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IEEE Annual Conference on Decision and Control

作者： Zhong-Liang Tang Shuzhi Sam Ge Keng Peng Tee School of Computer Science and Engineering and Center for Robotics University of Electronic Science and Technology of China Chengdu 610054 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Institute for Infocomm Research A*STAR Singapore 138632 Singapore

ISBN: (纸本)9781479978878

This paper addresses the output tracking control for a class of non-affine nonlinear systems in pure-feedback form with unknown dynamics subject to full state constraints and unknown external time-varying bounded disturbances. This problem is challenging due to the non-affine structure coupling with the constraints on states and external disturbances. To overcome the problem, the mean value theorem is applied to deduce the variables with affine appearance in the system dynamics, and the integral Barrier Lyapunov Functionals (iBLFs) are utilized in the recursive backstepping design to handle the unknown deduced control gains and state constraints together, and adapting parameters are developed to estimate the unknown bounds on neural networks (NNs) reconstruction errors and external disturbances. Through Lyapunov synthesis, all signals in the closed-loop system are proved to be semiglobally uniformly ultimately bounded (SGUUB), and all state constraints are guaranteed provided that the states are initially in the constrained regions, and tracking errors are ensured to converge to an adjustable neighborhood of desired trajectory. An application to Van der Pol oscillator with state constraints illustrates the performance of proposed control.

关键词： Relaxation oscillators Unknown external disturbance System dynamics Mean Value Theorem for Integrals Constraint tracking control Closed loop systems

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A real-time tracking and optimised gaze control for a redundant humanoid robot head

A real-time tracking and optimised gaze control for a redund...

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IEEE-RAS International Conference on Humanoid Robots

作者： Naresh Marturi Valerio Ortenzi Jingjing Xiao Maxime Adjigble Rustam Stolkin Ales Leonardis KUKA Robotics UK Ltd. Wednesbury UK School of Mechanical Engineering University of Birmingham Edgbaston Birmingham UK Electrical and Computer Engineering University of Birmingham Edgbaston Birmingham UK School of Computer Science University of Birmingham Edgbaston Birmingham UK

This paper addresses the problem of gaze control for a humanoid robot head. We propose a control framework comprised of two components: 1) an adaptive visual tracker that is capable of tracking an arbitrary object with unknown trajectory; 2) an optimised visual control strategy capable of controlling all joint motions of a redundant head-neck mechanism in order to retain the tracked object at image centre. The advantage of such a framework is that it does not require any prior knowledge of the object trajectory and can achieve optimal joint motions, i.e. it minimises the maximum joint motions needed to maintain constant gaze. An adaptive gain has been used with the controller in order to provide dynamic convergence of the task space error when gazing at an object with unpredictable or erratic trajectories. The proposed framework has been validated in real-time using our bi-manual humanoid robot platform Boris, and the reported experimental results demonstrate the efficiency of our approach.

关键词： Head Target tracking Kinematics Humanoid robots Visualization

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Erratum to: Supplemental vibrotactile feedback control of stabilization and reaching actions of the arm using limb state and position error encodings

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Journal of neuroengineering and rehabilitation 2017年第1期14卷 69页

作者： Alexis R Krueger Psiche Giannoni Valay Shah Maura Casadio Robert A Scheidt Biomedical Engineering Marquette University Milwaukee WI USA. Informatics Bioengineering Robotics and Systems Engineering University of Genova Genoa Italy. Robotics Brain and Cognitive Science Italian Institute of Technology Genoa Italy. Biomedical Engineering Marquette University Milwaukee WI USA. robert.scheidt@marquette.edu. Physical Medicine and Rehabilitation Northwestern University Feinberg School of Medicine Chicago IL USA. robert.scheidt@marquette.edu. Sensory Motor Performance Program Rehabilitation Institute of Chicago Chicago IL USA. robert.scheidt@marquette.edu. Neurology Medical College of Wisconsin Wauwatosa WI USA. robert.scheidt@marquette.edu. Neuromotor Control Laboratory Department of Biomedical Engineering Marquette University Olin Engineering Center 206 P.O. Box 1881 Milwaukee WI 53201-1881 USA. robert.scheidt@marquette.edu.

