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Multiagent Consensus over Time-Invariant and Time-Varying Signed Digraphs via Eventual Positivity

IEEE Transactions on Automatic Control 2023年第9期68卷 5429-5444页

作者： Fontan, Angela Wang, Lingfei Hong, Yiguang Shi, Guodong Altafini, Claudio Linköping University Division of Automatic Control Department of Electrical Engineering LinköpingSE-58183 Sweden KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-10044 Sweden Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Tongji University Department of Control Science and Engineering Shanghai201804 China University of Sydney Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering SydneyNSW2008 Australia

Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called 'repelling' signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may lose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this article, we present novel conditions for achieving consensus on signed digraphs based on the property of eventual positivity, a Perron-Frobenius (PF) type of property for signed matrices. The conditions we develop cover both time-invariant and time-varying cases. A particularly simple sufficient condition, valid in both cases, is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance, in the time-invariant case it is enough that the Laplacian has this PF property on the right side, but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus. © 1963-2012 IEEE.

关键词： Lyapunov functions

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Action recognition through fusion of sEMG and skeletal data in feature level

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Journal of Ambient Intelligence and Humanized Computing 2022年第9期13卷 4125-4134页

作者： Wang, Xinming Ding, Weili Bian, Shuangshuang Liu, Honghai Department of Automation Institute of Electrical Engineering Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province Yanshan University 438 West of Hebei Avenue Haigang District Qinhuangdao066004 China School of Mechanical Engineering and Automation State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen Nanshan District Shenzhen518055 China

Human action can be recognized through a unimodal way. However, the information obtained from a single mode is limited due to the fact that a single mode contains only one type of physical attribute. Therefore, it is motivational to improve the accuracy of actions through fusion of two different complementary modality, which are the surface electromyography (sEMG) and the skeletal data. In this paper, we propose a general framework of fusion of sEMG signals and skeletal data. Firstly, vector of locally aggregated descriptor (VLAD) was extracted from sEMG sequences and skeletal sequences, respectively. Secondly, features obtained from sEMG and skeletal data are mapped through different weighted kernels using multiple kernel learning. Finally, the classification results are obtained through the model of multiple kernel learning. A dataset of 18 types of human actions is collected via KinectV2 and Thalmic Myo armband to verify our ideas. The experimental results show that the accuracy of human action recognition are improved by combining skeletal data with sEMG signals. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Musculoskeletal system

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A Look-Up Table Based Inverter Nonlinearity Compensation Method Considering Parameter Inconsistency of Upper and Lower Bridge Arms

A Look-Up Table Based Inverter Nonlinearity Compensation Met...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Yonghe Huang Dianguo Xu Yan Xu Yong Yu Junyu Zhao Xubo Gong School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China The State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

In motor drive systems, voltage source inverter (VSI) nonlinearity will produce voltage error, cause current harmonics, and affect the control performance. Among the VSI nonlinearity factors, the parasitic capacitance is the fundamental cause of the nonlinear relationship between voltage error and phase current. If the parameter inconsistency of the upper and lower bridge arm is not considered, the voltage error is an odd function. However, in practical applications, the parameters of the upper and lower bridge arms are usually slightly different, and the voltage error will no longer be an odd function. Considering the influence of parameter inconsistency, this article proposes an accurate look-up table (LUT) based method for VSI nonlinearity compensation. By injecting positive staircase current and negative staircase current separately in self-commissioning process, an accurate voltage error LUT is obtained through numerical fitting methods. The proposed method does not require any parameter of power devices. Experimental results verify the effectiveness of the proposed method.

关键词： Industrial electronics Motor drives Accuracy Voltage source inverters Fitting Bridge circuits Table lookup

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A Manta Ray-Inspired Biosyncretic Robot with Stable Controllability by Dynamic Electric Stimulation

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Cyborg and Bionic systems 2022年第1期2022卷 314-326页

作者： Chuang Zhang Yiwei Zhang Wenxue Wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Inst itute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang 110159China Emerging Technologies Institute Department of Industrial Manufacturing Systems Engineering University of Hong KongPokfulamChina

Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in *** as the main operation mechanism relates to the robotic overall ***,biosyncretic robots actuated by living biological actuators have attracted increasing ***,innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic *** this work,a muscle tissue-based biosyncretic swimmer with a manta *** propelling mode has been *** is more,to improve the stable controllability of the biosyncretic swimmer,a dynamic control method based on circularly distributed multiple electrodes(CDME)has been *** this method,the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the adtuation tissue of the dynamic ***,the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be ***,the biosyncretic robot has demonstrated stable,controllable,and efective swimming,by adjusting the electric stimulation pulse direction,amplitude,and *** work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering.

