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第37届中国控制会议

作者： Shengli Du Di Wu Yongfeng Gao Xu Li the College of Automation Faculty of Information Technology Beijing University of Technology the Beijing Key Laboratory of Computational Intelligence and Intelligent System the School of Control Science and Engineering Dalian University of Technology the School of Aeronautics and Astronautics Dalian University of Technology

This paper is concerned with the semi-global output synchronization problem of a heterogeneous network under selftriggered control. A distributed self-triggered control scheme in which only local information is used to compute the triggering instants is proposed. In addition, the Zeno behavior can be excluded in the designed scheme. By adopting the low-gain technique, it is shown that the input saturation nonlinearity can be avoided if the parameter of the parameterized feedback gain is chosen small enough. The algorithm for implementing the selftriggered rule is also presented in the paper.

关键词： Output synchronization input saturation selftriggered control multiagent system

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Kinematics and Error Analysis of Single Motor Driving Multi-Stage Metamorphic Mechanism

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IOP Conference Series: Materials Science and engineering 2019年第5期677卷

作者： Zhuang Ge Leichao Xie Shangkui Yang Shuyun Zhu Yongzhan Cao Yuwang Liu School of Mechanical Engineering and Automation Northeastern University Shenyang Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Liaoning China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang Liaoning China Information and Control Engineering Faculty Shenyang Jianzhu University Shenyang Liaoning China

Traditional series robots have the disadvantages of complex structure and complicated control. Almost all of them have no adaptive ability. Although soft robots have good adaptive characteristics, they also have the limitations of poor bearing capacity and low stiffness. In addition, their motion trajectory and motion precision are difficult to achieve accurate control. In order to solve the above problems, based on a single motor-driving multi-stage metamorphic mechanism, this paper carries out kinematic analysis and error analysis to determine the motion trajectory and motion accuracy of the multi-stage metamorphic mechanism. And this paper uses ADAMS to carry out simulation calculation. Comparing the theoretical calculation results and simulation calculation results, and determining the errors between the multi-stage metamorphic mechanisms, so as to ensure the accurate position of the multi-stage metamorphic mechanism during work. The multi-stage metamorphic mechanism realizes stable and efficient work.

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New advances in EMG control methods of anthropomorphic prosthetic hand

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Science China(Technological Sciences) 2017年第12期60卷 1978-1979页

作者： WANG YiXuan LIU He LENG DongLiang GAO Wei CAI MaoLin XU WeiQing ZHANG Xiaohua Douglas SHI Yan School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Faculty of Health Sciences University of Macao Taipa Macao The State Key Laboratory of Fluid Power Transmission and Control Zhejiang University Hangzhou 310058 China Beijing Anzhen Hospital Capital Medical University Beijing 100029 China

Prosthetic hands are becoming more and more popular among people without a hand and it is able to perform certain manual operations in *** biology,action potentials trigger muscle contractions,and surface electromyography（sEMG）signals are the sum of action potentials under the skin exposed by the electrodes（via sebum and solution conduction）.

关键词： New advances in EMG control methods anthropomorphic

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Evaluation of Human Postural System Dynamical Behavior via Developed Statokinesigram Trajectory

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IFAC-PapersOnLine 2017年第1期50卷 15062-15067页

作者： Barbolyas, B. Suttova, K. Vachalek, J. Belavy, C. Hucko, B. Dedik, L. Institute of automation measurement and applied informatics Faculty of Mechanical Engineering STU in Bratislava Nam. slobody 17 Bratislava812 31 Slovakia Laboratory of motor control Institute of Normal and Pathological Physiology Slovak Academy of Sciences Sienkiewiczova 1 Bratislava813 71 Slovakia Institute of applied mechanics and mechatronics Faculty of Mechanical Engineering STU in Bratislava Nam. Slobody 17 Bratislava812 31 Slovakia

