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arXiv 2021年

作者： Zhang, Thomas T.C.K. Tu, Stephen Boffi, Nicholas M. Slotine, Jean-Jacques E. Matni, Nikolai Department of Electrical and Systems Engineering University of Pennsylvania United States Google Brain Robotics Courant Institute of Mathematical Sciences New York University United States Nonlinear Systems Laboratory Massachusetts Institute of Technology United States

Motivated by bridging the simulation to reality gap in the context of safety-critical systems, we consider learning adversarially robust stability certificates for unknown nonlinear dynamical systems. In line with approaches from robust control, we consider additive and Lipschitz bounded adversaries that perturb the system dynamics. We show that under suitable assumptions of incremental stability on the underlying system, the statistical cost of learning an adversarial stability certificate is equivalent, up to constant factors, to that of learning a nominal stability certificate. Our results hinge on novel bounds for the Rademacher complexity of the resulting adversarial loss class, which may be of independent interest. To the best of our knowledge, this is the first characterization of sample-complexity bounds when performing adversarial learning over data generated by a dynamical system. We further provide a practical algorithm for approximating the adversarial training algorithm, and validate our findings on a damped pendulum *** Codes 93D05, 93D09 © 2021, CC BY.

关键词： Robust control

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Defect Sample Generation System Based on DCGAN for Glass Package Electrical Connectors

Defect Sample Generation System Based on DCGAN for Glass Pac...

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Chinese Intelligent systems Conference, CISC 2020

作者： Liu, Qunpo Wang, Mengke Hanajima, Naohiko Department of Robotics Engineering Henan Polytechnic University 2001 Century Avenue JiaozuoHenan454003 China Henan International Joint Laboratory of Direct Drive and Control of Intelligent Equipment 2001 Century Avenue JiaozuoHenan454003 China College of Information and Systems Muroran Institute of Technology 27-1 Mizumoto-cho Muroran-shiHokkaido050-8585 Japan

ISBN: (纸本)9789811584572

Precision glass packaged electrical connectors are widely used to connect precision modular electrical appliances. Manual detection is currently used due to its small size. In order to improve the detection efficiency and accuracy, deep learning is applied to the automatic detection of the defect. In this paper, in order to solve the problem of lack of defect samples, a defect sample generation system for micro-precision glass package electrical connectors based on deep convolutional generation confrontation network (DCGAN) is constructed. A network model of defect samples based on DCGAN is constructed, and algorithm design, parameter settings, network training and experiments are performed. More than 1,500 samples were generated. Finally, the generated samples were tested for defects (including missing blocks and bubbles). The results show that the samples generated by this method can be used as real samples in defect detection training. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Defects

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Learning to see VOCs with Liquid Crystal Droplets

Learning to see VOCs with Liquid Crystal Droplets

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ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN)

作者： Susana I. C. J. Palma José Frazã o Rita Alves Henrique M. A. Costa Clá udia Alves Hugo Gamboa Margarida Silveira Ana C. A. Roque Associate Laboratory i4HB Institute for Health and Bioeconomy UCIBIO - Applied Molecular Biosciences Unit LIBPhys - Laboratory for Instrumentation Biomedical Engineering and Radiation Physics NOVA School of Science and Technology NOVA University of Lisboa Caparica Portugal Institute for Systems and Robotics (ISR) Instituto Superior T&#x00E9 cnico (IST) University of Lisbon Lisbon Portugal

In hybrid gels with immobilized liquid crystal (LC) droplets, fast and unique optical texture variations are generated when distinct volatile organic compounds (VOCs) interact with the LC and disturb its molecular order. The optical texture variations can be observed under a polarized optical microscope or transduced into a signal representing the variations of light transmitted through the LC. We show how hybrid gels can accurately identify 11 distinct VOCs by using deep learning to analyze optical texture variations of individual droplets (0.93 average F1-score) and by using machine learning to analyze 1D optical signals from multiple droplets in hybrid gels (0.88 average F1-score).

关键词： Support vector machines Deep learning Volatile organic compounds Optical polarization Optical microscopy Stacking Production

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A CNN-Based Position Control Method for Under-Actuated Cable-Driven Serpentine Manipulator

A CNN-Based Position Control Method for Under-Actuated Cable...

