Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system

[EN] Rehabilitation is a hazardous task for a mechanical system, since the device has to interact with the human extremities without the hands-on experience the physiotherapist acquires over time. A gap needs to be filled in terms of designing effective controllers for this type of devices. In this respect, the paper describes the design of a model-based control for an electromechanical lower-limb rehabilitation system based on a parallel kinematic mechanism. A controller-observer was designed for estimating joint velocities, which are then used in a hybrid position/force control scheme. The model parameters are identified by customising an approach based on identifying only the relevant system dynamics parameters. Findings obtained through simulations show evidence of improvement in tracking performance compared with those where the velocity was estimated by numerical differentiation. The controller is also implemented in an actual electromechanical system for lower-limb rehabilitation tasks. Findings based on rehabilitation tasks confirm the findings from simulations.This work was partially financed by the Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia (FEDERCICYT) under the project DPI2013-44227-R and by the Instituto U. de Automatica e Informatica Industrial (ai2) of the Universitat Politecnica de Valencia.Valera Fernández, Á.; Díaz-Rodríguez, M.; Vallés Miquel, M.; Oliver, E.; Mata Amela, V.; Page Del Pozo, AF. (2017). Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system. International Journal of Control. 90(4):702-714. https://doi.org/10.1080/00207179.2016.1215529S702714904Åström, K. J., & Murray, R. M. (2010). Feedback Systems. doi:10.2307/j.ctvcm4gdkAtkeson, C. G., An, C. H., & Hollerbach, J. M. (1986). 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Représentations parcimonieuses pour les signaux multivariés

Dans cette thèse, nous étudions les méthodes d'approximation et d'apprentissage qui fournissent des représentations parcimonieuses. Ces méthodes permettent d'analyser des bases de données très redondantes à l'aide de dictionnaires d'atomes appris. Etant adaptés aux données étudiées, ils sont plus performants en qualité de représentation que les dictionnaires classiques dont les atomes sont définis analytiquement. Nous considérons plus particulièrement des signaux multivariés résultant de l'acquisition simultanée de plusieurs grandeurs, comme les signaux EEG ou les signaux de mouvements 2D et 3D. Nous étendons les méthodes de représentations parcimonieuses au modèle multivarié, pour prendre en compte les interactions entre les différentes composantes acquises simultanément. Ce modèle est plus flexible que l'habituel modèle multicanal qui impose une hypothèse de rang 1. Nous étudions des modèles de représentations invariantes : invariance par translation temporelle, invariance par rotation, etc. En ajoutant des degrés de liberté supplémentaires, chaque noyau est potentiellement démultiplié en une famille d'atomes, translatés à tous les échantillons, tournés dans toutes les orientations, etc. Ainsi, un dictionnaire de noyaux invariants génère un dictionnaire d'atomes très redondant, et donc idéal pour représenter les données étudiées redondantes. Toutes ces invariances nécessitent la mise en place de méthodes adaptées à ces modèles. L'invariance par translation temporelle est une propriété incontournable pour l'étude de signaux temporels ayant une variabilité temporelle naturelle. Dans le cas de l'invariance par rotation 2D et 3D, nous constatons l'efficacité de l'approche non-orientée sur celle orientée, même dans le cas où les données ne sont pas tournées. En effet, le modèle non-orienté permet de détecter les invariants des données et assure la robustesse à la rotation quand les données tournent. Nous constatons aussi la reproductibilité des décompositions parcimonieuses sur un dictionnaire appris. Cette propriété générative s'explique par le fait que l'apprentissage de dictionnaire est une généralisation des K-means. D'autre part, nos représentations possèdent de nombreuses invariances, ce qui est idéal pour faire de la classification. Nous étudions donc comment effectuer une classification adaptée au modèle d'invariance par translation, en utilisant des fonctions de groupement consistantes par translation.In this thesis, we study approximation and learning methods which provide sparse representations. These methods allow to analyze very redundant data-bases thanks to learned atoms dictionaries. Being adapted to studied data, they are more efficient in representation quality than classical dictionaries with atoms defined analytically. We consider more particularly multivariate signals coming from the simultaneous acquisition of several quantities, as EEG signals or 2D and 3D motion signals. We extend sparse representation methods to the multivariate model, to take into account interactions between the different components acquired simultaneously. This model is more flexible that the common multichannel one which imposes a hypothesis of rank 1. We study models of invariant representations: invariance to temporal shift, invariance to rotation, etc. Adding supplementary degrees of freedom, each kernel is potentially replicated in an atoms family, translated at all samples, rotated at all orientations, etc. So, a dictionary of invariant kernels generates a very redundant atoms dictionary, thus ideal to represent the redundant studied data. All these invariances require methods adapted to these models. Temporal shift-invariance is an essential property for the study of temporal signals having a natural temporal variability. In the 2D and 3D rotation invariant case, we observe the efficiency of the non-oriented approach over the oriented one, even when data are not revolved. Indeed, the non-oriented model allows to detect data invariants and assures the robustness to rotation when data are revolved. We also observe the reproducibility of the sparse decompositions on a learned dictionary. This generative property is due to the fact that dictionary learning is a generalization of K-means. Moreover, our representations have many invariances that is ideal to make classification. We thus study how to perform a classification adapted to the shift-invariant model, using shift-consistent pooling functions.SAVOIE-SCD - Bib.électronique (730659901) / SudocGRENOBLE1/INP-Bib.électronique (384210012) / SudocGRENOBLE2/3-Bib.électronique (384219901) / SudocSudocFranceF

