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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Huanhuan Lou Qingxiang Wu Hai Wang Tong Yang Huawang Liu Ning Sun Institute of Robotics and Automatic Information Systems (IRAIS) College of Artificial Intelligence Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

In recent years, quadrotors have been widely used in many fields, and the requirements for rescue and exploration in narrow and limited environments have gradually increased. In order to improve the adaptability of quadrotors for limited environments, this paper establishes the kinematics and dynamics of bionic variable structure unmanned aerial vehicle (BVS-UAVs). Specifically, the four arms of BVS-UAVs can rotate independently around the central body frame to realize the configuration change during flight, which enhances the adaptation for limited environments and complex tasks, such as narrow space and close scanning vertical surfaces. However, compared with fixed-wing UAVs, the control of variable structure and asymmetric for BVS-UAV is full of challenges, and the modeling of kinematics and dynamics is intuitively important. Therefore, kinematics and dynamics for BVS-UAVs considering the change of center of gravity (CoG) and the moment of inertia (MoI) are established. We also calculated the control allocation matrix. Besides, the prototype of BVS-UAVs is built and the hover performance is fully verified.

关键词： Biological system modeling Prototypes Kinematics Aerospace electronics Real-time systems Resource management Vehicle dynamics

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Mobile Bot Rotation Using Sound Source Localization And Distant Speech Recognition

Mobile Bot Rotation Using Sound Source Localization And Dist...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Swapnil Sontakke Pradyoth Hegde Prashant Bannulmath Deepak K T Department of Data Science and Intelligent Systems Indian Institute of Information Technology Dharwad Karnataka India Department of Electronics & Communication Engineering Indian Institute of Information Technology Dharwad Karnataka India

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In the last few years, mobile robots such as floor cleaners, assistive robots, and home telepresence have become an essential part of our day-to-day activities. In human-robot interaction, speech is the preferred way of communication, especially in indoor environments. This paper proposes a speech module to rotate the mobile robot. It has two components, namely, a distant automatic speech recognizer and a sound source localizer. To build distant speech recognizer, far-field speech data is collected at 1, 3, and 5-meters distances. The model performs well even at a 5-meters distance with a Word Error Rate of 40.38% and a Character Error Rate of 28.85%. The direction of arrival of the speech signal is computed from the 4-mic circular array microphone. The speech module is integrated with the Robot Operating System and physically demonstrated on Turtlebot3 Waffle Pi. It is observed that the speech recognizer and sound source localizer work well in the reverberant indoor environment with a small single-board computer.

关键词： Location awareness Telepresence Error analysis Operating systems Human-robot interaction Speech recognition Microphone arrays

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Resonance-enhanced generation of optical harmonics from dielectric metasurfaces 14

Resonance-enhanced generation of optical harmonics from diel...

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Metamaterials XIV 2024

作者： Tonkaev, Pavel Lai, Fangxing Song, Qinghai Kruk, Sergey Koshelev, Kirill Kivshar, Yuri Nonlinear Physics Center Research School of Physics Australian National University CanberraACT2601 Australia Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information System Guangdong Provincial Key Laboratory of Semiconductor Optoelectronic Materials and Intelligent Photonic Systems Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9781510672987

Nonlinear dielectric metasurfaces provide a promising platform to control and manipulate the optical frequency conversion at the nanoscale, suggesting new applications in imaging, lasing, and sensing. Here, we engage symmetry-broken silicon metasurfaces to enhance the second- and third-harmonic generation. We design and fabricate amorphous silicon metasurfaces supporting optical bound states in the continuum and guided-mode resonances, which greatly boost light-matter interaction resulting in several-order enhancements in both second- and third-harmonic generation. © 2024 SPIE.

关键词： Harmonic analysis

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Saving Energy with Comfort: A Semantic Digital Twin Approach for Smart Buildings 3

Saving Energy with Comfort: A Semantic Digital Twin Approach...

