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arXiv 2024年

作者： Hu, Bin-Bin Zhang, Hai-Tao Yao, Weijia Sun, Zhiyong Cao, Ming The School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China The School of Robotics Hunan University Hunan410082 China The Institute of Engineering and Technology University of Groningen Groningen9747 AG Netherlands Department of Electrical Engineering Eindhoven University of Technology Netherlands

We design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired two-dimensional (2D) surface. The CGVF is characterized by three terms, i.e., a convergence term to drive the robots to converge to the desired surface, a propagation term to provide a traversing direction for maneuvering on the desired surface, and a coordinated term to achieve the surface motion coordination with an arbitrary ordering of the robotic group. By setting the surface parameters as additional virtual coordinates, the proposed approach eliminates potential singularity of the CGVF and enables both the global convergence to the desired surface and the maneuvering on the surface from all possible initial conditions. The ordering-flexible surface motion coordination is realized by each robot to share with its neighbors only two virtual coordinates, i.e. that of a given target and that of its own, which reduces the communication and computation cost in multi-robot surface navigation. Finally, the effectiveness of the CGVF is substantiated by extensive numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Navigation

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Rhythms: Real-Time Data-Driven Human-Machine Synchronization for Proactive Ergonomic Risks Mitigation in the Context of Industry 4.0 and Beyond

SSRN

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SSRN 2022年

作者： Ling, Shiquan Yuan, Yanglang Yan, Danqi Leng, Yuquan Rong, Yiming Huang, George Q. Department of Industrial and Manufacturing Systems Engineering The University of Hong Kong Hong Kong Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China

Human-machine work system (HMWS) is a composite system that combines the accuracy and strength of machines in repetitive work with the advantages of humans in cognitive ability, flexibility, and adaptability to perform various tasks with a common goal, which is getting smarter in the era of Industry 4.0 (I4.0) and has received extensive attention from academia and industry. However, due to a lack of real-time information sharing during the implementation and operation of HMWS, the uncertainty brought by human instability and the increasing complexity caused by smart networking environments in the context of I4.0 bring difficulties to the synchronous coordination of this distributed human-centric manufacturing system, while the failure of synchronization will lead to serious violation of overall system integrity, resulting in unrealistic decision-making results and even harmful to human health, which also goes against the propose of Industry 5.0 (I5.0) to put human well-being at the center of the production process to achieve human-centric smart manufacturing in the future. In this context, this research presents a real-time data-driven hyper objects orchestrating for the human-machine synchronization ( RHYTHMS ) based on a service-oriented human-to-machine architecture (SOH2M) and a model reference adaptive fuzzy control for real-time information sharing and synchronous coordination of the smart HMWS. Based on these, a real-life assembly case is carried out by a full-scale HMWS prototype to quantitatively analyze the benefits of the proposed approach in proactive ergonomic risks mitigation (PERM), contributing to the human-centric value-oriented I5.0 era. © 2022, The Authors. All rights reserved.

关键词： Synchronization

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Model-Based Shape Estimation and Closed-Loop Control of Magnetic Continuum Robot Based on Monocular Vision

Model-Based Shape Estimation and Closed-Loop Control of Magn...

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IEEE International Conference on robotics and Biomimetics

作者： Junfeng Zhu Yuanrui Huang Jian Chen Hongbin Liu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences (CASIA) Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Centre of AI and Robotics Hong Kong Institute of Science Innovation Chinese Academy of Sciences School of Biomedical Engineering and Imaging Sciences King's College London UK

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Magnetic continuum robots (MCRs) show promising potential for applications in narrow lumens, such as vascular interventions. Accurate shape sensing of these robots is crucial for the success of interventional surgeries. However, the submillimeter dimensions of MCRs poses significant challenges for integrating additional sensors. An alternative approach is shape estimation from images, yet the lack of precise MCR kinematics can make this process time-consuming. In this work, we propose a novel MCR design featuring a rectangular tip capable of specific planar bending, along with a corresponding kinematic model and a mechanical model. Additionally, we introduce a model-based shape estimation method that enables the estimation of the MCR's shape from a single-view image without the need for external markers. Experimental results demonstrate that our method can estimate an MCR's shape with a mean absolute error (MAE) of $\mathbf{0.58}\pm \mathbf{0.41}\mathbf{mm}$ within 85ms, facilitating real-time application. Furthermore, closed-loop control based on this method has achieved an end position error below 11% of the tip's total length, highlighting the accuracy and practicality of our approach for surgical interventions.

