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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Jiange Gao Jian Guo Weijie Zhang Yuye Hu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China

ISBN: (纸本)9781509023974

The exoskeleton robotic rehabilitation training system is a branch of the field of robotics, it is the external mechanical system that is consistent with the similar joints of the human body, and attached to the human body. With the development of exoskeleton rehabilitation robotic system, the biomechanics influence of device should be considered in rehabilitation training. This paper proposes a novel upper limb exoskeleton rehabilitation device based on biomechanics, which can be used in rehabilitation of upper limb for hemi paralysis patients. This system aims at helping hemi paralysis patients recover motor function of upper limb; in addition it is suitable for variety of patients. This system is portable and wearable, which consists of exoskeleton device, hepatic device (PHANTOM Premium), motor controllers and work station (computer). This paper proposes a structural optimization scheme in order to solve some problems of bowl's structure of the rehabilitation robot. The Pro/ENGINEER Wildfire (Pro/E) software is applied to get a three-dimensional modelling, kinematics simulation and dynamic analysis of the rehabilitation robot. From the analysis, the robot end motion simulation curves were obtained to verify the optimization structure reasonable and better motion characteristics. In the future, this structure will have a wide application prospect in the rehabilitation therapy field.

关键词： Robots Exoskeletons Wrist Jacobian matrices Gears Optimization Acceleration

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A simulation framework for industrial wireless networks and process control systems

A simulation framework for industrial wireless networks and ...

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IEEE International Workshop on Factory Communication systems (WFCS)

作者： Yongkang Liu Richard Candell Kang Lee Nader Moayeri Advanced Network Technologies Division Information Technology Laboratory National Institute of Standards and Technology Gaithersburg MD USA Intelligent Systems Division National Institute of Standards and Technology Gaithersburg MD USA

ISBN: (纸本)9781509023400

Factory and process automation systems are increasingly employing information and communications technologies to facilitate data sharing and analysis in integrated control operations. Wireless connections provide flexible access to a variety of field instruments and reduce network installation and maintenance costs. This serves as an incentive for the adoption of industrial wireless networks based on standards such as the WirelessHART and ISA100.11a in factory control systems. However, process control systems vary greatly and have diverse wireless networking requirements in different applications. These requirements include deterministic transmissions in the shared wireless bandwidth, low-cost operation, long-term durability, and high reliability in the harsh radio propagation environment. It is an open question whether a generic wireless technology would meet the requirements of industrial process control. In this paper, we propose a novel simulation framework for performance evaluation of wireless networks in factory and process automation systems. We select a typical process control plant model, specifically the Tennessee Eastman Challenge (TE) Model, and define the interfaces between the process simulator and the wireless network simulator. We develop a model of the protocol stack of the WirelessHART specification in the OMNET++ simulation engine as a typical industrial wireless network. We present simulation results that validate the prospect of using WirelessHART in the TE plant, and we evaluate the impact of various wireless network configurations on the plant operation. Given its modular design, the proposed simulation framework can be easily used to evaluate the performance of other industrial wireless networks in conjunction with a variety of process control systems.

关键词： Process control Wireless sensor networks Wireless networks Communication system security Instruments Production facilities

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Controlling the Error on Target Motion through Real-time Mesh Adaptation: Applications to Deep Brain Stimulation

arXiv

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arXiv 2017年

作者： Bui, Huu Phuoc Tomar, Satyendra Courtecuisse, Hadrien Audette, Michel Cotin, Stéphane Bordas, Stéphane P.A. Institute of Computational Engineering University of Luxembourg Faculty of Sciences Communication and Technology Luxembourg University of Strasbourg CNRS ICube Strasbourg France Department of Modeling Simulation and Visualization Engineering Old Dominion University Norfolk United States Inria Nancy-Grand Est Villers-lès-Nancy France Institute of Mechanics and Advanced Materials School of Engineering Cardiff University United Kingdom Intelligent Systems for Medicine Laboratory University of Western Australia Perth Australia

We present an error-controlled mesh refinement procedure for needle insertion simulation and apply it to the simulation of electrode implantation for deep brain stimulation, including brain shift. Our approach enables to control the error in the computation of the displacement and stress fields around the needle tip and needle shaft by suitably refining the mesh, whilst maintaining a coarser mesh in other parts of the domain. We demonstrate through academic and practical examples that our approach increases the accuracy of the displacement and stress fields around the needle without increasing the computational expense. This enables real-time simulations. The proposed methodology has direct implications to increase the accuracy and control the computational expense of the simulation of percutaneous procedures such as biopsy, brachytherapy, regional anesthesia, or cryotherapy and can be essential to the development of robotic guidance. Copyright © 2017, The Authors. All rights reserved.

