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arXiv 2017年

作者： Viraraghavan, Venkata Subramanian Pal, Arpan Aravind, R. Murthy, Hema TCS Research and Innovation Embedded Systems and Robotics Bangalore India Department of Electrical Engineering Indian Institute of Technology Madras Singapore Department of Computer Science and Engineering Indian Institute of Technology Madras India

Gamakas are an integral aspect of Carnatic Music, a form of classical music prevalent in South India. They are used in rāgas, which may be seen as melodic scales and/or a set of characteristic melodic phrases. Gamakas exhibit continuous pitch variation often spanning several semitones. In this paper, we study how gamakas scale with tempo and propose a novel approach to change the tempo of Carnatic music pieces. The music signal is viewed as consisting of constant-pitch segments and transients. The transients show continuous pitch variation and we consider their analyses from a theoretical stand-point. We next observe the non-uniform ratios of time-scaling of constantpitch segments, transients and silence in excerpts from nine concert renditions of varn. ams in six rāgas. The results indicate that the changing tempo of Carnatic music does not change the duration of transients significantly. We report listening tests on our algorithm to slow down Carnatic music that is consistent with this observation. Copyright © 2017, The Authors. All rights reserved.

关键词： Music

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Effects of a neuromuscular controller on a powered ankle exoskeleton during human walking

Effects of a neuromuscular controller on a powered ankle exo...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Florin Dzeladini Amy R. Wu Daniel Renjewski Arash Arami Etienne Burdet Edwin van Asseldonk Herman van der Kooij Auke J. Ijspeert École Polytechnique Fédérale Institute of Bioengineering Lausanne Switzerland Robotics and Embedded Systems Technische Universitat Munchen Germany Human Robotics Group Imperial College London United Kingdom Department of Biomechancial Engineering University of Twente The Netherlands Department of Biomechanical Engineering Delft Technical University The Netherlands

ISBN: (纸本)9781509032884

Wearable devices to assist abnormal gaits require controllers that interact with the user in an intuitive and unobtrusive manner. To design such a controller, we investigated a bio-inspired walking controller for orthoses and prostheses. We present (i) a Simulink neuromuscular control library derived from a computational model of reflexive neuromuscular control of human gait with a central pattern generator (CPG) extension, (ii) an ankle reflex controller for the Achilles exoskeleton derived from the library, and (iii) the mechanics and energetics of healthy subjects walking with an actuated ankle orthosis using the proposed controller. As this controller was designed to mimic human reflex patterns during locomotion, we hypothesize that walking with this controller would lead to lower energetic costs, compared to walking with the added mass of the device only, and allow for walking at different speeds without explicit control. Preliminary results suggest that the neuromuscular controller does not disturb walking dynamics in both slow and normal walking cases and can also reduce the net metabolic cost compared to transparent mode of the device. Reductions in tibialis anterior and soleus activity were observed, suggesting the controller could be suitable, in future work, for augmenting or replacing normal walking functions. We also investigated the impedance patterns generated by the neuromuscular controller. The validity of the equivalent variable impedance controller, particularly in stance phase, can facilitate serving subject-specific features by linking impedance measurement and neuromuscular controller.

关键词： Legged locomotion Neuromuscular Exoskeletons Electromyography Torque Hip

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The PANDORA project: a success story in AUV autonomy

The PANDORA project: a success story in AUV autonomy

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Oceans (conference)

作者： Francesco Maurelli Marc Carreras Joaquim Salvi David Lane Maria Fox Derek Long Petar Kormushev Darwin Caldwell Kostas Kyriakopoulos George Karras Chair of Robotics and Embedded Systems (I6) Technische Universit?t München Garching bei München DE Depart. dArquitectura i Tecnologia de Computadors Universitat de Girona Girona Spain Ocean Systems Laboratory Heriot-Watt University Edinburgh Scotland UK Department of Informatics Kings College Londons London UK Advanced Robotics Department Italian Institute of Technology Genoa Italy Control Systems Laboratory National Technical University of Athens Athens Greece

ISBN: (纸本)9781467397254

This paper presents some of the results of the EU-funded project PANDORA - Persistent Autonomy Through Learning Adaptation Observation and Re-planning. The project was three and a half years long and involved several organisations across Europe. The application domain is underwater inspection and intervention, a topic particularly interesting for the oil and gas sector, whose representatives constituted the Industrial Advisory Board. Field trials were performed at The Underwater Centre, in Loch Linnhe, Scotland, and in harbour conditions close to Girona, Spain.

关键词： PANDORA project AUV

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Automated generation of hybrid system models for reachability analysis of nonlinear analog circuits

Automated generation of hybrid system models for reachabilit...