关键词： Solid modeling Shape Computational modeling Magnetic resonance imaging Estimation Kinematics Robot sensing systems Real-time systems Continuum robots Magnetosphere

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Bringing sensation to prosthetic hands-chronic assessment of implanted thin-film electrodes in humans

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npj Flexible Electronics 2023年第1期7卷 32-45页

作者： PaulČvančara Giacomo Valle Matthias Müller Inga Bartels Thomas Guiho Arthur Hiairrassary Francesco Petrini Stanisa Raspopovic Ivo Strauss Giuseppe Granata Eduardo Fernandez Paolo M.Rossini Massimo Barbaro Ken Yoshida Winnie Jensen Jean-Louis Divoux David Guiraud Silvestro Micera Thomas Stieglitz Laboratory for Biomedical Microtechnology Department of Microsystems Engineering-IMTEKAlbert-Ludwig-University FreiburgFreiburgGermany Center for Neuroprosthetics and Institute of Bioengineering School of EngineeringÉcole Polytechnique Fédérale de Lausanne(EPFL)LausanneSwitzerland The Biorobotics Institute Scuola Superiore Sant’AnnaPisaItaly Camin Team INRIAUniversity of MontpellierMontpellierFrance Institute of Neurology Catholic University of the Sacred HeartRomaItaly Institute of Neurosurgery Catholic University of the Sacred HeartRomaItaly Department of Neuroscience&Neurorehabilitation IRCCS San Raffaele Roma00166 RomeItaly Department of Electrical and Electronic Engineering University of CagliariCagliariItaly Biomedical Engineering Department Indiana University-Purdue UniversityIndianapolisINUSA SMI Dept.Health Science and TechnologyAalborg UniversityAalborgDenmark AXONIC/Groupe MXM VallaurisFrance BrainLinks-BrainTools Albert-Ludwig-University FreiburgFreiburgGermany Bernstein Center Freiburg Albert-Ludwig-University FreiburgFreiburgGermany Present address:Laboratory for Neuroengineering Department of Health Sciences and TechnologyInstitute for Robotics and Intelligent SystemsETH ZürichZürichSwitzerland

Direct stimulation of peripheral nerves with implantable electrodes successfully provided sensory feedback to amputees while using hand *** of the electrodes is key to success,which we have improved for the polyimide-based transverse intrafascicular multichannel electrode(TIME).The TIMEs were implanted in the median and ulnar nerves of three trans-radial amputees for up to six *** present a comprehensive assessment of the electrical properties of the thin-film metallization as well as material status post *** TIMEs stayed within the electrochemical safe limits while enabling consistent and precise amplitude *** lead to a reliable performance in terms of eliciting *** signs of corrosion or morphological change to the thin-film metallization of the probes was observed by means of electrochemical and optical *** presented longevity demonstrates that thin-film electrodes are applicable in permanent implant systems.

