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8th International Conference on Integrated Modeling and Analysis in Applied Control and automation, IMAACA 2015

作者： Moustris, George P. Dometios, Athanasios Tzafestas, Costas S. Intelligent Robotics and Automation Laboratory School of Electrical and Computer Engineering National Technical University of Athens Greece

ISBN: (纸本)9788897999546

We present a robot following behavior, which enables a mobility assistance robot to follow the user from the front. Although this behavior is desirable in various circumstances, it has received scarce attention. Our proposed solution consists of a kinematic control scheme, tied to a human position estimator based on a Laser Range Finder. Experiments have been performed in an indoor environment with ten users, and the results have been analyzed and presented. We show that the control is feasible but inserts a cognitive load on the users, who tend to "drive" the robot to the optimal paths they would take under normal conditions.

关键词： Robots

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A Novel Extended Potential Field Controller for Use on Aerial Robots

A Novel Extended Potential Field Controller for Use on Aeria...

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IEEE International Conference on automation Science and engineering

作者： Alexander C. Woods Hung M. La Quang P. Ha Advanced Robotics and Automation Laboratory Department of Computer Science and Engineering University of Nevada Reno 89557 USA School of Electrical Mechanical and Mechatronic Systems University of Technology Sydney Australia

ISBN: (纸本)9781509024100

Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller (PFC) with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a Matlab environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller.

关键词： Drones Navigation Robot sensing systems Target tracking Stability analysis

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A New Mathematical Modelling Approach for Viticulture and Winemaking Using Fuzzy Cognitive Maps

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IFAC-PapersOnLine 2015年第24期48卷 15-20页

作者： Peter, Groumpos P. Antigoni, Anninou P. Vasileios, Groumpos P. Laboratory of Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rio26500 Greece Master Stud. Agricultural University of Athens Athens Greece

The aim of this paper is to present a new approach in modelling wine quality and quantity using Fuzzy Cognitive Maps trained by non linear Hebbian learning algorithm. The methodology described extracts the knowledge from the experts and exploits their experience on wine production. Two case studies with data from real vineyards were examined. The results of this study show that software tools using Fuzzy Cognitive Maps could be explored further and problems that arise during the wine production could be prevented by an efficient decision support system. © 2015, IFFCA (Internaitional Fedreation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fuzzy rules Artificial intelligence Breweries Cognitive systems Decision support systems Wine Case studies Fuzzy cognitive map Hebbian learning algorithm New approaches viticulture Wine production Wine quality winemaking

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A new mathematical modelling approach for viticulture and winemaking using fuzzy cognitive maps

A new mathematical modelling approach for viticulture and wi...

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ELEKTRO

作者： Vasilios P. Groumpos Katerina Biniari Peter P. Groumpos Agricultural University of Athens Laboratory of Viticulture Iera Odos 75 Athens Greece Agricultural University of Athens Laboratory of Viticulture Athens Greece Laboratory of Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece

关键词： Pipelines Agriculture Production Fuzzy cognitive maps Meteorology Mathematical model Electronic mail

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Nanoscale monitoring of drug actions on cell membrane using atomic force microscopy

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中国药理学报（英文版） 2015年第7期36卷 769-782页

作者： Mi LI Lian-qing LIU Ning XI Yue-chao WANG State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 USA

Knowledge of the nanoscale changes that take place in individual cells in response to a drug is useful for understanding the drug action. However, due to the lack of adequate techniques, such knowledge was scarce until the advent of atomic force microscopy (AFM), which is a multifunctional tool for investigating cellular behavior with nanometer resolution under near-physiological conditions. In the past decade, researchers have applied AFM to monitor the morphological and mechanical dynamics of individual cells following drug stimulation, yielding considerable novel insight into how the drug molecules affect an individual cell at the nanoscale. In this article we summarize the representative applications of AFM in characterization of drug actions on cell membrane, including topographic imaging, elasticity measurements, molecular interaction quantification, native membrane protein imaging and manipulation, etc. The challenges that are hampering the further development of AFM for studies of cellular activities are aslo discussed.

关键词： atomic force microscopy single-cell technique nanometer scale drug-target interaction cell mechanics cell elasticity

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Effects of temperature and cellular interactions on the mechanics and morphology of human cancer cells investigated by atomic force microscopy

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Science China(Life Sciences) 2015年第9期58卷 889-901页

作者： LI Mi LIU LianQing XI Ning WANG YueChao XIAO XiuBin ZHANG WeiJing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Electrical and Computer Engineering Michigan State University Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences

Cell mechanics plays an important role in cellular physiological activities. Recent studies have shown that cellular mechanical properties are novel biomarkers for indicating the cell states. In this article, temperature-controllable atomic force microscopy(AFM) was applied to quantitatively investigate the effects of temperature and cellular interactions on the mechanics and morphology of human cancer cells. First, AFM indenting experiments were performed on six types of human cells to investigate the changes of cellular Young's modulus at different temperatures and the results showed that the mechanical responses to the changes of temperature were variable for different types of cancer cells. Second, AFM imaging experiments were performed to observe the morphological changes in living cells at different temperatures and the results showed the significant changes of cell morphology caused by the alterations of temperature. Finally, by co-culturing human cancer cells with human immune cells, the mechanical and morphological changes in cancer cells were investigated. The results showed that the co-culture of cancer cells and immune cells could cause the distinct mechanical changes in cancer cells, but no significant morphological differences were observed. The experimental results improved our understanding of the effects of temperature and cellular interactions on the mechanics and morphology of cancer cells.