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Asia and South Pacific Design Automation Conference

作者： Hyun-Sek Lukas Lee Matthias Althoff Stefan Hoelldampf Markus Olbrich Erich Barke Institute of Microelectronic Systems Leibniz Universität Hannover Germany Institute of Robotics and Embedded Systems Technische Universität München Germany

ISBN: (纸本)9781479977932

We address the problem of formally verifying nonlinear analog circuits with an uncertain initial set by computing their reachable set. A reachable set contains the union of all possible system trajectories for a set of uncertain states and as such can be used to provably check whether undesired behavior is possible or not. Our method is based on local linearizations of the nonlinear circuit, which naturally results in a piecewise-linear system. To substantially limit the number of required locations, our approach computes linearized locations on-the-fly depending on which states are reachable. We can show that without the proposed on-the-fly technique, the conversion to piecewise-linear systems is infeasible even for a few nonlinear semiconductor devices (discrete state-space explosion problem). Our method is fully automatic and only requires a circuit netlist. Piecewise-linear systems have gained popularity not only for verification, but also for accelerated simulation of nonlinear circuits. Our method provides a guaranteed bound on the number of linearization locations that have to be explicitly computed for such a nonlinear circuit.

关键词： Integrated circuit modeling Reachability analysis Automata Computational modeling Nonlinear circuits Hybrid power systems Mathematical model

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On Identifying Dynamic Intersections in Large Cities

On Identifying Dynamic Intersections in Large Cities

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International IEEE Conference on Intelligent Transportation systems

作者： Jordan Ivanchev Heiko Aydt Alois Knoll TUM CREATE 1 CREATE Way 10-02 CREATE Tower Singapore 138602 Technische Universitat München (TUM) Institute for Informatics Robotics and Embedded Systems Germany

ISBN: (纸本)9781467365970

As the complexity of traffic conditions in large cities increases it becomes important and highly desirable to be able to analyse the spatial and temporal nature of such systems. Due to the heterogeneity of traffic demand and road network topology [1], it is possible to find "hot spots" in a network that present a challenge for city planning and conventional intersection control methods. This paper presents an approach to identify such places as physical intersections in a traffic network with dynamically changing demand conditions in time and to quantify the level of volatility at those locations. We design a model that is used to simulate commuters path choices using a stochastic routing approach. We perform a case study for the city of Singapore and calibrate our model with national survey data describing the travel habits of the population. The results from our simulation are used to analyse the traffic conditions in the city. We are able to identify and study highly dynamic intersections and observe that such locations in fact exist and contribute to the heterogeneous dynamic profile of the road network.

关键词： complexity heterogeneity dynamically city Intersection traffic network road network Traffic Complexity City Planning Travel demand Case studies Heterogeneous Volatility

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Spatial and Temporal Analysis of Mismatch Between Planned Road Infrastructure and Traffic Demand in Large Cities

Spatial and Temporal Analysis of Mismatch Between Planned Ro...

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International IEEE Conference on Intelligent Transportation systems

作者： Jordan Ivanchev Heiko Aydt Alois Knoll TUM CREATE 1 CREATE Way 10-02 CREATE Tower Singapore 138602 Technische Universit?t München (TUM) Institute for Informatics Robotics and Embedded Systems Germany

ISBN: (纸本)9781467365970

As large cities evolve in time, the traffic demand and the road network adapt to the mutually presented changes by each other. As a result of this process, previously planned roads and intersections that were designed according to some optimality criteria at the time, turn out to be suboptimal when traffic conditions change. This paper presents a method that can be used in order to identify intersections whose capacity is no longer in correspondence with the demand of vehicles on them and the choices agent make at those locations. Using real data from a survey describing the travel patterns of people in the city of Singapore we are able to model the routing choices of commuters and simulate the traffic demands on the road network. After calculating the turning probabilities on every intersection we are able to compare the traffic demand for every turn with the planned physical roads' capabilities. Furthermore we define a measure, which quantifies the deviation of the whole road network from the ideal demand-calculated values. We use these measures to evaluate the temporal and spatial profile of the mismatch between the roads and the demand for them. The measure is designed such that it is universal in nature and invariant to the absolute values of the traffic flows in the city. It can, therefore, be used to compare the proper utilisation of road networks among different cities.

关键词： traffic demand road network adapt mutually presented Travel demand road network city Intersection Travel patterns Road MISMATCH road infrastructure temporal analysis Traffic commuters

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Reducing communication-related complexity in heterogeneous networked medical systems considering non-functional requirements

Reducing communication-related complexity in heterogeneous n...