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IEEE International Conference on robotics and Biomimetics

作者： Jiahao Fang Xueyi Zhang Xingchao Wang Xiaoqiang Ji Ning Tan Zhenglong Sun School of Science and Engineering The Chinese University of Hong Kong Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS) Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou China State Key Laboratory of Robotics and Systems (HIT) Harbin China

ISBN: (纸本)9781665405362

Continuum robots or serpentine manipulators have dexterous bodies that fit in narrow space and have advantages over traditional robot arms. In this paper, universal joints were involved in our serpentine manipulator to reinforce its stiffness. In order to have a more compact physical body without compensating much of the dexterity, the manipulator should be under-actuated. For mechanical errors, assembly errors and deformation of components, it is not likely to design the full kinematics model. Also for cable-driven manipulator, the actuation of the driven- cables are always highly coupled. In this paper, we proposed a CNN-based control method to learn the actual kinematics of the manipulator by introducing an ideal model mapping from the cable actuation to joint space. In such manner, we can achieve self-learnt kinematics model with reduced risk of damage in cable.

关键词： Shape Conferences Biomimetics Position control Kinematics Arms Aerospace electronics

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Redistributing Controller Orders to Increase Positioning Bandwidth in Nanopositioners

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IFAC-PapersOnLine 2021年第21期54卷 97-102页

作者： Adedayo K. Babarinde Linlin Li Jakub Kuncak LiMin Zhu Sumeet S. Aphale Artificial Intelligence Robotics and Mechatronic Systems Group School of Engineering University of Aberdeen Aberdeen AB24 3UE UK State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China

Integer-order damping and tracking controllers are typically used in tandem to overcome resonance and hysteresis induced positioning errors in piezo-actuated nanopositioners. This paper takes a novel approach of strategically redistributing the controller orders to achieve significant positioning bandwidth improvement, without any significant increase in the design complexity. The Positive Position Feedback (PPF) controller combined with a suitably gained Integral tracking controller is used as a candidate to demonstrate the efficacy of the proposed technique. The resulting fractional-order PPF damping and Integral tracking controllers result in increasing the overall positioning bandwidth of the closed-loop system by 37%; and subsequent improvement in positioning accuracy while tracking high-frequency triangular trajectories.

关键词： Nanopositioners piezoelectric actuator positive position feedback tracking control fractional-order control

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Erratum to “Time-Series Embeddings from Language Models:A Tool for Wind Direction Nowcasting”

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Journal of Meteorological Research 2024年第4期38卷 844-844页

作者： Decio ALVES Fabio MENDONCA Sheikh Shanawaz MOSTAFA Fernando MORGADO-DIAS University of Madeira Campus Universitario da Penteada 9020-105 FunchalPortugal Interactive Technologies Institute/Laboratory for Robotics and Engineering Systems and Agencia Regional para o Desenvolvimento da Investigaao Tecnologia e InovagaoEdif.Madeira TecnopoloCaminho da Penteada piso-29020-105 FunchalPortugal

The article “Time-series embeddings from language models: A tool for wind direction nowcasting”, written by Décio ALVES, Fábio MENDON?A, Sheikh Shanawaz MOSTAFA, and Fernando MORGADO-DIAS was originally pu... 详细信息

关键词： Embedding electronic Time

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Curved path planning based on 3D vision water immersion ultrasonic nondestructive testing 2

Curved path planning based on 3D vision water immersion ultr...

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2nd International Conference on Computer Vision and Data Mining, ICVDM 2021

作者： Chen, Zheng Wang, Jian Zhang, Hualiang School of Information Engineering Shenyang University of Chemical Technology Liaoning Shenyang110142 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110169 China

Compared with traditional 2D image processing, 3D point cloud processing has become a hot technology in the industry, but there are few researches applied to nondestructive testing of curved workpieces. This article aims at the non-destructive testing of curved workpieces, using 3D point cloud and robotic arm for water immersion ultrasonic nondestructive testing. Aiming at the 3D point cloud with many outliers, using the commonly used filter in two-dimensional images-the guide filter, the algorithm is improved and used for the filtering and downsampling of the 3D point cloud, and the adjustment of the curved surface workpiece and the robot arm's pose is introduced. Finally, the workpiece was scanned by a robotic arm with a water immersion ultrasonic nondestructive testing system to prove the feasibility of the experiment and improve the detection efficiency of traditional nondestructive testing technology. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Robotic arms

