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IEEE/EMBS International Summer School on Medical Devices and Biosensors

作者： Oliveros V. Alexandra Josep Vehi Alfredo Gutierrez Winston Garcia-Gabin Department of Electrical Engineering. Universidad del Norte in Barranquilla Colombia Department of Electrical Engineering. Universidad del Norte in Barranquilla Barranquilla Colombia Intelligent Systems & Control Engineering group at the Department of Electronics Informatics and Automatics Universitat de Girona Girona Spain Department of Electronics Intelligent Systems & Control Engineering Girona Spain Department of Electrical Engineering and researcher of the Robotics and Intelligent Systems Universidad del Norte Barranquilla Colombia Department of Electrical Engineering Robotics and Intelligent Systems Baffanquilla Colombia

The feasibility of the design of a closed loop system to control glucose levels in critical care patients is presented in this paper. Considering the basic elements for its construction: The plasma glucose detection using a subcutaneous sensor and a Kalman filter, the model of glucose metabolism, and having special consideration in the method to calculate the optimal insulin infusion designing classical control schemes (PID and PI) and a GPC (predictive controller).

关键词： Sugar Medical control systems control systems Plasma measurements Insulin Optimal control intelligent robots Plasma simulation Blood intelligent systems

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A composite guidance law based on the nonlinear disturbance observer-based control for Mars pinpoint landing 34

A composite guidance law based on the nonlinear disturbance ...

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34th Chinese control Conference, CCC 2015

作者： Yabin, Zhang Lei, Guo Haibin, Sun Wenhua, Chen Sen, Wang School of Instrument Science and Opto-Electronics Engineering Beihang University Beijing China National Key Laboratory of Aerospace Intelligent Control Technology Beijing Aerospace Automatic Control Institute Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China Department of Aeronautical and Automotive Engineering Loughborough University Loughborough United Kingdom

ISBN: (纸本)9789881563897

The landing accuracy of a Mars lander is severely affected by a wide range of disturbances at the powered descent stage. To address this problem, a composite guidance law is proposed in this paper. The composite guidance law is developed by the combination of disturbance observer-based control (DOBC) technique and multiple sliding surfaces guidance (MSSG) theory. Compared with other guidance laws, the proposed method achieves promising disturbance rejection performance and high landing accuracy in both position and velocity, reducing the conservatism to a certain extent. The proposed guidance law does not require any off-line trajectory generation and its global stability is verified by using Lyapunov direct method. Simulation results show that the proposed guidance law is superior to the conventional guidance laws in terms of both disturbance rejection and landing accuracy. © 2015 Technical Committee on control Theory, Chinese Association of Automation.

关键词： disturbance observer-based control Mars pinpoint landing multiple disturbances multiple sliding surfaces guidance powered descent

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Efficient and stable perovskite solar cells by build-inπ-columns and ionic interfaces in covalent organic frameworks

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Nano Research 2023年第7期16卷 9387-9397页

作者： Riming Nie Xiaokai Chen Zhongping Li Weicun Chu Si Ma Changqing Li Xiaoming Liu Yonghua Chen Zhuhua Zhang Wanlin Guo State Key Laboratory of Mechanics and Control of Mechanical Structures Key Laboratory for Intelligent Nano Materials and Devices of the Ministry of EducationInstitute for Frontier ScienceNanjing University of Aeronautics and AstronauticsNanjing 210016China Department of Chemical and Biomolecular Engineering Yonsei University50 Yonsei-roSeodaemun-guSeoul 120-749Republic of Korea College of Chemistry Jilin UniversityChangchun 130012China Department of Energy and Chemical Engineering Ulsan National Institute of Science and Technology(UNIST)50 UNIST-gilEonyang-eupUljugunUlsan 44919Republic of Korea Key Laboratory of Flexible Electronics(KLoFE) School of Flexible Electronics(Future Technologies)&Institute of Advanced Materials(IAM)Nanjing Tech University(Nanjing Tech)Nanjing 211816China

Perovskite solar cells(PSCs)have attracted much attention due to their rapidly increased power conversion efficiencies,however,their inherent poor long-term stability hinders their *** degradation of PSCs first comes from the degradation of hole transport materials(HTMs).Here,we report the construction of periodicπ-columnar arrays and ionic interfaces over the skeletons by introducing cationic covalent organic frameworks(C-COFs)to the ***π-columnar arrays can optimize the charge transport ability and energy levels of the hole transport layer and suppress the degradation of HTM,and ionic interfaces over the skeletons can produce stronger electric dipole and electrostatic interactions,as well as higher charge *** C-COFs were designed and synthesized via Schiff base reaction by using 1,3,5-triformylphloroglucinol as a neutral knot and dimidium bromide as cationic *** neutral COFs(N-COFs)were also synthesized as a reference by using 3,8-diamino-6-phenylphenanthridine as neutral *** with cationic COF exhibit the highest efficiency of 23.4%with excellent humidity and thermal *** the best of our knowledge,this is the highest efficiency among the meso-structured PSCs fabricated by a sequential process.

