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Development of a digital platform for the implementation of distributed control and navigation systems for underwater robotic systems performing technological operations in Arctic

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IOP Conference Series: Earth and Environmental Science 2021年第1期816卷

作者： V F Filaretov D A Yukhimets A V Zuev A S Gubankov D D Minaev Department of Automation and Robotics Far Eastern Federal University Vladivostok Russia Robotic Lab Institute of Automation and Control Processes Far Eastern Branch of Russian Academy of Science Vladivostok Russia Laboratory of intelligent information systems for marine robots Institute of Marine Technology Problems Far Eastern Branch of Russian Academy of Science Vladivostok Russia PAO 'Dalpribor' Vladivostok Russia

The paper proposes the architecture of a digital platform for the implementation of distributed control and navigation systems for underwater robotic systems that perform technological operations in Arctic. A system of command has been developed for this platform, which provides flexible assignment of various types and purposes of underwater robots missions. The concept of creating distributed control systems of the underwater robots is proposed. It provides the compatibility of existing on-board underwater robots systems with the proposed solution based on compact hydroacoustic systems of global hydroacoustic navigation developed in PAO 'Dalpribor' (Vladivostok).

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Robustness Of Stochastic Learning Dynamics To Player Heterogeneity In Games

Robustness Of Stochastic Learning Dynamics To Player Heterog...

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IEEE Annual Conference on Decision and Control

作者： Hassan Jaleel Waseem Abbas Jeff S. Shamma Department of Electrical Engineering Lahore University of Management Science (LUMS) Lahore Pakistan Department of Electrical Engineering and Computer Science Vanderbilt University Nashville TN USA Robotics Intelligent Systems & Control (RISC) Lab King Abdullah University of Science and Technology (KAUST) Thuwal Saudi Arabia

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

We investigate the impact of players with heterogeneous update rules on the long-term behavior of a population under stochastic learning dynamics. We show that under certain conditions, the presence of even a single heterogeneous player with a different decision making strategy can significantly alter the long-term behavior of the entire population. To quantify the impact of a heterogeneous player, we define a new notion of robustness of stochastic learning dynamics to player heterogeneity. Based on our proposed notion, an action profile that is stochastically stable under the standard setup is robust to player heterogeneity if it can still explain the long-run behavior of all the players other than the heterogeneous players. We consider two types of heterogeneous players: A confused player who randomly updates his actions and a stubborn player who never updates his action. For each of these types, we present a qualitative description of scenarios in which an action profile that is stochastically stable under the standard setup is not robust to the presence of a heterogeneous player of a particular type.

关键词： Robustness Stochastic processes Sociology Statistics Standards Games Resistance

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An insulation diagnosis method for battery pack based on battery model

An insulation diagnosis method for battery pack based on bat...

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2019能源动力与机械工程研讨会

作者： Yanhui Zhang Qingpeng Chen Xiao Liu Zhile Yang Shifeng Guo Wei Feng Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences

The collision and components aging of electric vehicles may lead to dramatic decrease of insulation performance in the complex application environment,which will reduce the insulation between battery pack and chassis,and will affect the performance of on-board equipment and electronic control unit,resulting in heat accumulation effect of leakage circuit and even vehicle ***,it is critical to develop a real-time,accurate and reliable detection device to monitor the insulation resistance of the high-voltage system of electric vehicles,which is beneficial to the normal operation of electrical equipment,the safe operation of vehicles and the personal safety of *** this work,an online estimation method of insulation resistance based on battery model is proposed.

关键词： An insulation diagnosis method for battery pack based on battery model

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Real-Time Application Processing for FPGA-Based Resilient Embedded systems in Harsh Environments

Real-Time Application Processing for FPGA-Based Resilient Em...

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NASA/ESA Conference on Adaptive Hardware and systems (AHS)

作者： Sangeet Saha Shoaib Ehsan Adrian Stoica Rustam Stolkin Klaus McDonald-Maier Embedded and Intelligent Systems Lab University of Essex Jet Propulsion Laboratory California Institute of Technology Extreme Robotics Lab (ERL) University of Birmingham

Real-time embedded systems nowadays get employed in harsh environments such as space, nuclear sites to carry out critical operations. Along with the traditional software based (CPU) execution, FPGAs are now also emerging as a bright prospect to accomplish such routines. However, these platforms are often get plagued by faults generated due to the high radiations in such environments. As a result, the real-time applications running on the platform could also get jeopardized. Thus, efficient execution of a set of hard real-time applications on reconfigurable systems with anomaly detection and recovery mechanism is inevitable. This work aims at tackling such problem with a “healing” approach for extreme environments. Initially, the applications are intelligently partitioned for hardware and software execution, then attempts have been made to schedule hardware applications with intermittent preemption point. Upon detecting any abnormality on such distinct points, our approach orchestrates a healing mechanism to remediate the scenario without hampering the pre-determined schedule. Experimental validation of our proposed method reveals its effectiveness.

