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Chinese Control and Decision Conference, CCDC

作者： Anna Wang Yingjie Xiong Tao Zhang College Of Information Science and Engineering Northeastern University Shenyang China School of Electrical Engineering Dalian University of Technology Dalian China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781665478977

In the position sensorless control strategy of permanent magnet synchronous motor (PMSM), the back-EMF method based on sliding mode observer (SMO) is favored because of its robustness. In this paper, a SMO based on the piecewise sigmoid function is designed. Based on the back-EMF observation error, the gain adaptation of the SMO is realized, which effectively reduces the high-frequency chattering problem of the conventional SMO. The low-pass filter of the conventional SMO is improved, and an adaptive filter based on the back-EMF low-pass filter is proposed. According to the back-EMF observation error, the cut-off frequency of the low-pass filter is changed in real-time, and the estimation of rotor position is improved. After Matlab/Simulink simulation verification, the control strategy is feasible and achieves a better control effect.

关键词： Adaptation models Low-pass filters Adaptive filters Rotors Sensorless control Observers Permanent magnet motors

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Short-Term Photovoltaic Power Prediction Modeling Based on AdaBoost Algorithm and Elman

Short-Term Photovoltaic Power Prediction Modeling Based on A...

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IEEE International Conference on Power and Energy systems (ICPES)

作者： Wenxuan Sun Tao Zhang Ran Tao Anna Wang College Of Information Science and Engineering Northeastern University 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 School of Electrical Engineering Dalian University of Technology Dalian China

ISBN: (数字)9781665404945

ISBN: (纸本)9781665404952

In recent years, with the rapid expansion of the installed capacity of renewable energy systems, the availability, stability and quality of smart grids have become increasingly important [1] . The application of renewable energy production forecasting has also been rapidly developed, especially in the field of solar photovoltaic (PV) [2][3] . In the example of solar PV output prediction, machine learning and hybrid technologies have been implemented for many applications. In this paper, a high-precision PV system output power prediction model based on improved AdaBoost and Elman is proposed. Multiple model using integrated AdaBoost algorithm fusion with the bat algorithm for the parameters of optimized combination of weak Elman neural network predictor to become a higher prediction precision, the method of strong predictor of the model can according to the weather information, such as temperature, solar radiation and the history of the output of the PV system data, the probability of photovoltaic power generation for 12 hours and deterministic prediction. The prediction accuracy of the model is determined by Root Mean Squared Error (RMSE). Experimental results show that the prediction accuracy of this algorithm is better than that of other benchmark models, and the algorithm can effectively predict the volatility and irregularity of complex time series.

关键词： Photovoltaic systems Renewable energy sources Machine learning algorithms Machine learning Predictive models Prediction algorithms Numerical models

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Improved vertex control for time-varying and uncertain linear discrete-time systems with control and state constraints

Improved vertex control for time-varying and uncertain linea...

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2011 American Control Conference (ACC)

作者： H.N. Nguyen P.-O. Gutman S. Olaru M. Hovd F. Colledani Automatic Control Department SUPELEC Systems Sciences (E3S) Gif sur Yvette France Faculty of Civil and Environmental Engineering Technion Israel Institute of Technology Israel Norwegian University of Science and Technology Norway LIST Interactive Robotics Laboratory CEA Fontenay-aux-Roses France

This paper addresses the problem of regulating a discrete-time linear uncertain and time-varying system to the origin. It is shown that, based on an interpolation technique, by minimizing an appropriate objective function, how feasibility and a robustly and asymptotically stable closed-loop behavior can be achieved. It is shown that the control is a piecewise affine and continuous function of the state. Several simulations demonstrate the performance of our results.

关键词： Interpolation Trajectory Robustness Linear programming Lyapunov methods Closed loop systems

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Complementary Terrain/Single Beacon-Based AUV Navigation

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IFAC Proceedings Volumes 2012年第5期45卷 76-83页

作者： Pramod Maurya Francisco Curado Teixeira António Pascoal Laboratory for Robotics and Systems in Engineering and Science Instituto Superior Técnico Av. Rovisco Pais 1 1049-001 Lisboa Portugal National Institute of Oceanography Marine Instrumentation Division Dona Paula Goa - 403004 India Center for Environmental and Marine Studies and Dept. GeoSciences University of Aveiro Campus Universitário de Santiago 3810-193 Aveiro Portugal

This paper describes work done towards the development of advanced geophysical-based navigation systems for autonomous underwater vehicles (AUVs). The specific problem that we tackle is that of combining terrain-aided navigation (TAN) with single-beacon navigation (SBN) techniques. The resulting complementary TAN/SBN system has the potential to overcome some of the problems that arise with TAN navigation only, when an AUV undergoes motions that lead it temporarily across areas where the terrain below is not sufficiently “rich” in terms of topographic features. The key contribution of this paper is a formal analysis of the benefits of using complementary filtering, in opposition to TAN navigation only. To this effect, we exploit key tools of estimation theory, and in particular the Cramér-Rao lower bound inequality to obtain a lower bound on the minimum covariance of the estimation error that can be obtained with any unbiased estimator. For a real terrain profile we compute and compare the Cramér-Rao lower bounds for TAN only and TA/SB-based navigation. The increase in the expected performance that can be achieved with the second solution is clearly visible. The efficacy of the new solution proposed is illustrated with the help of computer simulations.

