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第三十八届中国控制会议

作者： Xiaonei Zhang Huirang Hou Qinghao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University

Analyzing the response of the human brain to odors is critical to assess the function of olfactory and cognition. In this paper, an EEG(electroencephalograph)-based odor perception dataset is collected from ten subjects using thirteen odors stimuli. Based on the developed dataset, we employ channel-frequency convolutional neural network(CFCNN), combined with differential entropy(DE) features from different channels and frequency bands, to classify five odors that were consistently considered pleasant by the ten subjects. Meanwhile, the k-nearest neighbor(k-NN), linear discriminant analysis(LDA), support vector machine(SVM) and back propagation neural network(BPNN) are used as competing methods. The experimental results show that CFCNN is superior to the classic baselines and yields the highest accuracy in distinguishing five pleasant odors. Furthermore, compared with other four frequency bands, the gamma band presents the best classification accuracy, proving the closed relation between the olfaction and gamma band activity of the brain.

关键词： EEG olfaction classification CFCNN differential entropy

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An Automatic Detection and Recognition Method for Pointer-type Meters in Natural Gas Stations

An Automatic Detection and Recognition Method for Pointer-ty...

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第三十八届中国控制会议

作者： Yan Huang Xu-Yang Dai Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University

Currently, pointer-type meters in natural gas stations are read manually, which causes a waste of human *** have proposed lots of methods to realize automatic reading of such meters. However, these methods need high quality source image rigorously so that they cannot perform well in real environments. To solve this problem, an automatic detection and recognition method for pointer-type meters is proposed, which consists of R-FCNs(region-based fully convolutional networks),an improved local threshold segmentation method and a probability-circle method. The experimental results show that the method performs well when the source image is blurred, the illumination is complex or the camera's angle is tilted. It has good robustness and accuracy to detect and recognize the pointer-type meters automatically.

关键词： Pointer-type meter automatic reading R-FCNs threshold segmentation probability-circle method

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An Infotaxis-based Odor Source Searching Strategy for a Mobile Robot Equipped with a TDLAS Gas Sensor

An Infotaxis-based Odor Source Searching Strategy for a Mobi...

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第三十八届中国控制会议

作者： Xu-Yang Dai Jia-Ying Wang Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University

As a source searching method, infotaxis has been used in mobile olfactory robots equipped with contact-type MOS(metal oxide semiconductor) gas sensors. This method navigates a robot to explore more cues in the global space and therefore costs much time at the early stage. To solve this problem, this paper presents a line integral infotaxis(LII) algorithm which is realized by applying a remote-type TDLAS(tunable diode laser absorption spectroscopy) gas sensor to the infotaxis. In addition, the robot often gets stuck in the place of high concentration during the infotaxis searching process, so an odor source declaration procedure which is implemented by calculating the odor particle flux on a closed curve is added to the LII. Simulation results show that the LII algorithm can enormously save time of exploration and solve the local convergence problem.

关键词： Olfactory robots TDLAS gas sensor line integral infotaxis odor source declaration odor particle flux

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From social interaction to ethical AI: A developmental roadmap 8

From social interaction to ethical AI: A developmental roadm...

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Joint 8th IEEE International Conference on Development and Learning and Epigenetic robotics, ICDL-EpiRob 2018

作者： Rolf, Matthias Crook, Nigel Steil, Jochen School of Engineering Computing and Maths Oxford Brookes University United Kingdom Institute for Robotics and Process Control Technische Universität Braunschweig Germany

ISBN: (纸本)9781538661109

AI and robot ethics have recently gained a lot of attention because adaptive machines are increasingly involved in ethically sensitive scenarios and cause incidents of public outcry. Much of the debate has been focused on achieving highest moral standards in handling ethical dilemmas on which not even humans can agree, which indicates that the wrong questions are being asked. We suggest to address this ethics debate strictly through the lens of what behavior seems socially acceptable, rather than idealistically ethical. Learning such behavior puts the debate into the very heart of developmental robotics. This paper poses a roadmap of computational and experimental questions to address the development of socially acceptable machines. We emphasize the need for social reward mechanisms and learning architectures that integrate these while reaching beyond limitations of plain reinforcement-learning agents. We suggest to use the metaphor of 'needs' to bridge rewards and higher level abstractions such as goals for both communication and action generation in a social context. We then suggest a series of experimental questions and possible platforms and paradigms to guide future research in the area. © 2018 IEEE.

