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A Topological View of Estimation from Noisy Relative Measurements

A Topological View of Estimation from Noisy Relative Measure...

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2011 American Control Conference (ACC)

作者： Pooya Molavi Ali Jadbabaie Department of Electrical and Systems Engineering and General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA USA

In this paper we study the problem of estimating the state of sensors in a sensor network from noisy pairwise relative measurements. The underlying sensor network is typically modeled by a graph whose edges correspond to pairwise relative measurements and nodes represent sensors. Using tools from algebraic topology and cohomology theory, we present a new model in which the higher order relations between measurements are captured as simplicial complexes. This allows us to address the fundamental tension between two conflicting goals: finding estimates that are close to obtained measurements, and at the same time are consistent around any sequence of pairwise measurements that form a cycle. By defining a measure of inconsistency around each cycle, we present a one-parameter family of algorithms that solves the estimation problem by identifying and removing the smallest fraction of measurements that make the estimates globally inconsistent. We demonstrate that the inconsistencies are due to topological obstructions and can be decomposed into local and global components that have interesting geometric interpretations. Furthermore, we show that the proposed algorithm is naturally distributed and will provably result in consistent estimates, and more importantly, recovers two sparse estimation algorithms as special cases.

关键词： Sensors Estimation Noise measurement Cost accounting Vectors Distortion measurement Noise

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Development of a StandAlone Surgical Haptic Arm

Development of a StandAlone Surgical Haptic Arm

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Daniel Jones Andrew Lewis Gregory S. Fischer Electrical and Computer Engineering Worcester Polytechnic Institute (WPI) Robotics Engineering WPI Automation and Interventional Medicine (AIM) Laboratory in the Department of Mechanical Engineering WPI

ISBN: (纸本)9781424441211

When performing telesurgery with current commercially available Minimally Invasive Robotic Surgery (MIRS) systems, a surgeon cannot feel the tool interactions that are inherent in traditional laparoscopy. It is proposed that haptic feedback in the control of MIRS systems could improve the speed, safety and learning curve of robotic surgery. To test this hypothesis, a standalone surgical haptic arm (SASHA) capable of manipulating da Vinci tools has been designed and fabricated with the additional ability of providing information for haptic feedback. This arm was developed as a research platform for developing and evaluating approaches to telesurgery, including various haptic mappings between master and slave and evaluating the effects of latency.

关键词： Haptic Device Component Touch telesurgery Arm spiral arm Slaves Learning Curve Latency

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Experiment design for Pauli channel estimation

Experiment design for Pauli channel estimation

引用

作者： Balló, Gábor Hangos, Katalin M. Department of Electrical Engineering and Information Systems University of Pannonia Egyetem u. 10 H-8200 Veszprém Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary

ISBN: (纸本)9783902661937

Experiment design for quantum channel parameter estimation includes the design of the quantum input to the channel and the observables to be applied on the resulting quantum output system, called the experiment configuration. An experiment design procedure based on maximizing the Fisher information of the qubit Pauli channel parameters is presented in this paper. It can be shown that the Fisher information is a convex function in both the input and the experiment configuration parameters. This leads to an optimal setting that includes pure input states and projective measurements directed towards the channel directions. An iterative method of estimating the channel directions is also proposed. © 2011 IFAC.

关键词： Iterative methods

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Fault detection for network-based nonlinear systems with communication constraints and missing measurements

Fault detection for network-based nonlinear systems with com...

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作者： Zhang, Dan Yu, Li Wang, Qing-Guo Department of Automation Zhejiang University of Technology Zhejiang Provincial United Key Laboratory of Embedded Systems Hangzhou 310032 China Department of Mechanical Engineering National University of Singapore 117576 Singapore Singapore Department of Electrical and Computer Engineering National University of Singapore 119260 Singapore Singapore

ISBN: (纸本)9788995605646

This paper is dealt with the fault detection problem for a class of network-based nonlinear systems with communication constraints and random missing measurements. The nonlinear plant is described by a Takagi-Sugeno (T-S) fuzzy time-delay model, it has multiple sensors and only one of them can access to the fault detection filter at each transmission instant. The measurement signal is missing randomly and the missing rate differs from one channel link to another. The goal is to design a fault detection filter such that, the estimation error between the residual and fault is minimized. By casting the addressed fault detection problem into an auxiliary H∞ filtering problem of a stochastic switched fuzzy time-delay system, a sufficient condition for the existence of the desired fault detection filter is obtained. A numerical example is provided to illustrate the effectiveness and applicability of the proposed technique. © 2011 Asian Control Association.

关键词： Nonlinear systems

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Aggregate Observational Distinguishability is Necessary and Sufficient for Social Learning

Aggregate Observational Distinguishability is Necessary and ...

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IEEE Conference on Decision and Control

ISBN: (纸本)9781612848006

We study a model of information aggregation and social learning recently proposed by Jadbabaie, Sandroni, and Tahbaz-Salehi, in which individual agents try to learn a correct state of the world by iteratively updating their beliefs using private observations and beliefs of their neighbors. No individual agent's private signal might be informative enough to reveal the unknown state. As a result, agents share their beliefs with others in their social neighborhood to learn from each other. At every time step each agent receives a private signal, and computes a Bayesian posterior as an intermediate belief. The intermediate belief is then averaged with the beliefs of neighbors to form the individual's belief at next time step. We find a set of necessary and sufficient conditions under which agents will learn the unknown state and reach consensus on their beliefs without any assumption on the private signal structure. The key enabler is a result that shows that using this update, agents will eventually forecast the indefinite future correctly.