关键词： Field programmable gate arrays Hardware Real-time systems Embedded systems Schedules Scheduling

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RF chain reduction for MIMO systems: A hardware prototype

arXiv

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arXiv 2019年

作者： Gong, Tierui Shlezinger, Nir Ioushua, Shahar Stein Namer, Moshe Yang, Zhijia Eldar, Yonina C. State Key Lab of Robotics Key Lab of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Faculty of Mathematics and Computer Science Weizmann Institute of Science Rehovot Israel School of Electrical Engineering Tel Aviv University Tel Aviv Israel Faculty of Electrical Engineering Technion Haifa Israel

RF chain circuits play a major role in digital receiver architectures, allowing passband communication signals to be processed in baseband. When operating at high frequencies, these circuits tend to be costly. This increased cost imposes a major limitation on future multiple-input multiple-output (MIMO) communication technologies. A common approach to mitigate the increased cost is to utilize hybrid architectures, in which the received signal is combined in analog into a lower dimension, thus reducing the number of RF chains. In this work we present a hardware prototype implementing analog combining for RF chain reduction. The prototype consists of a specially designed configurable combining board as well as a dedicated experimental setup. Our hardware prototype allows to evaluate the effect of analog combining in MIMO systems using actual communication signals. The experimental study, which focuses on channel estimation accuracy in MIMO channels, demonstrates that using the proposed prototype, the achievable channel estimation performance is within a small gap in a statistical sense from that obtained using a costly receiver in which each antenna is connected to a dedicated RF chain. Furthermore, in the considered scenarios, this gap becomes negligible when the reduction rate, i.e., the ratio of the number of RF chains to the number of antennas, is above 62.5%. Copyright © 2019, The Authors. All rights reserved.

关键词： Channel estimation

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The VILMA intelligent vehicle:an architectural design for cooperative control between driver and automated system

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Journal of Modern Transportation 2018年第3期26卷 220-229页

作者： Olmer Garcia Giovani Bernardes Vitor Janito Vaqueiro Ferreira Pablo Siqueira Meirelles Arthurde Miranda Neto Universidad de Bogota Jorge Tadeo Lozano BogotaColombia Robotics Intelligent and Complex Systems(RobSIC)LabUniversidade Federal de Itajuba′(UNIFEI)ItabiraMGBrazil Autonomous Mobility Lab at the Universidade Estadual de Campinas(UNICAMP)CampinasSP 13083-860Brazil Terrestrial Mobility Lab at the Universidade Federal de Lavras (UFLA)LavrasMG 37200-000Brazil

intelligent autonomous vehicles have received a great degree of attention in recent years. Although the technology required for these vehicles is relatively advanced, the challenge is firstly to ensure that drivers can understand the capabilities and limitations of such systems and secondly to design a system that can handle the interaction between the driver and the automated intelligent system. In this study, we describe an approach using different strategies for an autonomous system and a driver to drive a vehicle cooperatively. The proposed strategies are referred to as cooperative planning and control and determine when and how the path projected by the autonomous system can be changed safely by the driver to a path that he wishes to follow. The first phase of the project is described, covering the design and implementation of an autonomous test vehicle. Experiments are carried out with a driver to test the cooperative planning and control concepts proposed here.

关键词： Autonomous vehicles Embedded systems Cooperative systems Visual servoing

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Autism Screening Using a Video Game Based on Emotions

Autism Screening Using a Video Game Based on Emotions

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National and International Digital Games Research Conference: Trends, Technologies, and Applications (DGRC)

作者： Atefeh Irani Hadi Moradi Leila Kashani Vahid Advanced Robotics and Intelligent Systems Lab University of Tehran Tehran Iran SKKU South Korea Intelligent Systems Research Institute Tehran Iran Departement of Psychology and Special Education Azad University Tehran Iran

ISBN: (纸本)9781728111155;9781728111148

Autism spectrum disorders (ASDs) is referred to as a range of mental and physical. Usually these children deal with disorders such as social problems, repeated patterns of behaviors and inability to understand abstract concepts. If at the very childhood the occupational therapy exercises are done on a person with autism, he can return to normal life. Given the importance of early diagnosis of autism, this study presents the structure of a serious smart game for screening and rehabilitation of autism. This computer game is based on training of three important skills in understanding emotions i.e. the recognition of emotions, the emergence of emotions, and emotion regulation. The game was performed on children with autism and normal children for designing pattern-recognition algorithms for screening children with autism. Then the screening precision reached 93% using a support vector machine with Gaussian kernel.