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Design and analysis of a soft bellow-based robot for dysphagia rehabilitation

Design and analysis of a soft bellow-based robot for dysphag...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Linlin Guo Yu Dang Yue Wang Jinqiao Wu Yang Yu Jialing Wu Jianda Han College of Artificial Intelligence Nankai University Tianjin China Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China Department of Rehabilitation Medicine Tianjin Huanhu Hospital Tianjin China Department of Neurology Tianjin Huanhu Hospital Tianjin China

ISBN: (数字)9798350391916

ISBN: (纸本)9798350391923

As the population ages, the incidence of diseases such as stroke is increasing, leading to a growing number of patients with dysphagia or difficulty swallowing. Dysphagia directly affects the hydration and nutritional intake, potentially leading to serious complications such as aspiration pneumonia, severely threatening patients' health and quality of life. Currently, the rehabilitation of swallowing function mainly relies on therapists to conduct swallowing training for patients. However, the high incidence and long duration of swallowing rehabilitation training pose a burden on the patients and medical resources. There remains a gap in the robotic devices for swallowing rehabilitation. To address this gap, this paper proposes a soft bellow-shaped robot for dysphagia rehabilitation. One mode of the rehabilitation training, where the therapist manipulates the throat to move horizontally, is selected to mimic. This robot simulates the force and displacement applied by the therapist's fingertip during dysphagia rehabilitation. First, swallowing training data were collected and analyzed to understand the variations in displacement and force applied by therapists' fingertips on the throat. Based on this analysis, the technical requirements for the swallowing rehabilitation robot were summarized. Following these requirements, we designed a physical prototype of the pneumatic bellow-shaped robot. The robot simulates the fingertip movement on both sides of the throat through the linear elongation and contraction of the bellows. The performance of the soft bellows was then characterized, verifying that its output force and displacement meet the technical requirements. This characterization lays a foundation for the modeling and control of the displacement and force of the robot.

关键词： Training Technical requirements Bellows Actuators Force Prototypes Training data Pneumatic systems Stroke (medical condition) Robots

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Optimization of input shaping parameters based on genetic algorithm 4

Optimization of input shaping parameters based on genetic al...

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4th International Symposium on Power Electronics and Control engineering, ISPECE 2021

作者： Lu, Xu Jia, Danping Zhang, Hualiang Zhao, Bingjie Zhang, Tao Liu, Yang Yan, Hongyu School of Artificial Intelligence Shenyang University of Technology Shenyang China School of Information Science and Engineering Shenyang University of Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9781510650374

ISBN: (纸本)9781510650367

In view of the position control vibration problem of permanent magnet synchronous motor, the control model of permanent magnet synchronous motor is simulated by using Simulink software. At the same time, according to the structure of the system model, an input shaper is added to the input end of the system to suppress the vibration of the system. However, the input parameters of the shaper are highly dependent on the parameters of the system model, so it is usually necessary to accurately identify the system model. However, the identification of permanent magnet synchronous motor is often not accurate enough, which makes it difficult to determine the input parameters of the shaper. Aiming at the problem that the input shaper is too dependent on the system, a method of input shaper parameter optimization based on genetic algorithm is designed and verified by experiments. The results show that the parameters of the input shaper with better effect can be selected by genetic optimization, and the dependence of the input shaper on the system model is reduced. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Computer control systems

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A method for recognition of dynamic hand gestures based on wrist tendon sounds 22

A method for recognition of dynamic hand gestures based on w...

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22nd IEEE International Conference on E-Health Networking, Application and Services, HEALTHCOM 2020

作者： He, Bailin Wang, Can Wang, Hao Li, Mengyao Duan, Shengcai Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Samsung Electronics Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781728162676

Hand gesture recognition are widely applied in game industry and rehabilitation engineering. Some recognition methods based on physiological data are attracting attention. In this paper, a novel method for dynamic hand gesture recognition based on sounds of wrist tendon is proposed. Bone conduction sensors which automatically filter the ambient noise is utilized to collect the wrist tendon sounds of three types of dynamic hand gestures. Continuous Wavelet Transform(CWT) is utilized extract the features of sounds and Support Vector Machine(SVM) is utilized to train the classifier model. Five healthy subjects participated the experiment and the average test accuracy of three classes achieves 92.33%. The proposed method provides an effective perspective for hand gesture recognition. © 2021 IEEE.

关键词： Support vector machines

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