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Social Energy:Mining Energy From the Society

IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 466-482页

作者： Jun Jason Zhang David Wenzhong Gao Yingchen Zhang Xiao Wang Xiangyang Zhao Dongliang Duan Xiaoxiao Dai Jun Hao Fei-Yue Wang Department of Electrical and Computer Engineering Ritchie School of Engineering and Computer ScienceUniversity of Denver IEEE National Renewable Energy Laboratory Qingdao Academy of Intelligent Industries(QAII) QingdaoShandongChinaand SKL-MCCSCASIA School of Automation Science and Electrical Engineering Beihang University Department of Electrical and Computer Engineering College of Engineering and Applied ScienceUniversity of Wyoming State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences(SKL-MCCSCASIA) Research Center of Computational Experiments and Parallel Systems National University of Defense Technology

The inherent nature of energy,i.e.,physicality,sociality and informatization,implies the inevitable and intensive interaction between energy systems and social *** this perspective,we define "social energy" as a complex sociotechnical system of energy systems,social systems and the derived artificial virtual systems which characterize the intense intersystem and intra-system *** recent advancement in intelligent technology,including artificial intelligence and machine learning technologies,sensing and communication in Internet of Things technologies,and massive high performance computing and extreme-scale data analytics technologies,enables the possibility of substantial advancement in socio-technical system optimization,scheduling,control and *** this paper,we provide a discussion on the nature of energy,and then propose the concept and intention of social energy systems for electrical power.A general methodology of establishing and investigating social energy is proposed,which is based on the ACP approach,i.e., "artificial systems"(A), "computational experiments"(C) and "parallel execution"(P),and parallel system methodology.A case study on the University of Denver(DU) campus grid is provided and studied to demonstrate the social energy *** the concluding remarks,we discuss the technical pathway,in both social and nature sciences,to social energy,and our vision on its future.

关键词： ACP distribution locational marginal pricing intelligent operation in power systems parallel control parallel intelligence parallel management social energy socio-technical energy systems

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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

arXiv

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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Distributed Leader-follower Formation Control of Nonholonomic Mobile Robots

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IFAC-PapersOnLine 2019年第15期52卷 67-72页

作者： Qun Lu Zhiqiang Miao Dan Zhang Li Yu Wenjun Ye Simon X. Yang Chun-Yi Su College of Electrical Engineering Yancheng Institute of Technology Yancheng 224003 China College of Electrical and Information Engineering Hunan University Changsha 410082 China College of Information Engineering Zhejiang University of Technology Hangzhou 310023 China Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal QC H3G 1M8 Canada Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Guelph ON N1G 2W1 Canada School of Automation Guangdong University of Technology Guangzhou 510006 China on leave from Concordia University Montreal QC H3G 1M8 Canada

This paper considers the problem of distributed leader-follower formation control for nonholonomic mobile robots only using local interactions among the robots. First, a distributed estimation strategy is presented for each follower robot to estimate the leader’s state. Then the dynamic equations of the formation tracking errors are formulated and a distributed formation control scheme is designed, which yields globally uniformly ultimately bounded stability for the closed-loop systems without requiring persistent excitation conditions. Finally, a simulation example demonstrates the effectiveness of the proposed approach.

关键词： Distributed formation control nonholonomic mobile robots distributed formation control persistent exciting conditions

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Design and Performance Evaluation of a Novel Vascular Interventional Surgery Robot

Design and Performance Evaluation of a Novel Vascular Interv...

引用

IEEE International Conference on robotics and Biomimetics

作者： Long Li Zhihui Huang Yingzhong Tian Wenbing Wang Wei Chen Zexi Li Fengfeng Xi School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China Mechanical and Electrical School of Shenzhen Polytechnic Shenzhen China Department of Mechanical Ryerson University Toronto ON Canada

ISBN: (纸本)9781728103785;9781728103778

In this paper, aiming at the problems existing in the vascular interventional surgery and the current research status, a vascular interventional surgery robot is designed by utilizing the master-slave control system. First, from the perspective of ergonomics, we design a master manipulator. It allows doctor to operate the medical catheter or guidewire directly during the operation. And then based on the same concept, we design a slave manipulator. It can reproduce the doctor's hand movements and ensure that the medical catheter or guidewire can reach the lesion smoothly in the blood vessels. Finally, the precision of the robot system is verified from the two dimensions of displacement and angle at different master-control ratios. Final results show that the whole interventional surgical robot system can meet the clinical requirements.

关键词： Manipulators Surgery Conferences Biomimetics

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Development of a Tetris Playing Robot Controlled by KNR

Development of a Tetris Playing Robot Controlled by KNR

引用

IEEE International Conference on Mechatronics and automation

作者： Ming Wang Yanlu Zhang Huifang Dong Xu Li Junzhi Yu Department of Information and Electrical Engineering University of Shandong Jianzhu University Jinan China Department of Intelligent Robotics State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Robot plays an increasingly important role in daily life. This paper presents a vision-based wheeled robot for playing Tetris. How to control the robot is elaborated at length in this paper. The robot adopted a KNR controller as its core controller. With a CCD sensor, it identified colored blocks, lines and the destination. All algorithms are programed with LabVIEW. The experiments and the contest validated the effectiveness of the proposed vision-based wheeled robot system.

