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IEEE International Conference on Robotics and Automation (ICRA)

作者： Masafumi Okada Alexander Pekarovskiy Martin Buss Dept. of Mechanical Sciences and Engineering Tokyo Institute of Technology Tokyo Japan Inst. of Automatic Control Engineering Technische Universitat Munchen Munich Germany

ISBN: (纸本)9781479969241

Throwing an object by a powered robot system is of great importance in unmanned environments. In this paper, we consider the problem of throwing a point-mass object to minimize uncertainty in the object's landing position, given uncertainty in (1) the robot's initial configuration and (2) friction at the joints. Our analysis assumes that the robot's throw is executed using open-loop torque commands, and it relies on the linearized sensitivities of (a) landing location with respect to release state, (b) release state with respect to initial robot configuration and (c) joint friction. Moreover, the effectiveness of the proposed method is evaluated by Monte-Carlo simulations.

关键词： Sensitivity Joints Mathematical model Friction Trajectory Uncertainty Manipulators

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Collision avoidance of mobile robots by using initial time delays

Collision avoidance of mobile robots by using initial time d...

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IEEE Annual Conference on Decision and control

作者： Xu Wang Marius Kloetzer Cristian Mahulea Manuel Silva Aragon Institute of Engineering Research (I3A) University of Zaragoza Maria de Luna 1 50018 Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University "Gheorghe Asachi" of Iasi Romania

ISBN: (纸本)9781479978878

This paper addresses a collision avoidance problem in a multi-robot system. Each robot has a set of possible trajectories, each trajectory fulfilling its individual task. The trajectories consist of sequences of regions to be followed, and the time for moving inside each region is known. The problem is to avoid inter-robot collisions by imposing initial time delays for each trajectory. Two solutions are developed, depending on the possibility of imposing a certain trajectory from the available set of paths for each robot. The solutions have the form of mixed integer linear programming optimizations that return the initial time delays and, when necessary, the chosen trajectory for each robot. Finally, we perform a statistical study on the proposed solutions and we conclude that one formulation is preferable to the others.

关键词： Collision avoidance Trajectory Delay effects Robot sensing systems Delays Planning

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Existence, uniqueness and stability properties of positive equilibria for a class of nonlinear cooperative systems

Existence, uniqueness and stability properties of positive e...

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IEEE Annual Conference on Decision and control

作者： Precious Ugo Abara Francesco Ticozzi Claudio Altafini Dept. of Information Engineering via Gradenigo 6B University of Padova 35131 Padova Italy Division of Automatic Control Dept. of Electrical Engineering Linkoping University SE-58183 Linkoping Sweden

ISBN: (纸本)9781479978878

We provide conditions that guarantee existence, uniqueness and stability of strictly positive equilibria for nonlinear cooperative systems associated to vector fields that are concave or subhomogeneous. This class of positive systems describes well interconnected dynamics that are of key interest for communication, biological, economical and neural network applications. These conditions can be formulated directly in terms of the spectral radius of the Jacobian of the system, and do not require to use constant inputs to move the equilibrium point from the origin to the interior of the positive orthant.

关键词： Jacobian matrices Cooperative systems Stability analysis Trajectory Power control Neural networks Nonlinear dynamical systems

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Weld seam recognition based on CCD image processing

International Journal of Signal Processing, Image Processing...

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International Journal of Signal Processing, Image Processing and Pattern Recognition 2015年第6期8卷 245-252页

作者： Yu, Jintao Li, Xian Ding, Mingli Dong, Shicheng Li, Junling School of Computer and Information Engineering Harbin University of Commerce Harbin China Dept. of Automatic Test and Control Harbin Institute of Technology Harbin China

Weld seam recognition is the key technique in visual tracking research. Based on the weld image features, the image preprocessing and the linear feature extraction method of the weld seam recognition are designed. The extended adaptive median filtering method and modified Otsu adaptive threshold selection method for image segmentation are used in the image pre-processing process, to remove the noise and compress the image data. Through comparing with several other edge operators, the Roberts operator is chosen to achieve the goal of detecting the welding edge. Finally, the weld seam information is extracted through Hough transform and a satisfied result can be acquired. The study provides a theoretical support for the following designing of the weld tracking system. © 2015 SERSC.

