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66th International Annual Meeting of the Human Factors and Ergonomics Society, HFES 2022

作者： Baskaran, Prakash Heard, Jamison Adams, Julie A. Collaborative Robotics and Intelligent Systems Institute Oregon State University CorvallisOR United States Department of Electrical and Microelectronic Engineering Rochester Institute of Technology NY United States

Communicating a patient’s state accurately during transfer from emergency medical technicians to hospital personnel is crucial for optimal care. Prior work demonstrated automated algorithms that combined wearable sensors with video data from cameras to detect clinical procedures and improve this information transfer. However, incorporating video requires task- or environment-specific installation mechanisms, raises privacy concerns, and is susceptible to occlusion and image noise. The presented approach detects clinical procedures using wearable sensors (i.e., inertial and electrophysiological) only and the procedures’ subtasks to mitigate the sensors’ signal variability to provide clinical procedure detection. © 2022 by Human Factors and Ergonomics Society. All rights reserved.

关键词： Ergonomics

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Experimental Validation of an Interface for a Human-Robot Interaction Within a Collaborative Task 1

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Proceedings of the 8th International Conference on Interactive Collaborative robotics, ICR 2023

作者： Mustafin, Maksim Chebotareva, Elvira Li, Hongbing Magid, Evgeni Intelligent Robotics Department Institute of Information Technology and Intelligent Systems Kazan Federal University 35 Kremlyovskaya st. Kazan420111 Russia Department of Instrument Science and Engineering Shanghai Jiao Tong University Minhang Shanghai200240 China Tikhonov Moscow Institute of Electronics and Mathematics HSE-University 34 Tallinn st. Moscow123458 Russia

ISBN: (数字)9783031431111

ISBN: (纸本)9783031431104

This paper presents a prototype of a non-contact UR robot based Virtual Control (UR-VC) system for collaborative robots of the UR family, which is based on computer vision techniques and a virtual interaction interface. A control method involved specific hand movements within a field of view of a web camera, which was connected to a laptop with the running UR-VC system. We present the UR-VC system and the results of an experimental validation. To inquire if the UR-VC system is comfortable and user-friendly for an interaction with collaborative robots and to study opportunities for a further development and expansion directions of the system, we designed a test case that simulates a joint product assembly in a collaborative workspace. The constructed collaborative workspace included the UR3e robot, the laptop with the running UR-VC system and assembly parts for a collaborative task. 24 participants were involved in the experiments. First, the participants learned how to control the robot using the UR-VC system. After the training, all participants successfully controlled the robot using the proposed interface for performing the collaborative task. Participants’ experience of operating the robot was analyzed via surveys, their unconstrained comments and video recordings of the experiments. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Virtual reality

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Affine Formation Maneuver Control for Multiagent systems Based on Unknown Input Reconstruction

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IEEE Access 2025年 13卷 102311-102322页

作者： Liduo Hu Wei Zhang Chenhang Yan Yuhang Cai Hao Chen Zhi Hu Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai China National Key Laboratory of Autonomous Intelligent Unmanned Systems School of Automation Beijing Institute of Technology Beijing China

Disturbances can significantly impact the dynamic performance and stability of a system, making them a key focus in stability analysis. However, direct measurement of disturbances is often challenging due to technological and cost limitations. These disturbances introduce uncertainties that complicate multi-agent coordination, particularly in formation control tasks. Consequently, designing effective control strategies for multi-agent systems becomes both challenging and crucial. This paper addresses the affine transformation formation control problem of multi-agent systems in the presence of unknown disturbances. We begin by using a state-space model to describe agent dynamics and employing an unknown input observer to estimate both the state and the unknown disturbances. Based on these estimates, we redesign the control law to ensure that tracking errors converge to an adjustable residual set. This distributed control approach allows agents to operate without global information, thereby reducing communication requirements. Finally, a simulation example demonstrates the feasibility and effectiveness of the proposed control law.

关键词： Formation control Observers Laplace equations Directed graphs Vectors Multi-agent systems Protocols Matrix decomposition Aerospace electronics Vehicle dynamics

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Enhanced Multi-Agent Proximal Policy Optimization for Multi-UAV Target Offensive-Defensive Decision 42

Enhanced Multi-Agent Proximal Policy Optimization for Multi-...

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42nd Chinese Control Conference, CCC 2023

作者： Zheng, Yifan Xin, Bin Jiao, Keming Zhao, Zhixin Wang, Yuyang Zhao, Yunming School of Electronics and Information Engineering Tongji University Shanghai201804 China School of Automation Beijing Institute of Technology Beijing100081 China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789887581543

Autonomous collaborative decision-making is the key technology to achieve large-scale unmanned combat. Focus on the problem of multiple unmanned aerial vehicles' cooperative decision in target offensive and defensive combat, a multi-agent deep reinforcement learning (MADRL) based decision framework is proposed in this paper. Firstly, the simulation environment with a high-fidelity fixed-wing motion model is built. Secondly, to address the issue of high-dimension state space and credit assignment under a multi-agent environment, an enhanced multi-agent proximal policy optimization with mean-field counterfactual advantage (MAPPO - MFCOA) is proposed. Finally, the results of simulation experiments will verify the performance of the proposed approach. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Reinforcement learning

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Marine Radio Path Loss Prediction under Different Wind Speeds Based on Machine Learning 12

Marine Radio Path Loss Prediction under Different Wind Speed...

