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IEEE RAS & EMBS International Conference on Biomedical robotics and Biomechatronics

作者： Bart Peerdeman Ugo Fabrizi Gianluca Palli Claudio Melchiorri Stefano Stramigioli Sarthak Misra MIRA - Institute for Biomedical Technology and Technical Medicine (Control Engineering Group) University of Twente LAR DEIS - Laboratory of Automation and Robotics Department of Electronics Computer Science and Systems University of Bologna

ISBN: (纸本)9781457711992

Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.

关键词： Grasp control systems Prosthetic hand Prosthesis robotic hand

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Neural and Fuzzy Dynamic Programming for Under-actuated systems

Neural and Fuzzy Dynamic Programming for Under-actuated Syst...

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International Joint Conference on Neural Networks

作者： Dongbin Zhao Yuanheng Zhu Haibo He State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Department of Electrical Computer and Biomedical Engineering University of Rhode Island

ISBN: (纸本)9781467314886

This paper aims to integrate the fuzzy control with adaptive dynamic programming (ADP) scheme, to provide an optimized fuzzy control performance, together with faster convergence of ADP for the help of the fuzzy prior knowledge. ADP usually consists of two neural networks, one is the Actor as the controller, the other is the Critic as the performance evaluator. A fuzzy controller applied in many fields can be used instead as the Actor to speed up the learning convergence, because of its simplicity and prior information on fuzzy membership and rules. The parameters of the fuzzy rules are learned by ADP scheme to approach optimal control performance. The feature of fuzzy controller makes the system steady and robust to system states and uncertainties. Simulations on under-actuated systems, a cart-pole plant and a pendubot plant, are implemented. It is verified that the proposed scheme is capable of balancing under-actuated systems and has a wider control zone.

关键词： Adaptive dynamic programming Fuzzy control Neural network Underactutaed system Cart-pole plant Pendubot

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A novel swarm intelligence algorithm and its application in solving wireless sensor networks coverage problems

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Journal of Networks 2012年第12期7卷 2037-2043页

作者： Mo, Yuanbin Liu, Jizhong Wang, Baolei Jonathan Wu, Q.M. College of Mathematics and Computer Science Guangxi University for Nationalities Nanning 530006 China School of Mechanical and Electrical Engineering Institute of Robotics of Nanchang University Nanchang University Nanchang 330031 China Department of Electrical and Computer Engineering Computer Vision and Sensing Systems Laboratory University of Windsor Windsor N9B3P4 Canada

Wireless sensor networks (WSNs) have attracted a great deal of research due to their wide-range of potential applications. Sensor deployment and coverage problems are their important issues. This article briefly introduces the principle of swarm intelligence (SI). A novel SI algorithm based on information sharing of Particle Swarm Optimization (PSO) and diversity maintenance mechanism of Artificial Immune System (AIS) is designed and the model of coverage problems is given. Its applications in solving different deterministic and random coverage problems are given. The algorithm used in obtaining maximum coverage probability with given number of sensor nodes and minimum number of sensor nodes with required coverage probability of WSNs deterministic coverage, and determining the selected sensor nodes with coverage probability and connectivity requirement of WSNs random coverage, are analyzed in detail. The simulation results show the algorithm is practical. The applications of SI on K- coverage and connectivity problems in the future are also projected in the article. © 2012 ACADEMY PUBLISHER.

关键词： Swarm intelligence

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Developing Objective SensitivityAnalysis of Periodic systems： Case Studies of Biological Oscillators

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自动化学报 2012年第7期38卷 1065-1073页

作者： LU Bao-Yun YUE Hong Key Laboratory of Complex Systems and Intelligence Science Institute of AutomationChinese Academy of SciencesBeijing 100190P.R.China College of Computer Science and Technology Henan Polytechnic UniversityJiaozuo 454000P.R.China Department of Electronic and Electrical Engineering University of StrathclydeGlasgowG11QEUK

