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14th International Conference on Electronics, Computers and Artificial Intelligence, ECAI 2022

作者： Ianculescu, Marilena Nicolau, Dragos Nicolae Alexandru, Adriana National Institute for Research and Development in Informatics Communication Digital Applications & Systems Department Romania Doctoral School of Automatic Control and Computers University Politehnica of Bucharest Bucharest Romania

ISBN: (数字)9781665495356

ISBN: (纸本)9781665495356

Providing health care with the extensive support brought by Remote Health Monitoring systems (RHMS) is compulsory relied on a comprehensive and strict management of health data, due to its sensitive feature, amount, complexity and heterogeneity. As the quality, responsiveness, efficiency and reliability of the associated medical outcomes basically depends on the quality and accessibility of health data, specific attention must be paid on ensuring its completeness and accuracy. RO- SmartAgeing system is such a RHMS in which specific tasks and methods are targeted to ensure a strict control of collected data that is stored and further processed for sustaining proactive and preventative health care in an age-friendly smart environment. © 2022 IEEE.

关键词： Health care

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Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields

arXiv

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arXiv 2024年

作者： Chi, Xuemin Li, Yiming Huang, Jihao Dai, Bolun Liu, Zhitao Calinon, Sylvain State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Idiap Research Institute Martigny1920 Switzerland Lausanne1015 Switzerland Fauna Robotics New YorkNY United States

Generating collision-free motions in dynamic environments is a challenging problem for high-dimensional robotics, particularly under real-time constraints. control Barrier Functions (CBFs), widely utilized in safety-critical control, have shown significant potential for motion generation. However, for high-dimensional robot manipulators, existing QP formulations and CBF-based methods rely on positional information, overlooking higher-order derivatives such as velocities. This limitation may lead to reduced success rates, decreased performance, and inadequate safety constraints. To address this, we construct time-varying CBFs (TVCBFs) that consider velocity conditions for obstacles. Our approach leverages recent developments on distance fields for articulated manipulators, a differentiable representation that enables the mapping of objects’ position and velocity into the robot’s joint space, offering a comprehensive understanding of the system’s interactions. This allows the manipulator to be treated as a point-mass system thus simplifying motion generation tasks. Additionally, we introduce a time-varying control Lyapunov function (TVCLF) to enable whole-body contact motions. Our approach integrates the TVCBF, TVCLF, and manipulator physical constraints within a unified QP framework. We validate our method through simulations and comparisons with state-of-the-art approaches, demonstrating its effectiveness on a 7-axis Franka robot in real-world experiments. © 2024, CC BY.

关键词： Lyapunov functions

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Synthesis of a High-Level controller for controlling a Group of Uavs in the Gazebo Simulation Environment

Synthesis of a High-Level Controller for Controlling a Group...

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International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： L. A. Rybak A. S. Pisarenko V. M. Polyakov Scientific Research Institute of Robotics and Control Systems Belgorod State Technological University n.a. V.G. Shukhov Belgorod Russia Federal Research Center “Informatics and Management” of the Russian Academy of Sciences Moscow Russia

ISBN: (数字)9798331512194

ISBN: (纸本)9798331512200

The article presents the development and experimental verification of a control system based on a highlevel controller by a group of unmanned aerial vehicles (UAVs) based on the ROS 2 framework and the PX4 autopilot in the Gazebo simulation environment. The system is designed to address challenges related to autonomous navigation, group coordination, and obstacle avoidance in complex environments. The modular architecture of the control system is described, which includes such components as a high-level controller, a Gcommand processing module, a flight control module, and a data visualization module. For modeling and testing the system, the Gazebo simulation environment is used Gazebo, which provides realistic physical modeling and integration with ROS 2. The results of modeling and experimental studies of the movement of a group of UAVs are presented, during which the correctness of command execution, coordination of the group of UAVs and the stability of the system to external influences are checked.

关键词： Process control Data visualization systems architecture Autonomous aerial vehicles Stability analysis Autopilot Collision avoidance Autonomous robots Aerospace control Testing

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Fault Detection and Bipartite Time-Varying Formation control for Fuzzy Multi-Agent systems under Switching Topology: Theory and Applications

Fault Detection and Bipartite Time-Varying Formation Control...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Siyang Zhao Jinyong Yu Michael Basin Research Institute of Intelligent Control and Systems Harbin Institute of Technology Heilongjiang China Robotics Institute Ningbo University of Technology and Zhejiang China School of Physical and Mathematical Sciences Autonomous University of Nuevo Leon Nuevo Leon Mexico

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

This paper studies the problem of co-designing fault detection observers and time-varying formation controllers for nonlinear multi-agent systems over a signed switching digraph. A Markov process is employed to describe the digraph and the IT2 T-S fuzzy model is used to model the nonlinearities and parameter uncertainties of the system. Sufficient conditions are proposed guaranteeing that the bipartite time-varying formation tracking error is uniformly ultimately bounded and the fault detection performance is constrained by a dissipative index. Finally, the effectiveness and feasibility of the proposed method are verified by an example of one leader and six followers and a case study of a system of seven robotic arms.

