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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S.M. Mehdi Dehghan Hadi Moradi Advanced Robotics and Intelligent Systems laboratory University of Tehran Tehran Iran

This paper presents a new approach to estimate the location and height of the obstacle located between two unmanned aerial vehicles (UAVs) using Received Signal Strength Indication (RSSI) observations. The goal of developing this approach is to improve the localization of a radio frequency (RF) source by estimating the effect of obstacles on the signal attenuation. The effect of an obstacle on signal strength attenuation is the most important source of error in distance estimation based on general or empirical path loss model. Therefore, mapping the primary obstacle, which has the greatest effect on the signal attenuation, can improve the distance estimation. The main idea of the proposed approach is in the distinction between the effects of obstacle(s) on the signal attenuation, i.e. the diffraction loss, and the path loss. The proposed approach uses a model of diffraction loss to estimate the height and position of the primary knife-edge obstacle. The observations include the diffraction losses which are collected on the UAV's paths. Due to the Gaussian distribution of the diffraction loss observations and nonlinearity of the observation function, extended Kalman filter (EKF), unscented Kalman filter (UKF), and particle filter are implemented and compared with each other. The results of the simulations show that the proposed approach is able to map an obstacle between two RF sources. Furthermore, the detected and estimated obstacle can be used for better RF source localization.

关键词： Diffraction Estimation Radio frequency Shadow mapping Attenuation Particle filters Gaussian distribution

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A geometrical approach for aerial cooperative obstacle mapping using RSSI observations

A geometrical approach for aerial cooperative obstacle mappi...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. M. Mehdi Dehghan Hadi Moradi Advanced Robotics and Intelligent Systems laboratory University of Tehran Tehran Iran

The effect of an obstacle on signal strength attenuation is the most important reason that affects the performance of distance estimation based on Received Signal Strength Indication (RSSI) observations. Consequently, in this paper, a novel approach for estimation of the location and height of an obstacle between two UAVs using RSSI observations is proposed which would help to better estimate the location of a radio frequency (RF) source. The long-term goal of developing this approach is to improve the localization of an RF source by removing the effect of obstacle(s) on the signal attenuation. This approach is based on path planning of the UAVs to estimate the tip of the obstacle between them. The change in the diffraction loss observations are used to find the Line Of Sight (LOS) positions of the UAVs. These LOS lines, constructed by connecting the UAVs in LOS situation, are the locus of the tip of the obstacle and used in an iterative geometrical approach for estimation of the location of the tip of the obstacle. Due to the uncertainty in determining the LOS position which is created because of the radius of the Fresnel zone, the motion steps of UAVs, and the non-modeled dynamics in signal attenuation, an EKF filter is used to estimate the tip of the obstacle. The approach has been simulated and the results show that the approach provides better accuracy in RF source localization compared to the basic approach which does not consider the obstacles in the localization process.

关键词： Diffraction Estimation Radio frequency Attenuation Uncertainty Accuracy Propagation losses

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Reinforcement learning approach to learning human experience in tuning cavity filters

Reinforcement learning approach to learning human experience...

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IEEE International Conference on robotics and Biomimetics

作者： Zhiyang Wang Jingfeng Yang Jianbing Hu Wei Feng Yongsheng Ou Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen P.R.China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen P.R.China Key Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences Shenzhen P.R.China The Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781467396769

Owing to the rapid development of the communication industry, various kinds of radio frequency components are in great demand and put into mass production. Among them, passive devices such as microwave cavity filters, duplexers and combiners have experienced fast and unexpected upgrades. However, the tuning process of these products, which is always manually operated, still seems hard to be automatically replaced or improved because of the difficulties in extracting human experience. In this study, we make deep investigations into some previous automatic cavity filter tuning solutions, especially the ones using intelligent algorithms. In addition, we propose the method of intelligent tuning based on the reinforcement learning algorithm which dynamically extracts the human strategies during the tuning process. The experimental results prove the powerful performance of reinforcement learning in mastering human skills.

关键词： Tuning Scattering parameters Fasteners Cavity resonators Games Robots Industries

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An approach to determination of simple circular waits in reconfigurable multi-vehicle systems

An approach to determination of simple circular waits in rec...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

Resource allocation systems are used for modeling and control of flexible manufacturing systems, multi-vehicle systems, traffic networks, etc. Methods for control of these systems are often based on the identification of a special structural property, simple circular wait of resources, and interrelations between simple circular waits. In this paper we study reconfigurable resource allocation systems, which require that control algorithm is modified online and, therefore, has low running time. In this paper we propose dynamical algorithms for determination of simple circular waits in reconfigurable systems, which are based on Johnson's algorithm, and aim at identifying only changes in the set of simple circular waits. Running time of the proposed algorithms is lower than running time of standard static methods. Algorithms are tested for a family of multi-vehicle systems and results confirm the advantages of using the dynamic algorithms.

关键词： Vehicles Heuristic algorithms Resource management Motion segmentation Algorithm design and analysis Complexity theory System recovery

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Path assignment and resource allocation control in reconfigurable multi-vehicle system

Path assignment and resource allocation control in reconfigu...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

In this paper we study control of reconfigurable multi-vehicle system. Our method builds upon an existing deadlock-free resource allocation control method that is based on the identification of higher-level deadlocks. We identify a smaller set of cyclic circular waits to be controlled, and provide an algorithm for determination of such cyclic circular waits. Furthermore, we propose a path assignment algorithm that aims at lowering the structural complexity of the corresponding resource allocation system, while taking into account path length. Methods are tested in a simulation environment and results show their efficiency.

