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arXiv 2021年

作者： Jarchi, Delaram Andreu-Perez, Javier Kiani, Mehrin Vysata, Oldrich Kuchynka, Jiri Prochazka, Ales Sanei, Saeid Smart Health Technologies Group School of Computer Science and Electronic Engineering University of Essex ColchesterCO4 3SQ United Kingdom Embedded and Intelligent Systems Laboratory School of Computer Science and Electronics University of Essex ColchesterCO4 3SQ United Kingdom Department of Computing and Control Engineering University of Chemistry and Technology in Prague Prague 6166 28 Czech Republic Department of Neurology Faculty of Medicine in Hradec Králové Charles University Hradec Králové500 05 Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6160 00 Czech Republic School of Science and Technology Nottingham Trent University NottinghamNG11 8NS United Kingdom

Accurately diagnosing sleep disorders is essential for clinical assessments and treatments. Polysomnography (PSG) has long been used for detection of various sleep disorders. In this research, electrocardiography (ECG) and electromayography (EMG) have been used for recognition of breathing and movement-related sleep disorders. Bio-signal processing has been performed by extracting EMG features exploiting entropy and statistical moments, in addition to developing an iterative pulse peak detection algorithm using synchrosqueezed wavelet transform (SSWT) for reliable extraction of heart rate and breathing-related features from ECG. A deep learning framework has been designed to incorporate EMG and ECG features. The framework has been used to classify four groups: healthy subjects, patients with obstructive sleep apnea (OSA), patients with restless leg syndrome (RLS) and patients with both OSA and RLS. The proposed deep learning framework produced a mean accuracy of 72% and weighted F1 score of 0.57 across subjects for our formulated four-class problem. © 2021, CC BY-NC-ND.

关键词： Wavelet transforms

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Dynamics Modeling and Analysis for Cooperative Dual Rotary Crane systems

Dynamics Modeling and Analysis for Cooperative Dual Rotary C...

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第37届中国控制会议

作者： Yu Fu Tong Yang Ning Sun Jianyi Zhang Yongchun Fang the Institute of Robotics and Automatic Information Systems （IRAIS） College of Computer and Control Engineering and also with the Tianjin Key Laboratory of Intelligent Robotics （tjKLIR） Nankai University

With industrial development,the cargoes that need to be lifted by rotary cranes are getting larger and heavier,which tend to exceed the rated load of a single crane,so it is common for two cranes to deliver a cargo ***,even with wide real applications,the studies of cooperative dual rotary crane systems（CDRCS） still do not attract enough *** order to solve the above problems,an accurate model for CDRCS is established by Lagrange’s modeling *** this model,we take into account not only the swing of the rope,but also the wobble of the *** be more precise,there are no simplifications in the process of modeling.

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Passive Aerial Grasping of Ferrous Objects

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IFAC-PapersOnLine 2017年第1期50卷 10299-10304页

作者： Fiaz U.A. Toumi N. Shamma J.S. Robotics Intelligent Systems and Control (RISC) Laboratory King Abdullah University of Science and Technology Saudi Arabia

Aerial transportation is probably the most efficient way to supply quick and effective aid especially in cases of emergency like search and rescue operations. Thus the ability to grasp and deliver objects is of vital importance in all sorts of unmanned and autonomous aerial operations. We detail a simple yet novel approach for aerial grasping of ferrous objects using a passive magnetic pickup and an impulse based drop mechanism. The design enables our gripper to grasp ferrous objects using single as well as multiple gripping pads, with visual as well as pickup and drop feedback. We describe the various components of the gripper with emphasis on its low mass and high lift capability since weight is a matter of high consideration in all aerial applications. In addition, we investigate and address the issues that may cause our design to fail. We demonstrate by experiments that the proposed design is robust and effective, based on its high payload capability, its sturdiness against possible slide during aggressive aerial maneuvers, and optimum performance of the drop mechanism for the designed range of payloads. We also show that the gripper is able to pick up and drop a single as well as multiple ferrous objects of different shapes, curvature, and inclination, which also involves picking up an object and then grasping the next, while keeping hold of the previous one. © 2017

关键词： aerial grasping autonomous systems Flying robots magnetic passive gripper robotics technology smart design

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Design of Quadrotor control System based on Dynamic Surface Output Regulation

Design of Quadrotor Control System based on Dynamic Surface ...

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第37届中国控制会议

作者： Junfang Li Feng Li Yuehui Ji Qiang Gao Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin Key Laboratory of Intelligent Robotics Nankai University

A double-loop control system is proposed based on dynamic surface output regulation and integral sliding mode control method,to achieve the position and the attitude tracking control of the quadrotor with external ***,in the position control,the dynamic surface technology is combined with the internal model to design an output regulator,which can transform the position controller into a position augmented system stabilization *** integral sliding mode control method is adopted in the attitude *** internal model is an important and effective tool in the output regulation theory,which can solve the asymptotic tracking and disturbance rejection problems of uncertain systems,and the dynamic surface method allows the mathematical model of the object to be not differentiable,thus the computational expansion is *** stability of the designed control system is proved by Lyapunov stability theory,simulation results in Matlab/Simulink are presented to verify the effectiveness and robustness of the proposed control system.