关键词： Fault detection Switches Observers Markov processes Manipulators Formation control Topology

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Two Stage Technical Vision Algorithm for Automatic Fruit Picking Based on Neural Networks and Hough Transform

Two Stage Technical Vision Algorithm for Automatic Fruit Pic...

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International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： L. A. Rybak V. V. Cherkasov A. A. Voloshkin Scientific Research Institute of Robotics and Control Systems Belgorod State Technological University n.a. V.G. Shukhov Belgorod Russia Federal Research Center “Informatics and Management” of the Russian Academy of Sciences Moscow Russia

ISBN: (数字)9798331512194

ISBN: (纸本)9798331512200

The article presents the development of a technical vision algorithm for automatic fruit harvesting based on the use of the YOLOv8 neural network and data obtained from binocular cameras. The algorithm uses a two-stage approach: at the first stage, the front-facing RGB-D camera installed on the mobile platform determines the position of trees and fruits, and at the second stage, the camera on the capture device specifies the coordinates of fruits using segmentation and Hough transform methods. To improve speech recognition accuracy, we use HSVspace filtering and combine data from multiple cameras using the Kalman filter. The results of modeling and experimental studies confirming the resistance to environmental influences, such as partial overlap of objects, changing lighting and the presence of foreign elements, are presented.

关键词： Resistance Training Accuracy Filtering Neural networks Lighting Transforms Speech recognition Cameras Manufacturing

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic Engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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Principled Preferential Bayesian Optimization

arXiv

引用

arXiv 2024年

作者： Xu, Wenjie Wang, Wenbin Jiang, Yuning Svetozarevic, Bratislav Jones, Colin N. Automatic Control Laboratory EPFL Lausanne Switzerland Urban Energy Systems Laboratory Empa Zurich Switzerland The Institute for Artificial Intelligence Research and Development of Serbia Serbia

We study the problem of preferential Bayesian optimization (BO), where we aim to optimize a black-box function with only preference feedback over a pair of candidate solutions. Inspired by the likelihood ratio idea, we construct a confidence set of the black-box function using only the preference feedback. An optimistic algorithm with an efficient computational method is then developed to solve the problem, which enjoys an information-theoretic bound on the total cumulative regret, a first-of-its-kind for preferential BO. This bound further allows us to design a scheme to report an estimated best solution, with a guaranteed convergence rate. Experimental results on sampled instances from Gaussian processes, standard test functions, and a thermal comfort optimization problem all show that our method stably achieves better or competitive performance as compared to the existing state-of-the-art heuristics, which, however, do not have theoretical guarantees on regret bounds or convergence. © 2024, CC BY-NC-ND.

关键词： Computational efficiency

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Delivering Improved Care through Remote Health Monitoring systems by Using Microservices. Case Study: Fall Detection Encompassed into Connected Care 24

Delivering Improved Care through Remote Health Monitoring Sy...

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24th International Conference on control systems and Computer Science, CSCS 2023

作者： Ianculescu, Marilena Alexandru, Adriana Giura, Ionut-Emanuel Vasilevschi, Ana-Mihaela National Institute for Research and Development in Informatics Communication Digital Applications and Systems Department Bucharest Romania University Politehnica of Bucharest Doctoral School of Automatic Control and Computers Bucharest Romania Counselors Department National Institute for Research and Development in Informatics Târgovişte Romania Faculty of Electrical Engineering Electronics and Information Technology Târgovişte Romania Valahia University of Târgovişte Târgovişte Romania

ISBN: (纸本)9798350313390

Based on today's modern technologies, patient care can be provided remotely, in a connected way, being, at the same time, personalized, patient-centered and proactive. Such an approach can be achieved using Remote Health Monitoring systems (RHMS). In case of elderly people, dramatic permanent deteriorations of their health status can be caused by falls. The seniors' health and life style monitoring and the detection and/or prevention of falls can be done by such RHMS, an example being the RO-SmartAgeing system developed inside 'Non-invasive Monitoring System and Health Assessment of the Elderly in a Smart Environment (RO-SmartAgeing)' research project. The paper presents the problem of using microservices for optimizing the architecture and functionalities of RO-SmartAgeing system, and the way in which the problems of ensuring the security of patient data can be solved. © 2023 IEEE.