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3rd International Workshop on Semantic Digital Twins, SeDiT 2022

作者： Eleftheriou, Orfeas Dimara, Asimina Kotis, Konstantinos Anagnostopoulos, Christos-Nikolaos University of the Aegean Dept. of Cultural Technology and Communication Intelligent Systems Lab Greece Centre for Research and Technology Hellas Information Technologies Institute Thessaloniki Greece

Building Energy Management systems (BEMS) aim to optimize building assets for saving energy without compromising humans' comfort. BEMS must integrate heterogeneous components and complex architectures for monitoring building conditions and controlling building assets such as lights, heating, and air ventilation systems. To tackle interoperability issues and support heterogeneity in smart environments (smart buildings), semantic technologies have been extensively used. Semantically interlinked/integrated information related to energy optimization and comfort in smart buildings can be effectively utilized in decision support tools/systems, if it is efficiently provided to decision makers, via their digital twins. Visualizing semantically integrated real-time sensor information within the digital asset, and supporting the real-time actuation of semantically annotated assets via the interaction with their digital twin, can support decision making in smart buildings for saving energy with comfort. In this paper, a semantic digital twin approach for smart buildings is proposed, along with a first prototype implementation in the energy-saving domain. © 2022 Copyright for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0)

关键词： Semantics

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Model Predictive Control for Nonlinear Bilateral Teleoperation systems With Time Delay 41

Model Predictive Control for Nonlinear Bilateral Teleoperati...

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第41届中国控制会议

作者： Yu Liu Chuanzhi Zang Yuqi Liu Peng Zeng School of Artificial Intelligence Shenyang University of Technology Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Bilateral teleoperation systems have received extensive attention as a substitute for the human to perform tasks in remote and hazardous *** paper proposes a model predictive control strategy for nonlinear bilateral teleoperation systems based on Long-Short Term Memory(LSTM) ***,model predictive control is used to achieve good tracking performance in the presence of input constraints in the *** the same time,considering the influence of different proficiency operators operating the master manipulator on the system performance,the error between the actual master manipulator trajectory and the reference trajectory is introduced into a linear feedback term to compensate for the decrease in system control accuracy caused by the error of ***,the LSTM network is used to predict the trajectory of the master manipulator in the future time equivalent to the network transmission *** predictions are used to control the remote slave manipulator,thereby eliminating the impact of communication delay on the ***,in slave sides,the trajectory creators are applied to generate the desired trajectories to achieve good force feedback *** experiments are carried out to verify the proposed control strategy,which can guarantee good performance with both position tracking and force feedback under time delay.

关键词： Model predictive control bilateral teleoperation long-short term memory network communication delay

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Digital Innovation in Water Governance: Exploring the Synergy of Digital Twins and Blockchain

Digital Innovation in Water Governance: Exploring the Synerg...

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International Conference on Smart Communications and Networking (SmartNets)

作者： Prakash Agarwal Rajendra Hegadi Prathamesh P Pai Sudeepto Chatterjee Siddhant Dixit Computer Science and Engineering Indian Institute of Information Technology Dharwad Dharwad Karnataka India Data Science and Intelligent Systems Indian Institute of Information Technology Dharwad Dharwad Karnataka India

ISBN: (数字)9798350385328

ISBN: (纸本)9798350385335

Water supply management is a critical aspect of ensuring sustainable access to clean water resources. However, challenges such as water scarcity, aging infrastructure, and inefficient resource allocation persists. This research explores the potential of utilizing a digital twin framework combined with blockchain for effective water supply management. The proposed framework offers numerous benefits, including optimized water allocation, early detection of leaks and anomalies, predictive maintenance, and efficient decision-making. Incorporation of smart contracts in the blockchain infrastructure enables automated governance mechanisms, ensuring compliance with predefined rules and agreements. By demonstrating the feasibility and advantages of combining digital twin technology with blockchain in water supply management systems, this research contributes to the existing body of knowledge. The findings can inform policymakers, water utility operators, and researchers on the practical implementation and potential impact of this innovative approach in addressing water management challenges and fostering sustainable water resource utilization.

关键词： Technological innovation Smart contracts Decision making Aging Blockchains Digital twins Resource management

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Motion Capture and Gait Analysis of Ants with Leg Injuries

Motion Capture and Gait Analysis of Ants with Leg Injuries

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Chinese Control Conference (CCC)

作者： Ming Zeng Yuanhao Li Chang Meng Shutong Zhong Zhijing Wang Feng Zhao Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin University Tianjin

Many insects in nature, such as ants, recover quickly after sustaining leg injuries. If this capability could be imparted to multi-legged robots, it would drastically enhance their ability to resist destruction and adapt to the environment. In this paper, the Camponotus Japonicus is used as the research object, and its locomotive patterns are studied under different leg-loss conditions. To facilitate this, a high-speed acquisition system, with a dual-view (bottom view and side view) setup, is designed to analyze the ant's linear gaits. Subsequently, the pivotal gait characteristics of the injured ants are extracted by keyframe annotation technology, including the gait phase diagram, duty factor, angle before support, angle before swing, and leg swing range. Lastly, according to the obtained gait characteristics, the general and specific laws of gait adjustment in the absence of one or two legs are systematically analyzed, which provides the basis for parametric settings and strategy optimization of robotic injured gait self-adjustment.