关键词： Reinforcement learning

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Distributed Functional Safety for Modular process Plants

Distributed Functional Safety for Modular Process Plants

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Anselm Klose Florian Pelzer Mike Barth Rainer Drath Rainer Oehlert Silvia Vélez León Alexander Horch Christoph Kotsch Jochen Knab Bernhard Gut Hartmut Manske Leon Urbas Process Control Systems & Process Systems Engineering TU Dresden Dresden Germany Research Training Group 2323 TU Dresden Dresden Germany IoS³ - Institute of Smart Systems and Services Pforzheim University Pforzheim Germany Retired Process Engineering & Automation The Dow Chemical Company Stade Germany Dept. Global Consulting HIMA Paul Hildebrandt GmbH Brühl Germany R. D. & Product Management HIMA Paul Hildebrandt GmbH Brühl Germany Control Systems Technology BASF SE Ludwigshafen Germany Engineering Services Merck KGaA Darmstadt Germany Retired Electrical Engineering for Process Automation Endress+Hauser Germany Automation and Robotics Merck KGaA Darmstadt Germany

ISBN: (数字)9781728189567

ISBN: (纸本)9781728189574

Modular process plants enable the process industry to adapt to volatile and fluctuating markets. The preferred process technology concept for these market scenarios is realized through combining pre-engineered process equipment assemblies (PEA) from different manufacturers with standardized interfaces. While the flexibility gain for this type of plants is high, the design of the safety systems of these modular plants in terms of exchangeability and compatibility is challenging. One solution could be the development of a safety-interface for PEAs to create flexible and scalable safety systems. The principles of modular basic process control are analyzed and requirements with respect to safety design are discussed. The authors provide a differentiation of the intramodular safety concept of a single PEA from the intermodular safety concept of a complete modular plant. A concept for safe and modular interaction of PEAs in a modular plant is developed and additionally validated on a basic demonstrator. Finally, from these findings, standardization requirements are provided and aspects for further research are pointed out.

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An architecture for AutomationML-based constraint modelling and orchestration of Incremental Manufacturing

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Procedia CIRP 2019年 86卷 173-178页

作者： Ann-Kathrin Reichler Felix Gabriel Frederic Timmann Jochen Steil Klaus Dröder Technische Universität Braunschweig Institute of Machine Tools and Production Technology (IWF) Langer Kamp 19b 38106 Braunschweig Germany Technische Universität Braunschweig Institute of Robotics and Process Control (IRP) Mühlenpfordtstr. 23 38106 Braunschweig Germany

Incremental Manufacturing is a novel approach for the production of functional multi-material components with a large number of variants per part. It combines established production processes with additive and subtractive manufacturing technologies. The idea of Incremental Manufacturing comprises the robot-based and thus geometry-flexible step-by-step additive finalisation of prefabricated basic parts (semi-finished products, e.g. sheets, profiles) with a high build-up rate and, if needed, subsequent subtractive finishing of functional surfaces. This concept offers new ways for efficient and volume-capable variant production by reducing variant-specific investments. However, the elevated degree of freedom raises new challenges in the domains of product, process-, control- and software-design, since the classic straightforward production planning from product to process proves infeasible to manage the arising flexibility and configurability of Incremental Manufacturing. To cope with these new challenges, this paper introduces an approach to use AutomationML for the modelling of the degree of freedom in product, process and in the hardware set-up design through a hardware-neutral description of the manufacturing process. The aim is to develop a specific process description using the example of additive manufacturing, which can be used for reconfigurable hardware set-ups and a flexible production design. Therefore, the authors present an AutomationML-based architecture for process modelling and constraint management based on manufacturing process knowledge to ensure a highly flexible Incremental Manufacturing.

关键词： Adaptive manufacturing System architecture Incremental Manufacturing

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Skill memories for parameterized dynamic action primitives on the pneumatically driven humanoid robot child affetto 8

Skill memories for parameterized dynamic action primitives o...

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Joint 8th IEEE International Conference on Development and Learning and Epigenetic robotics, ICDL-EpiRob 2018

作者： Queiber, Jeffrey Frederic Hammer, Barbara Ishihara, Hisashi Asada, Minoru Steil, Jochen Jakob Bielefeld University Bielefeld33615 Germany Graduate School of Engineering Osaka University Suita Osaka565-0871 Japan Institute for Robotics and Process Control Technische Universität Braunschweig Braunschweig38106 Germany

ISBN: (纸本)9781538661109

In this work, we propose an extension of parameterized skills to achieve generalization of forward control signals for action primitives that result in an enhanced control quality of complex robotic systems. We argue to shift the complexity of learning the full dynamics of the robot to a lower dimensional task related learning problem. Due to generalization over task variability, online learning for complex robots as well as complex scenarios becomes feasible. We perform an experimental evaluation of the generalization capabilities of the proposed online learning system through simulation of a compliant 2DOF arm. Scalability to a complex robotic system is demonstrated on the pneumatically driven humanoid robot Affetto including 6DOF. © 2018 IEEE.

