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arXiv 2021年

作者： Liu, Yuhan Tóth, Roland The Harbin Institute of Technology Department of Control Science and Engineering Harbin China The Eindhoven University of Tech. Dep. of Electrical Eng. Control Systems Group Eindhoven Netherlands The Institute for Computer Science and Control Budapest Hungary

An important issue in quadcopter control is that an accurate dynamic model of the system is nonlinear, complex, and costly to obtain. This limits achievable control performance in practice. Gaussian process (GP) based estimation is an effective tool to learn unknown dynamics from input/output data. However, conventional GP-based control methods often ignore the computational cost associated with accumulating data during the operation of the system and how to handle forgetting in continuous adaption. In this paper, we present a novel Dual Gaussian Process (DGP) based model predictive control strategy that improves the performance of a quadcopter during trajectory tracking. The bio-inspired DGP structure is a combination of a long-term GP and a short-term GP, where the long-term GP is used to keep the learned knowledge in memory and the short-term GP is employed to rapidly compensate unknown dynamics during online operation. Furthermore, a novel recursive online update strategy for the short-term GP is proposed to successively improve the learnt model during online operation in an efficient way. Numerical simulations are used to demonstrate the effectiveness of the proposed strategy. © 2021, CC BY-NC-SA.

关键词： Model predictive control

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Automatic Identification of Wireless Sensor Network Topology in a IoT Domestic Setup and Discovery of User Routines

Automatic Identification of Wireless Sensor Network Topology...

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2020 International Conference on Omni-layer Intelligent Systems (COINS)

作者： João Falcão Paulo Menezes Rui P. Rocha Institute of Systems and Robotics Dep. of Electrical and Computer Eng. University of Coimbra Portugal

ISBN: (数字)9781728163710

ISBN: (纸本)9781728163727

In recent years, Internet of Things has been gaining popularity due to its capabilities and flexible implementation. Current developments make use of several sensor types building large wireless sensor networks, where each sensor can have a degree of connection over the others. It is usually more perceptible with the use of motion sensors in different rooms where physical paths taken by a subject are strongly correlated to temporal sequences detected in the nodes. This study presents two methods for the detection of these correlations between nodes, one requiring the user to perform a path across every sensor and another method that tries to infer information without any explicit human intervention, by analysing the first events of each day where entropy is low. The results show that the latter method, which does not require explicit human intervention, presents some degradation if a low number of sensors is used in the network and these sensors have a high periodic activation. The former method is in general more accurate for small to medium sized networks, but can be problematic in large networks where passing across every sensor can be a tedious or unpractical requirement.

关键词： Robot sensing systems Topology Network topology Internet of Things Electronic mail Security

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Augmenting Shared Spaces in Psychotherapy Contexts 5

Augmenting Shared Spaces in Psychotherapy Contexts

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5th Experiment at International Conference, exp.at 2019

作者： Patrao, Bruno Menezes, Paulo Goncalves, Nuno Institute of Systems and Robotics Dept. Electrical and Computer Eng. University of Coimbra Portugal

ISBN: (纸本)9781728136370

The ongoing growing of computational power of small portable devices allow the emergence of new forms of Augmented Realities, such as, virtual shared spaces. In this work, we will explore the use of this technology to improve the collaborative work between people in the same physical space or in remote locations sharing virtual contents. The idea is to have a scene shared between several people where everyone can see and interact with it. Those live interactions can improve the quality of collaborative work by presenting in real time ideas and thoughts of any participant directly on top of the 3D model. Our main goal is to apply this concept to psychological therapies, specially to exposure therapies, where it is very important for the therapist to control and manipulate the scene that the patient is exposed to in order to obtain the desired results. © 2019 IEEE.

关键词： Mixed reality

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High Performance Computing for Autonomous Planetary Exploration

High Performance Computing for Autonomous Planetary Explorat...

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IEEE International Conference on Space Mission Challeng.s for Information Technology, SMC-IT

作者： Khaled Sharif Jordan Ford Red Whittaker Uland Wong Intelligent Robotics Group KBR NASA Ames Research Center Mountain View CA Electrical & Computer Eng. Carnegie Mellon University Pittsburgh PA Robotics Institute Carnegie Mellon University Pittsburgh PA Intelligent Robotics Group NASA Ames Research Center Mountain View CA

ISBN: (纸本)9781728185613

Modern parallel computers could power the perception and compression algorithms small planetary rovers require to navigate long distances, construct detailed terrain maps, and communicate discoveries to Earth. This work identifies and comprehensively characterizes four algorithms important to planetary roving that are well-suited for parallel computing. Multiple implementations of dense stereo matching, multi-view stereo, image compression, and triangle mesh compression are evaluated using the NVIDIA Jetson family of high-performance embedded computers. Image and mesh inputs are derived from simulation and used to evaluate the performance, power consumption, and hardware utilization of each device as a function of time. Our results demonstrate the promising capacity for modern embedded computers to expand the range and pace of planetary rover exploration.