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Packet Arrival Analysis in Wireless Sensor Networks

Packet Arrival Analysis in Wireless Sensor Networks

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International Conference on Advanced Information Networking and Applications Workshops (AINAW)

作者： Krishna Doddapaneni Purav Shah Enver Ever Ali Tasiran Fredrick A. Omondi Leonardo Mostarda Orhan Gemikonakli School of Science and Technology Middlesex University London UK Computer Engineering Program Middle East Technical University Turkey School of Science and Technology University of Camerino Camerino Italy

Edit paper Distributed sensor networks have been discussed for more than 30 years, but the vision of Wireless Sensor Networks (WSNs) has been brought into reality only by the rapid advancements in the areas of sensor design, information technologies, and wireless networks that have paved the way for the proliferation of WSNs. The unique characteristics of sensor networks introduce new challenges, amongst which prolonging the sensor lifetime is the most important. WSNs have seen a tremendous growth in various application areas including health care, environmental monitoring, security, and military purposes despite prominent performance and availability challenges. Clustering plays an important role in enhancement of the life span and scalability of the network, in such applications. Although researchers continue to address these grand challenges, the type of distributions for arrivals at the cluster head and intermediary routing nodes is still an interesting area of investigation. Modelling the behaviour of the networks becomes essential for estimating the performance metrics and further lead to decisions for improving the network performance, hence highlighting the importance of identifying the type of inter-arrival distributions at the cluster head. In this paper, we present extensive discussions on the assumptions of exponential distributions in WSNs, and present numerical results based on Q-Q plots for estimating the arrival distributions. The work is further extended to understand the impact of end-to-end delay and its effect on inter-arrival time distributions, based on the type of medium access control used in WSNs. Future work is also presented on the grounds that such comparisons based on simple eye checks are insufficient. Since in many cases such plots may lead to incorrect conclusions, demanding the necessity for validating the types of distributions. Statistical analysis is necessary to estimate and validate the empirical distributions of the arrivals in

关键词： Wireless sensor networks Delays Media Access Protocol Energy consumption Exponential distribution Quality of service Monitoring

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Moth-inspired plume tracing via autonomous underwaer vehicle with only a pair of separated chemical sensors

Moth-inspired plume tracing via autonomous underwaer vehicle...

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OCEANS

作者： Yu Tian Wei Li Fumin Zhang State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China Department of Computer and Electrical Engineering and Computer Science California State University Bakersfield CA USA School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

Effective chemical plume tracing strategies are important for autonomous underwater vehicles (AUVs) to perform a variety of missions of searching for underwater targets, such as oil spill sources and deep-sea hydrothermal vents. In such circumstances where fluid flow direction cannot be measured by AUVs or fluid flow direction provides little or wrong information about the distribution of a dynamic chemical plume or its source location, chemical plume tracing strategies that rely on information of fluid flow direction may not work effectively. In this paper, a modified moth-inspired chemical plume tracing strategy is presented, which could trace a turbulent chemical plume without need of information of flow direction. The strategy estimates the direction of plume centerline based on information from a pair of spatially separated chemical sensors symmetrically mounted on an AUV's nose together with the AUV's zigzag plume-tracing trajectory, and employs the estimated direction of plume centerline to implement the plume tracing. The proposed strategy is implemented in a computer simulation environment and the simulation results demonstrate that with the strategy an AUV could track a turbulent chemical plume over a long distance and finally localize the plume source.

关键词： Chemicals Chemical and biological sensors Position measurement Chemical sensors Trajectory Robots

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Intrinsic Raman signatures of pristine hybrid perovskite CH3NH3PbI3 and its multiple stages of structure transformation

Intrinsic Raman signatures of pristine hybrid perovskite CH3...

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2016 IEEE 43rd Photovoltaic Specialists Conference (PVSC)

作者： Qiong Chen Henan Liu Hui-Seon Kim Yucheng Liu Mengjin Yang Naili Yue Gang Ren Kai Zhu Shengzhong Frank Liu Nam-Gyu Park Yong Zhang Department of Electrical and Computer Engineering The University of North Carolina at Charlotte Charlotte NC USA Optical Science and Engineering graduate program The University of North Carolina at Charlotte Charlotte NC USA Department of Energy Science Sungkyunkwan University Suwon South Korea National Ministry of Education Shaanxi Normal University Xi'an China Chemical and Materials Science Center National Renewable Energy Laboratory CO USA Molecular Foundry Lawrence Berkeley National Laboratory Berkeley CA USA Key Laboratory of Applied Surface and Colloid Chemistry National Ministry of Education Shaanxi Normal University Xi'an Shaanxi CN School of Chemical Engineering Sungkyunkwan University Suwon South Korea University of North Carolina at Charlotte Charlotte NC US

By performing spatially resolved Raman and photoluminescence spectroscopy with different illumination conditions, we have achieved a unified understanding towards the spectroscopy signatures of the organic-inorganic hybrid perovskite, transforming from the pristine state (CH 3 NH 3 PbI 3 or MAPbI 3 ) to fully degraded state (i.e., PbI 2 ), for samples with varying crystalline domain size from mesoscopic scale to macroscopic size, synthesized by three different techniques.