关键词： quadrotor output regulation dynamic surface internal model integral sliding mode

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Analytic Compact Model of Short-channel Cylindrical ballistic GAA MOSFET Including SDT effect

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Journal of Physics: Conference Series 2020年第1期1570卷

作者： He Cheng Chao Zhang Tiefeng Liu Zhijia Yang Zhipeng Zhang Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang 110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China

We have proposed an analytic compact model describing the drain current characteristics valid in all operating regions, for ultra-short channel cylindrical gate-all-around metal-oxide-semiconductor field-effect transistors considering source-to-drain tunnelling effect. The drain-induced barrier lowering had been incorporated from one two-dimensional analysis in our previous compact model. In this study, to represent the energy level profile along the device channel direction into the Wentzel-Kramers-Brillouin approximation by substituting a parabolic function, we can analytically derive the expressions of the transmission coefficients for source-to-drain tunneling. In the subthreshold region, the source-to-drain tunneling current then can be evaluated using the Landauer formula. Finally, a fully analytic compact model is proposed for representing the drain current in all operating regions. The results compared with non-equilibrium Green's function transport simulations can be obtained in a good agreement.

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Decentralized Energy Sharing Protocol using TÆMS Framework and Coalition-based Metaheuristic for Heterogeneous Robotic systems

Decentralized Energy Sharing Protocol using TÆMS Framework ...

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作者： Arbanas, Barbara Boljuncic, Sara Petrovic, Tamara Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia

In this paper we describe a decentralized protocol that is applied for scheduling and management of energy sharing in heterogeneous systems. Particular system we have in mind comprises of agents with different mobility, energy harvesting and energy sharing capabilities herein called aPads, aFish and aMussels. aPads are surface vehicles that harvest energy and are able to transmit it to both aFishes and aMussels. aFish are underwater vehicles that can transmit energy to aMussels or to other aFish, and receive energy from aPads. aMussels, that can either be attached to the sea-ground or float on the surface, can only receive energy, either from aFish or aPads. For such a system to be able to function for an extended period of time, a decentralized energy management protocol should be designed, whose purpose is to schedule and coordinate charging of agents over time. These decisions depend on the current battery levels of different agents, as well as their positions, and should be done in a decentralized manner. In this paper we apply an energy sharing protocol based on TÆMS framework, originally applied to planning and coordination in aerial-ground robotics systems for search and rescue missions. We refine the obtained plans using the coalition-based metaheuristic for vehicle routing problems. We show execution schedules achieved using the proposed protocol and highlight its advantages and flaws when applied to our underwater scenario. © 2017

关键词： Energy management systems

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Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 577-587页

作者： Fei-Yue Wang Nan-Ning Zheng Dongpu Cao Clara Marina Martinez Li Li Teng Liu IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Advanced Vehicle Engineering Center Cranfield University Department of Automation Tsinghua University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Huituo Intelligent Machine Company

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

关键词： ACP theory connected automated driving cyber-physical-social systems(CPSS) iHorizon parallel driving parallel horizon parallel learning parallel reinforcement learning parallel testing

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Robustness of Itô stochastic nonlinear networked control systems 13

Robustness of Itô stochastic nonlinear networked control sy...

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13th IEEE International Conference on control and Automation, ICCA 2017

作者： Wang, Tong Ma, Min Ji, Wenqiang Qiu, Jianbin Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781538626795

This paper investigates the robustness issue of stochastic nonlinear network control systems (NCSs) with network-induced delays and packet dropouts. Firstly, the controller for the nominal system (without network-induced delays and packet dropouts) is designed to guarantee its globally asymptotic stability. Then, by choosing parameters which satisfy associated conditions, the ultimately globally asymptotic stability (UGAS) of corresponding stochastic nonlinear NCS is guaranteed. Finally, a simulation example is given to demonstrate the effectiveness of the proposed stability conditions. © 2017 IEEE.

关键词： Networked control systems

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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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Development of a Tetris Playing Robot controlled by KNR

Development of a Tetris Playing Robot Controlled by KNR

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IEEE International Conference on Mechatronics and Automation

作者： Ming Wang Yanlu Zhang Huifang Dong Xu Li Junzhi Yu Department of Information and Electrical Engineering University of Shandong Jianzhu University Jinan China Department of Intelligent Robotics State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Robot plays an increasingly important role in daily life. This paper presents a vision-based wheeled robot for playing Tetris. How to control the robot is elaborated at length in this paper. The robot adopted a KNR controller as its core controller. With a CCD sensor, it identified colored blocks, lines and the destination. All algorithms are programed with LabVIEW. The experiments and the contest validated the effectiveness of the proposed vision-based wheeled robot system.

关键词： Mobile robots Cameras Robot sensing systems Image color analysis Servomotors Robot kinematics

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