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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zhi Zheng Jin Wang Yuze Wu Qifeng Cai Huan Yu Ruibin Zhang Jie Tu Jun Meng Guodong Lu Fei Gao The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Institute of Zhejiang University Hangzhou China Robotics Research Center of Yuyao City Ningbo China The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China Center for Data Mining and Systems Biology College of Electrical Engineering Zhejiang University Hangzhou China

The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight capabilities are achieved through a quadrotor config-uration, with four thrust-providing actuators. Additionally, rolling motion is facilitated by a unicycle-driven and rotor-assisted turning structure. By utilizing terrestrial locomotion, the vehicle can overcome rolling and turning resistance, thereby conserving energy compared to its flight mode. This innovative approach not only tackles the inherent challenges of traditional rotorcraft but also enables the vehicle to roll through narrow gaps and overcome obstacles by taking advantage of its aerial mobility. We develop comprehensive models and controllers for the Roller-Quadrotor and validate their performance through experiments. The results demonstrate its seamless transition between aerial and terrestrial locomotion, as well as its ability to safely roll through gaps half the size of its diameter. Moreover, the terrestrial range of the vehicle is approximately 2.8 times greater, while the operating time is about 41.2 times longer compared to its aerial capabilities. These findings underscore the feasibility and effectiveness of the proposed structure and control mechanisms for efficient rolling through challenging terrains while conserving energy.

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Dynamic Movement Primitive based Motion Retargeting for Dual-Arm Sign Language Motions

Dynamic Movement Primitive based Motion Retargeting for Dual...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yuwei Liang Weijie Li Yue Wang Rong Xiong Yichao Mao Jiafan Zhang Robotics Laboratory Institute of Cyber-Systems and Control Zhejiang University China ABB Corporate Research Center China

We aim to develop an efficient programming method for equipping service robots with the skill of performing sign language motions. This paper addresses the problem of transferring complex dual-arm sign language motions characterized by the coordination among arms and hands from human to robot, which is seldom considered in previous studies of motion retargeting techniques. In this paper, we propose a novel motion retargeting method that leverages graph optimization and Dynamic Movement Primitives (DMPs) for this problem. We employ DMPs in a leader-follower manner to parameterize the original trajectories while preserving motion rhythm and relative movements between human body parts, and adopt a three-step optimization procedure to find deformed trajectories for robot motion planning while ensuring feasibility for robot execution. Experimental results of several Chinese Sign Language (CSL) motions have been successfully performed on ABB’s YuMi dual-arm collaborative robot (14-DOF) with two 6-DOF Inspire-robotics’ multi-fingered hands, a system with 26 DOFs in total.

关键词： Robot motion Service robots Robot kinematics Dynamics Gesture recognition Assistive technologies Programming

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A Graphical-User-Interface-Based System for Removal of ECG Data Measurement Noises Using Newton filters: New Data

A Graphical-User-Interface-Based System for Removal of ECG D...

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2021 IEEE International Conference "Quality Management, Transport and Information Security, Information Technologies", T and QM and IS 2021

作者： Altay, Yeldos A. Lyamin, Andrey V. Berngardt, Edvard R. ITMO University Faculty Control Systems and Robotics St. Petersburg Russia ITMO University Open Education Department St. Petersburg Russia Institute Medical Education Almazov National Medical Research Centre St. Petersburg Russia

ISBN: (纸本)9781665433020

This article presents the filtering results for the removal of ECG data measurement noises using Newton filters. In order to minimize the measurement error and introduced phase shifts by Newton filters, the results of uni-directional and bi-directional processing of ECG data are presented. Quantitative indicators were calculated that characterize the increase in the efficiency of processing and analysis of ECG data at uni-directional and bi-directional filtration. To substantiate the practical significance of the proposed Newton filters, a GUI-based system has been developed. GUI-based Newtonian filters system was implemented. The test results showed that Newton's filters implemented by the GUI system allow filtering out natural low-frequency and high-frequency noises and will improve the ECG data processing. © 2021 IEEE.

关键词： Graphical user interfaces

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Compensation control of PMSMs Based on a High-order Sliding Mode Observer with Inertia Identification

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IEEE Journal of Emerging and Selected Topics in Power Electronics 2025年

作者： Li, Ke Ding, Jie Sun, Xiaodong Lei, Gang Dianov, Anton Demidova, Galina Prakht, Vladimir Jiangsu University School of Electrical and Information Engineering Zhenjiang212013 China Jiangsu University Automotive Engineering Research Institute Zhenjiang212013 China University of Technology Sydney School of Electrical and Data Engineering NSW2007 Australia Wenzhou University Pingyang Institute of Intelligent Manufacturing Wenzhou325035 China ITMO University Faculty of Control Systems and Robotics Petersburg197101 Russia Ural Federal University Department of Electrical Engineering Ekaterinburg620062 Russia

This article proposes a new sliding mode control (NSMC) reaching law to improve the speed tracking and anti-interference performance of permanent magnet synchronous motors (PMSMs). The NSMC improves the sliding mode control (SMC) in approaching speed and reducing chattering. Firstly, considering that the external load interference will adversely affect the control system, a high-order sliding mode observer (HOSMO) is designed to observe the load torque, and the observed value is compensated to the output of the speed controller. Then, combined with the Landau algorithm, a variable adaptive gain algorithm is introduced to decrease the impact of inertia mismatch on the system control performance. The algorithm identifies the rotational inertia online, reduces the effect of load disturbance on the identification performance, and updates the identification results to the observation in processors and controllers. Experimental results show that the proposed control method reduces the speed and current fluctuations of the system when load torque and inertia vary and improves the system's robustness. © 2013 IEEE.

