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arXiv 2017年

作者： Xu, Chi Zheng, Meng Liang, Wei Yu, Haibin Liang, Ying-Chang State Key Laboratory of Robotics Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Robotics Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China School of Electrical and Information Engineering University of Sydney NSW2006 Australia University of Electronic Science and Technology of China Chengdu611731 China

This paper studies a green paradigm for the underlay coexistence of primary users (PUs) and secondary users (SUs) in energy harvesting cognitive radio networks (EH-CRNs), wherein battery-free SUs capture both the spectrum and the energy of PUs to enhance spectrum efficiency and green energy utilization. To lower the transmit powers of SUs, we employ multi-hop transmission with time division multiple access, by which SUs first harvest energy from the RF signals of PUs and then transmit data in the allocated time concurrently with PUs, all in the licensed spectrum. In this way, the available transmit energy of each SU mainly depends on the harvested energy before the turn to transmit, namely energy causality. Meanwhile, the transmit powers of SUs must be strictly controlled to protect PUs from harmful interference. Thus, subject to the energy causality constraint and the interference power constraint, we study the end-to-end throughput maximization problem for optimal time and power allocation. To solve this nonconvex problem, we first equivalently transform it into a convex optimization problem and then propose the joint optimal time and power allocation (JOTPA) algorithm that iteratively solves a series of feasibility problems until convergence. Extensive simulations evaluate the performance of EH-CRNs with JOTPA in three typical deployment scenarios and validate the superiority of JOTPA by making comparisons with two other resource allocation algorithms. Copyright © 2017, The Authors. All rights reserved.

关键词： Cognitive radio

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Generating persistently exciting trajectory based on condition number optimization

Generating persistently exciting trajectory based on conditi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ko Ayusawa Antoine Rioux Eiichi Yoshida Gentiane Venture Maxime Gautier CNRS-AIST JRL (Joint Robotics Laboratory) National Institute of Advanced Industrial Science and Technology(ISAIST) Japan Department of Mechanical Systems Engineering Tokyo University of Agriculture and Technology M. Gautier is with University of Nantes/LS2N France

This paper presents a novel optimization method for generating persistently exciting trajectories for inertial parameters identification of a robot. The exciting performance of the trajectories is usually evaluated by the condition number of the regressor matrix, which appears in the linear regression model for identification. In this paper, the efficient formulation is presented to directly compute the gradient of the condition number with respect to joint trajectory parameters, by deriving the derivative of the singular values and regressor matrices. Direct gradient computation can enhance computational performance of optimization, which is essential for large DOF systems under many physical consistent conditions such as humanoid robots. The proposed method is validated by generating several trajectories for the humanoid robot HRP-4.

关键词： Trajectory Humanoid robots Cost function Matrix decomposition Symmetric matrices

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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

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IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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Tongue interface based on surface EMG signals of suprahyoid muscles

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ROBOMECH Journal 2016年第1期3卷 1-11页

作者： Sasaki, Makoto Onishi, Kohei Stefanov, Dimitar Kamata, Katsuhiro Nakayama, Atsushi Yoshikawa, Masahiro Obinata, Goro Graduate School of Engineering Iwate University MoriokaIwate Japan School of Science and Technology Middlesex University London United Kingdom Pattern Art Laboratory Co. Ltd. HanamakiIwate Japan Department of Intelligent Systems Engineering Ichinoseki National College of Technology IchinosekiIwate Japan Graduate School of Information Science Nara Institute of Science and Technology Nara Japan Department of Robotics Science and Engineering Chubu University Kasugai Japan

The research described herein was undertaken to develop and test a novel tongue interface based on classification of tongue motions from the surface electromyography (EMG) signals of the suprahyoid muscles detected at the underside of the jaw. The EMG signals are measured via 22 active surface electrodes mounted onto a special flexible boomerang-shaped base. Because of the sensor’s shape and flexibility, it can adapt to the underjaw skin contour. Tongue motion classification was achieved using a support vector machine (SVM) algorithm for pattern recognition where the root mean square (RMS) features and cepstrum coefficients (CC) features of the EMG signals were analyzed. The effectiveness of the approach was verified with a test for the classification of six tongue motions conducted with a group of five healthy adult volunteer subjects who had normal motor tongue functions. Results showed that the system classified all six tongue motions with high accuracy of 95.1 ± 1.9 %. The proposed method for control of assistive devices was evaluated using a test in which a computer simulation model of an electric wheelchair was controlled using six tongue motions. This interface system, which weighs only 13.6 g and which has a simple appearance, requires no installation of any sensor into the mouth cavity. Therefore, it does not hinder user activities such as swallowing, chewing, or talking. The number of tongue motions is sufficient for the control of most assistive devices. © 2016, Sasaki et al.

