club (http://***) Nagasaki Japan. Department of Medicine Medical College of Georgia at Augusta University Augusta GA USA. Faculty of Public Health and Policy London School of Hygiene and Tropical Medicine London UK. Oxford University Clinical Research Unit Ho Chi Minh 700000 Vietnam. Department of Liver Tumor Cho Ray Hospital Cancer Center Ho Chi Minh Vietnam. Center of Excellence for Liver Disease in Vietnam Division of Gastroenterology & Hepatology Johns Hopkins University School of Medicine Baltimore USA. College of Health Sciences VinUniversity Hanoi 100000 Vietnam. John Hopkins University Bloomberg School of Public Health Baltimore MD USA. Molecular Neuroscience Research Center Shiga University of Medical Science Shiga Japan. Faculty of Medicine University of Debrecen Debrecen 4032 Hungary. School of Tropical Medicine and Global Health Nagasaki University 1‑12‑4 Sakamoto Nagasaki 852‑8523 Japan. Faculty of Medicine Zagazig University Zagazig Egypt. P.N. Lee Statistics and Computing Ltd Sutton Surrey UK. Director Disease Control and Prevention Center National Center for Global Health and Medicine Tokyo Japan. Universidade de Pernambuco Pernambuco Brazil. School of Tropical Medicine and Global Health Nagasaki University 1‑12‑4 Sakamoto Nagasaki 852‑8523 Japan. nguyentienhuy4@duytan.edu.vn. Online Research Club (http://***) Nagasaki Japan. nguyentienhuy4@duytan.edu.vn. Institute of Research and Development Duy Tan University Da Nang Vietnam. nguyentienhuy4@duytan.edu.vn. School of Medicine and Pharmacy Duy Tan University Da Nang Vietnam. nguyentienhuy4

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Introduction

Advances in Industrial Control

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Advances in Industrial control 2018年第9783319610207期 1-18页

作者： Orsag, Matko Korpela, Christopher Oh, Paul Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Department of Electrical Engineering and Computer Science United States Military Academy West PointNY United States Department of Mechanical Engineering University of Nevada Las Vegas Las VegasNV United States

Aerial robotics has reached significant maturity in the last few years. Thus, the number of new unmanned aerial vehicles (UAV) and unmanned aerial systems (UAS), applications, and companies producing them has increased in a very important way. The number of publications and presentations in conferences has also experienced a large increase. Moreover, almost every day we can find articles, videos, and news in the general media related to drones. © Springer International Publishing AG 2018.

关键词： Antennas

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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

arXiv

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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ON THE EXISTENCE AND UNIQUENESS OF THE SOLUTION OF A PARABOLIC OPTIMAL control PROBLEM WITH UNCERTAIN INPUTS

arXiv

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arXiv 2018年

作者： Benner, Peter Onwunta, Akwum Stoll, Martin Computational Methods in Systems and Control Theory Max Planck Institute for Dynamics of Complex Technical Systems Sandtorstrasse 1 Magdeburg39106 Germany Department of Computer Science University of Maryland College ParkMD20742 United States Technische Universität Chemnitz Faculty of Mathematics Professorship Scientific Computing Chemnitz09107 Germany

In this note, we consider the existence and uniqueness of the solution of a time-dependent optimal control problem constrained by a partial differential equation with uncertain inputs. Relying on the Lions’ Lemma for deterministic problems, we furthermore characterize the optimal control of the stochastic problem. Copyright © 2018, The Authors. All rights reserved.

关键词： Optimal control systems

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Wavelet-based texture model for crowd dynamic analysis 23

Wavelet-based texture model for crowd dynamic analysis

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23rd IEEE International Conference on Automation and computing, ICAC 2017

作者： Wang, Jing Xu, Zhijie Cao, Yanlong Xu, Yuanping Faculty of Arts Computing Engineering and Sciences Sheffield Hallam University City Campus SheffieldS1 1WB United Kingdom School of Computing and Engineering University of Huddersfield Queensgate HuddersfieldHD1 3DH United Kingdom State Key Laboratory of Fluid Power Transmission and Control College of Mechanical Engineering Zhejiang University Hangzhou310027 China School of Software Engineering Chengdu University of Information Technology Chengdu610225 China

ISBN: (纸本)9780701702618

Crowd event detection techniques aim at solving real-world surveillance problems, such as detecting crowd anomaly and tracking specific person in a highly dynamic crowd scene. In this paper, we proposed an innovate texture-based analysis method to model crowd dynamics and us it to distinguish the crowd behaviours. To describe complicated crowd scenes, homogeneous random features have been deployed in the research for behavioural template matching. Experiment results have shown that the anomaly appearing in crowd scenes can be effectively and efficiently identified by using the devised methods. © 2017 Chinese Automation and computing Society in the UK - CACSUK.

关键词： Template matching

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Trust Consensus Protocol for Heterogeneous Underwater Robotic Systems

Trust Consensus Protocol for Heterogeneous Underwater Roboti...

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关键词： Multi agent systems

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