Donning/Doffing and Arm Positioning Influence in Upper Limb Adaptive Prostheses Control

[EN] New upper limb prostheses controllers are continuously being proposed in the literature. However, most of the prostheses commonly used in the real world are based on very old basic controllers. One reason to explain this reluctance to change is the lack of robustness. Traditional controllers have been validated by many users and years, so the introduction of a new controller paradigm requires a lot of strong evidence of a robust behavior. In this work, we approach the robustness against donning/doffing and arm position for recently proposed linear filter adaptive controllers based on myoelectric signals. The adaptive approach allows to introduce some feedback in a natural way in real time in the human-machine collaboration, so it is not so sensitive to input signals changes due to donning/doffing and arm movements. The average completion rate and path efficiency obtained for eight able-bodied subjects donning/doffing five times in four days is 95.83% and 84.19%, respectively, and for four participants using different arm positions is 93.84% and 88.77%, with no statistically significant difference in the results obtained for the different conditions. All these characteristics make the adaptive linear regression a potential candidate for future real world prostheses controllers.This work is partially supported by Ministerio de Educacion, Cultura y Deporte (Spain) under grant FPU15/02870. The authors would like to thank Lucas Parra for the Myo device and Janne M. Hahne for discussions about the subject of the paper.Igual, C.; Camacho-García, A.; Bernabeu Soler, EJ.; Igual García, J. (2020). Donning/Doffing and Arm Positioning Influence in Upper Limb Adaptive Prostheses Control. Applied Sciences. 10(8):1-19. https://doi.org/10.3390/app10082892S119108Esquenazi, A. (2004). 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A review of mobile robots: Concepts, methods, theoretical framework, and applications

[EN] Humanoid robots, unmanned rovers, entertainment pets, drones, and so on are great examples of mobile robots. They can be distinguished from other robots by their ability to move autonomously, with enough intelligence to react and make decisions based on the perception they receive from the environment. Mobile robots must have some source of input data, some way of decoding that input, and a way of taking actions (including its own motion) to respond to a changing world. The need to sense and adapt to an unknown environment requires a powerful cognition system. Nowadays, there are mobile robots that can walk, run, jump, and so on like their biological counterparts. Several fields of robotics have arisen, such as wheeled mobile robots, legged robots, flying robots, robot vision, artificial intelligence, and so on, which involve different technological areas such as mechanics, electronics, and computer science. In this article, the world of mobile robots is explored including the new trends. These new trends are led by artificial intelligence, autonomous driving, network communication, cooperative work, nanorobotics, friendly human-robot interfaces, safe human-robot interaction, and emotion expression and perception. Furthermore, these news trends are applied to different fields such as medicine, health care, sports, ergonomics, industry, distribution of goods, and service robotics. These tendencies will keep going their evolution in the coming years.The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported by the Spanish Ministry of Economy and Competitiveness, which has funded the DPI2013-44227-R project.Rubio Montoya, FJ.; Valero Chuliá, FJ.; Llopis Albert, C. (2019). A review of mobile robots: Concepts, methods, theoretical framework, and applications. 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Fuzzy-logic-based control, filtering, and fault detection for networked systems: A Survey

This paper is concerned with the overview of the recent progress in fuzzy-logic-based filtering, control, and fault detection problems. First, the network technologies are introduced, the networked control systems are categorized from the aspects of fieldbuses and industrial Ethernets, the necessity of utilizing the fuzzy logic is justified, and the network-induced phenomena are discussed. Then, the fuzzy logic control strategies are reviewed in great detail. Special attention is given to the thorough examination on the latest results for fuzzy PID control, fuzzy adaptive control, and fuzzy tracking control problems. Furthermore, recent advances on the fuzzy-logic-based filtering and fault detection problems are reviewed. Finally, conclusions are given and some possible future research directions are pointed out, for example, topics on two-dimensional networked systems, wireless networked control systems, Quality-of-Service (QoS) of networked systems, and fuzzy access control in open networked systems.This work was supported in part by the National Natural Science Foundation of China under Grants 61329301, 61374039, 61473163, and 61374127, the Hujiang Foundation of China under Grants C14002 andD15009, the Engineering and Physical Sciences Research Council (EPSRC) of the UK, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany

A review on analysis and synthesis of nonlinear stochastic systems with randomly occurring incomplete information

Copyright q 2012 Hongli Dong et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.In the context of systems and control, incomplete information refers to a dynamical system in which knowledge about the system states is limited due to the difficulties in modeling complexity in a quantitative way. The well-known types of incomplete information include parameter uncertainties and norm-bounded nonlinearities. Recently, in response to the development of network technologies, the phenomenon of randomly occurring incomplete information has become more and more prevalent. Such a phenomenon typically appears in a networked environment. Examples include, but are not limited to, randomly occurring uncertainties, randomly occurring nonlinearities, randomly occurring saturation, randomly missing measurements and randomly occurring quantization. Randomly occurring incomplete information, if not properly handled, would seriously deteriorate the performance of a control system. In this paper, we aim to survey some recent advances on the analysis and synthesis problems for nonlinear stochastic systems with randomly occurring incomplete information. The developments of the filtering, control and fault detection problems are systematically reviewed. Latest results on analysis and synthesis of nonlinear stochastic systems are discussed in great detail. In addition, various distributed filtering technologies over sensor networks are highlighted. Finally, some concluding remarks are given and some possible future research directions are pointed out. © 2012 Hongli Dong et al.This work was supported in part by the National Natural Science Foundation of China under Grants 61273156, 61134009, 61273201, 61021002, and 61004067, the Engineering and Physical Sciences Research Council (EPSRC) of the UK under Grant GR/S27658/01, the Royal Society of the UK, the National Science Foundation of the USA under Grant No. HRD-1137732, and the Alexander von Humboldt Foundation of German

Recent advances on recursive filtering and sliding mode design for networked nonlinear stochastic systems: A survey

Copyright © 2013 Jun Hu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.Some recent advances on the recursive filtering and sliding mode design problems for nonlinear stochastic systems with network-induced phenomena are surveyed. The network-induced phenomena under consideration mainly include missing measurements, fading measurements, signal quantization, probabilistic sensor delays, sensor saturations, randomly occurring nonlinearities, and randomly occurring uncertainties. With respect to these network-induced phenomena, the developments on filtering and sliding mode design problems are systematically reviewed. In particular, concerning the network-induced phenomena, some recent results on the recursive filtering for time-varying nonlinear stochastic systems and sliding mode design for time-invariant nonlinear stochastic systems are given, respectively. Finally, conclusions are proposed and some potential future research works are pointed out.This work was supported in part by the National Natural Science Foundation of China under Grant nos. 61134009, 61329301, 61333012, 61374127 and 11301118, the Engineering and Physical Sciences Research Council (EPSRC) of the UK under Grant no. GR/S27658/01, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany

Performance analysis with network-enhanced complexities: On fading measurements, event-triggered mechanisms, and cyber attacks

Copyright © 2014 Derui Ding et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.Nowadays, the real-world systems are usually subject to various complexities such as parameter uncertainties, time-delays, and nonlinear disturbances. For networked systems, especially large-scale systems such as multiagent systems and systems over sensor networks, the complexities are inevitably enhanced in terms of their degrees or intensities because of the usage of the communication networks. Therefore, it would be interesting to (1) examine how this kind of network-enhanced complexities affects the control or filtering performance; and (2) develop some suitable approaches for controller/filter design problems. In this paper, we aim to survey some recent advances on the performance analysis and synthesis with three sorts of fashionable network-enhanced complexities, namely, fading measurements, event-triggered mechanisms, and attack behaviors of adversaries. First, these three kinds of complexities are introduced in detail according to their engineering backgrounds, dynamical characteristic, and modelling techniques. Then, the developments of the performance analysis and synthesis issues for various networked systems are systematically reviewed. Furthermore, some challenges are illustrated by using a thorough literature review and some possible future research directions are highlighted.This work was supported in part by the National Natural Science Foundation of China under Grants 61134009, 61329301, 61203139, 61374127, and 61374010, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany

A survey on modeling of microgrids - from fundamental physics to phasors and voltage sources

Microgrids have been identified as key components of modern electrical systems to facilitate the integration of renewable distributed generation units. Their analysis and controller design requires the development of advanced (typically model-based) techniques naturally posing an interesting challenge to the control community. Although there are widely accepted reduced order models to describe the dynamic behavior of microgrids, they are typically presented without details about the reduction procedure---hampering the understanding of the physical phenomena behind them. Preceded by an introduction to basic notions and definitions in power systems, the present survey reviews key characteristics and main components of a microgrid. We introduce the reader to the basic functionality of DC/AC inverters, as well as to standard operating modes and control schemes of inverter-interfaced power sources in microgrid applications. Based on this exposition and starting from fundamental physics, we present detailed dynamical models of the main microgrid components. Furthermore, we clearly state the underlying assumptions which lead to the standard reduced model with inverters represented by controllable voltage sources, as well as static network and load representations, hence, providing a complete modular model derivation of a three-phase inverter-based microgrid

A Survey on Multisensor Fusion and Consensus Filtering for Sensor Networks

Multisensor fusion and consensus filtering are two fascinating subjects in the research of sensor networks. In this survey, we will cover both classic results and recent advances developed in these two topics. First, we recall some important results in the development ofmultisensor fusion technology. Particularly, we pay great attention to the fusion with unknown correlations, which ubiquitously exist in most of distributed filtering problems. Next, we give a systematic review on several widely used consensus filtering approaches. Furthermore, some latest progress on multisensor fusion and consensus filtering is also presented. Finally, conclusions are drawn and several potential future research directions are outlined.the Royal Society of the UK, the National Natural Science Foundation of China under Grants 61329301, 61374039, 61304010, 11301118, and 61573246, the Hujiang Foundation of China under Grants C14002 and D15009, the Alexander von Humboldt Foundation of Germany, and the Innovation Fund Project for Graduate Student of Shanghai under Grant JWCXSL140

Attack-Surface Metrics, OSSTMM and Common Criteria Based Approach to “Composable Security” in Complex Systems

In recent studies on Complex Systems and Systems-of-Systems theory, a huge effort has been put to cope with behavioral problems, i.e. the possibility of controlling a desired overall or end-to-end behavior by acting on the individual elements that constitute the system itself. This problem is particularly important in the “SMART” environments, where the huge number of devices, their significant computational capabilities as well as their tight interconnection produce a complex architecture for which it is difficult to predict (and control) a desired behavior; furthermore, if the scenario is allowed to dynamically evolve through the modification of both topology and subsystems composition, then the control problem becomes a real challenge. In this perspective, the purpose of this paper is to cope with a specific class of control problems in complex systems, the “composability of security functionalities”, recently introduced by the European Funded research through the pSHIELD and nSHIELD projects (ARTEMIS-JU programme). In a nutshell, the objective of this research is to define a control framework that, given a target security level for a specific application scenario, is able to i) discover the system elements, ii) quantify the security level of each element as well as its contribution to the security of the overall system, and iii) compute the control action to be applied on such elements to reach the security target. The main innovations proposed by the authors are: i) the definition of a comprehensive methodology to quantify the security of a generic system independently from the technology and the environment and ii) the integration of the derived metrics into a closed-loop scheme that allows real-time control of the system. The solution described in this work moves from the proof-of-concepts performed in the early phase of the pSHIELD research and enrich es it through an innovative metric with a sound foundation, able to potentially cope with any kind of pplication scenarios (railways, automotive, manufacturing, ...)