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Cooperative Motion Control Using Hybrid Acoustic-Optical Communication Networks ⁎

IFAC-PapersOnLine 2021年第16期54卷 232-237页

作者： Rodrigo Rego Nguyen Hung Antonio Pascoal Laboratory of Robotics and Systems in Engineering and Science(LARSyS) ISR/IST University of Lisbon Lisbon Portugal

There is currently widespread interest in the development of groups of autonomous underwater vehicles for ocean exploration. This calls for the deployment of robots that can act in cooperation by exchanging data over communication networks. For this purpose, acoustic networks have been so far the choice par excellence. However, for operations involving vehicles operating at close range, there is currently a flurry of activity on the use of optical-based communication systems, capable of higher transmission rates. As a result, the goal of this work is to make optical communications viable and to use both communication technologies during underwater cooperative missions. Motivated by this goal, the first part of this work is dedicated to design a coordination controller with an event-based communication strategy for the coordination of the vehicles over the acoustic network. The second part of this work proposes an algorithm to make optical communications viable, which ultimately boils down to achieving optical beam alignment between a pair of cooperative agents. The proposed algorithm is illustrated by simulation results that show optical beam alignment being reached for a pair of vehicles in a cooperative formation.

关键词： Motion Control Cooperative Path Following Autonomous Underwater Vehicles Acoustic Optical Communication Event-Triggered Communications

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Thermal Casting for Monolithic Soft Actuators

Thermal Casting for Monolithic Soft Actuators

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Wang, Huacen Yang, Boyu Mei, Junling Dai, Yujin Xia, Yixuan Wang, Hongqiang Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Guangzhou510000 China

ISBN: (纸本)9781665481090

Soft robotics has significantly impacted many fields in the last decades. However, their current fabrication methodologies are limited by the assemble complexity, limited materials, or long duration. A monolithic thermal casting method for fabrication of elastomer and soft robotics based on thermoset polymer is introduced. In this work, we used simple heating cores to manufacture elastomers and soft actuators. By controlling the heating current and duration, we can adjust the thermal field and consequently change the configuration of the generated elastomer. Due to its short duration (several minutes), this method can benefit the mass production of soft robots for high efficiency. Also, this work offers a new way to design soft robotics without complex molds. © 2022 IEEE.

关键词： Elastomers

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Brain-Conditional Multimodal Synthesis: A Survey and Taxonomy

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2025年第5期6卷 1080-1099页

作者： Mai, Weijian Zhang, Jian Fang, Pengfei Zhang, Zhijun South China University of Technology School of Automation Science and Engineering Guangzhou510640 China Southeast University School of Computer Science and Engineering Nanjing210096 China South China University of Technology Key Library of Autonomous Systems and Network Control Ministry of Education The School of Automation Science and Engineering Guangzhou510640 China Institute for Super Robotics Huangpu Guangzhou510555 China Nanchang University Jiangxi Thousand Talents Plan Nanchang330031 China Jishou University College of Computer Science and Engineering Jishou416000 China Guangdong Artificial Intelligence and Digital Economy Laboratory Pazhou Lab Guangzhou510335 China Shaanxi University of Technology Shaanxi Provincial Key Laboratory of Industrial Automation School of Mechanical Engineering Hanzhong723001 China Changsha Normal University School of Information Science and Engineering Changsha410100 China Guangdong University of Petrochemical Technology School of Automation Science and Engineering Institute of Artificial Intelligence and Automation Maoming525000 China

In the era of artificial intelligence generated content (AIGC), conditional multimodal synthesis technologies (e.g., text-to-image) are dynamically reshaping the natural content. Brain signals, serving as potential reflections of how the brain interprets external information, exhibit a distinctive one-to-many correspondence with various external modalities. This correspondence makes brain signals emerge as a promising guiding condition for multimodal synthesis (e.g., image, text, and audio), which is crucial for developing practical brain–computer interface systems and unraveling complex mechanisms underlying human perception. This survey comprehensively examines the emerging field of brain-conditional multimodal synthesis, termed AIGC-brain, to delineate the current landscape and future directions. To begin, related neuroimaging datasets and generative models are introduced as the foundation of AIGC-brain decoding and analysis. Next, we present a comprehensive taxonomy according to AIGC-brain methodologies, followed by task-specific representative work and implementation details to facilitate in-depth comparison and analysis. Quality assessments are then introduced for both qualitative and quantitative evaluation. Finally, this survey explores insights gained, outlining current challenges and prospects of AIGC-brain. As a pioneering survey, this article paves the way for future advances in AIGC-brain research. © 2020 IEEE.

