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15th International Workshop on Variable Structure Systems, VSS 2018

作者： Reichhartinger, M. Koch, S. Niederwieser, H. Spurgeon, S.K. Graz University of Technology Institute of Automation and Control Graz Austria Institute of Automation and Control Graz University of Technology Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz Austria Information and Computer Engineering Graz University of Technology Graz Austria University College London Department of Electronic Electrical Engineering London United Kingdom

ISBN: (纸本)9781538664391

This paper presents a new release of A Robust Exact Differentiator Toolbox for Matlab®/Simulink® proposed in [1]. This release features a new discrete-time realization of the continuous-time robust exact differentiator. The implemented discretization scheme is less sensitive to gain overestimation and does not suffer from the discretization chattering effect. Hence, the single tuning parameter of the new version of the implemented differentiator is more intuitive to tune. Furthermore, it shows superior estimation performance in the case of large sampling times in comparison to the previous release. This is confirmed by the presented results obtained by numerical simulations and a real world application. © 2018 IEEE.

关键词： Simulink

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Master stability functions for complete, intralayer, and interlayer synchronization in multiplex networks of coupled Rössler oscillators

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Physical Review E 2019年第1期99卷 012304-012304页

作者： Longkun Tang Xiaoqun Wu Jinhu Lü Jun-an Lu Raissa M. D'Souza Fujian Province University Key Laboratory of Computation Science School of Mathematical Science Huaqiao University Quanzhou 362021 China School of Mathematics and Statistics Wuhan University Wuhan 430072 China Department of Computer Science University of California Davis California 95616 USA School of Automation Science and Electrical Engineering State Key Laboratory of Software Development Environment and Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing 100191 China

Synchronization phenomena are of broad interest across disciplines and increasingly of interest in a multiplex network setting. For the multiplex network of coupled Rössler oscillators, here we show how the master stability function, a celebrated framework for analyzing synchronization on a single network, can be extended to certain classes of multiplex networks with different intralayer and interlayer coupling functions. We derive three master stability equations that determine, respectively, the necessary regions of complete synchronization, intralayer synchronization, and interlayer synchronization. We calculate these three regions explicitly for the case of a two-layer network of Rössler oscillators and show that the overlap of the regions determines the type of synchronization achieved. In particular, if the interlayer or intralayer coupling function is such that the interlayer or intralayer synchronization region is empty, complete synchronization cannot be achieved regardless of the coupling strength. Furthermore, for any network structure, the occurrence of intralayer and interlayer synchronization depends mainly on the coupling functions of nodes within a layer and across layers, respectively. Our mathematical analysis requires that the intralayer and interlayer supra-Laplacians commute. But, we show this is only a sufficient, and not necessary, condition and that the results can be applied more generally.

关键词： Collective dynamics Synchronization Synchronization transition

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Outer-linearization-based optimization algorithm for decentralized control design in flexure-linked H-gantry

Outer-linearization-based optimization algorithm for decentr...

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2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018

作者： Ma, Jun Chen, Si-Lu Liang, Wenyu Li, Xiaocong Teo, Chek Sing Tay, Arthur Mamun, Abdullah Al Tan, Kok Kiong SIMTech-NUS Joint Lab. on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Department of Electrical and Computer Engineering National Universit of Singapore Singapore117583 Singapore Mechatronics Group Singapore Institute of Manufacturing Technology Singapore138634 Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo Zhejiang315121 China

ISBN: (纸本)9781538618547

The dual-drive H-gantry (DHG) is widely used for high-speed high-precision Cartesian motion control applications. Compared with the rigid-linked gantry design, the flexure-linked design is able to prevent the damage of the cross-arm because a small degree of rotation angle is allowed. Nevertheless, the flexure-linked design possibly induces the resonance of the gantry because of the chattering of control signals. To maintain the precision tracking of two carriages and minimize the chattering of control efforts, we aim to seek the most suitable flexure joints among the available ones and optimize the decentralized feedback controller parameters under parametric uncertainties. The mechatronic design problem is formulated as an H2 guaranteed cost control problem. All the stabilizing feedback controller gains are parameterized over a convex set, from here, numerical procedures are developed to obtain the global optimum by means of an outer-linearization-based optimization algorithm. Experiments are carried out and the results successfully validate the optimality and the robustness of the proposed design approach. © 2018 IEEE.

关键词： Feedback control

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Decentralized controller design in flexure-linked gantry by H2 guaranteed cost optimization approach 18

Decentralized controller design in flexure-linked gantry by ...