关键词： Permanent magnets

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Classification of Petrov Homogeneous Spaces

arXiv

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arXiv 2024年

作者： Obukhov, V.V. Tomsk State Pedagogical University Institute of Scietific Research and Development' 60 Kievskaya St. Tomsk634041 Russia Tomsk State University of Control Systems and Radio Electronics Laboratory for Theoretical Cosmology International Center of Gravity and Cosmos 36 Lenin Avenue Tomsk634050 Russia

In this paper the final stage of the Petrov classification is carried out. Asit is known, the Killing vector fields specify infinitesimal transformations ofthe group of motions of space V 4. In the case when in the homogeneous spaceV 4 the group of motions G 3 acts simply transitive, the geometry of thenon-isotropic hypersurface is determined by the geometry of the transitivityspace V 3 of the group G 3. In this case, the metric tensor of the spaceV 3 can be given by a nonholonomic reper consisting of three independentvectors {(a)}^α, which define the generators of the group G 3 offinite transformations in the space V 3. The representation of the metrictensor of V 4 spaces by means of vector fields {(a)}^αhas agreat physical meaning and allows to simplify substantially the equations ofmathematical physics in such spaces. Therefore, the Petrov classificationshould be complemented by the classification of vector fields {(a)}^αconnected to Killing vector fields. For homogeneous spacesthis problem has been largely solved. A complete solution of this problem ispresented in the present paper, where the Petrov classification for homogeneousspaces in which the group G 3, which belongs to type VIII according to thePetrov classification, acts simply transitively, is refined. In addition, thecomplete classification of vector fields {(a)}^αfor spaces V 4in which the group G 3 acts simply transitivity on isotropic hypersurfaces.}MSC Codes 70H33 70G65, 83C10 Copyright © 2024, The Authors. All rights reserved.

关键词： Vector spaces

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Classification of the non-null electrovacuum solution of Einstein-Maxwell equations with three-parameter abelian group of motions

arXiv

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arXiv 2024年

作者： Obukhov, V.V. Tomsk State Pedagogical University Institute of Scietific Research and Development 60 Kievskaya St. Tomsk634041 Russia Tomsk State University of Control Systems and Radio Electronics Laboratory for Theoretical Cosmology International Center of Gravity and Cosmos 36 Lenin Avenue Tomsk634050 Russia

The classification of the Stackel spaces of the electrovacuum of the type (3.0) has been done. These spaces are invariant under the action of the three-parameter abelian group of motions and belong to the first type Bianchi spaces. In the case of a non-zero cosmological term, the metrics and potentials contain solutions of a nonlinear ordinary differential equation of the second order. When the cosmological term equals zero, the metrics and the components of the electromagnetic field tensor are expressed through elementary *** the classification of the electrovacuum stackel spaces of all types is completed and complete list of these spaces is *** Codes 83C05, 83C15, 83C20, 83C22 Copyright © 2024, The Authors. All rights reserved.

关键词： Maxwell equations

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Adaptive single-stage control for uncertain nonholonomic Euler-Lagrange systems

Adaptive single-stage control for uncertain nonholonomic Eul...

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IEEE Conference on Decision and control

作者： Tian Tao Spandan Roy Simone Baldi Delft Center for Systems and Control Delft University of Technology (TU Delft) Netherlands Robotics Research Centre International Institute of Information Technology Hyderabad India School of Mathematics Southeast University Nanjing China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This work introduces a new single-stage adaptive controller for Euler-Lagrange systems with nonholonomic constraints. The proposed mechanism provides a simpler design philosophy compared to double-stage mechanisms (that address kinematics and dynamics in two steps), while achieving analogous stability properties, i.e. stability of both original and internal states. Meanwhile, we do not require direct access to the internal states as required in state-of-the-art single-stage mechanisms. The proposed approach is studied via Lyapunov analysis, validated numerically on wheeled mobile robot dynamics and compared to a standard double-stage approach.

