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第37届中国控制会议

作者： Xiaowei Pan Zhongxin Liu Zengqiang Chen College of Computer and Control Engineering Nankai University IEEE Tianjin Key Laboratory of Intelligent Robotics Nankai University

In this paper, an algorithm with discontinuous characteristics is proposed to solve distributed optimization problems of sum type. The finite-time convergence of the algorithm is proved and the settling time bound is ... 详细信息

关键词： Discontinuous Optimization Nonsmooth Finite-time

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Decentralized Energy Sharing Protocol using TÆMS Framework and Coalition-based Metaheuristic for Heterogeneous Robotic Systems

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IFAC-PapersOnLine 2017年第1期50卷 5914-5919页

作者： Arbanas B. Boljuncic S. Petrovic T. Bogdan S. University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia

In this paper we describe a decentralized protocol that is applied for scheduling and management of energy sharing in heterogeneous systems. Particular system we have in mind comprises of agents with different mobility, energy harvesting and energy sharing capabilities herein called aPads, aFish and aMussels. aPads are surface vehicles that harvest energy and are able to transmit it to both aFishes and aMussels. aFish are underwater vehicles that can transmit energy to aMussels or to other aFish, and receive energy from aPads. aMussels, that can either be attached to the sea-ground or float on the surface, can only receive energy, either from aFish or aPads. For such a system to be able to function for an extended period of time, a decentralized energy management protocol should be designed, whose purpose is to schedule and coordinate charging of agents over time. These decisions depend on the current battery levels of different agents, as well as their positions, and should be done in a decentralized manner. In this paper we apply an energy sharing protocol based on TÆMS framework, originally applied to planning and coordination in aerial-ground robotics systems for search and rescue missions. We refine the obtained plans using the coalition-based metaheuristic for vehicle routing problems. We show execution schedules achieved using the proposed protocol and highlight its advantages and flaws when applied to our underwater scenario. © 2017

关键词： decentralized systems distributed artificial intelligence Hierarchical decision making scheduling algorithms

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Dynamics Modeling and Analysis for Cooperative Dual Rotary Crane Systems

Dynamics Modeling and Analysis for Cooperative Dual Rotary C...

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第37届中国控制会议

作者： Yu Fu Tong Yang Ning Sun Jianyi Zhang Yongchun Fang the Institute of Robotics and Automatic Information Systems （IRAIS） College of Computer and Control Engineering and also with the Tianjin Key Laboratory of Intelligent Robotics （tjKLIR） Nankai University

With industrial development,the cargoes that need to be lifted by rotary cranes are getting larger and heavier,which tend to exceed the rated load of a single crane,so it is common for two cranes to deliver a cargo ***,even with wide real applications,the studies of cooperative dual rotary crane systems（CDRCS） still do not attract enough *** order to solve the above problems,an accurate model for CDRCS is established by Lagrange’s modeling *** this model,we take into account not only the swing of the rope,but also the wobble of the *** be more precise,there are no simplifications in the process of modeling.

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Remote control library and GUI development for Russian crawler robot Servosila Engineer 13

Remote control library and GUI development for Russian crawl...

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13th International Conference on Electromechanics and robotics "Zavalishin's Readings", ER(ZR) 2018

作者： Mavrin, Ilya Lavrenov, Roman Svinin, Mikhail Sorokin, Sergey Magid, Evgeni Intelligent Robotics Department Higher School of Information Technology and Information Systems Kazan Federal University Russia Robot Dynamics and Control Laboratory College of Information Science and Engineering Ritsumeikan University Japan Mechanical Engineering Department Chuvash State University Russia

Recently a large variety of robots are available on the global market for a reasonable price. Often it turns out that even though a robot has a high-quality hardware and architecture, an original software of the robot may have a number of drawbacks or lacks some important features, which are required for a particular application of the robot. In such cases a user may decide to implement new libraries and functionalities using a provided by a manufacturer application programming interfaces as in most cases code of a commercial robot system is not an open-source. A number of our ongoing research projects concentrate on applications of various robots in urban search and rescue operations, and in most of these projects utilize Russian crawler robot Servosila Engineer. This paper describes the development of a new ROS-based control software and graphical user interface for Servosila Engineer robot. © The Authors, published by EDP Sciences.

关键词： Graphical user interfaces

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Recognition of patient groups with sleep related disorders using bio-signal processing and deep learning

arXiv

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arXiv 2021年

作者： Jarchi, Delaram Andreu-Perez, Javier Kiani, Mehrin Vysata, Oldrich Kuchynka, Jiri Prochazka, Ales Sanei, Saeid Smart Health Technologies Group School of Computer Science and Electronic Engineering University of Essex ColchesterCO4 3SQ United Kingdom Embedded and Intelligent Systems Laboratory School of Computer Science and Electronics University of Essex ColchesterCO4 3SQ United Kingdom Department of Computing and Control Engineering University of Chemistry and Technology in Prague Prague 6166 28 Czech Republic Department of Neurology Faculty of Medicine in Hradec Králové Charles University Hradec Králové500 05 Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6160 00 Czech Republic School of Science and Technology Nottingham Trent University NottinghamNG11 8NS United Kingdom

Accurately diagnosing sleep disorders is essential for clinical assessments and treatments. Polysomnography (PSG) has long been used for detection of various sleep disorders. In this research, electrocardiography (ECG) and electromayography (EMG) have been used for recognition of breathing and movement-related sleep disorders. Bio-signal processing has been performed by extracting EMG features exploiting entropy and statistical moments, in addition to developing an iterative pulse peak detection algorithm using synchrosqueezed wavelet transform (SSWT) for reliable extraction of heart rate and breathing-related features from ECG. A deep learning framework has been designed to incorporate EMG and ECG features. The framework has been used to classify four groups: healthy subjects, patients with obstructive sleep apnea (OSA), patients with restless leg syndrome (RLS) and patients with both OSA and RLS. The proposed deep learning framework produced a mean accuracy of 72% and weighted F1 score of 0.57 across subjects for our formulated four-class problem. © 2021, CC BY-NC-ND.