关键词： Fall detection

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Using machine learning and satellite data from multiple sources to analyze mining,water management,and preservation of cultural heritage

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地球空间信息科学学报（英文版） 2024年第3期27卷 552-571页

作者： Joaquim J.Sousa Jiahui Lin Qun Wang Guang Liu Jinghui Fan Shibiao Bai Hongli Zhao Hongyu Pan Wenjing Wei Vanessa Rittlinger Peter Mayrhofer Ruth Sonnenschein Stefan Steger Luís Paulo Reis School of Science and Technology University of Trás-Os-Montes E Alto DouroVila RealPortugal Centre for Robotics in Industry and Intelligent Systems(CRIIS) INESC Technology and SciencePortoPortugal Aerospace Information Research Institute Chinese Academy of SciencesBeijingChina International Research Center of Big Data for Sustainable Development Goals BeijingChina College of Resources and Environment University of Chinese Academy of SciencesBeijingChina Application system Department Ⅰ China Siwei Surveying and Mapping Technology Co.LtdBeijingChina China Aero Geophysical Survey and Remote Sensing Center for Natural Resources BeijingChina College of Marine Science and Engineering Nanjing Normal UniversityNanjingChina Institute of Mountain Hazards and Environment Chinese Academy of SciencesChengduChina College of Marine Science and Engineering Nanjing Normal UniversityNanjingChina Institute for Earth Observation Eurac ResearchBolzanoItaly Faculty of Engineering University of PortoPortoPortugal

Remote sensing,particularly satellite-based,can play a valuable role in monitoring areas prone to *** high spatial and temporal coverage provided by satellite data can be used to reconstruct past events and continuously monitor sensitive areas for potential *** paper presents a range of techniques and methods that were applied for in-depth analysis and utilization of Earth observation data,with a particular emphasis on:(1)detecting mining sub-sidence,where a novel approach is proposed by combining an improved U-Net model and Interferometry Synthetic Aperture Radar(InSAR)*** results showed that the Efficient Channel Attention(ECA)U-Net model performed better than the U-Net(baseline)model in terms of Mean Intersection over Union(MIoU)and Intersection over Union(loU)indicators;(2)monitor-ing water conservancy and hydropower *** Xiaolangdi multipurpose dam complex was monitored using Small BAsline Subsets(SBAS)InSAR method on Sentinel-1 time series data and four small regions with high deformation rates were identified on the slope of the reservoir bank on the north *** dam body also showed obvious deformation with a velocity exceeding 60 mm/a;(3)the evaluation of the potential of InSAR results to integrate monitoring and warning systems for valuable heritage and architectural *** overall outcome of these methods showed that the use of Artificial Intelligence(AI)techniques in combination with InSAR data leads to more efficient analysis and interpretation,resulting in improved accuracy and prompt identification of potential hazards;and(4)finally,this study also presents a method for detecting landslides in mountainous regions,using optical *** new temporal landslide detection method is evaluated over a 7-year analysis period and unlike conventional bi-temporal change detection methods,this approach does not depend on any prior-knowledge and can potentially detect landslides over extended periods of time

关键词： Landslide detection InSAR time series analysis machine learning heritage preservation mining subsidence water conservancy infrastructures

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Flying is for Droids: A Survey of research into Generating Certification Evidence for AI/ML Algorithms to Replace Human Pilots

Flying is for Droids: A Survey of Research into Generating C...

引用

International Conference on Unmanned Aircraft systems (ICUAS)

作者： Donald Costello Huan Xu Weapons Robotics and Control Engineering United States Naval Academy Annapolis Maryland United States Aerospace Engineering/Institute for Systems Research University of Maryland College Park Maryland United States

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

While academia and industry have shown that they can develop systems that exhibit high levels of autonomy across multiple domains (air, sea, and land systems), as of now, regulations do not exist to allow a system to operate autonomously (without a human in or on the loop to ultimately be accountable for the actions of the system). Without these regulations, a truly autonomous system will remain a demon-stration program or simply science fiction. The United States Navy has publicly announced that it intends to dramatically increase its fleet of uncrewed aerial systems. To support an ongoing effort for fielding autonomy, researchers have been trying to define the problem and identify possible solutions. This survey paper details the work that has gone into generating certification evidence for artificial intelligence/machine learning algorithms to replace humans within naval aviation. It is hoped that the lessons learned and standards developed can be used to spread autonomous functionality to other domains.

关键词： Surveys Industries Stars Learning (artificial intelligence) Military aircraft Regulation Safety

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