关键词： Measurement by laser beam Density measurement Chemistry Lighting Optical films Degradation Spectroscopy

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Erratum: An intrinsic mechanism controls reactivation of neural stem cells by spindle matrix proteins

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Nature communications 2017年第1期8卷 1298页

作者： Song Li Chwee Tat Koe Su Ting Tay Angie Lay Keng Tan Shenli Zhang Yingjie Zhang Patrick Tan Wing-Kin Sung Hongyan Wang Neuroscience and Behavioural Disorders Program Duke-NUS Medical School 8 College Road Singapore 169857 Singapore. Cancer and Stem Cell Biology Program Duke-NUS Medical School 8 College Road Singapore 169857 Singapore. NUS Graduate School for Integrative Sciences and Engineering National University of Singapore 28 Medical Drive Singapore 117456 Singapore. Cellular and Molecular Research National Cancer Centre Singapore 169610 Singapore. Cancer Science Institute of Singapore National University of Singapore Singapore 119074 Singapore. Genome Institute of Singapore 60 Biopolis Street Genome 02-01 Singapore 138672 Singapore. Department of Computer Science National University of Singapore Singapore 117417 Singapore. Neuroscience and Behavioural Disorders Program Duke-NUS Medical School 8 College Road Singapore 169857 Singapore. hongyan.wang@duke-nus.edu.sg. NUS Graduate School for Integrative Sciences and Engineering National University of Singapore 28 Medical Drive Singapore 117456 Singapore. hongyan.wang@duke-nus.edu.sg. Department of Physiology Yong Loo Lin School of Medicine National University of Singapore Singapore 117597 Singapore. hongyan.wang@duke-nus.edu.sg.

A correction to this article has been published and is linked from the HTML version of this article.

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Wearable soft artificial skin for hand motion detection with embedded microfluidic strain sensing

Wearable soft artificial skin for hand motion detection with...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jean-Baptiste Chossat Yiwei Tao Vincent Duchaine Yong-Lae Park Ecole de Technologie Superieure Montreal Québec Canada Department of Mechanical Engineering Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh PA USA

ISBN: (纸本)9781479969241

This paper describes the design and manufacturing of soft artificial skin with an array of embedded soft strain sensors for detecting various hand gestures by measuring joint motions of five fingers. The proposed skin was made of a hyperelastic elastomer material with embedded microchannels filled with two different liquid conductors, an ionic liquid and a liquid metal. The ionic liquid microchannels were used to detect the mechanical strain changes of the sensing material, and the liquid metal microchannels were used as flexible and stretchable electrical wires for connecting the sensors to an external control circuit. The two heterogeneous liquid conductors were electrically interfaced through flexible conductive threads to prevent the two liquid from being intermixed. The skin device was connected to a computer through a microcontroller instrumentation circuit for reconstructing the 3-D hand motions graphically. The paper also presents preliminary calibration and experimental results.

关键词： Sensors Skin Liquids Joints Microchannels Strain Metals

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Robotic Software System for the Disaster Circumstances: System of Team KAIST in the DARPA robotics Challenge Finals

Robotic Software System for the Disaster Circumstances: Syst...

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeongsoo Lim Inwook Shim Okkee Sim Hyunmin Joe Inhyeok Kim Jungho Lee Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory Department of Electrical Engineering College of Information Science and Technology Korea Advanced Institute of Science and Technology Rainbow Co.

ISBN: (纸本)9781479968862

We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense Advanced Research Projects Agency suggested. This system was developed under the consideration of the stability of whole system, the systemic software environment for multiple developers, and the recovery routine when the system encounters a seriously abnormal situation. With these design goals, we devised our strategy for three domains: system, vision, and communication. Following the strategy we made two software frameworks (PODO and VPC) and one logical flow of data for remote process management. With this software system, we conducted all Tasks in the DARPA robotics Challenge Finals, and we won the competition.

关键词： Software systems DARPA design target robotics Disasters Religious Missions flow datas

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Elephant Herding Optimization

Elephant Herding Optimization

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International Symposium on Computational and Business Intelligence (ISCBI)

作者： Gai-Ge Wang Suash Deb Leandro dos S. Coelho School of Computer Science and Technology Jiangsu Normal University Xuzhou China Dept. of Computer Science & Engineering Cambridge Institute of Technology Ranchi INDIA Industrial and Systems Engineering Graduate Program Pontifical Catholic University of Parana Curitiba Brazil

In this paper, a new kind of swarm-based metaheuristic search method, called Elephant Herding Optimization (EHO), is proposed for solving optimization tasks. The EHO method is inspired by the herding behavior of elephant group. In nature, the elephants belonging to different clans live together under the leadership of a matriarch, and the male elephants will leave their family group when they grow up. These two behaviors can be modelled into two following operators: clan updating operator and separating operator. In EHO, the elephants in each clan are updated by its current position and matriarch through clan updating operator. It is followed by the implementation of the separating operator which can enhance the population diversity at the later search phase. To demonstrate its effectiveness, EHO is benchmarked by fifteen test cases comparing with BBO, DE and GA. The results show that EHO can find the better values on most benchmark problems than those three metaheuristic algorithms.

关键词： Optimization Benchmark testing Sociology Statistics Particle swarm optimization Electronic mail Search methods

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