关键词： cationic covalent organic framework(C-COF) π-columnar arrays ionic interfaces charge density perovskite solar cells

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Graph-Based Collision Avoidance Algorithm Among Swarm Agents

Graph-Based Collision Avoidance Algorithm Among Swarm Agents

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International Symposium on Electrical and electronics engineering (ISEEE)

作者： Akif Durdu Mesut Tuncer Berat Yıldız Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkiye Department of Computer Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkiye Department of Electrical and Electronics Engineering Karamanoglu Mehmetbey University Karaman Turkiye

More than one homogenous or heterogenous type unmanned vehicle can work in a coordinated manner and perform large-scale swarm tasks (firefighting, search and rescue, mapping, and military operations, etc.) efficiently in a shorter time by sharing tasks. Collision of these vehicles is among the most significant problems encountered during their work. The crash of the vehicles causes the vehicles to be out of duty and, accordingly, to the mission’s failure. In this study, Quadrotor-type UAVs used as agents can go to any target point by receiving location, speed, and compass information with GPS and IMU sensors. In the application, the agents’ locations were kept and updated in a list in pairs, similar to the traversing process in the Optimized Bubble Sort Algorithm. The projections of the velocity vectors on the agents’ axis (local) on a single coordinate plane are taken to determine the collision situation between these two agents that are traveling instantaneously. These global velocity vectors, whose projections are taken, are re-projected to the edge formed by these two agents in the graph and then subtracted from each other. Suppose the size of the vector is greater than the distance between two agents obtained by any GPS distance algorithm (Pythagoras, Haversine, etc.). In this case, collision is detected, and the separation process is activated. Separation is the process of advancing one agent in the opposite direction of the other until a minimum safe distance is achieved, where one agent entered by the user will not affect the other. Once the separation is complete, the agent moves to the final destination point.

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Non-contact transportation and rotation of micro objects by vibrating glass needle circularly under water

Non-contact transportation and rotation of micro objects by ...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Liu, Xiaoming Kojima, Masaru Shi, Qing Wang, Huaping Sun, Tao Mae, Yasushi Huang, Qiang Arai, Tatsuo Fukuda, Toshio Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China Department of Systems Innovation Osaka University 1-3 Machikaneyama Toyonaka Osaka560-8531 Japan Faculty of Science and Engineering Meijo University 1-501 Shiogamaguchi Tenpaku-ku Nagoya468-8502 Japan

ISBN: (纸本)9781509046331

In micromanipulation, lots of methods have been developed to manipulate objects in microscale. However, few of them can be applied in both the transportation and the rotation of the micro objects. In this paper, we present a novel method to realize the non-contact transportation and rotation of the micro objects based on the vibration-induced swirl flow. A piezo actuator is set between the glass needle and a metal rod. The sine wave with controlled frequency and amplitude is input into the piezo actuator to drive the glass needle to move circularly, which is caused by resonance of the actuator and the metal rod. We place the glass needle under water and keep a limited distance to the bottom. The circular vibration of the glass needle can generate a swirl flow and low pressure around it. The low pressure can trap and transport the micro objects vertically to the glass needle, and the swirl flow can rotate the objects continuously. Finally, we realize the trap and rotation of micro object with only one piezo actuator. Experiments of transportation and rotation of microbeads are carried out, and the results demonstrate it is a simple, low-cost, effective micromanipulation method. © 2017 IEEE.

关键词： Needles

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Parameter identification of a linear permanent magnet motor using particle swarm optimization

Parameter identification of a linear permanent magnet motor ...

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7th Annual International Conference on Electrical engineering/electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Therdbankerd, Tithiwat Sanposh, Peerayot Chayopitak, Nattapon Fujita, Hideaki Department of Electrical Engineering Intelligent Mechatronics Automation Robotics and Control Laboratory Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-18 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

Accurate and effective parameter identification is an important engineering task in high performance control system design. One emerging approach to effectively identify such nonlinear or dynamic unknown parameters is to use Particle Swarm Optimization (PSO) algorithm. Linear Permanent Magnet (LPM) motor is a high performance actuator employed in many applications that require direct linear motion without mechanical transmission for high acceleration and accurate positioning. Therefore, accurate motor parameters are necessary to effectively control the LPM motors. This paper proposes a simple PSO based method with chirp inputs to identify the LPM motor's parameters. The simulations and experiments are conducted to verify the results and determine the effectiveness of the proposed method.

关键词： Parameter estimation

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Modified Banker's algorithm for scheduling in multi-AGV systems

Modified Banker's algorithm for scheduling in multi-AGV syst...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Luka Kalinovcic Tamara Petrovic Stjepan Bogdan Vedran Bobanac Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Renewable Energy Sources Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.