关键词： Robot robot Dynamic

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SPVSoAP3D: A Second-order Average Pooling Approach to enhance 3D Place Recognition in Horticultural Environments

arXiv

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arXiv 2024年

作者： Barros, T. Premebida, C. Aravecchia, S. Pradalier, C. Nunes, U.J. University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Portugal IRL2958 GeorgiaTechCNRS Metz57070 France

3D LiDAR-based place recognition has been extensively researched in urban environments, yet it remains underexplored in agricultural settings. Unlike urban contexts, horticultural environments, characterized by their permeability to laser beams, result in sparse and overlapping LiDAR scans with suboptimal geometries. This phenomenon leads to intra- and inter-row descriptor ambiguity. In this work, we address this challenge by introducing SPVSoAP3D, a novel modeling approach that combines a voxel-based feature extraction network with an aggregation technique based on a second-order average pooling operator, complemented by a descriptor enhancement stage. Furthermore, we augment the existing HORTO-3DLM dataset by introducing two new sequences derived from horticultural environments. We evaluate the performance of SPVSoAP3D against state-of-the-art (SOTA) models, including OverlapTransformer, PointNetVLAD, and LOGG3D-Net, utilizing a cross-validation protocol on both the newly introduced sequences and the existing HORTO-3DLM dataset. The findings indicate that the average operator is more suitable for horticultural environments compared to the max operator and other first-order pooling techniques. Additionally, the results highlight the improvements brought by the descriptor enhancement stage. The code is publicly available at https://***/Cybonic/*** © 2024, CC BY.

关键词： Feature extraction

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SPVSoAP3D: A Second-order Average Pooling Approach to enhance 3D Place Recognition in Horticultural Environments

SPVSoAP3D: A Second-order Average Pooling Approach to enhanc...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： T. Barros C. Premebida S. Aravecchia C. Pradalier U. J. Nunes Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal IRL2958 GeorgiaTech-CNRS Metz France

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

3D LiDAR-based place recognition has been extensively researched in urban environments, yet it remains underexplored in agricultural settings. Unlike urban contexts, horticultural environments, characterized by their permeability to laser beams, result in sparse and overlapping LiDAR scans with suboptimal geometries. This phenomenon leads to intra-and inter-row descriptor ambiguity. In this work, we address this challenge by introducing SPVSoAP3D, a novel modeling approach that combines a voxel-based feature extraction network with an aggregation technique based on a second-order average pooling operator, complemented by a descriptor enhancement stage. Furthermore, we augment the existing HORTO-3DLM dataset by introducing two new sequences derived from horticultural environments. We evaluate the performance of SPVSoAP3D against state-of-the-art (SOTA) models, including OverlapTransformer, PointNetVLAD, and LOGG3D-Net, utilizing a cross-validation protocol on both the newly introduced sequences and the existing HORTO-3DLM dataset. The findings indicate that the average operator is more suitable for horticultural environments compared to the max operator and other first-order pooling techniques. Additionally, the results highlight the improvements brought by the descriptor enhancement stage. The code is publicly available at https://***/Cybonic/***

关键词： Solid modeling Three-dimensional displays Protocols Laser radar Urban areas Green products Laser modes Permeability Laser beams Intelligent robots

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Application of Deep Learning Method to Estimate Bottomhole Pressure Dynamics of Oil Wells 32

Application of Deep Learning Method to Estimate Bottomhole P...

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32nd IEEE International Symposium on Industrial Electronics, ISIE 2023

作者： Cheng, Haibo Li, Shichao Zeng, Peng Vyatkin, Valeriy State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Luleå University of Technology Electrical and Space Engineering Department of Computer Science Luleå Sweden Aalto University Department of Electrical Engineering and Automation Helsinki Finland