关键词： Finite element method

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Off-ramp of Urban Freeway and Close to Cohesion Intersection Coordinated Control

Off-ramp of Urban Freeway and Close to Cohesion Intersection...

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第28届中国控制与决策会议

作者： Lili Zhang Li Wang Min Li Dai Li Haibo Zhang Zhengxi Li Beijing Key Lab of Urban Intelligent Traffic Control Technology North China University of Technology Advanced Control Systems Laboratory School of Electronic and Information EngineeringBeijing Jiaotong University

ISBN: (纸本)9781467397155

When there's heavy traffic passing off-ramp of urban freeway and close to joint section,the intersection and the passage of the side road traffic will be *** this paper,a coordinated control method based on the mixed logic dynamic(MLD) model will be introduced using bi-level programming genetic algorithm to coordinately control the off-ramp and the downstream *** bi-level programming,the first stage is acquisition of the best cycle length of the downstream intersection using genetic algorithm,and the second,the optimized result is considered as the initial condition to optimize the waiting time of the vehicles to obtain the best green-time of each *** with single-programming method,which will bring in errors because the cycle length of downstream intersection must be a known quantity,bi-programming optimization can avoid the *** control method is verified by road network simulation using VISSIM.

关键词： Off-ramp Mixed Logic Dynamic Modeling Genetic algorithm Double optimization

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A kind of online self-tuning smith predictor

A kind of online self-tuning smith predictor

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IEEE International Conference on Mechatronics and Automation

作者： Xu Chen Fei Meng Xiaopeng Chen Qiang Huang Intelligent Robotics Institute Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and System Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China International Joint Research Laboratory of Biomimetic Key Laboratory of Intelligent Control and Decision of Comp lex System Beijing China

ISBN: (纸本)9781509023974

This paper presents an online self-tuning Smith Predictor for the First Order Plus Dead Time Model (FOPDT). It can tune time delay through oscillated input and output. Realtime phase difference detection is used to obtain the phase difference between the input and the output. An online tuner is used to minimize the phase difference. Once the phase difference is minimized, the exact time delay is completely compensated. Our method is suitable for both systems with constant time delay or variant time delay.

关键词： Delay effects Temperature control Delays Predictive models Oscillators Robots

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Direct Measurement of the Cosmic-Ray Proton Spectrum from 50 GeV to 10 TeV with the Calorimetric Electron Telescope on the International Space Station

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Physical Review Letters 2019年第18期122卷 181102-181102页

作者： O. Adriani Y. Akaike K. Asano Y. Asaoka M. G. Bagliesi E. Berti G. Bigongiari W. R. Binns S. Bonechi M. Bongi P. Brogi A. Bruno J. H. Buckley N. Cannady G. Castellini C. Checchia M. L. Cherry G. Collazuol V. Di Felice K. Ebisawa H. Fuke T. G. Guzik T. Hams N. Hasebe K. Hibino M. Ichimura K. Ioka W. Ishizaki M. H. Israel K. Kasahara J. Kataoka R. Kataoka Y. Katayose C. Kato N. Kawanaka Y. Kawakubo K. Kohri H. S. Krawczynski J. F. Krizmanic T. Lomtadze P. Maestro P. S. Marrocchesi A. M. Messineo J. W. Mitchell S. Miyake A. A. Moiseev K. Mori M. Mori N. Mori H. M. Motz K. Munakata H. Murakami S. Nakahira J. Nishimura G. A. de Nolfo S. Okuno J. F. Ormes S. Ozawa L. Pacini F. Palma P. Papini A. V. Penacchioni B. F. Rauch S. B. Ricciarini K. Sakai T. Sakamoto M. Sasaki Y. Shimizu A. Shiomi R. Sparvoli P. Spillantini F. Stolzi J. E. Suh A. Sulaj I. Takahashi M. Takayanagi M. Takita T. Tamura T. Terasawa H. Tomida S. Torii Y. Tsunesada Y. Uchihori S. Ueno E. Vannuccini J. P. Wefel K. Yamaoka S. Yanagita A. Yoshida K. Yoshida Department of Physics University of Florence Via Sansone 1—50019 Sesto Fiorentino Italy INFN Sezione di Florence Via Sansone 1—50019 Sesto Fiorentino Italy Department of Physics University of Maryland Baltimore County 1000 Hilltop Circle Baltimore Maryland 21250 USA Astroparticle Physics Laboratory NASA/GSFC Greenbelt Maryland 20771 USA Institute for Cosmic Ray Research The University of Tokyo 5-1-5 Kashiwa-no-Ha Kashiwa Chiba 277-8582 Japan Waseda Research Institute for Science and Engineering Waseda University 3-4-1 Okubo Shinjuku Tokyo 169-8555 Japan JEM Utilization Center Human Spaceflight Technology Directorate Japan Aerospace Exploration Agency 2-1-1 Sengen Tsukuba Ibaraki 305-8505 Japan Department of Physical Sciences Earth and Environment University of Siena via Roma 56 53100 Siena Italy INFN Sezione di Pisa Polo Fibonacci Largo B. Pontecorvo 3—56127 Pisa Italy Department of Physics and McDonnell Center for the Space Sciences Washington University One Brookings Drive St. Louis Missouri 63130-4899 USA Heliospheric Physics Laboratory NASA/GSFC Greenbelt Maryland 20771 USA Department of Physics and Astronomy Louisiana State University 202 Nicholson Hall Baton Rouge Louisiana 70803 USA Institute of Applied Physics (IFAC) National Research Council (CNR) Via Madonna del Piano 10 50019 Sesto Fiorentino Italy Department of Physics and Astronomy University of Padova Via Marzolo 8 35131 Padova Italy INFN Sezione di Padova Via Marzolo 8 35131 Padova Italy University of Rome “Tor Vergata” Via della Ricerca Scientifica 1 00133 Rome Italy INFN Sezione di Rome “Tor Vergata” Via della Ricerca Scientifica 1 00133 Rome Italy Institute of Space and Astronautical Science Japan Aerospace Exploration Agency 3-1-1 Yoshinodai Chuo Sagamihara Kanagawa 252-5210 Japan CRESST and Astroparticle Physics Laboratory NASA/GSFC Greenbelt Maryland 20771 USA Kanagawa University 3-27-1 Rokkakubashi Kanagawa Yokohama Kanagawa 221-8686 Japan Faculty of