关键词： Support vector machines

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Close range ship noise cross correlations with a vector sensor in view of geoacoustic inversion

Close range ship noise cross correlations with a vector sens...

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IEEE/OES China Ocean Acoustics (COA)

作者： Yanqun Wu Ana Bela Santos Paulo Felisberto Sergio M. Jesus Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Universidade do Algarve Faro Faro PT Laboratory of Robotics and Systems in Engineering and Science (LARSyS) University of Algarve Faro Portugal

ISBN: (纸本)9781467399791

Distant ship noise has been utilized for geoacoustic inversion and ocean monitoring for many years. In a shallow water experiment, Makai 2005, a 4-element acoustic vector sensor array was deployed at the stern of the research vessel R/V Kilo Moana. The recorded engine noise of R/V Kilo Moana during its dynamic positioning was analyzed by the DEMON (Detection of Envelope Modulation on Noise) method. The strongest modulation frequency band of the ship noise was found by a group of band-pass filters for further data processing. Multipath arrivals in the vertical particle velocity have higher signal-to-noise ratios than those in the horizontal particle velocities because of steep arrival directions. By exploiting this advantage, the cross-correlation of broadband ship noise between the pressure and the vertical particle velocity can be used for multipath information exploration. Since ship noise is often characterized as continuous broadband noise plus strong tonal noise, the cross-correlation of tonal noise would dominate that of broadband noise, and consequently cover the multipath arrival pattern. Therefore, spectral weighting functions are applied in order to reduce the noise contamination and ensure sharp multipath peaks in the cross-correlation. For engine noise emitted by the dynamically positioned ship, a short correlation time of 0.4s was used in order to keep the time delay fluctuation details of multipath arrivals. Clear multiple arrivals are seen in the cross-correlation of different arrivals, and verified by the ray tracing program TRACEO. The results demonstrate the potential of only one acoustic vector sensor in applications of source localization and geoacoustic inversion.

关键词： Frequency measurement Marine vehicles Government Environmental management Europe

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A novel extended potential field controller for use on aerial robots

A novel extended potential field controller for use on aeria...

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2016 IEEE International Conference on Automation science and engineering, CASE 2016

作者： Woods, Alexander C. Lay, Hung M. Ha, Quang P. Advanced Robotics and Automation Laboratory Department of Computer Science and Engineering University of Nevada RenoNV89557 United States School of Electrical Mechanical and Mechatronic Systems University of Technology Sydney Australia

ISBN: (纸本)9781509024094

Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller (PFC) with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a Matlab environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller. © 2016 IEEE.

关键词： Controllers

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The MEDUSA class of autonomous marine vehicles and their role in EU projects

The MEDUSA class of autonomous marine vehicles and their rol...

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OCEANS - Europe

作者： Pedro Caldeira Abreu João Botelho Pedro Góis Antonio Pascoal Jorge Ribeiro Miguel Ribeiro Manuel Rufino Luís Sebastião Henrique Silva Laboratory of Robotics and Systems in Engineering and Science (LARSyS) University of Lisbon Lisbon Portugal

This paper describes a new class of autonomous marine vehicles named Medusa and highlights their role in a number of EU projects addressing multiple vehicle scenarios. The MEDUSA vehicles, with surface and diving versions, were designed and built at the Institute for systems and robotics, IST, Univ. de Lisboa, Portugal as a result of an effort aimed at affording researchers and practitioners of marine robotics tools to: i) assess the efficacy of cooperative motion control and navigation algorithms and ii) seamlessly execute scientific and commercial missions with multiple robots at sea. We first define the problem of designing the MEDUSA-class of vehicles by describing the desired functional requirements that motivated their development and then present our solution. Mechanical and electrical design considerations that relate to the requirements are explained, and the software architecture is described. This includes a brief overview of the navigation system, the main lower-level control loops which other features can build upon, and some of the higher-level algorithms for multiple-vehicle cooperative missions. We also illustrate the functionality of the mission control system, a dedicated software suite that allows operators to seamlessly program and follow the state of execution of cooperative missions involving multiple vehicles, possibly running different operations or missions in parallel. Finally, we summarize the participation of IST and the MEDUSA vehicles in a number of representative EC-funded Marine robotics-related projects.