Primal-dual interior-point algorithms for linear programs with many inequality constraints

Linear programs (LPs) are one of the most basic and important classes of constrained optimization problems, involving the optimization of linear objective functions over sets defined by linear equality and inequality constraints. LPs have applications to a broad range of problems in engineering and operations research, and often arise as subproblems for algorithms that solve more complex optimization problems. ``Unbalanced'' inequality-constrained LPs with many more inequality constraints than variables are an important subclass of LPs. Under a basic non-degeneracy assumption, only a small number of the constraints can be active at the solution--it is only this active set that is critical to the problem description. On the other hand, the additional constraints make the problem harder to solve. While modern ``interior-point'' algorithms have become recognized as some of the best methods for solving large-scale LPs, they may not be recommended for unbalanced problems, because their per-iteration work does not scale well with the number of constraints. In this dissertation, we investigate "constraint-reduced'' interior-point algorithms designed to efficiently solve unbalanced LPs. At each iteration, these methods construct search directions based only on a small working set of constraints, while ignoring the rest. In this way, they significantly reduce their per-iteration work and, hopefully, their overall running time. In particular, we focus on constraint-reduction methods for the highly efficient primal-dual interior-point (PDIP) algorithms. We propose and analyze a convergent constraint-reduced variant of Mehrotra's predictor-corrector PDIP algorithm, the algorithm implemented in virtually every interior-point software package for linear (and convex-conic) programming. We prove global and local quadratic convergence of this algorithm under a very general class of constraint selection rules and under minimal assumptions. We also propose and analyze two regularized constraint-reduced PDIP algorithms (with similar convergence properties) designed to deal directly with a type of degeneracy that constraint-reduced interior-point algorithms are often subject to. Prior schemes for dealing with this degeneracy could end up negating the benefit of constraint-reduction. Finally, we investigate the performance of our algorithms by applying them to several test and application problems, and show that our algorithms often outperform alternative approaches

Robust learning to rank models and their biomedical applications

There exist many real-world applications such as recommendation systems, document retrieval, and computational biology where the correct ordering of instances is of equal or greater importance than predicting the exact value of some discrete or continuous outcome. Learning-to-Rank (LTR) refers to a group of algorithms that apply machine learning techniques to tackle these ranking problems. Despite their empirical success, most existing LTR models are not built to be robust to errors in labeling or annotation, distributional data shift, or adversarial data perturbations. To fill this gap, we develop four LTR frameworks that are robust to various types of perturbations. First, Pairwise Elastic Net Regression Ranking (PENRR) is an elastic-net-based regression method for drug sensitivity prediction. PENRR infers robust predictors of drug responses from patient genomic information. The special design of this model (comparing each drug with other drugs in the same cell line and comparing that drug with itself in other cell lines) significantly enhances the accuracy of the drug prediction model under limited data. This approach is also able to solve the problem of fitting on the insensitive drugs that is commonly encountered in regression-based models. Second, Regression-based Ranking by Pairwise Cluster Comparisons (RRPCC) is a ridge-regression-based method for ranking clusters of similar protein complex conformations generated by an underlying docking program (i.e., ClusPro). Rather than using regression to predict scores, which would equally penalize deviations for either low-quality and high-quality clusters, we seek to predict the difference of scores for any pair of clusters corresponding to the same complex. RRPCC combines these pairwise assessments to form a ranked list of clusters, from higher to lower quality. We apply RRPCC to clusters produced by the automated docking server ClusPro and, depending on the training/validation strategy, we show. improvement by 24%–100% in ranking acceptable or better quality clusters first, and by 15%–100% in ranking medium or better quality clusters first. Third, Distributionally Robust Multi-Output Regression Ranking (DRMRR) is a listwise LTR model that induces robustness into LTR problems using the Distributionally Robust Optimization framework. Contrasting to existing methods, the scoring function of DRMRR was designed as a multivariate mapping from a feature vector to a vector of deviation scores, which captures local context information and cross-document interactions. DRMRR employs ranking metrics (i.e., NDCG) in its output. Particularly, we used the notion of position deviation to define a vector of relevance score instead of a scalar one. We then adopted the DRO framework to minimize a worst-case expected multi-output loss function over a probabilistic ambiguity set that is defined by the Wasserstein metric. We also presented an equivalent convex reformulation of the DRO problem, which is shown to be tighter than the ones proposed by the previous studies. Fourth, Inversion Transformer-based Neural Ranking (ITNR) is a Transformer-based model to predict drug responses using RNAseq gene expression profiles, drug descriptors, and drug fingerprints. It utilizes a Context-Aware-Transformer architecture as its scoring function that ensures the modeling of inter-item dependencies. We also introduced a new loss function using the concept of Inversion and approximate permutation matrices. The accuracy and robustness of these LTR models are verified through three medical applications, namely cluster ranking in protein-protein docking, medical document retrieval, and drug response prediction