关键词： Mobile robots Cameras Robot sensing systems Image color analysis Servomotors Robot kinematics

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A Robust Visual SLAM System Based on RGB-D Camera Used in Various Indoor Scenes

A Robust Visual SLAM System Based on RGB-D Camera Used in Va...

引用

IEEE International Conference on robotics and Biomimetics

作者： Long Li Angsong Li Yingzhong Tian Wenbin Wang Wei Chen Yining Fan Fengfeng Xi School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China Mechanical and Electrical School of Shenzhen Polytechnic Shenzhen China Department of Mechanical Aerospace and Industrial Engineering Ryerson University Toronto ON Canada

ISBN: (纸本)9781728103785;9781728103778

Generally speaking, visual SLAM systems just based on point features have poor robustness in low-textured scenes, which limits their application. To improve the robustness and accuracy of simultaneous location and mapping in various environments, a multi-scene adaptive visual SLAM system based on RGB-D camera is proposed. We not only use point features in our system, but also introduce line features that are abundant indoors. They are less sensitive to lighting variation and more stable than point features in low-textured scenes. The SLAM system combining point features and line features contains several parts: visual odometry, local mapping, loop closing, full BA and mapping. The experimental results on datasets demonstrate that the performance of our proposed SLAM system is better than state-of-the-art point-based method in various indoor scenes.

关键词： Bundle adjustment Urban areas Conferences Biomimetics Feature detection Feature extraction

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A Novel Forwarding Method for Full-Duplex Two-Way Relay Networks

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China Communications 2017年第4期14卷 65-72页

作者： Shuangshuang Han Xiang Cheng Liuqing Yang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of SciencesBeijing China and Qingdao Academy of Intelligent Industries The State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics Engineering and Computer Science Peking University Department of Electrical and Computer Engineering Colorado State University

An estimate-and-forward(EF) scheme for single-input single-output(SISO) and multiple-input multiple-output(MIMO) full-duplex two-way relay networks is proposed and analyzed. The relay estimates the received signal from two terminal nodes by a minimum mean squared error(MMSE) estimation and forwards a scaled version of the MMSE estimate to the destination. The proposed EF outperforms conventional amplify-and-forward(AF) and decode-and-forward(DF) across all signal-to-noise ratio(SNR) region. Because its computational complexity is high for relays with a large number of antennas(large MIMO) and/or high order constellations, an approximate EF scheme, called list EF, are thus proposed to reduce the computational complexity. The proposed list EF computes a candidate list for the MMSE estimate by using a sphere decoder, and it approaches the performance of the exact EF relay at a negligible performance loss. The proposed forwarding approach also could be used to other relay networks, such as half-duplex, one-way or massive MIMO relay networks.

关键词： estimate-and-forward full-duplex two-way relay wireless communications

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Remaining Useful Battery Life Prediction for UAVs based on Machine Learning

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IFAC-PapersOnLine 2017年第1期50卷 4727-4732页

作者： Mansouri S.S. Karvelis P. Georgoulas G. Nikolakopoulos G. Robotics Group Control Engineering Division of the Department of Computer Electrical and Space Engineering Luleå University of Technology Luleå SE-97187 Sweden Laboratory of Knowledge and Intelligent Computing Department of Computer Engineering Technological Educational Institute of Epirus Arta Greece

Unmanned Aerial Vehicles are becoming part of many industrial applications. The advancements in battery technologies played a crucial part for this trend. However, no matter what the advancements are, all batteries have a fixed capacity and after some time drain out. In order to extend the flying time window, the prediction of the time that the battery will no longer be able to support a flying condition is crucial. This in fact can be cast as a standard Remaining Useful Life prognostic problem, similarly encountered in many fields. In this article, the problem of Remaining Useful Life estimation of a battery, under different flight conditions, is tackled using four machine learning techniques: a linear sparse model, a variant of support vector regression, a multilayer perceptron and an advanced tree based algorithm. The efficiency of the overall proposed machine learning techniques, in the field of batteries prognostics, is evaluated based on multiple experimental data from different flight conditions. © 2017

关键词： Battery Machine Learning Prediction Remaining Useful Life UAVs

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Common Limitations of Image Processing Metrics: A Picture Story

