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arXiv 2022年

作者： Silveira, Jorge Sampaio Mendes, Jerome Souza, Francisco Premebida, Cristiano Department of Electrical and Computer Engineering Pólo II University of Coimbra Institute of Systems and Robotics Coimbra3030-290 Portugal Dept. Analytical Chemistry & Chemometrics Radboud University Nijmegen6525 AJ Netherlands

Regression problems have been more and more embraced by deep learning (DL) techniques. The increasing number of papers recently published in this domain, including surveys and reviews, shows that deep regression has captured the attention of the community due to efficiency and good accuracy in systems with high-dimensional data. However, many DL methodologies have complex structures that are not readily transparent to human users. Accessing the interpretability of these models is an essential factor for addressing problems in sensitive areas such as cyber-security systems, medical, financial surveillance, and industrial processes. Fuzzy logic systems (FLS) are inherently interpretable models, well known in the literature, capable of using nonlinear representations for complex systems through linguistic terms with membership degrees mimicking human thought. Within an atmosphere of explainable artificial intelligence, it is necessary to consider a trade-off between accuracy and interpretability for developing intelligent models. This paper aims to investigate the state-of-the-art on existing methodologies that combine DL and FLS, namely deep fuzzy systems, to address regression problems, configuring a topic that is currently not sufficiently explored in the literature and thus deserves a comprehensive survey. © 2022, CC BY.

关键词： Surveys

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Constructive Barrier Feedback for Collision Avoidance in Leader-Follower Formation Control

Constructive Barrier Feedback for Collision Avoidance in Lea...

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IEEE Conference on Decision and Control

作者： Zhiqi Tang Rita Cunha Tarek Hamel Carlos Silvestre Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal I3S-CNRS Université Côte d'Azur and Institut Universitaire de France France Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Macao China

This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in three-dimensional space. Using only relative measurements between neighboring agents, we propose an elegant decentralized controller as the sum of a nominal tracking controller and the constructive barrier feedback for leader-follower formations under a directed single-spanning tree graph topology. The key ingredient is the use of divergent flow as a dissipative term, which slows down the relative velocity in the direction of the neighboring robots without compromising the nominal controller's performance. Compared to traditional barrier function-based optimization controllers, the proposed constructive barrier feedback avoids feasibility issues and results in more computationally efficient control algorithms with systematic equilibrium analysis. Simulations are provided to validate the effectiveness of the proposed control method.

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Sensitivity Analysis for Uncertain Linear systems: A Set-Membership Approach

SSRN

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SSRN 2023年

作者： Silvestre, Daniel Rosa, Paulo Hespanha, João P. Silvestre, Carlos Caparica2829-516 Portugal COPELABS The Lusófona University Portugal The Institute for Systems and Robotics Instituto Superior Técnico University of Lisbon Portugal Deimos Engenharia Lisbon Portugal The Department of Electrical and Computer Engineering The Faculty of Science and Technology The University of Macau China The Dept. of Electrical and Computer Eng. University of California Santa BarbaraCA93106-9560 United States

This paper deals with the problem of deciding which inputs or parameters in a dynamic model have the greatest impact on the state or output of a linear system. In over-parameterized models or Multi-Agent systems (MAS), a sensitivity analysis tool would allow for reduced representations of the same system or to decide which agents should be monitored. The proposed approach consists in constructing the exact reachable set for a linear system (uncertain in the case of parameter sensitivity) and projecting onto the desired coordinates associated with the state or output in question. Given the exact representation, under mild assumptions, sensitivity values are optimal for the proposed functions, although others can be specified using the same sets. Illustrative examples are presented in order to provide insights on the proposed method. © 2023, The Authors. All rights reserved.

关键词： Sensitivity analysis

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Self-Healing Distributed Swarm Formation Control Using Image Moments

arXiv

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arXiv 2023年

作者： Liu, C. Lin Donato Ridgley, israel L. Elwin, Matthew L. Rubenstein, Michael Freeman, Randy A. Lynch, Kevin M. Department of Mechanical Engineering Northwestern University EvanstonIL60208 United States Center for Robotics and Biosystems Northwestern University EvanstonIL60208 United States Department of Electrical & Computer Engineering Northwestern University EvanstonIL60208 United States Department of Computer Science Northwestern University EvanstonIL60208 United States Northwestern Institute on Complex Systems Northwestern University EvanstonIL60208 United States

Human-swarm interaction is facilitated by a low-dimensional encoding of the swarm formation, independent of the (possibly large) number of robots. We propose using image moments to encode two-dimensional formations of robots. Each robot knows its pose and the desired formation moments, and simultaneously estimates the current moments of the entire swarm while controlling its motion to better achieve the desired group moments. The estimator is a distributed optimization, requiring no centralized processing, and self-healing, meaning that the process is robust to initialization errors, packet drops, and robots being added to or removed from the swarm. Our experimental results with a swarm of 50 robots, suffering nearly 50% packet loss, show that distributed estimation and control of image moments effectively achieves desired swarm formations. © 2023, CC BY.