关键词： atomic force microscopy mechanics cancer cell temperature cellular interactions

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Probabilistic Punishment on Free Riders in Threshold Public Goods Games

Probabilistic Punishment on Free Riders in Threshold Public ...

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第三十四届中国控制会议

作者： ZHANG Chunyan LIU Zhongxin SUN Qinglin CHEN Zengqiang Department of Automation Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University

ISBN: (纸本)9781467374439

We focus our attention on the effectiveness of punishing defectors in the evolution of cooperation in rational populations within the threshold public goods game models. We establish two scenarios: defectors will suffer possible punishment whether the game succeeds or not, and defectors will incur punishment only when game fails. A key observation of this paper is that given this assumption, punishing free riders can significantly influence the evolution outcomes, and the results are driven by the specific components of the punishing rule. Particularly, probably punishing defectors always, not only when game fails,can be more effective for maintaining public cooperation and leads to higher total contributions. Intriguingly when defectors face punishment only when game fails, the spread and domination of cooperators can not be ensured even by sufficiently large punishment, which already brings payoff advantages of defectors over cooperators. Further, cooperators are best supported by the large punishment on defectors, and then dominate and stabilize in the population, under the premise that defectors always incur punishment regardless of whether the game ends successfully or not. We hope this work provides some intriguing hints or insights on investigating the collective behaviors by the aid of punishment mechanism.

关键词： Cooperation,Evolutionary Game Theory,Public Goods Game

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Event-based state estimation of discrete-state hidden Markov models

Event-based state estimation of discrete-state hidden Markov...

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作者： Shi, Dawei Elliott, Robert J. Chen, Tongwen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China School of Mathematical Sciences University of Adelaide SA5005 Australia Haskayne School of Business University of Calgary CalgaryAB Canada Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 1H9 Canada

The state estimation problem for hidden Markov models subject to event-based sensor measurement updates is considered in this work, using the change of probability approach. We assume the measurement updates are transmitted through wired or wireless communication networks. For the scenarios with reliable and unreliable communication channels, analytical expressions for the probability distributions of the states conditioned on all the past point- and set-valued measurement information are obtained. Also, we show that the scenario with a lossy channel, but without the event-trigger, can be treated as a special case of the reliable channel results. Based on these results, closed-form expressions for the estimated communication rates under the original probability measure are presented, which are shown to be the ratio between a weighted 1-norm and the 1-norm of the unnormalized conditional probability distributions of the states under the new probability measures constructed. Implementation issues are discussed, and the effectiveness of the results is illustrated by numerical examples and comparative simulations. © 2015 Elsevier Ltd. All rights reserved.

关键词： Hidden Markov models

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Probabilistic punishment on free riders in threshold public goods games 34

Probabilistic punishment on free riders in threshold public ...

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34th Chinese Control Conference, CCC 2015

作者： Chunyan, Zhang Zhongxin, Liu Qinglin, Sun Zengqiang, Chen Department of Automation Computer and Control Engineering Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University Tianjin China

ISBN: (纸本)9789881563897

We focus our attention on the effectiveness of punishing defectors in the evolution of cooperation in rational populations within the threshold public goods game models. We establish two scenarios: defectors will suffer possible punishment whether the game succeeds or not, and defectors will incur punishment only when game fails. A key observation of this paper is that given this assumption, punishing free riders can significantly influence the evolution outcomes, and the results are driven by the specific components of the punishing rule. Particularly, probably punishing defectors always, not only when game fails, can be more effective for maintaining public cooperation and leads to higher total contributions. Intriguingly when defectors face punishment only when game fails, the spread and domination of cooperators can not be ensured even by sufficiently large punishment, which already brings payoff advantages of defectors over cooperators. Further, cooperators are best supported by the large punishment on defectors, and then dominate and stabilize in the population, under the premise that defectors always incur punishment regardless of whether the game ends successfully or not. We hope this work provides some intriguing hints or insights on investigating the collective behaviors by the aid of punishment mechanism. © 2015 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Cooperation Evolutionary Game Theory Public Goods Game

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A Continuous Second-Order Sliding Mode Guidance against Highly Maneuverable Targets

A Continuous Second-Order Sliding Mode Guidance against High...

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The Society of Instrument and Control Engineers Annual Conference 2015

作者： WANG Yongkun LIU Zhongxin SUN Mingwei CHEN Zengqiang Department of Automation Nankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University

ISBN: (纸本)9784907764487

Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant velocity or a known acceleration. In this paper, a continuous second-order sliding mode guidance law is designed to intercept a highly maneuverable target in connection with the super-twisting algorithm. Meanwhile, the target maneuver information, regarded as unpredictable disturbance, is coped with by an extended state observer(ESO) and then is compensated in the guidance law. In the proposed guidance scheme, no information about target motion is needed. The closed-loop error can be guaranteed to be bounded by using Lyapunov method. The simulation results demonstrate the effectiveness and robustness of the proposed guidance method against a highly maneuverable target.

关键词： guidance law second-order sliding mode super-twisting algorithm extended state observer target maneuver

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