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18th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2018

作者： Ma, Jun Chen, Si-Lu Liang, Wenyu Teo, Chek Sing Tay, Arthur Al Mamun, Abdullah Tan, Kok Kiong SIMTech-NUS Joint Lab. on Precision Motion Systems Department of Electrical and Computer Engineering National University of Singapore Singapore117582 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore Agency for Science Technology and Research Singapore Institute of Manufacturing Technology Singapore138634 Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Industrial Technology Chinese Academy of Sciences Ningbo Zhejiang315201 China

ISBN: (纸本)9780995775121

Dual-drive H-gantry is widely used in many industrial processes that require high-speed and high-precision Cartesian motion. Unlike the rigid-linked gantry design, the flexure-linked design is able to prevent the damage of the cross-arm because a small degree of rotation angle is possible. However, the flexure-linked design may induce the resonant modes of the gantry because of high frequency control signals. To maintain the precision tracking of two carriages and minimize the chattering of control efforts, we aim to seek the most suitable flexure joints among the available ones while optimizing the decentralized feedback controller parameters under model uncertainties. In this way, good tracking performance is achieved without costly system re-design. In this work, we formulate the mechatronic design problem as an H2 guaranteed cost control problem. All the stabilizing feedback controller gains are parameterized over a convex set, and the global optimum is obtained by means of an outer-linearization-based algorithm. Experiments are conducted and the results successfully validate the effectiveness of the proposed design approach. © 2018 CURRAN-CONFERENCE. All rights reserved.

关键词： Convex optimization Dual-drive H-gantry Flexure Mechatronic design Optimal control Parallel mechanism

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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

arXiv

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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2022 Roadmap on Neuromorphic Computing and engineering

arXiv

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arXiv 2021年

作者： Christensen, Dennis Valbjørn Dittmann, Regina Linares-Barranco, Bernabé Sebastian, Abu Le Gallo, Manuel Redaelli, Andrea Slesazeck, Stefan Mikolajick, Thomas Spiga, Sabina Menzel, Stephan Valov, Ilia Milano, Gianluca Ricciardi, Carlo Liang, Shi-Jun Miao, Feng Lanza, Mario Quill, Tyler J. Keene, Scott T. Salleo, Alberto Grollier, Julie Marković, Danijela Mizrahi, Alice Yao, Peng Yang, J. Joshua Indiveri, Giacomo Strachan, John Paul Datta, Suman Vianello, Elisa Valentian, Alexandre Feldmann, Johannes Li, Xuan Pernice, Wolfram H.P. Bhaskaran, Harish Furber, Steve Neftci, Emre Scherr, Franz Maass, Wolfgang Ramaswamy, Srikanth Tapson, Jonathan Panda, Priyadarshini Kim, Youngeun Tanaka, Gouhei Thorpe, Simon Bartolozzi, Chiara Cleland, Thomas A. Posch, Christoph Liu, Shih-Chii Panuccio, Gabriella Mahmud, Mufti Mazumder, Arnab Neelim Hosseini, Morteza Mohsenin, Tinoosh Donati, Elisa Tolu, Silvia Galeazzi, Roberto Christensen, Martin Ejsing Holm, Sune Ielmini, Daniele Pryds, N. Department of Energy Conversion and Storage Technical University of Denmark Kgs. LyngbyDK-2800 Denmark Peter Gruenberg Institute 7 Forschungszentrum Juelich GmbH Juelich52425 Germany JARA-FIT RWTH Aachen University Aachen52056 Germany CSIC Universidad de Sevilla Seville41092 Spain IBM Research Zurich Switzerland STMicroelectronics Agrate Italy Dresden01187 Germany Institute of Semiconductors and Microsystems TU Dresden Dresden Germany CNR-IMM Unit of Agrate Brianza via C. Olivetti 2 MB Agrate Brianza Italy Juelich Germany Torino Italy Department of Applied Science and Technology Politecnico di Torino Torino Italy National Laboratory of Solid State Microstructures School of Physics Collaborative Innovation Center of Advanced Microstructures Nanjing University Nanjing China Thuwal23955-6900 Saudi Arabia Department of Materials Science and Engineering Stanford University StanfordCA94305 United States Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom Unité Mixte de Physique CNRS Thales Université Paris-Saclay Palaiseau91767 France Electrical and Computer Engineering Department University of Southern California Los AngelesCA United States Institute of Neuroinformatics University of Zurich ETH Zurich Switzerland Hewlett Packard Laboratories Hewlett Packard Enterprise San JoseCA United States Department of Electrical Engineering University of Notre Dame Notre DameIN United States CEA LETI Université Grenoble Alpes Grenoble France CEA LIST Université Grenoble Alpes Grenoble France Department of Materials University of Oxford Parks Road OxfordOX1 3PH United Kingdom Institute of Physics University of Münster Heisenbergstr. 11 Heisenbergstr Münster48149 Germany Center for Soft Nanoscience University of Münster Münster48149 Germany The University of Manchester United Kingdom Department of Cognitive Sciences University of California Irvine IrvineCA United States Institute of Theoretica

