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第43届中国控制会议

作者： Hexin Lv Luefeng Chen Min Li Chinonso Paschal Udeh Witold Pedrycz Kaoru Hirota Min Wu Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Department of Electrical and Computer Engineering University of Alberta Tokyo Institute of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In order to make the human-robot interaction more anthropomorphic, so that the robot expresses interaction actions with emotional information during the interaction, a trajectory optimised control method of the robot arm is proposed to express the emotional factors. They include an emotional kinematics feature mapping part, a multitasking priority setting part, and a zero-space control part. The eight three-dimensional emotional mappings in the Pleasure-Arousal-Dominance(PAD) emotion model are mapped to the three kinematic features of the joints of the robotic arm, and then the emotional information influences the amplitude, jitteriness, and end-effector offset of the interaction action by the zero-space control method in the joint space. The method ensures that the normal interaction task is performed by the zero-space characteristic, while the emotional information is expressed by the motion characteristics, which enables the robot to generate interaction actions with different emotional information. It solves the problem of unclear connection between emotional information and robot arm movement expression identified in previous studies. Taking hand waving as an example, we simulate two kinds of iconic emotions and normal hand waving movements, and show that the generated robot arm movements can better express different emotions and achieve better human-robot interaction.

关键词： Emotional Information Task Priority Nullspace Emotional Robots

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Self-Organized Sensor Eggs for Decentralized Localization and Sensing on Vulcano Island – A Glimpse into Future Space Exploration with Swarms

Self-Organized Sensor Eggs for Decentralized Localization an...

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International Conference on Information Fusion

作者： Fabio Broghammer Thomas Wiedemann Siwei Zhang Armin Dammann Christian Gentner Petar Djuric Institute of Communications and Navigation German Aerospace Center (DLR) Germany Perception for Intelligent Systems Munich Institute of Robotics and Machine Intelligence TU Munich Germany Department of Electrical and Computer Engineering Stony Brook University USA

ISBN: (数字)9781737749769

ISBN: (纸本)9798350371420

Robotic swarms or portable sensor networks are emerging technologies for sensing physical processes that are spatially distributed- and temporally dynamic, both on Earth and in future Moon/Mars exploration missions. We develop a portable network composed of a multitude of self-organized “sensor eggs”. These eggs are equipped with ultra-wideband (UWB) transceivers, providing precise time and position information without additional infrastructures like Global Navigation Satellite systems (GNSSs). Each egg is additionally equipped with environmental sensors, for example, a Sulfur dioxide gas sensor to explore volcanic activity. We use a real time decentralized particle filter (DPF) to estimate the a-posteriori probability density functions (PDFs) of the egg positions. These PDFs are then used in a static state binary Bayes filter for estimating the gas sources with potentially complex structures such as cracks on the volcano surface. The proposed sensor network is verified with an in-field experiment at La Fossa volcano on the island of Vulcano, Italy, in 2023.

关键词： Location awareness Volcanic activity Probability density function Robot sensing systems Particle filters Transceivers Sensors Timing Surface cracks Ultra wideband technology

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Enhancing 3D Human Pose Estimation Amidst Severe Occlusion with Dual Transformer Fusion

arXiv

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arXiv 2024年

作者： Ghafoor, Mehwish Mahmood, Arif Bilal, Muhammad Department of Computer Science Information Technology University Lahore Pakistan Center of Excellence in Intelligent Engineering Systems Department of Electrical and Computer Engineering Faculty of Engineering King Abdulaziz University Jeddah21589 Saudi Arabia

In the field of 3D Human Pose Estimation from monocular videos, the presence of diverse occlusion types presents a formidable challenge. Prior research has made progress by harnessing spatial and temporal cues to infer 3D poses from 2D joint observations. This paper introduces a Dual Transformer Fusion (DTF) algorithm, a novel approach to obtain a holistic 3D pose estimation, even in the presence of severe occlusions. Confronting the issue of occlusion-induced missing joint data, we propose a temporal interpolation-based occlusion guidance mechanism. To enable precise 3D Human Pose Estimation, our approach leverages the innovative DTF architecture, which first generates a pair of intermediate views. Each intermediate-view undergoes spatial refinement through a self-refinement schema. Subsequently, these intermediate-views are fused to yield the final 3D human pose estimation. The entire system is end-to-end trainable. Through extensive experiments conducted on the Human3.6M and MPI-INF-3DHP datasets, our method’s performance is rigorously evaluated. Notably, our approach outperforms existing state-of-the-art methods on both datasets, yielding substantial improvements. The code is available here: https://***/MehwishG/DTF. © 2024, CC BY-NC-ND.