关键词： Silicon Bayesian methods Social network services Probability distribution Yttrium Computational modeling Vectors

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Probing protein-protein interaction forces using single-molecule force spectroscopy

Probing protein-protein interaction forces using single-mole...

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2011 11th IEEE International Conference on Nanotechnology, NANO 2011

作者： Li, Mi Liu, Lianqing Xi, Ning Wang, Yuechao Dong, Zaili Li, Guangyong Xiao, Xiubin Zhang, Weijing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate School Chinese Academy of Sciences Beijing 100049 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA 15261 United States Department of Lymphoma Affiliated Hospital Military Medical Academy of Sciences Beijing 100071 China

ISBN: (纸本)9781457715143

The invention of atomic force microscopy (AFM) provides new technology for measuring the molecular specific binding forces. With the use of AFM single-molecule force spectroscopy (SMFS), the CD20-rituximab binding forces were measured on purified CD20 proteins (CD20 segment protein and CD20 full-length protein) and on Burkitt's lymphoma Raji cells, respectively. With AFM probe functionalization technology, rituximabs were linked onto AFM tips. With substrate functionalization technology, purified CD20 segment proteins and CD20 full-length proteins were attached onto mica. Lymphoma Raji cells were immobilized onto glass substrate with electrostatic adsorption and chemical fixation. The differences of measuring the binding forces on purified proteins and on cells were analyzed. The experimental results indicate that the binding force between CD20 segment protein and rituximab were markedly larger than that of CD20 full-length protein and CD20 protein on lymphoma cells, providing an effective method for investigating the rituximab's mechanism. © 2011 IEEE.

关键词： Proteins

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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Yuan, Shuai Liu, Lianqing Wang, Zhidong Xi, Ning Wang, Yuechao Dong, Zaili Wang, Zhiyu Wang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China College of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China Graduate School of Chinese Academy of Sciences Beijing 100001 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48823 United States Department of Advanced Robotics Chiba Institute of Technology Chiba Japan

ISBN: (纸本)9781457721373

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm. © 2011 IEEE.

关键词： Micromanipulators

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Modified Banker's algorithm for scheduling in multi-AGV systems

Modified Banker's algorithm for scheduling in multi-AGV syst...

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IEEE International Conference on automation Science and engineering (CASE)

作者： Luka Kalinovcic Tamara Petrovic Stjepan Bogdan Vedran Bobanac Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory for Renewable Energy Sources Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.

关键词： Vehicles System recovery Layout Resource management Job shop scheduling Workstations

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Histogram based frontier exploration

Histogram based frontier exploration

引用

2011 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Amir Mobarhani Shaghayegh Nazari Amir H. Tamjidi Hamid D. Taghirad Advanced Robotics and Automated Systems Laboratory (ARAS) Electrical and Computer Engineering Department K. N. Toosi University of Technology Iran

This paper proposes a method for mobile robot exploration based on the idea of frontier exploration which suggests navigating the robot toward the boundaries between free and unknown areas in the map. A global occupancy grid map of the environment is constantly updated, based on which a global frontier map is calculated. Then, a histogram based approach is adopted to cluster frontier cells and score these clusters based on their distance from the robot as well as the number of frontier cells they contain. In each stage of the algorithm, a sub-goal is set for the robot to navigate. A combination of distance transform and A* search algorithms is utilized to generate a plausible path toward the sub-goal through the free space. This way keeping a reliable distance from obstacles is guaranteed while searching for the shortest path toward the sub-goal. When such a path is generated, a B-spline interpolated and smoothed trajectory is produced as the control reference for the mobile robot to follow. The whole process is iterated until no unexplored area remains in the map. The efficiency of the method is shown through simulated and real experiments.

关键词： Robots Image resolution Navigation Reliability Tracking

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A systems design approach to manage mechatronics R&D

A systems design approach to manage mechatronics R&D

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IEEE Conference on Cybernetics and Intelligent systems

作者： Chee Khiang Pang Tsan Sheng Ng Frank L. Lewis Tong Heng Lee Department of Electrical and Computer Engineering National University of Singapore Singapore Department of Industrial and Systems Engineering National University of Singapore Singapore Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA

We propose a systems design procedure to integrate mechanical design, structural prototyping, and servo evaluation through careful comprehension of the servo-mechanical-prototype production cycle commonly employed in mechatronic industries. Our approach focuses on the Modal Parametric Identification (MPI) of key feedback parameters for fast exchange of design specifications and information to enable efficient conduct of product design evaluations and support schedule compression of the R&D project life cycle. Using the commercial Hard Disk Drive (HDD) as a case example, we demonstrate how our approach allows inter-disciplinary specifications to be communicated amongst engineers from different backgrounds to speed up the R&D process for the next generation of intelligent manufacturing. This provides the project management team with powerful decision-making tools for project strategy formulation, and improvements in project outcome are potentially massive because of the low costs of change.

关键词： Mechatronics Prototypes System analysis and design Servomotors Production Damping Poles and zeros

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