Modern computation based on the von Neumann architecture is today a mature cutting-edge science. In the Von Neumann architecture, processing and memory units are implemented as separate blocks interchanging data intensively and continuously. This data transfer is responsible for a large part of the power consumption. The next generation computer technology is expected to solve problems at the exascale with 1018 calculations each second. Even though these future computers will be incredibly powerful, if they are based on von Neumann type architectures, they will consume between 20 and 30 megawatts of power and will not have intrinsic physically built-in capabilities to learn or deal with complex data as our brain does. These needs can be addressed by neuromorphic computing systems which are inspired by the biological concepts of the human brain. This new generation of computers has the potential to be used for the storage and processing of large amounts of digital information with much lower power consumption than conventional processors. Among their potential future applications, an important niche is moving the control from data centers to edge devices. The aim of this Roadmap is to present a snapshot of the present state of neuromorphic technology and provide an opinion on the challenges and opportunities that the future holds in the major areas of neuromorphic technology, namely materials, devices, neuromorphic circuits, neuromorphic algorithms, applications, and ethics. The Roadmap is a collection of perspectives where leading researchers in the neuromorphic community provide their own view about the current state and the future challenges for each research area. We hope that this Roadmap will be a useful resource by providing a concise yet comprehensive introduction to readers outside this field, for those who are just entering the field, as well as providing future perspectives for those who are well established in the neuromorphic computing community. © 2021,

关键词： Data transfer

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Learning Robust Facial Landmark Detection via Hierarchical Structured Ensemble

Learning Robust Facial Landmark Detection via Hierarchical S...

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International Conference on computer Vision (ICCV)

作者： Xu Zou Sheng Zhong Luxin Yan Xiangyun Zhao Jiahuan Zhou Ying Wu College of Life Science and Technology Huazhong University of Science & Technology (HUST) Wuhan China National Key Laboratory of Science & Technology on Multi-Spectral Information Processing HUST Wuhan China School of Aritificial Intelligence and Automation HUST Wuhan China Department of Electrical and Computer Engineering Northwestern University IL USA

ISBN: (数字)9781728148038

ISBN: (纸本)9781728148045

Heatmap regression-based models have significantly advanced the progress of facial landmark detection. However, the lack of structural constraints always generates inaccurate heatmaps resulting in poor landmark detection performance. While hierarchical structure modeling methods have been proposed to tackle this issue, they all heavily rely on manually designed tree structures. The designed hierarchical structure is likely to be completely corrupted due to the missing or inaccurate prediction of landmarks. To the best of our knowledge, in the context of deep learning, no work before has investigated how to automatically model proper structures for facial landmarks, by discovering their inherent relations. In this paper, we propose a novel Hierarchical Structured Landmark Ensemble (HSLE) model for learning robust facial landmark detection, by using it as the structural constraints. Different from existing approaches of manually designing structures, our proposed HSLE model is constructed automatically via discovering the most robust patterns so HSLE has the ability to robustly depict both local and holistic landmark structures simultaneously. Our proposed HSLE can be readily plugged into any existing facial landmark detection baselines for further performance improvement. Extensive experimental results demonstrate our approach significantly outperforms the baseline by a large margin to achieve a state-of-the-art performance.

关键词： Robustness Heating systems Detectors Face Shape Mathematical model

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Set stability for switched Boolean networks with open-loop and closed-loop switching signals

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中国科学（信息科学） 2018年第9期61卷 226-234页

作者： Xiaohua LI Jianquan LU Jianlong QIU Xiangyong CHEN Xiaodi LI Fuad E.ALSAADI School of Automation and Engineering and Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong Linyi University Linyi 276005 China School of Mathematics and Statistics Shandong Normal University Jinan 250014 China School of Mathematics Southeast University Nanjing 210096 China School of Automation and Engineering and Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong Linyi University Linyi 276005 China School of Automation and Engineering and Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong Linyi University Linyi 276005 China School of Mathematics Southeast University Nanjing 210096 China School of Mathematics and Statistics Shandong Normal University Jinan 250014 China Department of Electrical and Computer Engineering King Abdulaziz University Jeddah 21589 Saudi Arabia

This paper mainly analyzes the set stability of switched Boolean networks (SBNs) by considering two different methods of switching signals in the form of open-loop and closed-loop ***,the definitions of set stability are proposed for SBNs with such switching ***,we propose two different algorithms to find the largest open-loop switching invariant set and largest closed-loop switching invariant ***,the corresponding set stability conditions for SBNs are given in each *** addition,the constructive procedures are presented to design the switching signal sequence to achieve set stability under the two different methods of switching ***,the effectiveness of the proposed algorithms and research results are demonstrated using two numerical examples.