ISBN: (纸本)9798350399714

Surrogate models, which have become an effective and popular method to close loop reservoir management problems, use a data-driven approach to predict dynamic injection and production wells parameters and optimize waterflooding development. In this study, a deep learning-based surrogate model method is proposed to estimate bottomhole pressure (BHP) of production wells in waterflooding reservoirs. Bidirectional long short-term memory (BiLSTM) network, as an efficient deep learning approach, is applied to BHP estimation using fluctuation data. Extended Fourier amplitude sensitivity test (EFAST) method is employed to analyse the influence of different input factors on BHP dynamics, and a reduced dataset is rebuilt to predict BHP parameter based on BiLSTM-EFAST algorithm. The estimation results are tested on a dataset from Volve oilfield in North Sea, and compared with other deep learning methods. The test results indicate that the proposed method can achieve higher prediction accuracy. A reduced dataset-based approach provides a new attempt to reduce model complexity and improve calculation speed for big data-driven surrogate model in oil and gas industry. © 2023 IEEE.

关键词： Long short-term memory

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Robust Optimization of a Stator Tooth Chamfering IPMSM for Electric Power Steering Applications

Robust Optimization of a Stator Tooth Chamfering IPMSM for E...

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2024 International Conference on electrical Machines, ICEM 2024

作者： Liu, Liyang Ma, Yiming Wang, Ruichi Li, Zequan Sun, Lu Zhao, Hang Robotics and Autonomous Systems Thrust Guangzhou China CSG PGC Energy Storage Research Institute China Southern Power Grid Energy Storage Co. Ltd Guangzhou China School of Mechanical Electrical and Manufacturing Loughborough University Loughborough United Kingdom School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9798350370607

The impact of manufacturing errors on motor performance is a crucial issue in the mass production of electric motor products. However, robust indexes are complicated to consider in the design process due to the enormous computational complexity. This paper presents a surrogate- assisted robust optimization method that integrates sensitivity analysis with Pareto front infill criteria. The approach enables efficient sampling in the regions where the optimal solution is most probable, thereby ensuring the local generalization capability of the surrogate model. As a result, robust optimization of probabilistic manufacturing error variables is effectively accomplished. An interior permanent-magnet synchronous machine (IPMSM) employing the stator tooth chamfering technique to mitigate cogging torque is examined for electric power steering applications. To verify the effectiveness of this approach, a limited series of prototypes were fabricated and rigorously tested, confirming the practicality of the proposed method. © 2024 IEEE.

关键词： Stators

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A Parallel and Asynchronous Blob Shape Descriptor Implemented in CMOS Technology 33

A Parallel and Asynchronous Blob Shape Descriptor Implemente...

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33rd IEEE International Conference on Microelectronics, MIEL 2023

作者： Bogacki, P. Dlugosz, M. Talaska, T. Dlugosz, R. Aptiv Services Poland Kraków30-399 Poland Agh University of Science and Technology Institute of Telecommunications Faculty of Computer Science Electronics and Telecommunications Kraków30-059 Poland Poznan University of Technology Faculty of Control Robotics and Electrical Engineering Institute of Automation and Robotics Division of Signal Processing and Electronic Systems Poznan60-965 Poland Bydgoszcz University of Science and Technology Faculty of Telecommunication Computer Science and Electrical Engineering Bydgoszcz85-796 Poland

ISBN: (纸本)9798350347760

The paper presents a family of novel light blob shape descriptors for use in selected active safety algorithms used in Advanced Driver Assistance systems (ADAS). One of the motivations was to obtain a descriptor that would ensure low computational complexity. This makes it easy to implement both in software and hardware. One assumption is that the location of the center of a given light spot is approximately known. The principle of its operation is then to count white pixels in selected directions, starting from this central point. A key issue here is an efficient way of determining indexes of particular pixels belonging to the image patch, as well as the location of points representing places where the white area turns into black. In the case of a hardware implementation, this can be done using a parallel circuit operating in asynchronous mode, without the need for a control clock. © 2023 IEEE.

关键词： Pixels

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Basis change, projection, and relative linear algebra tricks in signal and image processing

Basis change, projection, and relative linear algebra tricks...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Adam Dąbrowski Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Signal Processing and Electronic Systems Jana Pawła II 24 Poznań University of Technology Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

In this tutorial some basic linear algebra problems: basis change and projection, are discussed together with examples of their applications in signal and image processing. In typical linear algebra university courses perpendicular projections are only discussed. However, in image processing, for defining various color spaces, we need non-perpendicular projections. That is why this is the key problem in this tutorial.

关键词： Vectors Null space Gray-scale Image color analysis Symmetric matrices Color Tutorials Transforms Robot kinematics Transducers

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