关键词： Space vehicles computers Performance evaluation Power demand Image coding Navigation Space missions

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Immersive serious games for post-stroke motor rehabilitation 5

Immersive serious games for post-stroke motor rehabilitation

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5th Experiment at International Conference, exp.at 2019

作者： Ferreira, Bruno Menezes, Paulo Institute of Systems and Robotics Dept. of Electrical Computer Eng. University of Coimbra Coimbra Portugal

ISBN: (纸本)9781728136370

This article describes a demonstration of an ongoing research work that explores the extents of how immersive systems may support serious games development for post-stroke upper limb rehabilitation. Beyond the entertainment that is expected from games, the focus goes towards the exploitation of embodiment that should contribute to reinforce the patient eng.gement, what is known to contribute to the faster and deeper recovery, but also the sensory stimulation that is crucial to the development of new neural pathways. © 2019 IEEE.

关键词： Virtual reality

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Inverse Shaper Based Active Vibration control of Flexible Structures with a Collocated Sensor-Actuator Pair ⁎

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IFAC-PapersOnLine 2020年第2期53卷 8668-8674页

作者： Arzuman Can Kutlucan Baran Alikoc Leyla Goren-Sumer Department of Control and Automation Eng. Faculty of Electrical and Electronics Eng. Istanbul Technical University 34469 Istanbul Turkey Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague 16000 Prague Czech Republic

We propose a new control design for active vibration suppression of flexible structures with a collocated sensor-actuator pair. The proposed controller is based on the inverse form of a well-known input zero vibration (ZV) shaper. The inverse ZV shaper is utilized with a serially interconnected all-pass filter. This way, the appropriate controller frequency response properties for vibration suppression of collocated flexible systems is achieved, when the controller is applied in the positive feedback path. We propose two different cost functions to optimize the parameters of the proposed controller for efficient vibration suppression. The performance of the controller is investigated in both frequency and time domains through the vibration control of a cantilever beam model with a collocated piezoelectric sensor-actuator pair. Furthermore, its performance is compared with a recently improved version of the positive position feedback controller, which is a state-of-the-art work. It is shown via the simulations that the proposed controller suppresses vibrations more efficiently.

关键词： Flexible systems vibration control collocated systems input shapers

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Emergence of Gabor-Like Receptive Fields in a Recurrent Network of Mixed-Signal Silicon Neurons

Emergence of Gabor-Like Receptive Fields in a Recurrent Netw...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： Valentina Baruzzi Giacomo Indiveri Silvio P. Sabatini Dept. of Computer Science Bioengineering Robotics and Systems Eng. University of Genoa Genoa Italy Institute of Neuroinformatics University of Zürich and ETH Zürich Zurich Switzerland Dept. of Computer Science Bioengineering Robotics and Systems Eng. University of Genoa Genoa Italy

ISBN: (数字)9781728133201

ISBN: (纸本)9781728133218

Mixed signal analog/digital neuromorphic circuits offer an ideal computational substrate for testing and validating hypotheses about models of sensory processing, as they are affected by low resolution, variability, and other limitations that affect in a similar way real neural circuits. In addition, their real-time response properties allow to test these models in closed-loop sensory-processing hardware setups and to get an immediate feedback on the effect of different parameter settings. Within this context we developed a recurrent neural network architecture based on a model of the retinocortical visual pathway to obtain neurons highly tuned to oriented visual stimuli along a specific direction and with a specific spatial frequency, with Gabor-like receptive fields. The computation performed by the retina is emulated by a Dynamic Vision Sensor (DVS) while the following feed-forward and recurrent processing stages are implemented by a Dynamic Neuromorphic Asynchronous Processor (DYNAP) chip that comprises adaptive integrate-and fire neurons and dynamic synapses. We show how the network implemented on this device gives rise to neurons tuned to specific orientations and spatial frequencies, independent of the temporal frequency of the visual stimulus. Compared to alternative feedforward schemes, the model proposed produces highly structured receptive fields with a limited number of synaptic connections, thus optimizing hardware resources. We validate the model and approach proposed with experimental results using both synthetic and natural images.