关键词： 3D modeling

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Designing and Developing a Fixed-Wing Tail-sitter Tethered VTOL UAV with Custom Autopilot: A MIMO H∞ Robust Control Approach 25

Designing and Developing a Fixed-Wing Tail-sitter Tethered V...

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25th IEEE International Conference on Autonomous Robot systems and Competitions, ICARSC 2025

作者： Safaee, Ahmad Moreira, Antonio Paulo Aguiar, A. Pedro SYSTEC-ARISE Research Center for Systems and Technologies University of Porto Faculty of Engineering Porto 4200-465 Portugal University of Porto INESC-TEC and DEEC/FEUP Faculty of Engineering Department of Electrical and Computer Engineering Porto 4200-465 Portugal

ISBN: (纸本)9798331538606

This article presents the development of a tethered fixed-wing tail-sitter VTOL (Vertical Take-Off and Landing) Unmanned Aerial Vehicle system. The design focuses on improving energy efficiency by utilizing the wings to harness wind power, similar to a kite, while maintaining VTOL functionality. A distinguishing feature is the purpose-built autopilot system, with custom hardware and software components specifically engineered for this application. The study presents the system identification process for obtaining five MIMO (Multiple-Input Multiple-Output) transfer functions that characterize the dynamics between roll-yaw commands and responses, including the tether angle feedback. To address the inherent coupling effects and uncertainties in the system, robust mixed sensitivity (H∞) MIMO controllers are developed. The controllers were validated through both simulations and experimental flights, demonstrating effective performance in handling cross-coupling effects and maintaining stability under various operating conditions. According to flight test findings, the system can precisely manage the tether angle while adjusting for ground effect disturbances. This allows for accurate tethered navigation, a stable attitude, and the maintenance of an adequate yaw heading. © 2025 IEEE.

关键词： MIMO mixed sensitivity robust controller tether VTOL

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A K -Band Four-Beam Transmitter with Decoupled Phase/Gain Control and Enhanced Power Back off Efficiency for SATCOM

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IEEE Transactions on Microwave Theory and Techniques 2024年第11期72卷 6443-6459页

作者： Gao, Huiyan Li, Nayu Xie, Xinhong Wang, Shaogang Lu, Hang Kuan, Yen-Cheng Yu, Xiaopeng Song, Chunyi Jane Gu, Qun Xu, Zhiwei Institute of Marine Electronics and Intelligent Systems Ocean College Zhejiang University Zhoushan316021 China Engineering Research Center of Oceanic Sensing Technology and Equipment Ministry of Education Zhoushan316021 China Donghai Laboratory Zhoushan316021 China National Yang Ming Chiao Tung University International College of Semiconductor Technology Hsinchu30010 Taiwan Institute of VLSI Design and Research College of Information Science and Electronic Engineering Zhejiang University Hangzhou310058 China University of California at Davis Department of Electrical and Computer Engineering DavisCA95616 United States

This article presents a 17.7-20.2 GHz eight-element four-beam RF-beamforming transmitter in 65-nm CMOS for satellite communication (SATCOM). The transmitter utilizes an analog scheme in the variable-gain amplifier (VGA) to achieve dB-in-linear gain control with a high dynamic range (DR), together with a current combining crossbar for a compact footprint. The vector-modulation-based (VM-based) phase shifter (PS) adopts the cancellation-based Gm units for low switching variation. Furthermore, eight PSs of each beam are split into two groups, with each group sharing the same tunable I/Q generator for low power consumption. Considering the increased peak-to-average power ratio (PAPR) caused by high-order modulation schemes and multibeam operation, the transmitter incorporates compact transformer-based Doherty power amplifiers (DPAs) with adaptive bias control to improve the power efficiency at back-off. The chip achieves a 31-dB gain-tuning range with a 0.283-dB step and a 360° phase-shifting range with a calibrated 7-bit resolution. The measured root-mean-square (RMS) phase/gain errors induced by the VGA/PS are below 2.05°/0.147 dB, respectively, which decouples phase/gain control. The transmitter achieves a maximum output 1-dB gain compression point (OP1dB) of 17.9 dBm and a maximum saturated power (Psat) of 18.9 dBm. The output element exhibits 29.3% drain efficiency (DE) at 6-dB power back off (PBO) from Psat , which is 1.56/3.12 times over the normalized class-B/class-A implementations, demonstrating Doherty PBO efficiency enhancement. The chip occupies an area of 8.59 × 4.17 mm2 and consumes 398 mW per element at OP1dB. Additionally, a 16-element linear array has been developed to showcase the capabilities of the multibeam operation and gain tapering. © 1963-2012 IEEE.