Sensitivity analysis is a powerful tool in investigating the impact of parameter variations on the change of system behaviours quantitatively. For a periodic system, sensitivity analysis is a challenging problem since the standard sensitivity metrics grow unbounded when time tends to infinity. Objective sensitivity analyses using various oscillation features such as period, phase, amplitude, etc. are therefore needed to circumvent this problem. In this work, a new concept of basal state sensitivity is proposed based on which a phase sensitivity calculation is derived. The improved period sensitivity calculation following an existing algorithm using singular value decomposition (SVD) is also presented, which provides a simple calculation for the basal state sensitivity. These new sensitivity calculations are developed with the purpose to analyse biological oscillators since there is an increasing interest in understanding how oscillations occur and what the main controlling factors are following a growing experimental and computational evidence of oscillations in biological systems. The improved calculation of period sensitivity is shown to be consistent with the previous methods through a well studied circadian rhythm model. The calculation of new objective sensitivities are also testified by the same circadian rhythm model as well as an oscillatory signal transduction pathway model, which further illustrates the efficiency of this approach in handling complex biological oscillators in the presence of reaction conservations.

关键词：周期系统生物系统振荡器敏感性分析灵敏度指标案例开发信号转导通路

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Information Generation and Lagrangian Coherent Structures in Multiscroll Attractors *

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IFAC Proceedings Volumes 2012年第12期45卷 93-98页

作者： Filipe I. Fazanaro Diogo C. Soriano Ricardo Suyama Marconi K. Madrid Romis Attux José Raimundo de Oliveira Modular Robotic Systems Laboratory (LSMR) Department of Computer Engineering and Industrial Automation (DCA) School of Electrical and Computer Engineering (FEEC) UNICAMP Brazil Centro de Engenharia Modelagem e Ciências Sociais Aplicadas Universidade Federal do ABC (UFABC) Santo André Brazil LSMR Department of Energy Control and Systems (DSCE) FEEC UNICAMP Laboratory of Signal Processing for Communications (DSPCom) DCA FEEC UNICAMP

The present work aims to apply a recently alternative approach to estimate the Lyapunov exponents that is suitable for such piecewise linear model in order of characterizing - with the aid of the metric entropy - the degree of information generated by several kinds of multiscroll attractors. Another analytical path is followed with the extraction of the corresponding Lagrangian coherent structures, which allows the determination of the dynamical system separatrices and also of the folding/stretching behavior that results in chaos. Overall, the reported study can be understood as an investigation, from distinct theoretical standpoints, of key aspects regarding the dynamic behavior of systems capable of engendering multiscroll structures.

关键词： chaotic behavior fractal dimension information generation Lagrangian coherent structures Lyapunov exponents multiscroll chaotic attractors non-smooth models

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Fault Detection and Isolation for Inertial Measurement Units

Fault Detection and Isolation for Inertial Measurement Units

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IEEE Conference on Decision and Control

作者： S. Brás P. Rosa C. Silvestre P. Oliveira Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Técnico Universidade Técnica de Lisboa Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Macao China

This paper addresses the problem of Fault Detection and Isolation (FDI) for navigation systems equipped with sensors providing inertial measurements and vector observations. Two strategies are proposed. The first one takes advantage of existing hardware redundancy, providing sufficient conditions for the isolation of faults. The second approach exploits the analytical redundancy between the angular velocity measurements and the vector observations, by resorting to Set-Valued Observers (SVOs). The behavior of both strategies are illustrated in simulation.

关键词： Vectors Redundancy Noise Sensor systems Angular velocity Noise measurement

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Reinforcement Learning Control Based on Multi-Goal Representation Using Hierarchical Heuristic Dynamic Programming

Reinforcement Learning Control Based on Multi-Goal Represent...

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International Joint Conference on Neural Networks

作者： Zhen Ni Haibo He Dongbin Zhao Danil V. Prokhorov Department of Electrical Computer and Biomedical Engineering University of Rhode Island State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Toyota Research Institute NA TTC

ISBN: (纸本)9781467314886

We are interested in developing a multi-goal generator to provide detailed goal representations that help to improve the performance of the adaptive critic design (ACD). In this paper we propose a hierarchical structure of goal generator networks to cascade external reinforcement into more informative internal goal representations in the ACD. This is in contrast with previous designs in which the external reward signal is assigned to the critic network directly. The ACD control system performance is evaluated on the ball-and-beam balancing benchmark under noise-free and various noisy conditions. Simulation results in the form of a comparative study demonstrate effectiveness of our approach.