关键词： System recovery Vehicles Resource management Motion segmentation control systems Heuristic algorithms Superluminescent diodes

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Soft Actuator for Hand Rehabilitation

Soft Actuator for Hand Rehabilitation

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Fang Zhao Wei Wei Jian Guo Xin Zhao Weijie Zhang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology 391 Binshui Xidao Xiqing District Tianjin 300384P.R.China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology 391 Binshui Xidao Xiqing District Tianjin 300384P.R.China College of Physics Optoelectronics and Energy Soochow University 1 Shizi Street Suzhou 215006 a Jiangsu P. R. China

ISBN: (纸本)9781479970995

As we all know, rigid structure is the universal form of robots. They can be controlled accurately, but are not suitable enough for applying in rehabilitation, especially for hands. Human's hands have some complicated patterns of movement and narrow joint range of motion, so rigid accessory equipment may cause secondary injury. For the purpose of avoiding this potential risk, the idea of applying soft structure to hand rehabilitation robot is presented in this paper. The soft robot is a new research direction in the field of robot industry, especially in rehabilitation. The soft actuator we presented is made of liquid silicone and thread, and can be tied to the back of human's hands. When it is inflated or deflated, a bending and stretching motion of hands follow with the deformation of soft actuators. It works by deforming repeatedly. The soft actuator has some advantages such as portable, lightweight, low-cost, safe, low-impedance and so on. It works well by the cooperation of vacuum pump which can provide incessant air and solenoid valve which is used for reversing. In the whole system, force sensing resistor and bending sensor are used in the experiments. In order to prove that the soft actuator can work smoothly, we had a test to explore the relationship between air inflow and bending angle. The result that their relationship is close to a straight line means controlling easily and working well. Beacons of these advantages the soft robots have, a wide application prospect in rehabilitation or other fields is available.

关键词： Rehabilitation Soft Actuator Portable System

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Synchronization of heterogeneous dynamical networks via distributed impulsive control

Synchronization of heterogeneous dynamical networks via dist...

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作者： He, Wangli Han, Qing-Long Qian, Feng Key Laboratory of Advanced Control and Optimization for Chemical Processes East China University of Science and Technology Shanghai200237 China Centre for Intelligent and Networked Systems Central Queensland University RockhamptonQLD4702 Australia

ISBN: (纸本)9781479940325

This paper studies global synchronization between a heterogeneous dynamical network and a known target trajectory via distributed impulsive control. Synchronization with an error level, called quasi-synchronization, is analyzed by utilizing the time-varying Lyapunov function. Some sufficient quasi-synchronization conditions are presented and explicit expressions of error levels are derived. Furthermore, the effects of the pinning control matrix and the coupling strength are explored. Unlike the continuous pinning feedback control, it is shown that a large coupling strength will destroy synchronization in the present of impulsive controller, which is also verified by our simulations. © 2014 IEEE.

关键词： Synchronization

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Fluorescence and SEM correlative microscopy for nanomanipulation of subcellular structures

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Light(Science & Applications) 2014年第1期3卷 13-19页

作者： Zheng Gong Brandon K Chen Jun Liu Chao Zhou Dave Anchel Xiao Li Ji Ge David P Bazett-Jones Yu Sun Advanced Micro and Nanosystems Laboratory University of TorontoTorontoON M5S 3G8Canada State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China The Genetics and Genome Biology Program the Hospital for Sick ChildrenTorontoON M5G 1X8Canada

Nanomanipulation under scanning electron microscopy(SEM)enables direct interactions of a tool with a *** recently developed a nanomanipulation technique for the extraction and identification of DNA contained within sub-nuclear locations of a single cell *** nanomanipulation of sub-cellular structures,a key step is to identify targets of interest through correlating fluorescence and SEM *** DNA extraction task must be conducted with low accelerating voltages resulting in low imaging *** is imposed by the necessity of preserving the biochemical integrity of the *** poor imaging conditions make the identification of nanometer-sized fiducial marks *** paper presents an affine scale-invariant feature transform(ASIFT)based method for correlating SEM images and fluorescence microscopy *** performance of the image correlation approach under different noise levels and imaging magnifications was quantitatively *** optimal mean absolute error(MAE)of correlation results is 68634 nm under standard *** with manual correlation by skilled operators,the automated correlation approach demonstrates a speed that is higher by an order of *** the SEM-fluorescence image correlation approach,targeted DNA was successfully extracted via nanomanipulation under SEM conditions.

关键词： correlative microscopy fluorescence image correlation nanomanipulation SEM subcellular structures

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Unbiased minimum-variance filtering for systems with randomly multi-step sensor delays

Unbiased minimum-variance filtering for systems with randoml...

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作者： Zhang, Yilian Yang, Fuwen Han, Qing-Long Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai200237 China Centre for Intelligent and Networked Systems Central Queensland University RockhamptonQLD4702 Australia

ISBN: (纸本)9781479940325

In this paper, a linear unbiased minimum-variance filtering problem is considered for a class of systems with randomly multi-step sensor delays. A new mathematical model is established for the multi-step sensor delays. Different from the augmented method for dealing with delayed systems, a linear unbiased minimum-variance filter design method is proposed without augmenting the state vector, which effectively reduces the filter dimensions. A recursive algorithm for calculating the filter gain matrix is developed. The simulation results illustrate the effectiveness of the proposed method. © 2014 IEEE.

关键词： Networked control systems

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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