关键词： Efficiency

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On Implementation of Sparse Finite Impulse Response Secondary Path for Active Noise Control

On Implementation of Sparse Finite Impulse Response Secondar...

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2023 IEEE International Conference on computer, Information, and Telecommunication systems, CITS 2023

作者： Guo, Xinnian Kang, Ziyang Shen, Yang Su, Yingna Ding, Hongyan Tan, Lizhe Jiangsu Province Engineering Research Center of Smart Poultry Farming and Intelligent Equipment Suqian University Suqian223800 China School of Information Engineering Suqian University Suqian223800 China Purdue University Northwest Department of Electrical and Computer Engineering HammondIN46323 United States

ISBN: (纸本)9798350336092

This paper proposes a sparse finite impulse response (FIR) secondary path model for the long duct active noise control system. The sparse coefficients are chosen based on a threshold calculated by a specific ratio of the sparse information to the total information of the secondary coefficients. To further reduce the computational complexity, a down-sampling technique is applied to identify the secondary path. The effectiveness of the proposed algorithm is demonstrated through computational complexity analysis, numerical simulations, and actual experiments for feedforward duct active noise control systems. © 2023 IEEE.

关键词： Active noise control

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Two-Stage Robust Optimization Under Decision Dependent Uncertainty

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IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1295-1306页

作者： Yunfan Zhang Feng Liu Yifan Su Yue Chen Zhaojian Wang João P.S.Catalão State Key Laboratory of Power System and Generation Equipment the Department of Electrical EngineeringTsinghua UniversityBeijing 100084China Department of Mechanical and Automation Engineering the Chinese University of Hong KongHong Kong SARChina Ministry of Education Key Laboratory of System Control and Information Processing the Department of AutomationShanghai Jiao Tong Universityand also with Shanghai Engineering Research Center of Intelligent Control and ManagementShanghai 200240China Faculty of Engineering of the University of Porto and Institute for Systems and Computer Engineering Technology and Science(INESC TEC)Porto 4200-465Portugal IEEE

In the conventional robust optimization(RO)context,the uncertainty is regarded as residing in a predetermined and fixed uncertainty *** many applications,however,uncertainties are affected by decisions,making the current RO framework *** paper investigates a class of two-stage RO problems that involve decision-dependent *** introduce a class of polyhedral uncertainty sets whose right-hand-side vector has a dependency on the here-and-now decisions and seek to derive the exact optimal wait-and-see decisions for the second-stage problem.A novel iterative algorithm based on the Benders dual decomposition is proposed where advanced optimality cuts and feasibility cuts are designed to incorporate the uncertainty-decision *** computational tractability,robust feasibility and optimality,and convergence performance of the proposed algorithm are guaranteed with theoretical *** motivating application examples that feature the decision-dependent uncertainties are ***,the proposed solution methodology is verified by conducting case studies on the pre-disaster highway investment problem.