In this paper, we present the analysis and results of a direct measurement of the cosmic-ray proton spectrum with the CALET instrument onboard the International Space Station, including the detailed assessment of systematic uncertainties. The observation period used in this analysis is from October 13, 2015 to August 31, 2018 (1054 days). We have achieved the very wide energy range necessary to carry out measurements of the spectrum from 50 GeV to 10 TeV covering, for the first time in space, with a single instrument the whole energy interval previously investigated in most cases in separate subranges by magnetic spectrometers (BESS-TeV, PAMELA, and AMS-02) and calorimetric instruments (ATIC, CREAM, and NUCLEON). The observed spectrum is consistent with AMS-02 but extends to nearly an order of magnitude higher energy, showing a very smooth transition of the power-law spectral index from −2.81±0.03 (50–500 GeV) neglecting solar modulation effects (or −2.87±0.06 including solar modulation effects in the lower energy region) to −2.56±0.04 (1–10 TeV), thereby confirming the existence of spectral hardening and providing evidence of a deviation from a single power law by more than 3σ.

关键词： Cosmic ray acceleration Cosmic ray composition & spectra Cosmic ray propagation Cosmic ray sources Cosmic rays & astroparticles

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A Hierarchical Emotion Regulated Sensorimotor Model:Case Studies

A Hierarchical Emotion Regulated Sensorimotor Model:Case Stu...

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第28届中国控制与决策会议

作者： Junpei Zhong Rony Novianto Mingjun Dai Xinzheng Zhang Angelo Cangelosi Centre for Robotics and Neural Systems Plymouth University Laboratory for Intelligent Dynamics and Representation Waseda University Centre of Quantum Computation and Intelligent Systems University of Technology Shenzhen Key Lab of Advanced Communication and Information Processing and Shenzhen Key Laboratory of Media Security Shenzhen University School of Electrical and Information Engineering Jinan University

ISBN: (纸本)9781467397155

Inspired by the hierarchical cognitive architecture and the perception-action model(PAM)[14],we propose that the internal status acts as a kind of common-coding representation which affects,mediates and even regulates the sensorimotor *** regulation can be depicted in the Bayesian framework,that is why cognitive agents are able to generate behaviours with subtle differences according to their emotion or recognize the emotion by perception.A novel recurrent neural network called recurrent neural network with parametric bias units(RNNPB) runs in three modes,constructing a two-level emotion regulated learning model,was further applied to testify this theory in two different cases.

关键词： Embodied Emotion Modelling Cognitive Architecture Recurrent Neural Networks Non-verbal Emotion Expression Social Robotics

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Self-adaptive Control Strategy for Exoskeleton to Help Paraplegic Patients Stand Up and Sit Down

Self-adaptive Control Strategy for Exoskeleton to Help Parap...

