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Smart Innovation, systems and Technologies 2023年 329卷 v-vi页

作者： Ronzhin, Andrey Pshikhopov, Viacheslav St. Petersburg Federal Research Center of the Russian Academy of Sciences St. Petersburg Russia Research Institute of Robotics and Control Systems Southern Federal University Rostov-on-Don Russia

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Adaptive Artificial Time Delay control for Bipedal Walking with Robustification to State-dependent Constraint Forces

Adaptive Artificial Time Delay Control for Bipedal Walking w...

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International Conference on Advanced robotics (ICAR)

作者： Amisha Bhaskar Swati Dantu Spandan Roy Jinoh Lee Simone Baldi University of Technology New Delhi India Robotics Research Center International Institute of Information Technology Hyderabad (IIIT-H) Hyderabad India Institute of Robotics and Mechatronics German Aerospace Center (DLR) Germany School of CyberScience and Engineering Southeast University Nanjing China Delft Center for Systems and Control TU Delft The Netherlands

ISBN: (纸本)9781665436854

Long standing challenges in adaptive bipedal walking control (i.e. control taking care of unknown robot parameters) were to unify the control design instead of designing multiple controllers for different walking phases as well as to bypass computing constraint forces, since it often leads to complex designs. A few attempts to design a single controller for all walking phases ignored or oversimplified the constraint forces. However, these forces are state-dependent and may lead to conservative performance or instability if not countered properly. This work proposes an innovative adaptive control method, based on artificial time delay control, which covers the entire bipedal walking phase and provides robustness against state-dependent unmodelled dynamics such as constraint forces and external impulsive forces arising during walking. Studies using a high fidelity simulator under various forms of disturbances show the effectiveness of the proposed design over the state of the art.

关键词： Legged locomotion Adaptation models control design Delay effects Dynamics Robustness Adaptive control

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Dynamic movement primitive based motion retargeting for dual-arm sign language motions

arXiv

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arXiv 2020年

作者： Liang, Yuwei Li, Weijie Wang, Yue Xiong, Rong Mao, Yichao Zhang, Jiafan 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. Copyright © 2020, The Authors. All rights reserved.

关键词： Coordination reactions

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An Integral Sliding-Mode Parallel control Approach for General Nonlinear systems via Piecewise Affine Linear Models

arXiv

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arXiv 2021年

作者： Zhang, Chunyang Gao, Qing Deng, Yue Qiu, Jianbin School of Automation Science and Electrical Engineering Beihang University Beijing China Zhongguancun Laboratory Beijing China School of Astraunotics Beihang University Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

The fundamental problem of stabilizing a general non-affine continuous-time nonlinear system is investigated via piecewise affine linear models (PALMs) in this paper. A novel integral sliding-mode parallel control (ISMPC) approach is developed, where an uncertain piecewise affine system (PWA) is constructed to model a non-affine continuous-time nonlinear system equivalently on a compact region containing the origin. A piecewise sliding-mode parallel controller is designed to globally stabilize the PALM and, consequently, to semi-globally stabilize the original nonlinear system. The proposed scheme enjoys three favorable features: i) some restrictions on the system input channel are eliminated, thus the developed method is more relaxed compared with the published approaches;ii) it is convenient to be used to deal with both matched and unmatched uncertainties of the system;and (iii) the proposed piecewise parallel controller generates smooth control signals even around the boundaries between different subspaces, which makes the developed control strategy more implementable and reliable. Moreover, we provide discussions about the universality analysis of the developed control strategy for two kinds of typical nonlinear systems. Simulation results from two numerical examples further demonstrate the performance of the developed control approach. Copyright © 2021, The Authors. All rights reserved.

关键词： Nonlinear systems

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development of a Method of Multi-Criteria Evaluation under Uncertainty

SSRN

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SSRN 2022年

作者： Sova, Oleg Shyshatskyi, Andrii Nalapko, Oleksii Marchenko, Halyna Trotsko, Oleksandr Symonenko, Oleksandr Merkotan, Dmytro Lyashenko, Anna Havryliuk, Oksana Velychko, Vira Department of Automated Control Systems Military Institute of Telecommunications and Information Technologies named after Heroes of Kruty Kyiv Ukraine Research Department of Electronic Warfare Development Central Scientific Research Institute of Armament and Military Equipment of the Armed Forces of Ukraine Kyiv Ukraine Research Laboratory of Research Automation Central Scientific Research Institute of Armament and Military Equipment of the Armed Forces of Ukraine Kyiv Ukraine Department of Finance and Banking Poltava University of Economics and Trade Poltava Ukraine Scientific Center Military Institute of Telecommunications and Information Technologies named after Heroes of Kruty Kyiv Ukraine