关键词： Welds

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Backscatter tag based on frequency selective surface for FMCW radar applications

Backscatter tag based on frequency selective surface for FMC...

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URSI Atlantic Radio Science Conference (URSI AT-RASC)

作者： J. Lorenzo A. Lazaro R. Villarino D. Girbau Dept. of Electronics Electrics and Automatic control Engineering Rovira i Virgili University Av. Paisos Catalans 26 43007 Tarragona Spain

FMCW radar has been proposed in the literature as a reader for long distance transponders for wireless local positioning systems and sensing. One of the major challenges for positioning and for RFID systems are the disturbances due to multipath propagation. In addition, low-cost FMCW radars are often based on homodyne receivers, where the minimum measurement distance is limited by the transmitter coupling and the phase noise interference in the low-frequency band of the spectrum. To mitigate these problems, backscatter transponders have been proposed. This works presents an actively-controlled frequency selective surface (FSS) to implement a backscatter transponder at X band. The FSS is composed by dipoles loaded with PIN diodes which act as switching elements. The transponder exploits the change in the radar cross section (RCS) of the FSS to modulate the field illuminated by the FMCW radar. This change is performed varying the bias of the diodes. The basic operation theory of the system will be described. An experimental setup based on a commercial 9.25–10.75 GHz FMCW radar working as a reader is proposed to measure the transponders. The transponder response can be distinguished from the interference of non-modulated clutter, modulating the transponder's RCS. Some FSS with different number of dipoles are studied, as a proof of concept. Measurements at several distances are provided with a 10 dipoles prototype. The tag distance can be obtained from the frequency offset between the peaks around the modulating frequency. The standard deviation error is 12 cm.

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Reconfiguration architecture for updates of automation systems during operation

Reconfiguration architecture for updates of automation syste...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Rafael Priego Daniel Schütz Birgit Vogel-Heuser Marga Marcos Dept. of Automatic Control and System Engineering ETSI Bilbao Basque Country University (UPV/EHU) Spain Technische Universitat Munchen Munchen Bayern DE

In recent years automation systems have been required to provide characteristics of flexibility and efficiency in order to cope with the fast changes of the market and consumer demands. To deal with these requirements, the industry has started to implement reconfiguration techniques in order to allow the automation system to reschedule the production, recover from faulty situations and to update the controller at run time, among others. Previous works of authors have been aimed at a model-based definition of the plant components and operations, related to a product. Additionally, automatic code generation has been proposed to obtain an optimal control sequence. This paper extends these previous works with an architecture that generates and updates the software architecture of a Programmable Logic controller during runtime, in response to changes on the plant layout, the product to be manufactured or the control hardware.

关键词： Load modeling Computer architecture Automation Planning Unified modeling language Production Software

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Identifying the best machine learning algorithms for brain tumor segmentation, progression assessment, and overall survival prediction in the BRATS challenge