关键词： film electrodes sensation

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Evacuation Problem Under the Nuclear Leakage Accident

Evacuation Problem Under the Nuclear Leakage Accident

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第40届中国控制会议

作者： Canqi Yao Shibo Chen Zaiyue Yang School of Mechatronics Engineering Harbin Institute of Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineeringand the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in UniversitiesSouthern University of Science and Technology

To handle the detrimental effects brought by leakage of radioactive gases at nuclear power station, we propose a bus based evacuation optimization problem. The proposed model incorporates the following four constraints, 1) the maximum dose of radiation per evacuee, 2) the limitation of bus capacity, 3) the number of evacuees at demand node（bus pickup stop）,4) evacuees balance at demand and shelter nodes, which is formulated as a mixed integer nonlinear programming（MINLP）problem. Then, to eliminate the difficulties of choosing a proper M value in Big-M method, a Big-M free method is employed to linearize the nonlinear terms of the MINLP problem. Finally, the resultant mixed integer linear program（MILP） problem is solvable with efficient commercial solvers such as CPLEX or Gurobi, which guarantees the optimal evacuation plan *** evaluate the effectiveness of proposed evacuation model, we test our model on two different scenarios（a random one and a practical scenario）. For both scenarios, our model attains executable evacuation plan within given 3600 seconds computation time.

关键词： Nuclear leakage accident bus evacuation problem mixed integer nonlinear programming

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Knowledge-aware Graph Transformer for Pedestrian Trajectory Prediction

Knowledge-aware Graph Transformer for Pedestrian Trajectory ...

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International Conference on Intelligent Transportation

作者： Yu Liu Yuexin Zhang Kunming Li Yongliang Qiao Stewart Worrall You-Fu Li He Kong Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology (SUSTech) Shenzhen China Department of Mechanical Engineering City University of Hong Kong Hong Kong SAR China School of Automation Guangdong Polytechnic Normal University Guangzhou China Australian Centre for Field Robotics The University of Sydney NSW Australia Australian Institute for Machine Learning The University of Adelaide SA Australia Department of Mechanical Engineering City University of Hong Kong Hong Kong SAR China Shenzhen Key Laboratory of Control Theory and Intelligent Systems SUSTech Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation Rehabilitation Robotics in Universities SUSTech Shenzhen China

Predicting pedestrian motion trajectories is crucial for path planning and motion control of autonomous vehicles. Accurately forecasting crowd trajectories is challenging due to the uncertain nature of human motions in different environments. For training, recent deep learning-based prediction approaches mainly utilize information like trajectory history and interactions between pedestrians, among others. This can limit the prediction performance across various scenarios since the discrepancies between training datasets have not been properly incorporated. To overcome this limitation, this paper proposes a graph transformer structure to improve prediction performance, capturing the differences between the various sites and scenarios contained in the datasets. In particular, a self-attention mechanism and a domain adaption module have been designed to improve the generalization ability of the model. Moreover, an additional metric considering cross-dataset sequences is introduced for training and performance evaluation purposes. The proposed framework is validated and compared against existing methods using popular public datasets, i.e., ETH and UCY. Experimental results demonstrate the improved performance of our proposed scheme.

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Design of A Highly Reliable and Low-Power SRAM With Double-Node Upset Recovery for Safety-critical Applications

Design of A Highly Reliable and Low-Power SRAM With Double-N...

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International Test Conference in Asia (ITC-Asia)

作者： Aibin Yan Jing Xiang Zhengfeng Huang Tianming Ni Jie Cui Patrick Girard Xiaoqing Wen School of Computer Science and Technology Anhui University Hefei China School of Microelectronics Hefei University of Technology Hefei China School of Integrated Circuits Anhui Polytechnic University Wuhu China Laboratory of Informatics Robotics and Microelectronics of Montpellier University of Montpellier / CNRS Montpellier France Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

For high-speed operations, low power consumption and small silicon area, transistors are being scaled aggressively. Meanwhile, circuit reliability is facing greater challenges in advanced technologies. In this paper, a highly reliable and low-power SRAM with double-node-upset (DNU) recovery, namely HRLP16T, is proposed for safety-critical fields. HRLP16T can recover from single-node-upset (SNU) at all the sensitive nodes, and it has eight node pairs recoverable from DNUs. Simulation results demonstrate its advantages in terms of delay and power consumption over typical existing SRAM cell designs.