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Dual-Mode Disturbance Observer-based Predictive Control with Harmonic Current Suppression for Dual Three-Phase Permanent Magnet Synchronous Motor Drives

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IEEE Journal of Emerging and Selected Topics in Power Electronics 2025年

作者： Liu, Huanli Lin, Weiyang Liu, Zhitai Yu, Xinghu Buccella, Concettina Cecati, Carlo Harbin Institute of Technology Research Institute of Intelligent Control and Systems Harbin150001 China Ningbo Institute of Intelligent Equipment Technology Company Ltd Ningbo315200 China University of L'Aquila DigiPower srl Department of Information Engineering Computer Science and Mathematics L'Aquila67100 Italy

Dual three-phase permanent magnet synchronous motor drives have gained considerable interest in those applications requiring high levels of reliability. However, they often suffer from high-order harmonic currents and mismatch of motor parameters, resulting in degraded performance and reduced efficiency. Therefore, this paper proposes a dual-mode disturbance observer based model predictive current controller. Not only direct current disturbances caused by motor parameters, but also alternating current disturbances caused by high-order harmonic currents are explicitly modeled and estimated to achieve improved model accuracy. In addition, the observer parameter design is given in detail. Furthermore, a generalized predictive current controller with the integration of the proposed observer is developed to provide satisfactory harmonic current suppression capability and parameter robustness simultaneously. Proof of the stability with the proposed controller is given and several experiments and comparisons demonstrate the effectiveness of the proposed method. © 2013 IEEE.

关键词： Permanent magnets

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Feature Space Augmentation and Old Class Space Preservation for Class Incremental Learning

Feature Space Augmentation and Old Class Space Preservation ...

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Chinese Control Conference (CCC)

作者： Ming Zeng Siying Li Jiazhe Liu Yuanhao Li Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin University Tianjin

The ability of continuously learning new knowledge without forgetting old ones is crucial to adapt to an ever-changing world. This scenario becomes more challenging when the previous data are not available. Current class incremental learning (CIL) approaches tend to incorporate new classes with backward compatibility, i.e., maintaining discriminability of old ones. By contrast, we focus on the extensibility and compatibility for future new classes in the early stage. Our proposed method achieves this by augmenting feature space. In detail, a large number of pseudo-new classes are generated via real example mixture and then train the initial spatially augmented model using pseudo-new classes and the base classes. Besides, considering the fact that it is impossible to maintain backward compatibility with only one prototype for each old class, the updated model also needs to preserve old class space in incremental stages. We employ a certain perturbation to the old class prototypes to effectively avoid old class space from being over-squeezed by the samples of new classes. The experiments on CIFAR-100 and ImageNet-Subset (100 classes) demonstrate that our method substantially reduces the overlap of old and new classes, outperforming state-of-the-art various baselines.

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Design, Analysis, and Experiment of a Novel Ultrasonic Printing System

Design, Analysis, and Experiment of a Novel Ultrasonic Print...

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2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2022

作者： Pei, Zhichao Zhao, Haoxiang Li, Dongjie Wang, Lefeng Rong, Weibin Sun, Lining Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China Harbin University of Science and Technology Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin China

ISBN: (数字)9781665475433

ISBN: (纸本)9781665475433

Ultrasonic-driven printing technology is widely used in bioprinting because of its high precision, good biocompatibility, and low cost. However, the conventional ultrasonic printing technology still has problems such as cross-contamination of bio-ink during storage, transportation, and processing, and cumbersome ink replacement process. Therefore, a new ultrasonic printing device is developed in this paper, which uses PZT plates as the driving element. And a fluid sub-system has been fabricated based on the self-made glass micro-nozzle, which is connected to the drive element using ultrasonic couplant gel. The separation of the fluid system and the drive system has been realized through the modular design, thereby realizing the rapid replacement of different inks and this relatively independent fluid system is of great benefit to better sealing and aseptic operation. In addition, a digital model is built to analyze its working mechanism. And an experimental system is established to characterize the performance of the device. The results show that the system can generate droplets stably and accurately, and the droplet volume can be controlled by the excitation voltage amplitude and pulse width. © 2022 IEEE.

关键词： Biocompatibility

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