关键词： Adaptive systems Philosophical considerations Kinematics control systems Stability analysis Mobile robots Numerical stability

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Diversity and Suitability of the State-of-the-Art Wearable and Wireless EEG systems Review

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IEEE Journal of Biomedical and Health Informatics 2023年第8期27卷 3830-3843页

作者： He, Congying Chen, Yu-Yi Phang, Chun-Ren Stevenson, Cory Chen, I-Ping Jung, Tzyy-Ping Ko, Li-Wei Institute of Bioinformatics and Systems Biology National Yang Ming Chiao Tung University Hsinchu30010 Taiwan Institute of Applied Arts National Yang Ming Chiao Tung University Hsinchu30010 Taiwan International Ph.D. Program in Interdisciplinary Neuroscience National Yang Ming Chiao Tung University Hsinchu30010 Taiwan Institute for Neural Computation and Institute of Engineering in Medicine University of California San DiegoCA90093 United States National Yang Ming Chiao Tung University Hsinchu30010 Taiwan Institute of Electrical and Control Engineering Department of Electronics and Electrical Engineering Department of Biological Science and Technology National Yang Ming Chiao Tung University Hsinchu30010 Taiwan Department of Biomedical Science and Environment Biology Drug Development and Value Creation Research Center Kaohsiung Medical University Kaohsiung80708 Taiwan

Wireless electroencephalography (EEG) systems have been attracting increasing attention in recent times. Both the number of articles discussing wireless EEG and their proportion relative to general EEG publications have increased over years. These trends indicate that wireless EEG systems could be more accessible to researchers and the research community has recognized the potential of wireless EEG systems. To explore the development and diverse applications of wireless EEG systems, this review highlights the trends in wearable and wireless EEG systems over the past decade and compares the specifications and research applications of the major wireless systems marketed by 16 companies. For each product, five parameters (number of channels, sampling rate, cost, battery life, and resolution) were assessed for comparison. Currently, these wearable and portable wireless EEG systems have three main application areas: consumer, clinical, and research. To address this multitude of options, the article also discussed the thought process to find a suitable device that meets personalization and use cases specificities. These investigations suggest that low-price and convenience are key factors for consumer applications, wireless EEG systems with FDA or CE-certification may be more suitable for clinical settings, and devices that provide raw EEG data with high-density channels are important for laboratory research. This article presents an overview of the current state of the wireless EEG systems specifications and possible applications and serves as a guide point as it is expected that more influential and novel research will cyclically promote the development of such EEG systems. © 2023 IEEE.

关键词： Electroencephalography

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A Brain-Computer Interface Drone control System Based on Human Cognitive Assessment

A Brain-Computer Interface Drone Control System Based on Hum...

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International Conference on System Science and Engineering (ICSSE)

作者： Pei-Shin Lu Li-Wei Ko Institute of Biomedical Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan Center for Intelligent Drug Systems and Smart Bio-Devices (IDSB) Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan Drug Development and Value Creation Research Center Kaohsiung Medical University Kaohsiung Taiwan

ISBN: (数字)9798350359886

ISBN: (纸本)9798350359893

This paper presents the design of a brain-computer interface (BCI) system that receives and analyses electroencephalography (EEG) signals to determine commands for drone control. To achieve this, we used an 8-channel wearable EEG headset (Fp1, Fp2, Fz, C3, C4, Pz, O1, O2) to establish a personal database. It is primarily used to classify the intention for left or right eyes movement, allowing the subject to control the drone's direction. The model was applied during real-time testing. The data underwent preprocessing using a bandpass filter. The system recorded the subject's relaxed EEG data for 10 seconds to establish a baseline, which was subsequently used to determine the related drone commands. After the drone took off automatically, we recorded and analyzed the brainwave state every 3 seconds. We then transmitted the corresponding action commands to the DJI Tello drone to control its movements. Currently, we have designed seven different action commands based on EEG data for drone movements, including forward, backward, upward, downward, leftward, rightward, and landing. The accuracy of control commands is approximately 70%. The system aims to create a drone system that is operable by anyone. It is expected that this system can be applied to fields such as neurorehabilitation, exoskeleton manipulation, and the defense industry in the future.

关键词： Training Headphones Accuracy control systems Electroencephalography Brain-computer interfaces Real-time systems

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基于自解耦三明治结构的横向运动栅场效应晶体管MEMS微力传感器

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Engineering 2023年第2期21卷 61-74,M0004页

作者：高文迪乔智霞韩香广王小章 Adnan Shakoor 刘存朗卢德江杨萍赵立波王永录王久洪蒋庄德孙东 State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265503China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150006China Eleventh Research Institute Sixth Academy of China Aerospace Science and Technology Co.Xi’an 710100China Department of Control and Instrumentation Engineering King Fahd University of Petroleum and MineralsDhahran 31261Saudi Arabia Department of Biomedical Engineering City University of Hong KongHong Kong 999077China

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵... 详细信息

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵列层和两个软光阻层SU-8组成。通过所提出的双差分传感结构,LMGFET横向工作在垂直干扰下的输出电流被大大消除,所提出传感器的相对输出误差从4.53%(传统差分结构)降低到0.01%。提出了一种实用的传感器制造工艺,并对其进行了模拟。基于LMGFET的力传感器的灵敏度为4.65μA·nN^(-1),可与垂直可移动栅极场效应晶体管(VMGFET)器件相媲美,但非线性度提高了0.78%,测量范围扩大了±5.10μN。这些分析为LMGFET器件的电气和结构参数提供了全面的设计优化,并证明了所提出的传感器在生物医学显微操作应用中具有良好的力传感潜力。

关键词：力传感器场效应晶体管横向运动三明治结构电气模型显微操作非线性度双差分

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