Presented study deals with the formulation of a model of the postural system behavior in the form of transfer function derived from Development Statokinesigram Trajectory (DST). As compared with statokinesigram, a DST shows a minimal signs of chaotic behavior while it takes anteroposterior and mediolateral postural sway direction into account together. Proposed method provides an alternative approach to established methodology based on the Center of Pressure (CoP) in evaluating the autoregulation control process in humans. For demonstration of DST application, CoP signals of young and healthy participants without and with bilateral vibration stimulus located on Achilles tendons were registered. Data analysis involves DST construction and numerical parameter estimation of the proposed model. Quadratic criterion showed that there is a disproportion between actual and mean DST time profile that was proposed as a sensitive parameter of posture control quality in all tested subjects in quiet stance condition. © 2017

关键词： Quality control Tendons Biomedical systems Biosignals Center of pressure interpretation Model formulation Postural system

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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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Book review Introduction to Type-2 Fuzzy Logic control: Theory and Applications , Jerry Mendel , Hani Hagras , Woei-Wan Tan , William W. Melek , Hao Ying , Wiley–IEEE Press ( 2014 ) , ISBN: 978-1118278390

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Fuzzy Sets and Systems 2017年 306卷 169-170页

作者： Tufan Kumbasar Istanbul Technical University Faculty of Electrical and Electronics Engineering Control and Automation Engineering Department Maslak TR-34469 Istanbul Turkey

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Improving the Absolute Accuracy by Online Interpolation Technique of Industrial Robots

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IOP Conference Series: Materials Science and engineering 2019年第1期575卷

作者： Darpan Patel Lars Lienenlüke Simon Storms Christian Brecher Johannes Wied Department Automation and Control Chair of Machine Tools Laboratory for Machine Tools and Production Engineering (WZL RWTH Aachen) Campus-Boulevard 30 52074 Aachen Germany Technology factory Press shop Mercedes-Benz Plant Sindelfingen 71059 Sindelfingen Germany

This paper describes a novel method to improve the accuracy of industrial robot by calibration technique. Robot calibration is broadly classified into model-based and modeless techniques. In this paper, a modeless technique capable of interpolating the deviation along the Z-axis is defined which doesn't consider any kinematic model, instead adapts interpolation method to compensate errors. The robot's deviation is measured with a laser tracker and the deviation controlling parameters are calculated. The controlling parameters interpolate the deviation and with an online compensation program this deviation is compensated in real time scenario. This modeless technique is experimentally tested and it demonstrates a substantial improvement in the accuracy of the robot.

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control of multi-channel multiphase queuing system based on optimal aggregation methodology

Control of multi-channel multiphase queuing system based on ...

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International Scientific and Technical Conference on Computer Science and Information Technologies

作者： Taisa Borovska Inna Vernigora Irina Kolesnyk Andriy Kushnir Department of Computer Control Systems (CCS) Vinnytsia National Technical University Vinnytsia Ukraine Department of Computer Engineering (CE) Vinnytsia National Technical University Vinnytsia Ukraine Faculty of Computer Systems and Automation Vinnytsia National Technical University Vinnytsia Ukraine

The control systems of multi-channel multiphase queuing systems are considered. The control system is based on the methodology of optimal aggregation, therefore there are no restrictions on the form of the functions "costs, output" and probability distribution functions. The methods of optimal aggregation solve the optimization problem for continuous, discrete and integer functions of the class "costs, output". Processes for servicing the flow of objects has two modes: the absence and presence of queues. Software modules for analyzing and predicting of the requirements flow, optimal service in the presence and absence of queues are developed.