The object of research is decision-making support systems. Local wars and armed conflicts of recent decades are characterized by high dynamics of operations (combat operations) and a significant amount of diverse information circulating in information systems. These features determine the search for new approaches to increase the efficiency of decision-making support systems, given their reliability. This article solves the problem of developing a method of multicriteria evaluation in conditions of *** the course of the research, the authors used the main provisions of the theory of artificial intelligence, automation theory, theory of complex technical systems and general scientific methods of cognition, namely analysis and synthesis. The proposed methodology was developed taking into account the practical experience of the authors of this work during the military conflicts of the last decade. The method of multicriteria evaluation is universal and can be used to assess the state of the objects of analysis of any architecture. The results of the research will be useful in:– development of new control algorithms in decision-making support systems;– substantiation of recommendations for improving the efficiency of operational management;– analysis of analysis (monitoring) objects in the course of hostilities (operations);– creation of perspective technologies to increase the efficiency of operational management;– assessment of the adequacy, reliability, sensitivity of the scientific and methodological apparatus of operational management in decision-making support systems;– development of new and improvement of existing management *** of further research will be aimed at developing a methodology for intelligent management in special-purpose decision-making support systems. © 2022, The Authors. All rights reserved.

关键词： Efficiency

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An Improved Detection Method of Human Target at Sea Based on Yolov3

An Improved Detection Method of Human Target at Sea Based on...

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Consumer Electronics and Computer Engineering (ICCECE), 2021 IEEE International Conference on

作者： Dongjin Li Liu Yu Wang Jin Rufei Zhang Jiang Feng Niu Fu Academy of Military Sciences PLA Institute of Systems Engineering Beijing China Tianjin University Tianjin China Microelectronics Institute Tianjin University Tianjin China Academy of Military Sciences Institute of Systems Engineering Beijing China AI Research and Development Center Beijing Institute of control and electronic technology Beijing China

ISBN: (数字)9781728183190

ISBN: (纸本)9781728183206

In the mission of searching and rescuing, it is often faced with the situation that the area to be searched is large and the target to be searched is small. Combined with the object detection technology, this paper proposes a method for searching drowning people. At first, we make a dataset, which contains a large number of human targets at sea. Then, we improve the Yolov3 algorithm: In the feature extraction network, we use the residual module with channel attention mechanism. In the feature fusion network, we add a bottom-up structure to the FPN structure. Moreover, in terms of loss function, we use the CIoU loss function. Finally, on the settings of the anchor box, we use a linear transformation method to deal with the anchor boxes generated by clustering algorithm. The detection accuracy of the improved algorithm for human targets at sea is 72.17%, which has a good detection effect.

关键词： Conferences Clustering algorithms Object detection Search problems Feature extraction Consumer electronics Accidents

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An embodiment paradigm in evaluation of human-in-the-loop control

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IFAC-PapersOnLine 2019年第34期51卷 104-109页

作者： Fröhner, Jakob Beckerle, Philipp Endo, Satoshi Hirche, Sandra Chair of Information-oriented Control Technical University of Munich Munich80333 Germany Elastic Lightweight Robotics Group Robotics Research Institute Technische Universität Dortmund Dortmund44221 Germany Institute for Mechatronic Systems Technische Universität Darmstadt Darmstadt64287 Germany

This study introduces a novel approach for evaluating the quality of human-in-the-loop control using the psychological construct of embodiment in a haptic human-machine interaction task. Despite the fact that various forms of assistive control have been introduced, these methods mainly design semi-autonomous control to improve task-specific interaction performance. From a user perspective, however, the introduction of semi-autonomous control reduces controllability of the system, which could lead to negative user experience. Psychological research suggests sensory-motor factors dynamically modulate cognition of an external entity belonging to one's own body, i.e., embodiment. In our paradigm, we apply methods for evaluating embodiment in a virtual reality (VR) environment where the human users perform a reaching task with semi-autonomous haptic assistance to measure the degree to which the embodiment is effected by the quality of semi-autonomy Our results with 8 participants show good persistence of subjective embodiment and subcomponents of presence within VR environment when a predictable assistive control is introduced while unpredictable assistance hindered the subjective embodiment. Results indicate embodiment can be exploited as a quantitative evaluation method of semi-autonomous controllers from a user-centric perspective. © 2019

关键词： Quality control Closed loop control systems Virtual reality Embodiment Human machine interaction Human in the loop control Psychological research Quantitative evaluation methods Semi autonomous control Shared control Specific interaction

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Principles of Forming a Strategy for Reducing the Psychological Tension of Social Network Users