关键词： Terrain-aided navigation Single-beacon navigation Cramér-Rao bounds Monte Carlo methods Particle filters

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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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Bringing sensation to prosthetic hands-chronic assessment of implanted thin-film electrodes in humans

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npj Flexible Electronics 2023年第1期7卷 32-45页

作者： PaulČvančara Giacomo Valle Matthias Müller Inga Bartels Thomas Guiho Arthur Hiairrassary Francesco Petrini Stanisa Raspopovic Ivo Strauss Giuseppe Granata Eduardo Fernandez Paolo M.Rossini Massimo Barbaro Ken Yoshida Winnie Jensen Jean-Louis Divoux David Guiraud Silvestro Micera Thomas Stieglitz Laboratory for Biomedical Microtechnology Department of Microsystems Engineering-IMTEKAlbert-Ludwig-University FreiburgFreiburgGermany Center for Neuroprosthetics and Institute of Bioengineering School of EngineeringÉcole Polytechnique Fédérale de Lausanne(EPFL)LausanneSwitzerland The Biorobotics Institute Scuola Superiore Sant’AnnaPisaItaly Camin Team INRIAUniversity of MontpellierMontpellierFrance Institute of Neurology Catholic University of the Sacred HeartRomaItaly Institute of Neurosurgery Catholic University of the Sacred HeartRomaItaly Department of Neuroscience&Neurorehabilitation IRCCS San Raffaele Roma00166 RomeItaly Department of Electrical and Electronic Engineering University of CagliariCagliariItaly Biomedical Engineering Department Indiana University-Purdue UniversityIndianapolisINUSA SMI Dept.Health Science and TechnologyAalborg UniversityAalborgDenmark AXONIC/Groupe MXM VallaurisFrance BrainLinks-BrainTools Albert-Ludwig-University FreiburgFreiburgGermany Bernstein Center Freiburg Albert-Ludwig-University FreiburgFreiburgGermany Present address:Laboratory for Neuroengineering Department of Health Sciences and TechnologyInstitute for Robotics and Intelligent SystemsETH ZürichZürichSwitzerland

Direct stimulation of peripheral nerves with implantable electrodes successfully provided sensory feedback to amputees while using hand *** of the electrodes is key to success,which we have improved for the polyimide-based transverse intrafascicular multichannel electrode(TIME).The TIMEs were implanted in the median and ulnar nerves of three trans-radial amputees for up to six *** present a comprehensive assessment of the electrical properties of the thin-film metallization as well as material status post *** TIMEs stayed within the electrochemical safe limits while enabling consistent and precise amplitude *** lead to a reliable performance in terms of eliciting *** signs of corrosion or morphological change to the thin-film metallization of the probes was observed by means of electrochemical and optical *** presented longevity demonstrates that thin-film electrodes are applicable in permanent implant systems.

关键词： film electrodes sensation

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Variation of sEMG with Muscle Fatigue for Lower Limb Stroke Patient During Walking

Variation of sEMG with Muscle Fatigue for Lower Limb Stroke ...

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IEEE International Conference on robotics and Biomimetics

作者： Wenze Shang Ruisen Huang Wei-Hsin Liao Xinyu Wu Fei Gao Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

sEMG signal is widely used and explored in control strategies of powered assistive human-robot interaction systems due to its non-invasive nature and ability to estimate motion intention well. However, prolonged use of the sEMG-based systems leads to muscle fatigue, contributing to unstable sEMG signals and regarding the performance of sEMG-based control strategies. In this study, three subjects, including two healthy subjects and one stroke subject, participated in our experiment, and the time domain, frequency domain, and complex features extracted from their $sEMG$ signals were utilized to evaluate muscle fatigue. The results indicate that $sEMG$ from the stroke side of the stroke subject contains more non-linear and chaotic parts, and the statistical differences between different trials are more significant, indicating that stroke has a more significant impact on the stroke side of the stroke subject. This study suggests that RMS in the stroke side of stroke subjects is less than that in others, whereas FuzzyEn in the stroke side of stroke subjects is greater than that in others, indicating that stroke leads to different motion patterns and more susceptibility to muscle fatigue.