关键词： Service Queue Optimal aggregation Costs Output Probabilities distribution

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Video Image Enhancement and Machine Learning Pipeline for Underwater Animal Detection and Classification at Cabled Observatories

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SENSORS 2020年第3期20卷 726-726页

作者： Lopez-Vazquez, Vanesa Lopez-Guede, Jose Manuel Marini, Simone Fanelli, Emanuela Johnsen, Espen Aguzzi, Jacopo DS Labs R+D+I unit of Deusto Sistemas S.A. 01015 Vitoria-Gasteiz Spain Department of System Engineering and Automation Control Faculty of Engineering of Vitoria-Gasteiz University of the Basque Country (UPV/EHU) Nieves Cano 12 01006 Vitoria-Gasteiz Spain se.uhe@zepol.mj Institute of Marine Sciences National Research Council of Italy (CNR) 19032 La Spezia Italy ti.rnc.ramsi.ps@iniram.enomis Stazione Zoologica Anton Dohrn (SZN) 80122 Naples Italy ti.mpvinu@illenaf.e (E.F.) se.cisc.mci@izzugaj (J.A.) Stazione Zoologica Anton Dohrn (SZN) 80122 Naples Italy ti.mpvinu@illenaf.e (E.F.) se.cisc.mci@izzugaj (J.A.) Department of Life and Environmental Sciences Polytechnic University of Marche Via Brecce Bianche 60131 Ancona Italy Institute of Marine Research PO Box 1870 5817 Bergen Norway on.ih@nesnhoj.nepse Stazione Zoologica Anton Dohrn (SZN) 80122 Naples Italy ti.mpvinu@illenaf.e (E.F.) se.cisc.mci@izzugaj (J.A.) Instituto de Ciencias del Mar (ICM) of the Consejo Superior de Investigaciones Científicas (CSIC) 08003 Barcelona Spain

An understanding of marine ecosystems and their biodiversity is relevant to sustainable use of the goods and services they offer. Since marine areas host complex ecosystems, it is important to develop spatially widespread monitoring networks capable of providing large amounts of multiparametric information, encompassing both biotic and abiotic variables, and describing the ecological dynamics of the observed species. In this context, imaging devices are valuable tools that complement other biological and oceanographic monitoring devices. Nevertheless, large amounts of images or movies cannot all be manually processed, and autonomous routines for recognizing the relevant content, classification, and tagging are urgently needed. In this work, we propose a pipeline for the analysis of visual data that integrates video/image annotation tools for defining, training, and validation of datasets with video/image enhancement and machine and deep learning approaches. Such a pipeline is required to achieve good performance in the recognition and classification tasks of mobile and sessile megafauna, in order to obtain integrated information on spatial distribution and temporal dynamics. A prototype implementation of the analysis pipeline is provided in the context of deep-sea videos taken by one of the fixed cameras at the LoVe Ocean Observatory network of Lofoten Islands (Norway) at 260 m depth, in the Barents Sea, which has shown good classification results on an independent test dataset with an accuracy value of 76.18% and an area under the curve (AUC) value of 87.59%.

关键词： cabled observatories artificial intelligence deep learning machine learning deep-sea fauna

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Smoothed State Estimation via Efficient Solution of Linear Equations

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IFAC-PapersOnLine 2017年第1期50卷 1613-1618页

作者： Geng L.-H. Ninness B. Wills A. Schön T. L.-H. Geng is with the Tianjin Key Laboratory of Information Sensing and Intelligent Control School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin 300222 China Faculty of Engineering and Built Environment The University of Newcastle Callaghan NSW 2308 Australia Department of Information Technology Division of Systems and Control Uppsala University Uppsala 751 05 Sweden

This paper addresses the problem of computing fixed interval smoothed state estimates of a linear time varying Gaussian stochastic system. There already exist many algorithms that perform this computation, but all of them impose certain restrictions on system matrices in order for them to be applicable. This paper develops a new forwards–backwards pass algorithm that is applicable under the mildest restrictions possible - namely that the smoothed state distribtions exists in forms that can be characterised by means and covariances, for which this paper also develops a new necessary and sufficient condition. © 2017

关键词： Bayesian methods Estimation Filtering filtering smoothing Stochastic system identification

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