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Open Public Health Journal 2022年第1期15卷

作者： Khakimova, Aida Zolotarev, Oleg Zatsman, Igor Department of Development of Scientific and Innovation Activities Russian New University Moscow Russian Federation Information Systems In Economics And Control Russian New University Moscow Russian Federation Research Department Institute of Informatics Problems FRC CSC RAS Moscow Russian Federation

Aims: The purpose of the study was to develop principles of a strategy for influencing the psychological state of social network users using the example of the Russian-language segment of Twitter, one of the reasons for which is the lack of awareness about aspects of the coronavirus infection. Background: In contrast to the existing works on mood management and Emotion Regulation Strategies, there are principles based not on emotional regulation (cognitive reappraisal and expressive suppression), but on information processing of the content of social media messages and forums. Objective: The objective of the study was to develop principles of a strategy for reducing the psychological tension of social network users (further – Strategy) based on the Russian-language segment of Twitter. Methods: The proposed research methodology includes a study of the discussion field in the active forum of the Runet (the qualitative aspect of emotionality as a reflection of psychological tension) and the Russian-language segment of Twitter (the quantitative aspect of terminology frequency). The qualitative research consisted in isolating the sensitive words used by vaccine opponents to describe their beliefs. A multi-stage methodology has been developed for the meaningful analysis of Twitter users’ messages. Results:. The result of the study is a methodology for developing principles of the Strategy. Based on this methodology, the following aspects of the problem have been developed: 1) the principle of clarifying the definition of psychological tension;2) the principle of comparing the user and scientific meanings of terms, taking into account the contexts of their use;3) the principle of contextual comparison of the user’s and scientific meanings of the term;4) the principle of visual popularization of scientific knowledge. Conclusion: An original methodology was created for developing principles of the Strategy. In contrast to the existing works on mood management and Emotion Reg

关键词： Anti-vaxxers Emotional regulation PCR testing Twitter Vaccination Vaccine СOVID-19

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Learning-based control for PMSM Using Distributed Gaussian Processes with Optimal Aggregation Strategy

Learning-based Control for PMSM Using Distributed Gaussian P...

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Annual Conference of Industrial Electronics Society

作者： Zhenxiao Yin Xiaobing Dai Zewen Yang Yang Shen Georges Hattab Hang Zhao Robotics and Autonomous Systems Thrust The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China Chair of Information-oriented Control Technical University of Munich Munich Germany Center for Artificial Intelligence in Public Health Research (ZKI-PH) Robert Koch Institute Berlin Germany Department of Mathematics and Computer Science Freie Universität Berlin Berlin Germany Department of Electronic & Computer Engineering The Hong Kong University of Science and Technology Hong Kong China

The growing demand for accurate control in varying and unknown environments has sparked a corresponding increase in the requirements for power supply components, including permanent magnet synchronous motors (PMSMs). To infer the unknown part of the system, machine learning techniques are widely employed, especially Gaussian process regression (GPR) due to its flexibility of continuous system modeling and its guaranteed performance. For practical implementation, distributed GPR is adopted to alleviate the high computational complexity. However, the study of distributed GPR from a control perspective remains an open problem. In this paper, a control-aware optimal aggregation strategy of distributed GPR for PMSMs is proposed based on the Lyapunov stability theory. This strategy exclusively leverages the posterior mean, thereby obviating the need for computationally intensive calculations associated with posterior variance in alternative approaches. Moreover, the straightforward calculation process of our proposed strategy lends itself to seamless implementation in high-frequency PMSM control. The effectiveness of the proposed strategy is demonstrated in the simulations.

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Advanced Robot Programming: a Review

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Current robotics Reports 2020年第4期1卷 251-258页

作者： Zhou, Zhongxiang Xiong, Rong Wang, Yue Zhang, Jiafan State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control of Zhejiang Province Zhejiang University Hangzhou China Research Center China Robotics and Discrete Automation ABB Shanghai China

The review presents an overview of advanced robot programming approaches which aims to ease robot programming and speed up the deployment of industrial robots, and then some considerations are shared with respect to requirements in new trends of manufacturing. The new trend of customization along with Industry 4.0 is appearing which is a challenge for robotized systems. The bottleneck is mainly the efficiency of deployment of industrial robots because traditional programming methods are not intuitive and always time-consuming. Advanced robot programming techniques are expected to ease robot programming and make it accessible for non-experts. A review on advanced robot programming is here presented, firstly introducing the background of this research, followed by reviewing literatures in four categories: programming by demonstration for low-level motion, programming by demonstration for high-level task, speech recognition-based and augmented reality-based programming approaches, and finishing on discussing future works.

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