关键词： Benders decomposition decision-dependent uncertainty endogenous uncertainty robust optimization(RO)

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Perception Robustness Testing at Different Levels of Generality

Field Robotics

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Field robotics 2025年 1卷 253-286页

作者： Zachary Pezzementi Trenton Tabor Jonathan K. Chang Carter Tiernan Bill Drozd Eric Sample Chris Hazard Michael Wagner Philip Koopman National Robotics Engineering Center (NREC) Carnegie Mellon University Pittsburgh Pennsylvania USA Edge Case Research LLC Pittsburgh Pennsylvania USA Electrical and Computer Engineering Department Carnegie Mellon University Pittsburgh Pennsylvania USA

Ensuring the success and safety of deployed robotic systems often requires predicting their behavior in a wide range of conditions, precluding practical testing of the physical system itself. We introduce an approach to predict the robustness of a perception system in a broad range of conditions through simulation of challenging real-world conditions achieved by modifying real images according to physical phenomena, producing physically-realistic, mutated images. Typical perception-system performance metrics are difficult to relate to system-level application- or safety-requirements. We propose performance-evaluating metrics that are more closely tied to these targets, a relationship dependent on the amount of application-specific context available and assumptions imposed. We also introduce a novel robustness metric, Robustness ROC, that can be applied to any of these performance metrics. We demonstrate this method on NREC-AgPD, a large dataset focused on person detection for off-road driving in orchard environments, assessing several recent person detectors, and showing how considerations of robustness can often change the best-choice algorithm.

关键词： Robustness Robots Measurement Training Market research Three-dimensional printing Snow Object detection MCDM Detectors

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An Investigation into the Accuracy of Blood Oxygen Saturation Measurement using Smart Watch Devices Among Pediatric Users in Saudi Arabia

An Investigation into the Accuracy of Blood Oxygen Saturatio...

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Biomedical Instrumentation and Technology Conference (IBITeC), International

作者： Ahmad F. Turki Electrical and Computer Engineering Department Center of Excellence in Intelligent Engineering Systems King Abdul Aziz University Jeddah Saudi Arabia

Advancements in technology have led to the development and increased use of biomedical wearable devices equipped with various biosensors. This study aimed to evaluate the accuracy of blood oxygen saturation measurements in Saudi pediatric users using the Apple Watch Series 6 and Samsung Galaxy Watch 4. These smartwatches, widely available and relatively affordable fitness trackers, offer the capability to measure blood oxygen saturation and facilitate health monitoring. This paper presents preliminary findings from an investigation into the accuracy of the Apple Watch and Samsung Watch in measuring blood oxygen saturation. Data was collected from a sample of one hundred Saudi pediatric users, comprising 43 females and 57 males, with an average age of 13±3.3 years and a BMI of 21.07±6.3 kg/m 2 . Three measurements of blood oxygen saturation were simultaneously recorded using a hospital-grade pulse oximetry machine, as well as the Apple Watch and the Samsung Watch. Statistical comparisons were conducted using a T-test with a significance level of p=0.05, and the results were visualized using Bland-Altman plots. The T-test results indicated a statistically significant difference between the oximeter readings of the smartwatches and the medical-grade oximeter. Additionally, the calculation of errors revealed discrepancies between the measurements obtained from the smartwatches and the hospital-grade oximeter. It was observed that the errors were generally lower in measurements taken from male subjects compared to female subjects. The Bland-Altman plots, considering data from both the Apple Watch and the Samsung Watch, showed moderate agreement between the smartwatches and the hospital pulse oximetry. These findings suggest that while the Apple Watch and Samsung Watch demonstrate potential for measuring blood oxygen saturation, there are discrepancies compared to the accuracy of the hospital-grade oximeter. Further research and refinement may be necessary to improve the

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Confidence-Aware Safe and Stable Control of Control-Affine systems

arXiv

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arXiv 2024年

作者： Wei, Shiqing Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Department of Electrical and Computer Engineering NYU Tandon School of Engineering 5 Metrotech Center BrooklynNY11201 United States

Designing control inputs that satisfy safety requirements is crucial in safety-critical nonlinear control, and this task becomes particularly challenging when full-state measurements are unavailable. In this work, we address the problem of synthesizing safe and stable control for control-affine systems via output feedback (using an observer) while reducing the estimation error of the observer. To achieve this, we adapt control Lyapunov function (CLF) and control barrier function (CBF) techniques to the output feedback setting. Building upon the existing CLF-CBF-QP (Quadratic Program) and CBF-QP frameworks, we formulate two confidence-aware optimization problems and establish the Lipschitz continuity of the obtained solutions. To validate our approach, we conduct simulation studies on two illustrative examples. The simulation studies indicate both improvements in the observer’s estimation accuracy and the fulfillment of safety and control requirements. © 2024, CC BY.

关键词： Lyapunov functions

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