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A Low Overhead and Double-Node-Upset Self-Recoverable Latch

A Low Overhead and Double-Node-Upset Self-Recoverable Latch

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International Test Conference in Asia (ITC-Asia)

作者： Aibin Yan Fan Xia Tianming Ni Jie Cui Zhengfeng Huang Patrick Girard Xiaoqing Wen School of Computer Science and Technology Anhui University Hefei China School of Microelectronics Hefei University of Technology Hefei China School of Integrated Circuits Anhui Polytechnic University Wuhu China Laboratory of Informatics Robotics and Microelectronics of Montpellier University of Montpellier / CNRS Montpellier France Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

With the rapid advancement of semiconductor technologies, integrated circuits, especially storage elements (e.g., latches) have become increasingly vulnerable to soft errors. In order to effectively tolerate double-node-upsets (DNUs) caused by radiation and reduce the power and area of latches, this paper proposes a DNU self-recoverable latch with low overhead in terms of power and area. The proposed latch mainly comprises seven 2-input C-elements and two inverters to achieve DNU self-recovery. Simulation results show that the proposed latch can recover from all possible DNUs and that it can reduce delay by 45.7%, power by 29.1%, area by 65.9%, and area-power-delay-product by 87.4%, on average, compared to typical existing DNU self-recoverable latches.

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Position Sensorless Control of Permanent Magnet Synchronous Motor Based on Adaptive Filtering Sliding Mode Observer

Position Sensorless Control of Permanent Magnet Synchronous ...

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第34届中国控制与决策会议

作者： Anna Wang Yingjie Xiong Tao Zhang College Of Information Science and Engineering Northeastern University School of Electrical Engineering Dalian University of Technology Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences

In the position sensorless control strategy of permanent magnet synchronous motor(PMSM),the back-EMF method based on sliding mode observer(SMO) is favored because of its *** this paper,a SMO based on the piecewise sigmoid function is *** on the back-EMF observation error,the gain adaptation of the SMO is realized,which effectively reduces the high-frequency chattering problem of the conventional *** low-pass filter of the conventional SMO is improved,and an adaptive filter based on the back-EMF low-pass filter is *** to the back-EMF observation error,the cut-off frequency of the low-pass filter is changed in real-time,and the estimation of rotor position is *** Matlab/Simulink simulation verification,the control strategy is feasible and achieves a better control effect.

关键词： Sensorless control SMO Adaptive gain and Adaptive filter

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Evaluation of Robustness Metrics for Defense of Machine Learning systems

Evaluation of Robustness Metrics for Defense of Machine Lear...

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International Conference on Military Communications and Information systems (ICMCIS)

作者： J. DeMarchi R. Rijken J. Melrose B. Madahar G. Fumera F. Roli E. Ledda M. Aktaş F. Kurth P. Baggenstoss B. Pelzer L. Kanestad Collaborative Engineering Systems & Aerospace Systems Information Supremacy Royal Netherlands Aerospace Centre NLR Amsterdam NLD Cyber & Information Systems Division Defence Science and Technology Laboratory Portondown GBR Department of Electrical and Electronic Engineering University of Cagliari Cagliari ITA Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa ITA Department of Computer Control and Management Engineering Sapienza University of Rome Rome ITA Defence Systems Technologies Division ASELSAN Ankara TUR Fraunhofer Institute for Communication Information Processing and Ergonomics Bonn DEU Swedish Defence Research Agency Cyber Defence and C2 Technology Division Stockholm SWE

In this paper we explore some of the potential applications of robustness criteria for machine learning (ML) systems by way of tangible “demonstrator” scenarios. In each demonstrator, ML robustness metrics are applied to real-world scenarios with military relevance, indicating how they might be used to help detect and handle possible adversarial attacks on ML systems. We conclude by sketching promising future avenues of research in order to: (1) help establish useful verification methodologies to facilitate ML robustness compliance assessment; (2) support development of ML accountability mechanisms; and (3) reliably detect, repel, and mitigate adversarial attack.

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