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第35届中国控制会议

作者： Can Wu Ting Zhang Yongqiang Liao Can Wang Guizhong Wu Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences School of Electro-mechanical Engineering Guangdong University of Technology Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences

ISBN: (纸本)9781509009107

This paper presents a practical control strategy used on lower limb exoskeleton to help paraplegic patients to stand up and sit *** can make the process more comfortable and stable no matter the crutches are pressed heavy or *** is particularly efficient to the robots without drivable ankle joints such SIAT *** space was configured to ensure that the real time-generated trajectory won't break the balance of human-robot *** speed of each joint adjusts to the pressure under the crutches so as to relieve the impact from *** result of experiments shows that the self-adaptive control strategy can not only ensure the stability and fitness,but also form an incentive- "more effort paid,more time saved".

关键词： Exoskeleton Stable space Self-adaptive control Standing up process

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A hybrid-integrated external cavity laser with ultra-wide wavelength tuning range and high side-mode suppression

A hybrid-integrated external cavity laser with ultra-wide wa...

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Optical Fiber Communication Conference, OFC 2016

作者： Guo, Yuyao Li, Xinhang Xu, Weihan Liu, Chuxin Jin, Minhui Lu, Liangjun Xie, Jingya Stroganov, Anton Chen, Jianping Zhou, Linjie State Key Laboratory of Advanced Optical Communication Systems and Networks Shanghai Institute for Advanced Communication and Data Science Department of Electronic Engineering Shanghai Jiao Tong University Shanghai200240 China SJTU-Pinghu Institute of Intelligent Optoelectronics Pinghu314200 China Terahertz Technology Innovation Research Institute Terahertz Spectrum and Imaging Technology Cooperative Innovation Center Shanghai Key Lab of Modern Optical System University of Shanghai for Science and Technology Shanghai200093 China LIGENTEC SA EPFL Innovation Park Bâtiment L Ecublens1024 Switzerland

We present a III-V/Si3N4 hybrid-integrated tunable laser. The laser shows a record of ~170-nm tuning range with a side mode suppression ratio above 64 dB and an intrinsic linewidth below 2.8 kHz. © 2022 The Autho...

ISBN: (纸本)9781943580071

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Quantum state and process tomography via adaptive measurements

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Science China(Physics,Mechanics & Astronomy) 2016年第10期59卷 25-32页

作者： HengYan Wang WenQiang Zheng NengKun Yu KeRen Li DaWei Lu Tao Xin Carson Li ZhengFeng Ji David Kribs Bei Zeng XinHua Peng JiangFeng Du Hefei National Laboratory for Physical Sciences at Microscale and Department of Modern Physics University of Science and Technology of ChinaHefei 230026China Department of Applied Physics Zhejiang University of TechnologyHangzhou 310023China Institute for Quantum Computing University of WaterlooWaterloo N2L 3G1Canada 4Department of Mathematics&Statistics University of GuelphGuelph N1G 2W1Canada Centre for Quantum Computation&Intelligent Systems Faculty of Engineering and Information TechnologyUniversity of Technology SydneySydney NSW 2007Australia State Key Laboratory of Low-Dimensional Quantum Physics and Department of Physics Tsinghua UniversityBeijing 100084China Department of Physics University of GuelphGuelph N1G 2W1Canada State Key Laboratory of Computer Science Institute of SoftwareChinese Academy of SciencesBeijing 100190China Canadian Institute for Advanced Research Toronto M5G 1Z8Canada

We investigate quantum state tomography(QST) for pure states and quantum process tomography(QPT) for unitary channels via adaptive measurements. For a quantum system with a d-dimensional Hilbert space, we first propose an adaptive protocol where only 2d. 1 measurement outcomes are used to accomplish the QST for all pure states. This idea is then extended to study QPT for unitary channels, where an adaptive unitary process tomography(AUPT) protocol of d2+d.1measurement outcomes is constructed for any unitary channel. We experimentally implement the AUPT protocol in a 2-qubit nuclear magnetic resonance system. We examine the performance of the AUPT protocol when applied to Hadamard gate, T gate(/8 phase gate), and controlled-NOT gate,respectively, as these gates form the universal gate set for quantum information processing purpose. As a comparison, standard QPT is also implemented for each gate. Our experimental results show that the AUPT protocol that reconstructing unitary channels via adaptive measurements significantly reduce the number of experiments required by standard QPT without considerable loss of fidelity.

关键词： quantum tomography state reconstruction nuclear magnetic resonance

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