关键词： Autism Education Classification algorithms

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Forecasting intracranial hypertension using multi-scale waveform metrics

arXiv

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arXiv 2019年

作者： Hüser, Matthias Kündig, Adrian Karlen, Walter De Luca, Valeria Jaggi, Martin Biomedical Informatics Group Department of Computer Science ETH Zürich Universitätstrasse 6 Zürich8092 Switzerland Mobile Health Systems Lab Institute of Robotics and Intelligent Systems Department of Health Sciences and Technology ETH Zürich Zürich8008 Switzerland Department of Information Technology and Electrical Engineering ETH Zürich Zürich8092 Switzerland Machine Learning & Optimization Lab EPFL Lausanne1015 Switzerland

Objective: Acute intracranial hypertension is an important risk factor of secondary brain damage after traumatic brain injury. Hypertensive episodes are often diagnosed reactively, leading to late detection and lost time for intervention planning. A pro-active approach that predicts critical events several hours ahead of time could assist in directing attention to patients at risk. Approach: We developed a prediction framework that forecasts onsets of acute intracranial hypertension in the next 8 hours. It jointly uses cerebral auto-regulation indices, spectral energies and morphological pulse metrics to describe the neurological state of the patient. One-minute base windows were compressed by computing signal metrics, and then stored in a multi-scale history, from which physiological features were derived. Main results: Our model predicted events up to 8 hours in advance with alarm recall rates of 90% at a precision of 30.3% in the MIMIC-III waveform database, improving upon two baselines from the literature. We found that features derived from high-frequency waveforms substantially improved the prediction performance over simple statistical summaries of low-frequency time serie1s, and each of the three feature classes contributed to the performance gain. The inclusion of long-term history up to 8 hours was especially important. Significance: Our results highlight the importance of information contained in high-frequency waveforms in the neurological intensive care unit. They could motivate future studies on pre-hypertensive patterns and the design of new alarm algorithms for critical events in the injured brain. Copyright © 2019, The Authors. All rights reserved.

关键词： Morphology

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Nonlinear disturbance attenuation control of hydraulic robotics

arXiv

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arXiv 2018年

作者： Lu, Peng Sandy, Timothy Buchli, Jonas Interdisciplinary Division of Aeronautical and Aviation Engineering Hong Kong Polytechnic University Hong Kong Agile & Dexterous Robotics Lab at the Institute of Robotics and Intelligent Systems ETH Zürich Switzerland

This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order filters are pre-defined. The proposed method is nonlinear, which does not require the linearization of the rigid body dynamics. The estimated disturbances are used by the nonlinear controller in order to achieve disturbance attenuation. The performance of the proposed approach is compared with existing approaches. Finally, the tracking performance and robustness of the proposed approach is validated extensively on real hardware by performing different tasks under either internal or both internal and external disturbances. The experimental results demonstrate the robustness and superior tracking performance of the proposed approach. Copyright © 2018, The Authors. All rights reserved.

关键词： Disturbance rejection

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Author Correction: Probabilistic Movement Models Show that Postural Control Precedes and Predicts Volitional Motor Control

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Scientific reports 2020年第1期10卷 6694页

作者： Elmar Rueckert Jernej Čamernik Jan Peters Jan Babič Intelligent Autonomous Systems Lab Technische Universität Darmstadt Darmstadt 64289 Germany. rueckert@ias.tu-darmstadt.de. Department for Automation Biocybernetics and Robotics Jožef Stefan Institute Ljubljana SI-1000 Slovenia. Jožef Stefan International Postgraduate School Jamova cesta 39 1000 Ljubljana Slovenia. Intelligent Autonomous Systems Lab Technische Universität Darmstadt Darmstadt 64289 Germany. Robot Learning Group Max-Planck Institute for Intelligent Systems Tuebingen 72076 Germany.

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

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