arXiv

引用

arXiv 2021年

作者： Reinke, Annika Tizabi, Minu D. Sudre, Carole H. Eisenmann, Matthias Rädsch, Tim Baumgartner, Michael Acion, Laura Antonelli, Michela Arbel, Tal Bakas, Spyridon Bankhead, Peter Benis, Arriel Blaschko, Matthew Buettner, Florian Cardoso, M. Jorge Chen, Jianxu Cheplygina, Veronika Christodoulou, Evangelia Cimini, Beth A. Collins, Gary S. Engelhardt, Sandy Farahani, Keyvan Ferrer, Luciana Galdran, Adrian van Ginneken, Bram Glocker, Ben Godau, Patrick Haase, Robert Hamprecht, Fred Hashimoto, Daniel A. Heckmann-Nötzel, Doreen Hirsch, Peter Hoffman, Michael M. Huisman, Merel Isensee, Fabian Jannin, Pierre Kahn, Charles E. Kainmueller, Dagmar Kainz, Bernhard Karargyris, Alexandros Karthikesalingam, Alan Kavur, A. Emre Kenngott, Hannes Kleesiek, Jens Kleppe, Andreas Koehler, Sven Kofler, Florian Kopp-Schneider, Annette Kooi, Thijs Kozubek, Michal Kreshuk, Anna Kurc, Tahsin Landman, Bennett A. Litjens, Geert Madani, Amin Maier-Hein, Klaus Martel, Anne L. Mattson, Peter Meijering, Erik Menze, Bjoern Moher, David Moons, Karel G.M. Müller, Henning Nichyporuk, Brennan Nickel, Felix Noyan, M. Alican Petersen, Jens Polat, Gorkem Rafelski, Susanne M. Rajpoot, Nasir Reyes, Mauricio Rieke, Nicola Riegler, Michael A. Rivaz, Hassan Saez-Rodriguez, Julio Sánchez, Clara I. Schroeter, Julien Saha, Anindo Selver, M. Alper Sharan, Lalith Shetty, Shravya Smeden, Maarten V.A.N. Stieltjes, Bram Summers, Ronald M. Taha, Abdel A. Tiulpin, Aleksei Tsaftaris, Sotirios A. Calster, Ben V.A.N. Varoquaux, Gaël Wiesenfarth, Manuel Yaniv, Ziv R. Jäger, Paul Maier-Hein, Lena Division of Intelligent Medical Systems and HI Helmholtz Imaging Heidelberg Germany Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Division of Intelligent Medical Systems Heidelberg Germany NCT Heidelberg DKFZ University Medical Center Heidelberg Germany MRC Unit for Lifelong Health and Ageing UCL Centre for Medical Image Computing Department of Computer Science University College London London United Kingdom School of Biomedical Engineering and Imaging Science King’s College London London United Kingdom Division of Medical Image Computing Heidelberg Germany Instituto de Cálculo CONICET – Universidad de Buenos Aires Buenos Aires Argentina Centre for Medical Image Computing University College London London United Kingdom McGill University Montréal Canada Division of Computational Pathology Dept of Pathology & Laboratory Medicine Indiana University School of Medicine IU Health Information and Translational Sciences Building Indianapolis United States University of Pennsylvania Richards Medical Research Laboratories FL7 PhiladelphiaPA United States Institute of Genetics and Cancer University of Edinburgh Edinburgh United Kingdom Department of Digital Medical Technologies Holon Institute of Technology Holon Israel European Federation for Medical Informatics Le Mont-sur-Lausanne Switzerland Center for Processing Speech and Images Department of Electrical Engineering KU Leuven Kasteelpark Arenberg 10 - box 2441 Leuven3001 Belgium Frankfurt/Mainz DKFZ UCT Frankfurt-Marburg Germany Heidelberg Germany Goethe University Frankfurt Department of Medicine Germany Goethe University Frankfurt Department of Informatics Germany Frankfurt Cancer Insititute Germany Leibniz-Institut für Analytische Wissenschaften – ISAS – e.V. Dortmund Germany Department of Computer Science IT University of Copenhagen Copenhagen Denmark Imaging Platform Broad Institute of MIT and Harvard CambridgeMA United States Centre for St

While the importance of automatic image analysis is continuously increasing, recent meta-research revealed major flaws with respect to algorithm validation. Performance metrics are particularly key for meaningful, objective, and transparent performance assessment and validation of the used automatic algorithms, but relatively little attention has been given to the practical pitfalls when using specific metrics for a given image analysis task. These are typically related to (1) the disregard of inherent metric properties, such as the behaviour in the presence of class imbalance or small target structures, (2) the disregard of inherent data set properties, such as the non-independence of the test cases, and (3) the disregard of the actual biomedical domain interest that the metrics should reflect. This living dynamically document has the purpose to illustrate important limitations of performance metrics commonly applied in the field of image analysis. In this context, it focuses on biomedical image analysis problems that can be phrased as image-level classification, semantic segmentation, instance segmentation, or object detection task. The current version is based on a Delphi process on metrics conducted by an international consortium of image analysis experts from more than 60 institutions worldwide. © 2021, CC BY.

关键词： Medical imaging

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Introduction

Advances in Industrial Control

引用

Advances in Industrial Control 2018年第9783319610207期 1-18页

作者： Orsag, Matko Korpela, Christopher Oh, Paul Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Department of Electrical Engineering and Computer Science United States Military Academy West PointNY United States Department of Mechanical Engineering University of Nevada Las Vegas Las VegasNV United States

Aerial robotics has reached significant maturity in the last few years. Thus, the number of new unmanned aerial vehicles (UAV) and unmanned aerial systems (UAS), applications, and companies producing them has increased in a very important way. The number of publications and presentations in conferences has also experienced a large increase. Moreover, almost every day we can find articles, videos, and news in the general media related to drones. © Springer International Publishing AG 2018.

关键词： Antennas

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