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Sensorless nonlinear control of fed-batch Escherichia coli cultivation bioprocess using the state-dependent approach 12th

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12th Portuguese Conference on Automatic Control, CONTROLO 2016

作者： Iratni, Abdelhamid Araújo, Rui Rastegar, Saeid Mostefai, Mohammed Faculty of Science and Technology Electrical Engineering Department University of Bordj Bou Arreridj El Anasser Algeria Department of Electrical and Computer Engineering Institute for Systems and Robotics University of Coimbra Coimbra Portugal Automatic Control Laboratory of Setif Electrical Engineering Department Faculty of Technology University of Setif1 Sétif Algeria

ISBN: (纸本)9783319436708

The cultivation of Escherichia coli bacteria is widely used by geneticists and biopharmaceuticals to produce medicines and vaccines. In such industries, Bioprocesses are known by their harsh environment and very expensive physical sensors. This paper deals with nonlinear estimation and control of fed-batch Escherichia coli bioprocess. Enhancing the process performance and maximizing its efficiency by optimizing the control of Escherichia coli cultures depends on the availability of appropriate online sensors for the main culture components. In this study, an innovative method for nonlinear estimation and control of bioprocesses is designed and assessed. The new algorithm for control and estimation of Escherichia coli bioprocess states, based on the State-Dependent Riccati Equation technique, is validated by numerical simulation. The results obtained clearly demonstrate the effectiveness of the proposed technique for Biosystems in measuring, monitoring, and control of their natural nonlinear dynamics. © Springer International Publishing Switzerland 2017.

关键词： Extended Kalman filters

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Spacecraft heath monitoring using a biomimetic fault diagnosis scheme

Spacecraft heath monitoring using a biomimetic fault diagnos...

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AIAA Information systems-Infotech At Aerospace Conference, 2017

作者： Garcia, Diego F. Perez, Andres E. Moncayo, Hever Rivera, Karina Du Puis, Michael Mueller, Robert P. Department of Aerospace Engineering Flight Dynamics and Control Research Laboratory Embry-Riddle Aeronautical University United States Robotics and Autonomous Systems Testing and Design Branch NASA Kennedy Space Center Swamp Works Laboratory United States Science and Technology Projects Division NASA Kennedy Space Center Swamp Works Laboratory United States

ISBN: (纸本)9781624104497

This paper presents the design, development and implementation of a bio-inspired fault diagnosis scheme applied to a cold gas based spacecraft prototype. The proposed framework relies on the Artificial Immune System metaphor (AIS) with the goal of monitoring the health of the spacecraft by detecting subsystem upset conditions such as actuator malfunctions. A non-linear dynamic inversion (NLDI) baseline controller has been developed and implemented for attitude control of the spacecraft. The performance of the proposed health monitoring scheme is determined by analyzing the system response under different actuator failures and the results show acceptable performance in terms of high detection rate and low false alarms. The application of this artificial intelligent based scheme to aerospace systems will provide a high impact on space exploration by increasing mission protection and performance. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Attitude control

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Assembling virtual fixtures for guidance in training environments

Assembling virtual fixtures for guidance in training environ...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator systems (HAPTICS)

作者： A.B. Kuang S. Payandeh Bin Zheng F. Henigman C.L. MacKenzie Human Motor Systems Laboratory School of Kinesiology Experimental Robotics Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

We set up a library of virtual fixtures with both haptic and graphic properties and behaviors. For a given task, Virtual Fixture Assembly Language (VFAL) could be used to construct various virtual fixture series, with graphic and force guidance rules, making the low-level haptic and graphic rendering details transparent to the developers. An experiment evaluated the application of virtual fixtures as an aid for guiding a user in a path navigation task. The task was performed with or without force field guidance of virtual fixtures, and then transferred to the condition with no virtual fixtures. Results showed significant learning and transfer effects measured by performance time and path length. However, training using virtual fixtures with force guidance had comparable results to training with graphic only fixtures representing the path. Results are discussed in terms of motor learning theory, future work and applications for the design of better VR training environments.