Bilateral Control with Task Learning and Adaptation to Environment

The Motion Copying System permits to save an operator task in terms of position and force references for the action reproduction whenever the operator isn't available or to train new users. This thesis analyzes the MCS design and limitations, the Bilateral Control System on which the MCS is based, and proposes a model to adapt the saved task to new environmental conditions

Revision of the EU Green Public Procurement Criteria for Food and Catering Services

This report forms the basis to revise the existing EU Green Public Procurement (GPP) criteria for Food and Catering services. This will assist in the reduction of negative impacts of the, public procurement of these services, on the environment, human health and natural resources. The revision of EU GPP requires in-depth information about the technical and environmental performance of the service group as well as about the current procurement processes. The scientific body of evidence gathered will be cross-checked with sector experienced stakeholders, to develop consensus on how the criteria should be revised to deliver optimum environmental improvements. This Report which will be the basis for producing the draft EU GPP criteria proposals that will be discussed in the Ad Hoc Working Group (AHWG) meetings. Chapter 1 focuses on the definition for and scoping of Food and Catering Services to overview of the different scope and definitions and to narrow down the services in order to obtain a homogenous scope. Chapter 2, market analysis, presents the market overview and the market structure by focusing on the contract catering market. The environmental analysis (Chapter 3) provides a detail analysis of the main environmental hotspots for the food product categories by reviewing a number of LCA studies. Other non-LCA aspects including ethical and health consideration are also summarised. The technical analysis focus on the current schemes and labels identified as important for the revision of the current EU GPP criteria. Chapter 4 provide improvement options, based on the best sector practices and national cases studies which could assist the revision of the EU GPP, and reduce the sectors environmental impacts, by drawing on findings from the market and technical analysis.JRC.B.5-Circular Economy and Industrial Leadershi

New Directions for Contact Integrators

Contact integrators are a family of geometric numerical schemes which guarantee the conservation of the contact structure. In this work we review the construction of both the variational and Hamiltonian versions of these methods. We illustrate some of the advantages of geometric integration in the dissipative setting by focusing on models inspired by recent studies in celestial mechanics and cosmology.Comment: To appear as Chapter 24 in GSI 2021, Springer LNCS 1282

Actas de las XIV Jornadas de Ingeniería Telemática (JITEL 2019) Zaragoza (España) 22-24 de octubre de 2019

En esta ocasión, es la ciudad de Zaragoza la encargada de servir de anfitriona a las XIV Jornadas de Ingeniería Telemática (JITEL 2019), que se celebrarán del 22 al 24 de octubre de 2019. Las Jornadas de Ingeniería Telemática (JITEL), organizadas por la Asociación de Telemática (ATEL), constituyen un foro propicio de reunión, debate y divulgación para los grupos que imparten docencia e investigan en temas relacionados con las redes y los servicios telemáticos. Con la organización de este evento se pretende fomentar, por un lado el intercambio de experiencias y resultados, además de la comunicación y cooperación entre los grupos de investigación que trabajan en temas relacionados con la telemática. En paralelo a las tradicionales sesiones que caracterizan los congresos científicos, se desea potenciar actividades más abiertas, que estimulen el intercambio de ideas entre los investigadores experimentados y los noveles, así como la creación de vínculos y puntos de encuentro entre los diferentes grupos o equipos de investigación. Para ello, además de invitar a personas relevantes en los campos correspondientes, se van a incluir sesiones de presentación y debate de las líneas y proyectos activos de los mencionados equipos