关键词： ACD gene Automatic Shutoff Devices noise-free critic hierarchical structure Noise learning (artificial intelligence) dynamic programming Generator dynamos Heuristics

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Recent advances on the energy management of a Hybrid Electric Vehicle

Recent advances on the energy management of a Hybrid Electri...

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Mediterranean Conference on Control & automation

作者： D. S. Efstathiou A. K. Petrou P. Spanoudakis N. C. Tsourveloudis K. P. Valavanis Intelligent Systems and Robotics Lab Technical University of Crete Chania Greece Machine Tools Laboratory Technical University of Crete Chania Greece Department of Electrical and Computer Engineering University of Denver Denver CO 80208 USA

ISBN: (纸本)9781467325301

This paper presents new innovative subsystems of the ER11 prototype urban vehicle which is powered by hydrogen fuel cells and ultra-capacitors. The subsystems described here are: 1) the energy management system, which is responsible for the optimization of the fuel efficiency and the increased mileage of the vehicle, 2) the driver's monitoring and control panel and 3) the power transmission system, which offers the possibility of continuous change of gear. The powertrain of the test-bed vehicle consists of an electric motor, a fuel (Η2) cell system, an ultra-capacitor bank and a DC/DC converter. Testing verified that the proposed energy management system is benefitted by the variable transmission of power leading to less fuel consumption.

关键词： Recent advances energy management Hybrid Electric Vehicle

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Multiple-image encryption by compressive holography

Multiple-image encryption by compressive holography

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作者： Di, Hong Zheng, Kangfeng Zhang, Xin Lam, Edmund Y. Kim, Taegeun Kim, You Seok Poon, Ting-Chung Zhou, Changhe Information Security Center Beijing University of Posts and Telecommunications Beijing 100876 China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing 100190 China Imaging Systems Laboratory Department of Electrical and Electronic Engineering University of Hong Kong Pokfulam Road Hong Kong Hong Kong Department of Optical Engineering Sejong University 98 Kunja-dong Kwangjin-gu Seoul 134-747 Korea Republic of Bradley Department of Electrical and Computer Engineering Virginia Tech Blacksburg VA 24061 United States Shanghai Institute of Optics and Fine Mechanics Chinese Academy of Sciences P.O. Box 800-211 Shanghai 201800 China

We present multiple-image encryption (MIE) based on compressive holography. In the encryption, a holographic technique is employed to record multiple images simultaneously to form a hologram. The twodimensional Fourier data of the hologram are then compressed by nonuniform sampling, which gives rise to compressive encryption. Decryption of individual images is cast into a minimization problem. The minimization retains the sparsity of recovered images in the wavelet basis. Meanwhile, total variation regularization is used to preserve edges in the reconstruction. Experiments have been conducted using holograms acquired by optical scanning holography as an example. computer simulations of multiple images are subsequently demonstrated to illustrate the feasibility of the MIE scheme. © 2012 Optical Society of America.

关键词： Holograms

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Investigating the relationship between CD20-Rituximab binding force and mechanical properties of Lymphom B cells using atomic force microscopy

Investigating the relationship between CD20-Rituximab bindin...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Mi Li Lianqing Liu Ning Xi Yuechao Wang Zaili Dong Xiubin Xiao Weijing Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing China

The invention of atomic force microscopy (AFM) provides new technology for investigating the physiological activities at the single cell and single molecule levels. Lymphoma Raji cells were adsorbed onto the glass slides by coating the glass slides with poly-L-lysine. Rituximabs (anti-CD20 antibody) were linked onto the AFM tip by PEG linker and the CD20-Rituximab binding forces were measured on three lymphoma Raji cells. Then the mechanical properties of the Raji cells were dynamically measured after the Rituximab activation by obtaining force curves on the cell surface. The mechanical properties of lymphoma cells kept stable at the first 20-30 min, and then decreased markedly. Besides, as the CD20-Rituximab binding force increased, the mechanical properties decrease rate increased. The experimental results indicated that the Rituximab's effect is related to CD20-Rituximab binding force and can improve our understanding of Rituximab's variable efficacies in different patients.

关键词： Force Cancer Probes Drugs Force measurement

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