关键词： Assembly Fixtures Graphics Haptic interfaces Libraries Rendering (computer graphics) Navigation Length measurement Time measurement Virtual reality

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Joint ASV/AUV range-based formation control: Theory and experimental results

Joint ASV/AUV range-based formation control: Theory and expe...

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2013 IEEE International Conference on robotics and Automation, ICRA 2013

作者： Soares, Jorge M. Aguiar, A. Pedro Pascoal, Antonio M. Martinoli, Alcherio Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal CH-1015 Lausanne Switzerland

ISBN: (纸本)9781467356411

The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios requiring the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites, relative positioning and formation control becomes mandatory. However, the constraints placed by the medium make it hard to both communicate and localize vehicles, even in relation to each other. In this paper, we deal with the challenging problem of keeping an autonomous underwater vehicle in a moving triangular formation with respect to 2 leader vehicles. We build upon our previous theoretical work on range-only formation control, which presents simple feedback laws to drive the controlled vehicle to its intended position in the formation using only ranges obtained to the leading vehicles with no knowledge of the formation path. We then introduce the real-world constraints associated with the use of autonomous underwater vehicles, especially the low frequency characteristics of acoustic ranging and its unreliability. We discuss the required changes to implement the solution in our vehicles, and provide simulation results using a full dynamic and communication model. Finally, we present the results of real world trials using MEDUSA-class autonomous marine vehicles. © 2013 IEEE.

关键词： Autonomous underwater vehicles

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Real-time ZMP compensation method using null motion for mobile manipulators

Real-time ZMP compensation method using null motion for mobi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jinhyun Kim Wan Kyun Chung Youngil Youm B.H. Lee Robotics & Bio-Mechatronics Laboratory Department of Mechanical Engineering Pohang University of Science and Technology Pohang South Korea Robotics & Intelligent Systems Laboratory School of Electrical Engineering Seoul National University Seoul South Korea

The dynamic stability of a mobile manipulator using ZMP compensation is considered. A unified approach for the two subsystems is formulated using a redundant scheme. First, to conserve the dynamic stability of the system, we define the performance index for the redundant system using the ZMP (zero moment point). This performance index represents the stability of the whole mobile manipulator system. Then, the redundancy resolution problem for optimizing the given performance index is solved using the null motion. Finally, the performance of this method is demonstrated by simulation study.

关键词： Stability Manipulator dynamics Mobile robots Control systems Intelligent robots Performance analysis Motion control Acceleration Real time systems Biomechatronics

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Surface sensor networks for Underwater Vehicle positioning with bearings-only measurements

Surface sensor networks for Underwater Vehicle positioning w...

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2012 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： D. Moreno-Salinas A. M. Pascoal J. Aranda Department of Computer Science and Automatic Control UNED Madrid Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Technical University of Lisbon Portugal

There is increasing interest in the use of Autonomous Underwater Vehicles (AUVs) to substantially improve the means available for ocean exploration and exploitation. A key element in the operation of certain classes of AUVs is the availability of good underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or a set of autonomous surface vehicles. In an interesting operational scenario, the set of autonomous surface vehicles carries a network of acoustic units that measure the elevation and azimuth angles between the target and each of the receivers. Motivated by these considerations, in this paper we address the problem of determining the optimal geometric configuration of an acoustic sensor network at the ocean surface that will maximize the angle-related information available for underwater target positioning. It is assumed that the angle measurements are corrupted by white Gaussian noise, the variance of which is distance-dependent. Using the Cramer-Rao lower bound inequality, the trace of the inverse of the Fisher Information matrix (also called the Cramer-Rao Bound matrix) for the problem at hand is used to determine the sensor configuration that yields the minimum possible covariance of any unbiased target estimator. It is shown that the optimal configuration lends itself to an interesting geometrical interpretation and that the spreading of the sensor configuration depends explicitly on the intensity of the measurement noise and the target depth. Simulation examples illustrate the key results derived.