关键词： Anthropomorphic robots

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Thermometry of photosensitive and optically induced electrokinetics chips

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Microsystems & Nanoengineering 2018年第1期4卷 190-198页

作者： Feifei Wang Lianqing Liu Gongxin Li Pan Li Yangdong Wen Guanglie Zhang Yuechao Wang Gwo-Bin Lee Wen Jung Li State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences110016 ShenyangChina University of Chinese Academy of Sciences 100049 BeijingChina Shenzhen Academy of Robotics 518057 ShenzhenChina Key Laboratory of Advanced Process Control for Light Industry of the Ministry of Education Institute of AutomationJiangnan University214122 WuxiChina Department of Power Mechanical Engineering National Tsing Hua University30013 HsinchuTaiwan Department of Mechanical and Biomedical Engineering City University of Hong KongKowloon TongHong KongChina

Optically induced electrokinetics(OEK)-based technologies,which integrate the high-resolution dynamic addressability of optical tweezers and the high-throughput capability of electrokinetic forces,have been widely used to manipulate,assemble,and separate biological and non-biological entities in parallel on scales ranging from micrometers to ***,simultaneously introducing optical and electrical energy into an OEK chip may induce a problematic temperature increase,which poses the potential risk of exceeding physiological conditions and thus inducing variations in cell behavior or activity or even irreversible cell damage during ***,we systematically measure the temperature distribution and changes in an OEK chip arising from the projected images and applied alternating current(AC)voltage using an infrared *** have found that the average temperature of a projected area is influenced by the light color,total illumination area,ratio of lighted regions to the total controlled areas,and amplitude of the AC *** an example,optically induced thermocapillary flow is triggered by the light image-induced temperature gradient on a photosensitive substrate to realize fluidic hydrogel *** studies show that the projected light pattern needs to be properly designed to satisfy specific application requirements,especially for applications related to cell manipulation and assembly.

关键词： exceeding illumination manipulation

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Temporal-spatial cross-correlation analysis of non-stationary near-surface wind speed time series

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Journal of Central South University 2017年第3期24卷 692-698页

作者： ZENG Ming LI Jing-hai MENG Qing-hao ZHANG Xiao-nei Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control （School of Electrical Automation and Information Engineering Tianjin University） Tianjin 300072 China

Temporal-spatial cross-correlation analysis of non-stationary wind speed time series plays a crucial role in wind field reconstruction as well as in wind pattern ***,the near-surface wind speed time series recorded at different locations are studied using the detrended fluctuation analysis(DFA),and the corresponding scaling exponents are larger than *** indicates that all these wind speed time series have non-stationary ***,concerning this special feature( i.e.,non-stationarity)of wind signals,a cross-correlation analysis method,namely detrended cross-correlation analysis(DCCA) coefficient,is employed to evaluate the temporal-spatial cross-correlations between non-stationary time series of different anemometer ***,experiments on ten wind speed data synchronously collected by the ten anemometers with equidistant arrangement illustrate that the method of DCCA cross-correlation coefficient can accurately analyze full-scale temporal-spatial cross-correlation between non-stationary time series and also can easily identify the seasonal component,while three traditional cross-correlation techniques(i.e.,Pearson coefficient,cross-correlation function,and DCCA method) cannot give us these information directly.

关键词： temporal-spatial cross-correlation near-surface wind speed time series detrended cross-correlation analysis （DCCA） cross-correlation coefficient Pearson coefficient cross-correlation function

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Bio-Syncretic Light-gated Field-Effect Transistor: Fabrication and Characterization

Bio-Syncretic Light-gated Field-Effect Transistor: Fabricati...

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IEEE Conference on Nanotechnology

作者： Jia Yang Wenxue Wang Gongxin Li Guangyong Li Ning Xi Lianqing Liu State Key Laboratory of Robotics Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Jiangnan University Wuxi China Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh United States Emerging Technologies Institute University of Hong Kong Pokfulam Hong Kong

Biological visual system has many intrinsic functional superiorities, such as small size, high sensitivity and no heat-sink cooling, which are hard to be completely replicated by electromechanical systems. The bio-syncretic design of sensing device with living materials may provide some functional superiorities to those conventional sensing devices, and will have great potential benefits in both biomedical and engineering applications. In this study, we developed a novel bio-syncretic light-gated field-effect transistor (FET), in which optogenetically engineered cells were used as the gate substitute for conventional gate electrode, and the exposure of the cells to light irradiation results in the variation of the transistor's channel current. The bio-syncretic transistor was fabricated by virtue of graphene film and optogenetically engineered cells, and its basic photo-responsive performance was then tested and characterized. This reference-less bio-syncretic transistor has a wide range of potential applications in photodetection and biosensing with good biocompatibility and stability.

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