关键词： Taxonomies

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Enhancing Impulse Response-Based SSVEP Decoding Method by Incorporating Temporal Local Correlation 7

Enhancing Impulse Response-Based SSVEP Decoding Method by In...

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7th International Conference on Biological Information and Biomedical engineering, BIBE 2024

作者： Huang, Jiayang Wang, Jiaxi Yang, Pengfei Xiong, Bang Zhang, Zhi-Qiang School of Computer Science and Technology The Key Laboratory of Smart Human-Computer Interaction Wearable Technology of Shaanxi Province Xidian University China School of Electronic and Electrical Engineering Institute of Robotics Autonomous Systems and Sensing University of Leeds United Kingdom

ISBN: (纸本)9783800762910

Various training-based spatial filtering methods have been proposed to classify steady-state visual evoked potential (SSVEP)-based brain-computer interfaces (BCIs). However, many overlook the temporal instability of SSVEPs, leading to decreased classification performance. Therefore, we propose an SSVEP decoding method that calculates template signals and spatial filters using the subject's impulse responses and periodic impulses, incorporating the temporally local correlation coefficient in the SSVEP decoding process. Then, we employ a combined correlation coefficient for SSVEP classification. The proposed method addresses the temporal instability of SSVEPs, with template signals that exhibit strong individual characteristics. Utilizing a public benchmark dataset, we achieved a classification accuracy of 87.43% and an ITR of 256.1 bits/min at 1s time window, demonstrating the performance of this method. Compared to other classical spatial filtering methods, the proposed method demonstrates superior classification performance, which can enhance the practical usability of SSVEP-BCI systems. © VDE VERLAG GMBH.

关键词： Wiener filtering

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Multiagent Consensus over Time-Invariant and Time-Varying Signed Digraphs via Eventual Positivity

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IEEE Transactions on Automatic Control 2023年第9期68卷 5429-5444页

作者： Fontan, Angela Wang, Lingfei Hong, Yiguang Shi, Guodong Altafini, Claudio Linköping University Division of Automatic Control Department of Electrical Engineering LinköpingSE-58183 Sweden KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-10044 Sweden Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Tongji University Department of Control Science and Engineering Shanghai201804 China University of Sydney Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering SydneyNSW2008 Australia

Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called 'repelling' signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may lose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this article, we present novel conditions for achieving consensus on signed digraphs based on the property of eventual positivity, a Perron-Frobenius (PF) type of property for signed matrices. The conditions we develop cover both time-invariant and time-varying cases. A particularly simple sufficient condition, valid in both cases, is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance, in the time-invariant case it is enough that the Laplacian has this PF property on the right side, but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus. © 1963-2012 IEEE.

关键词： Lyapunov functions

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Online Optimization of Heat Pump systems for Building Heating based on Lyapunov Method

Online Optimization of Heat Pump Systems for Building Heatin...

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2022 IEEE Power and Energy Society Innovative Smart Grid Technologies Conference, ISGT 2022

作者： Cao, Mengfan Chen, Shibo Yang, Zaiyue Miao, Haoyu Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems The Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9781665437752

Improving the energy efficiency of heating systems is of great significance in building energy saving. This paper investigates a time-average total cost minimization problem of heat pump systems. Firstly, heat pump systems and thermal dynamic building model are built considering thermal inertia. To solve temporally coupled constraints and uncertainties of the outdoor temperature and real-time electricity price in the formulated problem, the paper proposes an online optimization algorithm for building heating based on Lyapunov method. Extensive simulation results show that this method could achieve user comfort and reduce energy cost effectively. © 2022 IEEE.

关键词： Energy efficiency

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Trajectory Planning Towards Water-Air Trans-Media Motion for Robotic Dolphin

Trajectory Planning Towards Water-Air Trans-Media Motion for...

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2024 China Automation Congress, CAC 2024

作者： Xiong, Yan Zhang, Pengfei Chen, Di Yu, Junzhi State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China Shandong Nuclear Power Company LTD Yantai265116 China School of Intelligence Science and Technology University of Science and Technology Beijing Beijing100083 China

ISBN: (纸本)9798350368604

Water-air trans-media navigators have multi-media motion modes, breaking through the limitation that traditional robots can only operate in a single medium. Autonomous navigation is an indispensable component of the process of trans-media motion. Most of the current work has only completed the development and testing of prototypes, and the problem of task-oriented motion planning and control needs to be solved. In this paper, a safe and efficient hierarchical approach is proposed. First, a novel rapidly exploring random tree-based algorithm is proposed to search for a suitable path. Then, by fixing bound waypoints, the time-optimization trajectory is planned. Finally, the trajectory tracker is designed based on nonlinear model predictive control (NMPC). Simulation experiments numerically validate the proposed method, offering some new insights for further trans-media motions. © 2024 IEEE.