关键词： Legged locomotion Limbs Frequency-domain analysis Biomimetics Human-robot interaction Muscles Fatigue Feature extraction Time-domain analysis Robots

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An overview of RoboCup-2002 Fukuoka/Busan

An overview of RoboCup-2002 Fukuoka/Busan

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作者： Asada, Minoru Obst, Oliver Polani, Daniel Browning, Brett Bonarini, Andrea Fujita, Masahiro Christaller, Thomas Takahashi, Tomoichi Tadokoro, Satoshi Sklar, Elizabeth Kaminka, Gal A. Dept. of Adaptive Machine Systems Osaka University Osaka Japan University of Koblenz-Landau Artificial Intelligence Group Koblenz Germany University of Hertfordshire Hertfordshire United Kingdom Robotics Institute Carnegie Mellon University Pittsburgh PA United States Department of Electronics Politecnico di Milano Milano Italy GMD-Japan Research Laboratory Kitakyushu Japan Department of Computer Engineering Kobe University Kobe Japan Computer Science Department Ber Ilan University Ramat Gan Israel Computer Science Department Carnegie Mellon University Pittsburgh PA United States

This article reports on the Sixth Robot World Cup Competition and Conference (RoboCup-2002) Fukuoka/Busan, which took place from 19 to 25 June in Fukuoka, Japan. It was the largest RoboCup since 1997 and held the first humanoid league competition in the world. Further, the first ROBOTREX (robot trade and exhibitions) was held with about 50 companies, universities, and institutes represented. A total of 117,000 spectators witnessed this marvelous event, To the best of our knowledge, this was the largest robotic event in history.

关键词： Artificial intelligence

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fNIRS Feature Extraction and Classification in Grip-Force Tasks

fNIRS Feature Extraction and Classification in Grip-Force Ta...

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IEEE International Conference on robotics and Biomimetics

作者： Jinrui Liu Ting Song Zhilin Shu Jianda Han Ningbo Yu College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

ISBN: (纸本)9781665405362

It has been of increasing interest to decode the movements based on the changes in hemoglobin concentration in the cerebral cortex that can be measured by functional near-infrared spectroscopy (fNIRS). Existing work were mainly focused on motor imagery tasks for the advantages of fNIRS on cognitive activation detection, and motor tasks were not well studied. This paper investigated fNIRS feature extraction and classification methods for grip-force tasks. Two methods were implemented and compared. The first method took the classic machine learning approach. Features were extracted with respect to the physiological characteristics of fNIRS signals, including the mean, area and slope features. Then, support vector machine was used for classification of grip-force tasks with the extracted features. The second method took the deep learning approach without extracting features. An LSTM-based network was constructed to take in the fNIRS data and output the classified task type. The two methods were tested and compared with an grip-force task fNIRS dataset. The classic machine learning method with extracted features achieved the accuracy of 71.70%, and the LSTM-based deep learning method achieved 82.86%. The results demonstrate the feasibility and potential of fNIRS-based decoding of motor tasks.

关键词： Deep learning Support vector machines Cerebral cortex Stroke (medical condition) Feature extraction Decoding Task analysis

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Land Surface Displacement Geohazards Monitoring Using Multi-temporal InSAR Techniques

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Journal of Geodesy and Geoinformation science 2021年第1期4卷 77-87页

作者： Guang LIU Perski ZBIGNIEW Salvi STEFANO Thiebes BENNI Lixin WU Jinghui FAN Shibiao BAI Lianhuan WEI Shiyong YAN Rui SONG Bignami CHRISTIAN Tolomei CRISTIANO Stefan SCHNEIDERBAUER Joao Sousa JOAQUIM 无 Key Laboratory of Digital Earth Science Institute of Remote Sensing and Digital EarthChinese Academy of SciencesBeijing 100094China Carpathian Branch Polish Geological Institute-National Research InstituteCracow 31-560Poland National Institute of Geophysics and Volcanology Roma 605-00143Italy German Committee for Disaster Reduction Bonn 1353113Germany School of Resources and Civil Engineering Northeastern UniversityShenyang 110819China Division of Remote Sensing for Environment China Aero Geophysical Survey&Remote Sensing Center for Natural ResourcesBeijing 100083China School of Marine Science and Ocean Engineering Nanjing Normal UniversityNanjing 210046China School of Environment Science and Spatial Informatics China University of Mining and TechnologyXuzhou 221116China Mullard Space Science Laboratory Department of Space and Climate Physics University College London Holmbury RH56NTUK Eurac Research Bolzano 39100Italy School of Science and Technology University of Trás-os-Montes e Alto DouroVila Real 5000-801Portugal Centre for Robotics in Industry and Intelligent Systems(CRIIS) INESC Technology and Science(INESC-TEC)Porto 4200-465Portugal

China has been affected by some of the world’s most serious geological disasters and experiences high economic damage every *** occur not only in remote areas but also in highly populated *** the framework of the Dragon-432365 Project,this paper presents the main results and the major conclusions derived from an extensive exploitation of Sentinel-1,ALOS-2(Advanced Land Observing Satellite 2),GF-3(Gao Fen Satellite 3),and latest launched SAR(Synthetic Aperture Radar),together with methods that allow the evaluation of their importance for various ***,in the scope of this project,the great benefits of recent remote sensing data(wide spatial and temporal coverage)that allow a detailed reconstruction of past displacement events and to monitor currently occurring phenomena are exploited to study different areas and geohazards problems,including:surface deformation of mountain slopes;identification and monitoring of ground movements and subsidence;landslides;ground fissure;and building inclination *** movements detected in the different study areas were cross validated with different SAR sensors and truth data.

关键词： Dragon-4 project Sentinel-1 GF-3 landslide geohazards InSAR

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