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12th IEEE Asia-Pacific Conference on Antennas and Propagation, APCAP 2024

作者： Jin, Tao Feng, Shuo Zhou, Hongjuan Wang, Chenxu Zhou, Zhiquan Harbin Institute of Technology Weihai China Shandong Provincial Key Laboratory of Marine Electronic Information and Intelligent Unmanned Systems Weihai China Key Laboratory of Cross-Domain Synergy and Comprehensive Support for Unmanned Marine Systems Weihai264209 China

ISBN: (纸本)9798350351019

With the further development of marine resources, more and more attention has been paid to the research of marine communication systems, accurate and timely prediction of radio wave propagation loss under different wind speeds is of great significance to the practical application of marine wireless communication equipment. This paper is based on the parabolic equation method and machine learning algorithms to predict the radio wave propagation loss under different sea conditions, in order to achieve the performance prediction of maritime communication systems. Through comparative analysis, this paper finds that the prediction performance index of back propagation (BP) neural network method is better than that of random forest (RF) model and long short-term memory (LSTM) model under different wind speeds. However, with the increase of wind speed, the prediction performance decreases, and further model optimization is needed or explore other methods. © 2024 IEEE.

关键词： Marine communication

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Evolutionary Optimization Methods for High-Dimensional Expensive Problems:A Survey

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1092-1105页

作者： MengChu Zhou Meiji Cui Dian Xu Shuwei Zhu Ziyan Zhao Abdullah Abusorrah Department of Electrical and Computer Engineering New Jersey Institute of TechnologyNewarkNJ 07102 USA School of Information and Electronic Engineering Zhejiang Gongshang UniversityHangzhou 310018China School of Intelligent Manufacturing Nanjing University of Science and TechnologyNanjing 210094China Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China School of Artificial Intelligence and Computer Jiangnan UniversityWuxi 214122China School of Information Science and Engineering Northeastern UniversityShenyang 110819China Center of Research Excellence in Renewable Energy and Power Systems Department of Electrical and Computer EngineeringFaculty of EngineeringKing Abdulaziz UniversityJeddah 21589Saudi Arabia K.A.CARE Energy Research and Innovation Center King Abdulaziz UniversityJeddah 21589Saudi Arabia

Evolutionary computation is a rapidly evolving field and the related algorithms have been successfully used to solve various real-world optimization *** past decade has also witnessed their fast progress to solve a class of challenging optimization problems called high-dimensional expensive problems(HEPs).The evaluation of their objective fitness requires expensive resource due to their use of time-consuming physical experiments or computer ***,it is hard to traverse the huge search space within reasonable resource as problem dimension *** evolutionary algorithms(EAs)tend to fail to solve HEPs competently because they need to conduct many such expensive evaluations before achieving satisfactory *** reduce such evaluations,many novel surrogate-assisted algorithms emerge to cope with HEPs in recent *** there lacks a thorough review of the state of the art in this specific and important *** paper provides a comprehensive survey of these evolutionary algorithms for *** start with a brief introduction to the research status and the basic concepts of ***,we present surrogate-assisted evolutionary algorithms for HEPs from four main *** also give comparative results of some representative algorithms and application ***,we indicate open challenges and several promising directions to advance the progress in evolutionary optimization algorithms for HEPs.

关键词： computer optimization evolutionary

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Personalized Clustering of Glucose Time Series in Patients with Type-1 Diabetes Mellitus Using Self Organized Maps During Nocturnal Sleep 23

Personalized Clustering of Glucose Time Series in Patients w...

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23rd IEEE International Conference on Bioinformatics and Bioengineering, BIBE 2023

作者： Konstantakopoulos, Fotios S. Katsarou, Daphne N. Georga, Eleni I. Christou, Maria Tigas, Stelios Fotiadis, Dimitrios I. Unit of Medical Technology & Intelligent Information Systems Biomedical Research Institute University of Ioannina FORTH Ioannina Greece Department of Endocrinology University Hospital of Ioannina Ioannina Greece