关键词： Multi agent systems

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A Letter on Progress Made on Husky Carbon: A Legged-Aerial, Multi-modal Platform

arXiv

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arXiv 2022年

作者： Salagame, Adarsh Manjikian, Shoghair Wang, Chenghao Krishnamurthy, Kaushik Venkatesh Pitroda, Shreyansh Gupta, Bibek Jacob, Tobias Mottis, Benjamin Sihite, Eric Ramezani, Milad Ramezani, Alireza The Department of Electrical and Computer Engineering Northeastern University SiliconSynapse Laboratory BostonMA United States The Department of Aerospace Engineering California Institute of Technology PasadenaCA United States The Robotics and Autonomous Systems Group Data61 CSIRO BrisbaneQLD Australia

Animals, such as birds, widely use multi-modal locomotion by combining legged and aerial mobility with dominant inertial effects. The robotic biomimicry of this multi-modal locomotion feat can yield ultra-flexible systems in terms of their ability to negotiate their task spaces. The main objective of this paper is to discuss the challenges in achieving multi-modal locomotion, and to report our progress in developing our quadrupedal robot capable of multi-modal locomotion (legged and aerial locomotion), the Husky Carbon. We report the mechanical and electrical components utilized in our robot, in addition to the simulation and experimentation done to achieve our goal in developing a versatile multi-modal robotic platform. Copyright © 2022, The Authors. All rights reserved.

关键词： Antennas

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Exploring workout repetition counting and validation through deep learning 17th

Exploring workout repetition counting and validation through...

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17th International Conference on Image Analysis and Recognition, ICIAR 2020

作者： Ferreira, Bruno Ferreira, Pedro M. Pinheiro, Gil Figueiredo, Nelson Carvalho, Filipe Menezes, Paulo Batista, Jorge Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Nixfuste Nova Porto Portugal Prozis.Tech Maia Portugal

ISBN: (纸本)9783030503468

Studying human motion from images and videos has turned into an interesting topic of research given the recent advances in computer vision and deep learning algorithms. When focusing on the automatic procedure of tracking physical exercises, cameras can be used for full human pose estimation in relation to worn sensors. In this work, we propose a method for workout repetition counting and validation based on a set of skeleton-based and deep semantic features that are obtained from a 2D human pose estimation network. Given that some of the individuals’ body parts might be occluded throughout physical exercises, we also perform a multi-view analysis on supporting cameras to improve our recognition rates. Nevertheless, the obtained results for a single-view approach show that we are able to count valid repetitions with over 90% precision scores for 4 out of 5 considered exercises, while recognizing more than 50% of the invalid ones. © Springer Nature Switzerland AG 2020.

关键词： Cameras

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Enhancing value creation in Energy Communities through flexibility management and network ancillary services provision

Enhancing value creation in Energy Communities through flexi...

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2022 ECEEE Summer Study on Energy Efficiency: Agents of Change

作者： Patrão, Carlos Matos, Luisa Landeck, Jorge Klein, Lurian Mendes, Gonçalo da Silva, Nuno Pinho Fulgêncio, Nuno O'Callaghan, Tim Stevens, Peter Institute of Systems and Robotics and Cleanwatts Dep. of Electrical and Computer Engineering University of Coimbra Portugal Cleanwatts Coimbra Portugal University of Coimbra and Cleanwatts LIBPhys Department of Physics University of Coimbra Portugal Lappeenranta-Lahti University of Technology LUT Finland R&D Nester Centro de Investigação em Energia REN Sacavém Portugal Electric Corby Corby Enterprise Centre England United Kingdom

ISBN: (纸本)9789198827002

The Clean Energy for all Europeans policy package has opened the way for a major transition of the European energy landscape towards customer empowerment and local energy markets development. The European Green Deal, the Fit for 55 % package and the European Directives revision are pushing forward Renewable Energy Communities, which will disrupt the energy sector and overcome limitations of existing rigid energy markets. The rise of distributed energy technologies is fostering the development of customer-centered services such as peer-to-peer energy trading. However, adequate tools and business models to interface and engage with energy markets are still lacking. The H2020 FleXunity project is addressing the emerging market needs by developing a technological platform, that combines advanced artificial intelligence algorithms, blockchain technology and demand response services, to exploit new business models that could value the aggregation of small-scale energy assets. Although the concept of these platforms is relatively well known, their real-world implementation and validation is still at an early stage. This paper presents the FleXunity project's main objectives, details of the Virtual Power Plant managing Platform under development and the characteristics of two distinct real world pilot Energy Communities already deployed in the UK and Iberia. It also presents an analysis of the role that Demand Response activities and independent aggregation could play in Energy Communities, and specifically explores the role of Demand Response in the balancing markets of Finland, UK, Spain, and Portugal. Focusing on the pilot markets, the project also identifies the most promising balancing services to be provided by Energy Communities, by surveying and framing the existing regulatory qualification requirements. © 2022 European Council for an Energy Efficient Economy. All rights reserved.