关键词： Vehicles System recovery Layout Resource management Job shop scheduling Workstations

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Computer vision for road imaging and pothole detection:a state-of-the-art review of systems and algorithms

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Transportation Safety and Environment 2022年第4期4卷 3-18页

作者： Nachuan Ma Jiahe Fan Wenshuo Wang JinWu Yu Jiang Lihua Xie Rui Fan Department of Control Science and Engineering Frontiers Science Center for Intelligent Autonomous Systemsand State Key Laboratory of Intelligent Autonomous SystemsTongji UniversityShanghai 201804P.R.China Department of Civil Engineering McGill UniversityMontréalQC H3A 0C3Canada Department of Electronics and Computer Engineering the Hong Kong University of Science and TechnologyHong Kong SAR 999077P.R.China CTO Office ClearMotion Inc.BillericaMA 01821USA School of Electrical and Electronic Engineering Nanyang Technological University50 Nanyang Avenue639798Singapore

Computer vision algorithms have been utilized for 3-D road imaging and pothole detection for over two ***,there is a lack of systematic survey articles on state-of-the-art(SoTA)computer vision techniques,especially deep learningmodels,developed to tackle these *** article first introduces the sensing systems employed for 2-D and 3-D road data acquisition,including camera(s),laser scanners and Microsoft *** then comprehensively reviews the SoTA computer vision algorithms,including(1)classical 2-D image processing,(2)3-D point cloud modelling and segmentation and(3)machine/deep learning,developed for road pothole *** article also discusses the existing challenges and future development trends of computer vision-based road pothole detection approaches:classical 2-D image processing-based and 3-D point cloud modelling and segmentation-based approaches have already become history;and convolutional neural networks(CNNs)have demonstrated compelling road pothole detection results and are promising to break the bottleneck with future advances in self/un-supervised learning for multi-modal semantic *** believe that this survey can serve as practical guidance for developing the next-generation road condition assessment systems.

关键词： Computer vision road imaging pothole detection deep learning image processing point cloud modelling convolutional neural networks

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A FUSION MACHINE BASED ON DSMT AND PCR5 FOR ROBOT'S MAP RECONSTRUCTION

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International Journal of Information Acquisition 2006年第3期3卷 201-211页

作者： XINHAN HUANG XINDE LI MIN WANG JEAN DEZERT Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China ONERA 29 Av. de la Division Leclerc 92320 Chǎtillon France

Characteristics of uncertainty, imprecision, and even imperfection are presented from knowledge acquisition in map reconstruction using sonar sensors fixed on autonomous mobile robot. In order to improve the precision of the fusion and performances of map reconstruction, we propose in this paper a new fusion machine based on Dezert-Smarandache Theory (DSmT) coupled with the fifth Proportional Conflict Redistribution rule (PCR5) for dealing with uncertain and conflicting evidences provided by homogeneous or heterogeneous sources of information. We propose a belief model for sonar grid map and show how to construct efficiently generalized basic belief assignment functions for sensors onboard. A Pioneer II mobile robot with 16 sonar range finders serves as the experiment platform. In our experiment, the robot evolves in a real environment with some obstacles and the environment map is rebuilt online with our self-developing software platform. In this study, we also compare our new approach with other ones based on probability theory, fuzzy theory, Dempster-Shafer Theory (DST) and gray system theory. Our results show an improvement of the performances in precision of map reconstruction of mobile robot with respect to those obtained from aforementioned classical approaches.

关键词： Uncertainty DSmT grid map information fusion mobile robot PCR

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A Soft Pneumatic Crawling Robot with Unbalanced Inflation*

A Soft Pneumatic Crawling Robot with Unbalanced Inflation*

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： Naijia Wang Mengqi He Yushi Cui Yi Sun Peng Qi Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai China Sydney Institute for Robotics and Intelligent Systems and Australian Center for Field Robotics The University of Sydney Sydney Australia

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

Soft pneumatic robots have gained research interests in many fields, showing an advantage of compliance and safeness to human-robotic interaction and various environments. In this paper, a multi/dual-chamber soft crawling robot based on unbalanced pneumatic actuation is presented, which requires only simple design and control to realize the forward locomotion and steering. The design is composed of three parts: the main part of the crawling robot is made of hyper-elastic silicone rubber; an unstretchable fabric is attached outside of part of the robot to form an exterior constraint; two chambers are mounted on the head as steering module. Experiments validate the design in principle and an adequate locomotion performance of the robot. Due to the simple, low-cost structure and its flexible actuation, such crawling robots can be used to perform pipeline exploration, search and rescue missions.

关键词： Pneumatic systems Friction Soft robotics Robot kinematics Pneumatic actuators

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