关键词： Vehicles Navigation Sensors Robots Batteries Payloads Software architecture

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Atomistic simulations on the axial nanowelding configuration and contact behavior between Ag nanowire and single-walled carbon nanotubes

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Journal of Nanoparticle Research 2017年第3期19卷 1-14页

作者： Cui, Jianlei Zhang, Jianwei He, Xiaoqiao Yang, Xinjun Mei, Xuesong Wang, Wenjun Jiang, Gedong Wang, Kedian Yang, Lijun Xie, Hui State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong University Xi’an People’s Republic of China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan People’s Republic of China State Key Laboratory of Surface Physics and Department of Physics Fudan University Shanghai People’s Republic of China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin People’s Republic of China Department of Architecture and Civil Engineering City University of Hong Kong Kowloon Hong Kong Center for Advanced Structural Materials City University of Hong Kong Shenzhen Research Institute Shenzhen People’s Republic of China

As for the interesting new building blocks, the Ag nanowires (AgNWs) and single-walled carbon nanotubes (SWNTs) as the interesting new building blocks are viewed as the promising candidates for the next-generation interconnects due to their most remarkable electrical, thermal, optical, mechanical, and other properties. The axial nanowelding of head-to-head style and side-to-side style is relatively simulated with the molecular dynamics method. As for the head-to-head structural style, SWNTs will move toward the AgNWs and contact with the head of AgNWs. And, the part of the Ag nanowire may be subsequently encapsulated in SWNT with the core-filling Ag atom chain as the final atomic contact configuration during nanowelding, which is related to the nanowelding temperature. When the SWNTs and AgNWs are arranged by the side-to-side contact style, the SWNTs will move along the SWNT surface and may eventually catch up with the AgNW being neck and neck. Aiming at the final axial atomic configurations and the contact behavior during nanowelding process, the related dominant mechanism is revealed in this paper.

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Boosting-Based One-Class SVM for Recognizing True-Fake Chinese Liquors Using Electronic Noses

Boosting-Based One-Class SVM for Recognizing True-Fake Chine...

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World Congress on Intelligent Control and Automation

作者： Zhi-Hua Li Qing-Hao Meng Pei-Feng Qi Yu Zhou Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Department of Robotics College of Science and Engineering Ritsumeikan University

ISBN: (纸本)9781467384155

The true-fake detection of Chinese liquors can be considered as a one-class classification problem. Using only positive sample in training process brings about difficulties in determining the optimal parameters of one-class SVM and its kernel. And one-class SVM optimized with conventional grid search method has a low recognition rate of positive test samples. Hence, we proposed a new idea for recognition, namely boosting-based one-class SVM. Six different kinds of liquors were sampled by a self-designed electronic nose system. After the preprocessing and feature extraction of sample data, 18 groups of optimum parameters of one-class SVM were chosen from specified parameter range, each group was used to train a classifier with training algorithm. Then the true-fake decisions were made for test samples with boosting integration rules. Finally the recognition rates of Hongjinjiu and Lanjinjiu positive sample reached 95.24% and 100%, and the recognition rates of both positive and negative sample reached 97.04% and 94.83%, respectively.

关键词： Support Vector Network optimal parameter Electronic Nose Recognition (Psychology) Search methods Chinese Chinese Chinese philosophy Chinese art Feature extraction test sample

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Rapid Detection of Chinese Liquors Using a Portable E-nose Based on C-SVM

Rapid Detection of Chinese Liquors Using a Portable E-nose B...

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World Congress on Intelligent Control and Automation

作者： Pei-Feng Qi Qing-Hao Meng Ya-Qi Jing Ming Zeng Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Department of Robotics College of Science and Engineering Ritsumeikan University

ISBN: (纸本)9781467384155

We designed a portable electronic nose (e-nose) for rapid detection of Chinese liquors. The e-nose had an evaporation chamber wrapped with silicone heating band, which could vaporize the liquor samples in 1 minute. The sequential sampling and clean-out lasted 100 seconds and 3 minutes, respectively. Hence, one fast detection process could be finished within 3 minutes without regard to clean-out. In order to acquire enough information from array's sampling curves for classification, we chose 60 features (including 6 features per sensor) according to the response curves, the derivative of the response curves and the relative change rate curves of conductivity. Then the dimension of features was reduced by principle component analysis (PCA). Finally, classification of Chinese liquors was performed using C-Support Vector Machine (C-SVM) and the classification rate was 96.7%.

关键词： Sensor arrays Conductivity Principal component analysis Gas detectors Heating Support vector machine classification Support vector machine classification Electronic Nose Gas detectors Sensor arrays principal components analysis conductivity response curves change rate Heating Chinese Chinese Chinese philosophy Chinese art

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