关键词： Robot sensing systems Sea measurements Noise measurement Noise Vectors Sea surface Acoustic measurements

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Pull message passing for nonparametric belief propagation

arXiv

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arXiv 2018年

作者： Desingh, Karthik Opipari, Anthony Jenkins, Odest Chadwicke Laboratory for Perception RObotics Grounded REasoning SystemS Department of Electrical Engineering and Computer Science Robotics Institute University of Michigan Ann ArborMI48105 United States

We present a "pull" approach to approximate products of Gaussian mixtures within message updates for Nonparametric Belief Propagation (NBP) inference. Existing NBP methods often represent messages between continuous-valued latent variables as Gaussian mixture models. To avoid computational intractability in loopy graphs, NBP necessitates an approximation of the product of such mixtures. Sampling-based product approximations have shown effectiveness for NBP inference. However, such approximations used within the traditional "push" message update procedures quickly become computationally prohibitive for multi-modal distributions over high-dimensional variables. In contrast, we propose a "pull" method, as the Pull Message Passing for Nonparametric Belief propagation (PMPNBP) algorithm, and demonstrate its viability for efficient inference. We report results using an experiment from an existing NBP method, PAMPAS, for inferring the pose of an articulated structure in clutter. Results from this illustrative problem found PMPNBP has a greater ability to efficiently scale the number of components in its mixtures and, consequently, improve inference accuracy. Copyright © 2018, The Authors. All rights reserved.

关键词： Message passing

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CPL-CLIP: Compound Prompt Learning for Flexible-Modal Face Anti-Spoofing 18

CPL-CLIP: Compound Prompt Learning for Flexible-Modal Face A...

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18th IEEE International Joint Conference on Biometrics, IJCB 2024

作者： Zhang, Ying Zhu, Xiangyu Liu, Ajian Lin, Xun Wan, Jun Zhang, Jing Lei, Zhen Beihang University School of Computer Science and Engineering China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation China University of Chinese Academy of Sciences School of Artificial Intelligence China Macau University of Science and Technology School of Computer Science and Engineering China Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation China

ISBN: (纸本)9798350364132

Face anti-spoofing (FAS) is pivotal in safeguarding the integrity of face recognition systems. Flexible-modal FAS utilizes multi-modal data and trains a unified model adaptable to any single-modal testing scenario. This innovation addresses the shortcomings of conventional multi-modal FAS approaches, which typically demand separate model training and deployment for each modality. However, existing flexible-modal FAS approaches activate specific network branches based on the modality of the tested sample. This not only increases the model's parameters but also necessitates the provision of the image's modality for testing, thereby constraining deployment flexibility. To address the issue, we present Compound Prompt Learning CLIP (CPL-CLIP), a novel method for flexible-modal FAS. This approach capitalizes on a learned textual prompt that is nearly independent of modality, thus bolstering class-based classification across arbitrary modalities. Specifically, our CPL-CLIP introduces a Dual-Branch Prompt (DBP), consisting of class and modal prompts that describe and guide classification, where each prompt is composed of learnable vectors and fixed templates. To further render the class prompt as modality-agnostic as possible, a Cosine Similarity Loss (CSL) is proposed to facilitate the maximal separation of the class prompt from the modality prompt. With only the class prompt utilized during testing, CPL-CLIP enables deployment in diverse modal testing scenarios without the necessity of the test image's modality to be known. Extensive experiments demonstrate CPL-CLIP's superiority over existing methods on several flexible-modal FAS benchmarks. © 2024 IEEE.

关键词： Face recognition

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A High-Level Controller for Robot-Assisted Rehabilitation

A High-Level Controller for Robot-Assisted Rehabilitation

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Duygun Erol Nilanjan Sarkar Bibhrajit Halder Department of Electrical Engineering and Computer Science Vanderbilt University USA Department of Mechanical Engineering Robotics and Autonomous Systems Laboratory Vanderbilt University USA

The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive simulations are performed using the supervisory controller for a rehabilitation task. The results demonstrate the feasibility of the proposed supervisory controller

关键词： Robot control Rehabilitation robotics Automatic control Robot kinematics Control systems Force control Medical treatment Supervisory control Automata Medical control systems

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

No abstract available

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