arXiv

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arXiv 2018年

作者： Bakas, Spyridon Reyes, Mauricio Jakab, Andras Bauer, Stefan Rempfler, Markus Crimi, Alessandro Shinohara, Russell Takeshi Berger, Christoph Ha, Sung Min Rozycki, Martin Prastawa, Marcel Alberts, Esther Lipkova, Jana Freymann, John Kirby, Justin Bilello, Michel Fathallah-Shaykh, Hassan M. Wiest, Roland Kirschke, Jan Wiestler, Benedikt Colen, Rivka Kotrotsou, Aikaterini Lamontagne, Pamela Marcus, Daniel Milchenko, Mikhail Nazeri, Arash Weber, Marc-Andr Mahajan, Abhishek Baid, Ujjwal Gerstner, Elizabeth Kwon, Dongjin Acharya, Gagan Agarwal, Manu Alam, Mahbubul Albiol, Alberto Albiol, Antonio Albiol, Francisco J. Alex, Varghese Allinson, Nigel Amorim, Pedro H.A. Amrutkar, Abhijit Anand, Ganesh Andermatt, Simon Arbel, Tal Arbelaez, Pablo Avery, Aaron Azmat, Muneeza Pranjal, B. Bai, Wenjia Banerjee, Subhashis Barth, Bill Batchelder, Thomas Batmanghelich, Kayhan Battistella, Enzo Beers, Andrew Belyaev, Mikhail Bendszus, Martin Benson, Eze Bernal, Jose Bharath, Halandur Nagaraja Biros, George Bisdas, Sotirios Brown, James Cabezas, Mariano Cao, Shilei Cardoso, Jorge M. Carver, Eric N. Casamitjana, Adri Castillo, Laura Silvana Cat, Marcel Cattin, Philippe Cérigues, Albert Chagas, Vinicius S. Chandra, Siddhartha Chang, Yi-Ju Chang, Shiyu Chang, Ken Chazalon, Joseph Chen, Shengcong Chen, Wei Chen, Jefferson W. Chen, Zhaolin Cheng, Kun Choudhury, Ahana Roy Chylla, Roger Clrigues, Albert Colleman, Steven Colmeiro, Ramiro German Rodriguez Combalia, Marc Costa, Anthony Cui, Xiaomeng Dai, Zhenzhen Dai, Lutao Daza, Laura Alexandra Deutsch, Eric Ding, Changxing Dong, Chao Dong, Shidu Dudzik, Wojciech Eaton-Rosen, Zach Egan, Gary Escudero, Guilherme Estienne, Tho Everson, Richard Fabrizio, Jonathan Fan, Yong Fang, Longwei Feng, Xue Ferrante, Enzo Fidon, Lucas Fischer, Martin French, Andrew P. Fridman, Naomi Fu, Huan Fuentes, David Gao, Yaozong Gates, Evan Gering, David Gholami, Amir Gierke, Willi Glocker, Ben Gong, Mingming Gonzlez-Vill, Sandra Grosges, T. Guan, Yuanfang Guo, Sheng Gupta, Sudeep Han, Woo-Sup Han, Il Song Harmuth, Ko Center for Biomedical Image Computing and Analytics University of Pennsylvania PhiladelphiaPA United States Department of Radiology Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States Institute for Surgical Technology and Biomechanics University of Bern Bern Switzerland Center for MR-Research University Children's Hospital Zurich Zurich Switzerland Support Centre for Advanced Neuroimaging Inselspital Institute for Diagnostic and Interventional Neuroradiology Bern University Hospital Bern Switzerland University Hospital of Zurich Zurich Switzerland Center for Clinical Epidemiology and Biostatistics University of Pennsylvania Philadelphia United States Image-Based Biomedical Modeling Group Technical University of Munich Munich Germany Icahn School of Medicine Mount Sinai Health System New YorkNY United States Leidos Biomedical Research Inc. Frederick National Laboratory for Cancer Research FrederickMD21701 United States Cancer Imaging Program National Cancer Institute National Institutes of Health BethesdaMD20814 United States Department of Neurology University of Alabama at Birmingham BirminghamAL United States Department of Diagnostic Radiology University of Texas MD Anderson Cancer Center HoustonTX United States Department of Psychology Washington University St. LouisMO United States Neuroimaging Informatics and Analysis Center Washington University St. LouisMO United States Department of Radiology Washington University St. LouisMO United States Institute of Diagnostic and Interventional Radiology Pediatric Radiology and Neuroradiology University Medical Center Rostock Ernst-Heydemann-Str. 6 Rostock18057 Germany Tata Memorial Centre Homi Bhabha National Institute Mumbai India Shri Guru Gobind Singhji Institute of Engineering and Technology Nanded India NVIDIA Santa Clara

Gliomas are the most common primary brain malignancies, with different degrees of aggressiveness, variable prognosis and various heterogeneous histologic sub-regions, i.e., peritumoral edematous/invaded tissue, necrotic core, active and non-enhancing core. This intrinsic heterogeneity is also portrayed in their radio-phenotype, as their sub-regions are depicted by varying intensity profiles disseminated across multi-parametric magnetic resonance imaging (mpMRI) scans, reflecting varying biological properties. Their heterogeneous shape, extent, and location are some of the factors that make these tumors difficult to resect, and in some cases inoperable. The amount of resected tumor is a factor also considered in longitudinal scans, when evaluating the apparent tumor for potential diagnosis of progression. Furthermore, there is mounting evidence that accurate segmentation of the various tumor sub-regions can offer the basis for quantitative image analysis towards prediction of patient overall survival. This study assesses the state-of-the-art machine learning (ML) methods used for brain tumor image analysis in mpMRI scans, during the last seven instances of the International Brain Tumor Segmentation (BraTS) challenge, i.e., 2012-2018. Specifically, we focus on i) evaluating segmentations of the various glioma sub-regions in pre-operative mpMRI scans, ii) assessing potential tumor progression by virtue of longitudinal growth of tumor sub-regions, beyond use of the RECIST/RANO criteria, and iii) predicting the overall survival from pre-operative mpMRI scans of patients that underwent gross total resection. Finally, we investigate the challenge of identifying the best ML algorithms for each of these tasks, considering that apart from being diverse on each instance of the challenge, the multi-institutional mpMRI BraTS dataset has also been a continuously evolving/growing dataset. Copyright © 2018, The Authors. All rights reserved.