关键词： Smart power grids

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Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

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Journal of Bionic engineering 2020年第6期17卷 1163-1174页

作者： Ning Li Tie Yang Yang Yang Peng Yu Xiujuan Xue Xingang Zhao Guoli Song Imad HElhajj Wenxue Wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Itelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Bejing 100049China Rehabilitation Center for the Disabled Shenyang 110015China Vision and Robotics Lab Department of Electrical and Computer EngineeringAmerican University of BeirutBeirut 11072020Lebanon Emerging Technologies Instinute Department of Industrial&Manufacturing Systems EngineeringUniversity of Hong KongPokfulamHong Kong 999077China

Exoskeleton robots have demonstrated the potential to rehabilitate stroke ***,poor human-machine physiological coupling causes unexpected damage to human of muscles and ***,inferior humanoid kinematics control would restrict human natural *** to deal with these problems results in bottlenecks and hinders its *** this paper,the simplified muscle model and muscle-liked kinematics model were proposed,based on which a soft wrist exoskeleton was established to realize natural human ***,we simplified the redundant muscular system related to the wrist joint from ten muscles to four,so as to realize the human-robot physiological ***,according to the above human-like musculoskeletal model,the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the *** results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3%and 35.6%,***,the humanoid motion trajectories similarity of the robot reached 91.5%.Stroke patients could recover 90.3%of natural motion ability to satisfy for most daily *** work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.

关键词： stroke rehabilitation simplified muscle model soft wrist exoskeleton robot bionic kinematics model

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Generic Properties of Koopman Eigenfunctions for Stable Fixed Points and Periodic Orbits ⁎ ⁎

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IFAC-PapersOnLine 2021年第9期54卷 267-272页

作者： Matthew D. Kvalheim David Hong Shai Revzen Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA 19104 USA Department of Statistics University of Pennsylvania Philadelphia PA 19104 USA Department of Electrical Engineering and Computer Science Ecology and Evolutionary Biology Department Robotics Institute University of Michigan Ann Arbor MI 48109

Our recent work established existence and uniqueness results for C k (actually C k,α loc ) linearizing semiconjugacies for C flows defined on the entire basin of an attracting hyperbolic fixed point or periodic orbit (Kvalheim and Revzen, 2019). Applications include (i) improvements, such as uniqueness statements, for the Sternberg linearization and Floquet normal form theorems, and (ii) results concerning the existence, uniqueness, classification, and convergence of various quantities appearing in the “applied Koopmanism” literature, such as principal eigenfunctions, isostables, and Laplace averages. In this work we consider the broadness of applicability of these results with an emphasis on the Koopmanism applications. In particular we show that, for the flows of “typical” c ∞ vector fields having an attracting hyperbolic fixed point or periodic orbit with a fixed basin of attraction, the c ∞ Koopman eigenfunctions can be completely classified, generalizing a result known for analytic eigenfunctions of analytic systems.

关键词： Koopman operator eigenfunctions generic properties isostables periodic orbits

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Bifurcations and Application of the Vallis – Model

Bifurcations and Application of the Vallis – Model

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International Conference on Computational Cybernetics (ICCC)

作者： Bálint Nagy György Molnár Antal Joós Enikő Nagy Department of Mathematics Institute of Computer Engineering University of Dunaújváros Dunaújváros Hungary Department of Applied Quantitative Methods Faculty of Finance and Accountancy Budapest Business University Budapest Hungary Department of Natural Sciences Kandó Kálmán Faculty of Electrical Engineering Institute of Electrophysics Óbuda University Budapest Hungary Kandó Kálmán Faculty of Electrical Engineering Óbuda University Budapest Hungary János Csere Apáczai Faculty Széchenyi University Győr Hungary John von Neumann Faculty Antal Bejczy Center for Intelligent Robotics institution">Institute of Cyberphysical Systems Óbuda University Budapest Hungary

ISBN: (数字)9798350350159

ISBN: (纸本)9798350350166

Investigating chaotic systems is a fertile field considering that chaos is an exotic chapter in the theory of differential equations, and it has useful applications in the theory of communications. In this work a well-known chaotic system is investigated from the bifurcation point of view and some applications are also introduced. The data studied are also visualized for better clarity. The results observed can be helpful in the encryption methods of the implementation of different communication channels.

关键词： Visualization Chaotic communication Communication systems Computational modeling Data visualization Computational cybernetics Differential equations

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