关键词： Wavelet transforms

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The prediction method for folding boundaries of Escherichia coli chromosome based on multi-source information 36

The prediction method for folding boundaries of Escherichia ...

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第36届中国控制会议

作者： Xin Su Bo Zhao Yi Gong Han Zhang College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

The circular Escherichia coli chromosome has been suggested to form a partition of the genome where it folds into a collection of sequentially consecutive *** paper presents a prediction method to give the location of the folding *** genes involved in one domain tend to be co-expressed,the information of activation and co-expression level is extracted from multi-source data *** activation level of genes is described by frequencies of attending the pathways in different database,while Intensity Co-expression is defined for co-expression *** two types of data are processed by wavelet analysis and are used to improve the optimization model for *** objective function of this model is to minimize both the total number of unfoldings of these domains in the chromosome and total frequencies of folding *** multi-source information is also designed for the experimental *** experiment results show the good effect of the prediction method in Computational Biology.

关键词： Folding boundaries Multi-source information Wavelet transform Dynamic programming Gene co-expression

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A Leader-Based Cooperation-Prompt Protocol for the Prisoner's Dilemma Game in Multi-Agent Systems 36

A Leader-Based Cooperation-Prompt Protocol for the Prisoner'...

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第36届中国控制会议

作者： Linghui Guo Zhongxin Liu Zengqiang Chen College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

In this paper,we propose a new protocol that prompts the cooperation rate of a multi-agent system,the members of which compete based on the prisoner's dilemma *** main idea of this algorithm is to introduce a smart leader to the system,which can be viewed as a third player in the original bilateral *** leader is motivated by its own benefit,but as a result of its attempt to maximum the expectational personal benefit,the system's cooperation rate is actually *** phenomenon is common in reality in some complicated *** studied the condition in which the leader maximums its expectational payoff,and proved the optimal condition's existence and ***,we adopted a feed-back control method to ensure that the system globally converges to and remains stable in the optimal *** simulation results illustrate the practicability and efficiency of our algorithm in reality system.

关键词： Game theory Evolutionary game theory Leader-follower Prisoner's Dilemma Multi-agent system

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Reachability and controllability of time-variant k-valued logical control network and finite memories k-valued logical control network 36

Reachability and controllability of time-variant k-valued lo...

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第36届中国控制会议

作者： ZHAO Jiantao CHEN Zengqiang LIU Zhongxin College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

This paper investigates the reachability and controllability of time-variant k-valued logical control network and finite memories k-valued logical control network. For time-variant k-valued logical control network, the semi-tensor product(STP) is used to represent it. The necessary and sufficient condition for its controllability and the control method are given. For the finite memories k-valued logical control network, we transformed it into time-variant k-valued logical control network and also give the necessary and sufficient condition for its controllability and the control method. Examples are also given to illustrate the efficiency of the method.

关键词： Reachability controllability time-variant k-valued logical control network finite memories k-valued logical control network semi-tensor product of matrices(STP)

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Improved Live-Wire algorithm for kidney image segmentation 36

Improved Live-Wire algorithm for kidney image segmentation

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第36届中国控制会议

作者： Hongliang Li Yu Dai Jianxun Zhang College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

Live-Wire segmentation algorithm is an interactive tool for efficient,accurate and reproducible boundary extraction which requires minimal user *** the traditional Live-Wire algorithm is sensitive to noise and inefficient to distinguish between strong and weak edges in the *** overcome the two drawbacks,this paper proposes an improved Live-Wire algorithm,its cost function is redefined:(1) change the Laplace operator into Canny and Sobel operators to construct the multiple cost terms,differences between Canny and Sobel operators allow them to contribute to the total cost calculation without redundant information;(2) redefine the gradient magnitude function of the cost function as nonlinear weighting edge gradient,the nonlinear weighting procedure can solve the undistinguished edge problem very *** are conducted on simulation and real image of the *** experimental results prove that the proposed algorithm is really of good performance in the two drawbacks.

关键词： Live-Wire algorithm image segmentation cost function synthetic image

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Passive Aerial Grasping of Ferrous Objects

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IFAC-PapersOnLine 2017年第1期50卷 10299-10304页

作者： Fiaz U.A. Toumi N. Shamma J.S. Robotics Intelligent Systems and Control (RISC) Laboratory King Abdullah University of Science and Technology Saudi Arabia

Aerial transportation is probably the most efficient way to supply quick and effective aid especially in cases of emergency like search and rescue operations. Thus the ability to grasp and deliver objects is of vital importance in all sorts of unmanned and autonomous aerial operations. We detail a simple yet novel approach for aerial grasping of ferrous objects using a passive magnetic pickup and an impulse based drop mechanism. The design enables our gripper to grasp ferrous objects using single as well as multiple gripping pads, with visual as well as pickup and drop feedback. We describe the various components of the gripper with emphasis on its low mass and high lift capability since weight is a matter of high consideration in all aerial applications. In addition, we investigate and address the issues that may cause our design to fail. We demonstrate by experiments that the proposed design is robust and effective, based on its high payload capability, its sturdiness against possible slide during aggressive aerial maneuvers, and optimum performance of the drop mechanism for the designed range of payloads. We also show that the gripper is able to pick up and drop a single as well as multiple ferrous objects of different shapes, curvature, and inclination, which also involves picking up an object and then grasping the next, while keeping hold of the previous one. © 2017

关键词： aerial grasping autonomous systems Flying robots magnetic passive gripper robotics technology smart design

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