关键词： Trajectories

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Adaptive Soft Pneumatic Robot Inspired by Locomotion of Snake

Adaptive Soft Pneumatic Robot Inspired by Locomotion of Snak...

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IEEE International Conference on robotics and Biomimetics

作者： Jinxuan Lu Xinshu Hu Xiaoyu Zhu Cheng Chen Hongqiang Wang Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen China Department of Mechanical and Energy Engineering and Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Southern Marine Science and Engineering Guangdong Laboratory (Guangzhou) Guangzhou China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Pneumatic soft robots have garnered widespread attention for their flexibility and adaptability in various applications. However, existing soft robots generally struggle to effectively navigate diverse terrains, especially when it comes to climbing obstacles. This paper introduces an adaptive pneumatic soft robot designed based on snake-like locomotion, which effectively addresses this issue. The robot utilizes four corrugated tubes as its soft actuators, complemented by silicone-made feet with bidirectional friction anisotropy, enabling it to adapt to various terrains and exhibit climbing capabilities. Experiments demonstrate that the robot can traverse different surfaces such as sand, gravel, and slopes, and can climb obstacles up to 20 centimeters high. Additionally, it features a self-regulation mechanism that allows it to recover from accidental overturns. This study presents a soft robot design with multi-terrain adaptability and self-recovery capabilities.

关键词： Corrugated surfaces Actuators Anisotropic magnetoresistance Navigation Friction Biomimetics MIMICs Soft robotics Pneumatic systems Environmental monitoring

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Low probability of detection underwater communications using a vector sensor

Low probability of detection underwater communications using...

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Underwater Communications and Networking (UComms)

作者： Fabio B. Louza Sergio M. Jesus Laboratory of Robotic Systems in Engineering and Science (LARSyS) University of Algarve Faro Portugal

ISBN: (数字)9781665474610

ISBN: (纸本)9781665474627

Low probability of detection underwater acoustic communications are required for command and control of mobile underwater platforms performing covert missions. To deal with multipath and increase the signal-to-noise ratio (SNR) at the receiver, this paper presents a study on the low probability of detection communications using a single vector sensor. Compact in size, vector sensors (VS) are suitable for autonomous underwater vehicles, measuring both acoustic pressure and particle velocity, and therefore providing diversity gain. As part of the multidisciplinary EMSO-PT project, an experiment took place off the coast of Algarve/Portugal on Nov 24th, 2021. A single 2D VS was posed on the bottom. Broadband signals were transmitted from several positions, varying both the source-receiver range and the direction of arrival. Recorded noise was added to the signals to reduce the SNR from 0 to -10dB. A superimposed training passive time-reversal approach was employed for equalization. Coherent communication performance was evaluated. Results show that VS multichannel combining may provide an average SNR and mean squared-error gain of up to 9.4 and 3.1 dB, respectively, compared to the pressure channel.

关键词： Training Pressure sensors Underwater communication Direction-of-arrival estimation Spatial diversity Receivers Size measurement

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Experimental Demonstration of a Single Acoustic Vector Sensor for JANUS Performance Enhancement

Experimental Demonstration of a Single Acoustic Vector Senso...

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Underwater Communications and Networking (UComms)

作者： Fabricio A. Bozzi Sérgio M. Jesus Laboratory for Robotic Systems in Engineering and Science (LARSyS) University of Algarve Faro Portugal

ISBN: (数字)9781665474610

ISBN: (纸本)9781665474627

This study shows the underwater communication performance using an acoustic pressure-gradient vector sensor. Combining the estimated particle velocity channels with the acoustic pressure results in a cardioid-like beam steered output, which is used to improve the signal-to-noise ratio. A shallow-water field experiment was carried out using a single vector sensor as a receiver and a ship-suspended sound source, transmitting the frequency-hopped JANUS modulated signal at several ranges and directions. Bit error rate analysis demonstrates how performance can be enhanced through vector sensor channel combining. Firstly, by relating the error with beam pattern varying the azimuth steering angle. Second, by relating the error with transmitting stations, where individual channels of the vector sensor can be compared. Besides such findings, this study also presents tools for better understanding the directional characteristic, such as the design factor to combine the particle velocity to the pressure sensor and azigrams. Finally, results show that the JANUS bit error rate can be reduced up to five percent by combining the vector sensor components compared to the pressure sensor.

关键词： Pressure sensors Underwater communication Particle beams Frequency modulation Beam steering Azimuth Bit error rate

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