关键词： Tumors

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An Inertial Sensor based Balance and Gait Analysis System

An Inertial Sensor based Balance and Gait Analysis System

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IEEE International Symposium on Circuits and Systems

作者： Wei-Hsin Wang Pau-Choo Chung Guo-Liang Yang Chien-Wen Lin Yu-Liang Hsu Ming-Chyi Pai Dept. of Electrical Engineering National Cheng Kung University Tainan Taiwan (China) Dept. of Automatic Control Engineering Feng Chia University Taichung Taiwan (China) Dept. of Neurology and Alzheimer's Disease Research Center National Cheng Kung University Tainan Taiwan (China)

ISBN: (纸本)9781479983926

Time-up and Go Test (TUGT) is a common clinical motility test for the elderly. Currently it is measured manually, which is human resource consuming, less accurate, and limited in capability of measuring sophisticated parameters. In this paper, we propose a system consisting of three inertial-sensor-based measuring components, a remote controller, and an analysis software for automatic balance and gait analysis in TUGT. This system is designed to be of easy use with the software automatically measuring the time intervals of stand-up time, sit-down time, and the total time of test. In addition, the system can also obtain the gait information of stride time, swing time, and stance time. To validate the system, we compared the performance with that obtained from stopwatch using videos as the gold standard. The results indicate that the system not only provides a convenient way of measurement but also achieves higher accurate and reliable measurement results than using stopwatch. We use this system to compare the Alzheimer's disease patients (ADs) with health controllers (HCs). The results show that the ADs need longer stand-up time, sit-down time, and total time while taking the TUGT compared to the HCs. The stride time, swing time, and stance time are also longer than the HCs'. Such a friendly system provides high potential in tracking long-time patterns for diagnosis.

关键词： Time-Up and Go Test inertial sensor Alzheimer's disease

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Improved Drive Cycle Following with an ILC Supported Driver Model ∗

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IFAC-PapersOnLine 2015年第15期48卷 347-353页

作者： Lars Eriksson Mikael Norrlöf Lars Eriksson is with Vehicular Systems Dept. of Electrical Engineering Linköping University SE-581 83 Linköping Sweden Mikael Norrlöf is with Automatic Control Dept. of Electrical Engineering Linköping University SE-581 83 Linköping Sweden and ABB AB - Robotics SE-721 68 Västerås Sweden

Drive cycle following is important for concept comparisons when evaluating vehicle concepts, but it can be time consuming to develop good driver models that can achieve accurate following of a specific velocity profile. Here, a new approach is proposed where a simple driver model based on a PID controller is extended with an Iterative Learning control (ILC) algorithm. Simulation results using a nonlinear vehicle and control system model show that it is possible to achieve very good cycle following in a few iterations with little tuning effort. It is also possible to utilize the repetitive behavior in the drive cycle to accelerate the convergence of the ILC algorithm even further.

关键词： Vehicle control learning powertrain

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A droop controller achieving proportional power sharing without output voltage amplitude or frequency deviation

A droop controller achieving proportional power sharing with...

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作者： Zeng, Yu Zhong, Qing-Chang Dept. of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9781479956982

The droop controller is widely used for the parallel operation of inverters. However, the conventional droop controller has a trade-off between the power sharing and the regulations of the output voltage amplitude and frequency. In order to remove this trade-off, a new droop controller is presented in this paper. This method adopts the structure of the robust droop controller and utilizes the transient droop characteristic, which enables proportional power sharing without output voltage amplitude or frequency deviation. Simulation results are provided to demonstrate the feasibility and excellent performance of the proposed controller. © 2014 IEEE.

关键词： controllers

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