关键词： switched Boolean network set stability semi-tensor product switching signal design

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Identification of Cognitive Dysfunction in Patients with T2DM Using Whole Brain Functional Connectivity

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Genomics, Proteomics & Bioinformatics 2019年第4期17卷 441-452页

作者： Zhenyu Liu Jiangang Liu Huijuan Yuan Taiyuan Liu Xingwei Cui Zhenchao Tang Yang Du Meiyun Wang Yusong Lin Jie Tian CAS Key Laboratory of Molecular Imaging Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Computer and Information Technology Beijing Jiaotong UniversityBeijing 100044China Department of Endocrinology and Metabolism Henan Provincial People’s Hospital&the People’s Hospital of Zhengzhou UniversityZhengzhou 450003China Department of Radiology Henan Provincial People’s Hospital&the People’s Hospital of Zhengzhou UniversityZhengzhou 450003China Cooperative Innovation Center for Internet Healthcare&School of Software Zhengzhou UniversityZhengzhou 450003China School of Mechanical Electrical&Information EngineeringShandong University(Weihai)Weihai 264209China University of Chinese Academy of Sciences Beijing 100080China Beijing Advanced Innovation Center for Big Data-Based Precision Medicine School of MedicineBeihang UniversityBeijing 100191China Engineering Research Center of Molecular and Neuro Imaging of Ministry of Education School of Life Science and TechnologyXidian UniversityXi’an 710126China

Majority of type 2 diabetes mellitus(T2DM)patients are highly susceptible to several forms of cognitive impairments,particularly ***,the underlying neural mechanism of these cognitive impairments remains *** aimed to investigate the correlation between whole brain resting state functional connections(RSFCs)and the cognitive status in 95 patients with *** constructed an elastic net model to estimate the Montreal Cognitive Assessment(MoCA)scores,which served as an index of the cognitive status of the patients,and to select the RSFCs for further ***,we utilized a machine learning technique to evaluate the discriminative ability of the connectivity pattern associated with the selected *** estimated and chronological MoCA scores were significantly correlated with R=0.81 and the mean absolute error(MAE)=***,cognitive impairments of patients with T2DM can be identified using the RSFC pattern with classification accuracy of 90.54%and the area under the receiver operating characteristic(ROC)curve(AUC)of *** connectivity pattern not only included the connections between regions within the default mode network(DMN),but also the functional connectivity between the task-positive networks and the DMN,as well as those within the task-positive *** results suggest that an RSFC pattern could be regarded as a potential biomarker to identify the cognitive status of patients with T2DM.

关键词： Type 2 diabetes mellitus Resting state functional connectivity Elastic net Support vector machines MoCA

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Distributed Leader-follower Formation Control of Nonholonomic Mobile Robots

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IFAC-PapersOnLine 2019年第15期52卷 67-72页

作者： Qun Lu Zhiqiang Miao Dan Zhang Li Yu Wenjun Ye Simon X. Yang Chun-Yi Su College of Electrical Engineering Yancheng Institute of Technology Yancheng 224003 China College of Electrical and Information Engineering Hunan University Changsha 410082 China College of Information Engineering Zhejiang University of Technology Hangzhou 310023 China Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal QC H3G 1M8 Canada Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Guelph ON N1G 2W1 Canada School of Automation Guangdong University of Technology Guangzhou 510006 China on leave from Concordia University Montreal QC H3G 1M8 Canada

This paper considers the problem of distributed leader-follower formation control for nonholonomic mobile robots only using local interactions among the robots. First, a distributed estimation strategy is presented for each follower robot to estimate the leader’s state. Then the dynamic equations of the formation tracking errors are formulated and a distributed formation control scheme is designed, which yields globally uniformly ultimately bounded stability for the closed-loop systems without requiring persistent excitation conditions. Finally, a simulation example demonstrates the effectiveness of the proposed approach.

关键词： Distributed formation control nonholonomic mobile robots distributed formation control persistent exciting conditions

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