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International Conference on Advanced Communication Technology (ICACT)

作者： Morteza Hashemi Farzaneh Suraj Nair Mohammad Ali Nasseri Alois Knoll Institute of Robotics and Embedded Systems Technische Universitat Munchen Munchen Germany

Networked Medical systems (NMS) promise better data exchange in medical infrastructures such as operating rooms in hospitals and clinics. However, the heterogeneous interfaces of medical systems and varied requirements on NMS such as real-time constraints, increase the communication complexity considering network architectures, communication protocols and software/hardware components. In this paper, a robot-assisted eye surgery is used as a clinical use case. Based on this use case and its communication types, non-functional requirements on NMS are derived. An approach for abstraction is proposed which targets at reducing the communication-related complexity in NMS. Complexity reduction in this case means that a multi-interface middleware in NMS abstracts the detailed knowledge required for implementation of different communication types such as real-time communication. The middleware architecture is divided into two main parts: Communication Abstraction Provider (CAP) and Communication Abstraction Bridge (CAB). CAP is the central component of the middleware which connects the medical systems using CABs. In this paper, the focus is on the complexity reduction of the real-time communication part. For this purpose, real-time communication protocols are investigated and evaluated for application in the CAP/CAB architecture. The result of the evaluation shows that Ethernet POWERLINK is the most suitable real-time communication protocol for the CAP/CAB architecture.

关键词： Real-time systems Protocols Robots Surgery Biomedical imaging Hardware Complexity theory

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Stochastic Bus Traffic Modelling and Validation Using Smart Card Fare Collection Data

Stochastic Bus Traffic Modelling and Validation Using Smart ...

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IEEE International Conference on Intelligent Transportation systems

作者： Jordan Ivanchev Heiko Aydt Alois Knoll TUM CREATE Singapore Robotics and Embedded Systems Institute for Informatics Germany

This paper provides guidelines for designing bus transit simulations and justifies the need of a qualitatively and quantitatively correct model that is validated and can serve as a benchmark testing platform for the numerous optimisation strategies that researchers present. It describes and comments on some of the most important contributions regarding bus transportation control and optimisation from a modelling perspective. Furthermore, a case study concerning a bus line in Singapore is conducted where smart card data is used to extract the parameters needed in order to construct the model, while discussing the methods and challenges of this process. Consequently, the simulation is calibrated and validated in order to ensure maximum accuracy of its outputs.

关键词： Data mining Solid modeling Analytical models Data models Computational modeling Smart cards Transportation

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Interdisciplinary concept of design, actuation, control and vision computing of a laser-sintered single-port robot

Interdisciplinary concept of design, actuation, control and ...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Mattias F. Traeger Daniel B. Roppenecker Brian Jensen Salman Can Alois Knoll Tim C. Lueth Institute of Micro Technology and Medical Device Technology (MIMED) Technische Universitat Munnchen Garching Germany Robotics and Embedded Systems Technische Universitat Munchen Garching Germany

One standard procedure in minimally invasive surgery is the endoscopic submucosal dissection (ESD), where neoplastic mucosa is being removed. The standard endoscopes and flexible instruments currently used in everyday routine have limited maneuverability and are controlled in an unintuitive manner. To overcome these drawbacks we propose a telemanipulation system capable of independently controlling two standard flexible endoscopic instruments with sufficient triangulation that is comparable to the dexterity of classical open surgery. By using the rapid manufacturing technique selective laser sintering (SLS) of a biocompatible polyamide, we want to examine basic design principles to print our telemanipulation system in one part and to individualize its characteristics for patient specific print-out in the future. In this paper we give an overview of our system from the mechanical design via control and actuation concept to visual environment perception.

关键词： Instruments Laser sintering Surgery Cameras Powders Three-dimensional displays Manipulators

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Stochastic Bus Traffic Modelling and Validation Using Smart Card Fare Collection Data

Stochastic Bus Traffic Modelling and Validation Using Smart ...

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17th International IEEE Conference on Intelligent Transportation systems & The Asia-Pacific Council on systems Engineering Conference 2014

作者： Jordan Ivanchev Heiko Aydt Alois Knoll TUM CREATE 1 CREATE Way10-02 CREATE TowerSingapore 138602 Technische Universitt M ünchen (TUM) Institute for InformaticsRobotics and Embedded Systems

This paper provides guidelines for designing bus transit simulations and justifies the need of a qualitatively and quantitatively correct model that is validated and can serve as a benchmark testing platform for the numerous optimisation strategies that researchers *** describes and comments on some of the most important contributions regarding bus transportation control and optimisation from a modelling ***,a case study concerning a bus line in Singapore is conducted where smart card data is used to extract the parameters needed in order to construct the model,while discussing the methods and challenges of this ***,the simulation is calibrated and validated in order to ensure maximum accuracy of its outputs.

关键词： Stochastic Bus Traffic Modelling and Validation Using Smart Card Fare Collection Data

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