关键词： Neurons Tuning Kernel Retina Visualization Neuromorphics Synapses

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Actuator Placement for Structural controllability beyond Strong Connectivity and towards Robustness

Actuator Placement for Structural Controllability beyond Str...

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IEEE Conference on Decision and control

作者： Baiwei Guo Orcun Karaca Sepide Azhdari Maryam Kamgarpour Giancarlo Ferrari-Trecate Automatic Control Laboratory Institute of Mechanical Engineering École Polytechnique Fédérale de Lausanne Switzerland ABB Corporate Research Center Baden Switzerland Electrical and Computer Eng. University of British Columbia Canada

ISBN: (纸本)9781665436601

Actuator placement is a fundamental problem in control design for large-scale networks. In this paper, we study the problem of finding a set of actuator positions by minimizing a given metric, while satisfying a structural controllability requirement and a constraint on the number of actuators. We first extend the classical forward greedy algorithm for applications to graphs that are not necessarily strongly connected. We then improve this greedy algorithm by extending its horizon. This is done by evaluating the actuator position set expansions at the further steps of the classical greedy algorithm. We prove that this new method attains a better performance, when this evaluation considers the final actuator position set. Moreover, we study the problem of minimal backup placements. The goal is to ensure that the system stays structurally controllable even when any of the selected actuators goes offline, with minimum number of backup actuators. We show that this problem is equivalent to the well-studied hitting set problem. Our results are verified by a numerical case study.

关键词： Greedy algorithms Measurement Actuators control design Conferences controllability Robustness

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A Bio-Inspired Neuromorphic Active Vision System Based on Fixational Eye Movements

A Bio-Inspired Neuromorphic Active Vision System Based on Fi...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： Simone Testa Giacomo Indiveri Silvio P. Sabatini Dept. of Computer Science Bioengineering Robotics and Systems Eng. University of Genoa Genoa Italy Institute of Neuroinformatics University of Zürich and ETH Zürich Zürich Switzerland Dept. of Computer Science Bioengineering Robotics and Systems Eng. University of Genoa Genoa Italy

ISBN: (数字)9781728133201

ISBN: (纸本)9781728133218

Similar to biological retinas, neuromorphic Dynamic Vision Sensor (DVS) devices only respond to changes in the visual scene. It has been observed that in biological systems there is a causal relationship between fixational eye movements and target visibility during fixation, which plays a central role in vision. Based on these findings we implemented an active vision system comprising of a DVS mounted on a pan-tilt unit to introduce microscopic and erratic camera movements as a pivot for artificial vision of static scenes. The key principle is that moving the sensor over an image shifts the low temporal frequency power of a static scene into a range that an event-based retina can properly signal and encode it as highly synchronous activity. By characterizing the signal provided by the active vision system we evidenced (1) an amplification of its response to high spatial frequencies; (2) a whitening effect when scaling stimulus contrast to match the structure of natural images; and (3) an equalized response to all possible orientations of static stimuli related to the isotropic statistics of the random-like motion. The design of a further proper anisotropic spatial summation of events with opponent contrast polarity in a biologically-realistic spiking neural network allowed the detection of information relative to the local orientation of stimuli in a fully bio-inspired fashion. We validate the system proposed with experimental results using synthetic control stimuli.

关键词： Gratings Neurons Voltage control Neuromorphics Machine vision Retina Visualization

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Towards the Coarsest Quantized controller under Denial-of-Service Attacks

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IFAC-PapersOnLine 2020年第2期53卷 3496-3501页

作者： Dorus van Dinther Shuai Feng.Hideaki Ishii W.P.M.H. (Maurice) Heemels Control Systems Technology group Dept. of Mechanical Eng. Eindhoven University of Technology Eindhoven 5600 MB The Netherlands Dept. of Computer Science Tokyo Institute of Technology Yokohama 226-8502 Japan

In this paper, we consider networked control systems under Denial-of-Service (DoS) attacks. The control objective is to synthesize a quantized controller in which the quantizer is as coarse as possible for a networked control system subject to DoS attacks, while still guaranteeing (quadratic) stability. Our main result will explicitly show the trade-offs between system robustness against DoS and quantizer coarseness. A simulation example will demonstrate the streng.hs of the new method.

关键词： Denial-of-Service attacks secure networked control systems control estimation with data loss control under communication constraints

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