ISBN: (纸本)9798350393118

The application of clustering techniques to glucose time series data has the potential to enhance early detection and effective management of diabetes and other metabolic disorders. This, in turn, can contribute to improved clinical outcomes and patient-reported outcomes. In this study, we aim to address the issue of personalized clustering of glucose time series data, specifically those recorded during the nocturnal sleep period, via Self Organized Maps. The clustering model was constructed using a dataset comprising 22 patients diagnosed with type 1 diabetes who were closely monitored for a maximum duration of 4 weeks as part of the GlucoseML study. Based on the silhouette coefficient score, two distinct clusters have been identified, indicating the presence of two separate glucose distributions observed during nocturnal sleep. Within Cluster 1, it has been observed that 90% of glucose values fall within the desired euglycemic range of 70-180 mg/dL. Consequently, there is a corresponding increase in the likelihood of hypoglycemia, with a rate of 2.4% occurring below the threshold of 70 mg/dL. Within Cluster 2, patients show a mainly hyperglycemic profile, characterized by 64.4% of values exceeding 180 mg/dL, while no instances of hypoglycemia were observed. © 2023 IEEE.

关键词： Glucose

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Implementation and Validation of the CautiousBug Algorithm in ROS Noetic

Implementation and Validation of the CautiousBug Algorithm i...

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information, Control, and Communication Technologies (ICCT), International Conference on

作者： Roman Mishenin Alexander Eryomin Tatyana Tsoy Evgeni Magid Department of Computer Engineering (DCE) Moscow Institute of Electronics and Mathematics Higher School of Economics Moscow Russian Federation Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russian Federation

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

In this paper, we present an implementation of the CautiousBug algorithm within the Noetic distribution of the Robot Operating System (ROS). Bug algorithms address a challenge of robot navigation in unknown environments without relying on pre-existing maps or constructing new ones. These algorithms utilize odometry data, operate without a map, require minimal computational resources, and can be implemented on relatively simple hardware. A C++ software application was created to simulate a behavior of the CautiousBug algorithm in various environments within the Gazebo simulator. This application allows for an analysis of key metrics, including accumulated yaw, distance traversed and algorithm's runtime. We conducted a set of virtual experiments in the Gazebo to evaluate the CautiousBug performance.

关键词： Runtime Navigation Software architecture Working environment noise Operating systems Software algorithms Software Robustness Path planning Robots

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Implementation of Rev1 and Rev2 Bug Family Algorithms in ROS Noetic

Implementation of Rev1 and Rev2 Bug Family Algorithms in ROS...

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information, Control, and Communication Technologies (ICCT), International Conference on

作者： Maksim Roslavtsev Alexander Eryomin Ramil Safin Evgeni Magid Department of Computer Engineering (DCE) Moscow Institute of Electronics and Mathematics Higher School of Economics Moscow Russian Federation Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russian Federation

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

Modern map-dependent algorithms for mobile robot navigation typically overload a CPU and memory with a gradually increasing amount of environmental data. In contrast, Bug family local path planning algorithms operate without mapping and have significantly lower hardware requirements. Bug algorithms use real-time measurements from visual and touch sensors to make immediate decisions on direction of the robot’s motion. This paper presents an implementation of Rev1 and Rev2 Bug algorithms for the Robot Operating System (ROS) Noetic framework with a virtual model of the TurtleBot3 Burger robot. Given algorithms are validated in Gazebo simulation using various convex and maze environments. The results demonstrate superiority of Rev1 method over Rev2 in trajectory length in convex maps. However, Rev2 finds shorter paths in maze type environments.

关键词： Visualization Navigation Operating systems Computer bugs Tactile sensors Real-time systems Trajectory Motion measurement Robots Testing

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I Want to Break Free: Enabling User-Applied Active Locomotion in In-Car VR through Contextual Cues 25

I Want to Break Free: Enabling User-Applied Active Locomotio...

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2025 CHI Conference on Human Factors in Computing systems, CHI 2025

作者： Gim, Bocheon Hwang, Seokhyun Kang, Seongjun Kim, Gwangbin Yeo, Dohyeon Kim, SeungJun Human-Centered Intelligent Systems Lab Gwangju Institute of Science and Technology Gwangju Korea Republic of Information School University of Washington SeattleWA United States

ISBN: (纸本)9798400713941

We explore the feasibility of active user-applied locomotion in virtual reality (VR) within in-car environments, diverging from previous in-car VR research that synchronized virtual motion with the car's movement. Through a two-step study, we examined the effects of locomotion methods on user experience in dynamic vehicle environments and evaluated contextual cues designed to mitigate sensory mismatch caused by vehicle motion. The first study evaluated five locomotion methods, identifying joystick-based navigation as the most suitable for in-car use due to its low physical demand and stability. The second study focused on designing and testing contextual cues that translate physical sensations of vehicle motion into virtual effects without limiting the user's freedom of movement, with results demonstrating their effectiveness in reducing motion sickness and enhancing presence. We conclude with initial insights and design considerations for expanding upon our findings in regards to enabling active locomotion in in-car VR. © 2025 Copyright held by the owner/author(s).

关键词： Virtual environments

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