The paper introduces an electroencephalography(EEG) driven online position control scheme for a robot arm by utilizing motor imagery to activate and error related potential(ErrP) to stop the movement of the individual...The paper introduces an electroencephalography(EEG) driven online position control scheme for a robot arm by utilizing motor imagery to activate and error related potential(ErrP) to stop the movement of the individual links, following a fixed(pre-defined) order of link selection. The right(left)hand motor imagery is used to turn a link clockwise(counterclockwise) and foot imagery is used to move a link forward. The occurrence of ErrP here indicates that the link under motion crosses the visually fixed target position, which usually is a plane/line/point depending on the desired transition of the link across 3D planes/around 2D lines/along 2D lines respectively. The imagined task about individual link's movement is decoded by a classifier into three possible class labels: clockwise, counterclockwise and no movement in case of rotational movements and forward, backward and no movement in case of translational movements. One additional classifier is required to detect the occurrence of the ErrP signal, elicited due to visually inspired positional link error with reference to a geometrically selected target position. Wavelet coefficients and adaptive autoregressive parameters are extracted as features for motor imagery and ErrP signals respectively. Support vector machine classifiers are used to decode motor imagination and ErrP with high classification accuracy above 80%. The average time taken by the proposed scheme to decode and execute control intentions for the complete movement of three links of a robot is approximately33 seconds. The steady-state error and peak overshoot of the proposed controller are experimentally obtained as 1.1% and4.6% respectively.展开更多
This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface ...This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface device while observing work of the robot with a video camera. We also investigate the effect of the proposed control by experiment. As cooperative work, we deal with work in which two robots carry an object together. The robot position control using force information finely adjusts the position of the robot arm to reduce the force applied to the object. Thus, the purpose of the control is to avoid large force so that the object is not broken. In our experiment, we make a comparison among the following three cases in order to clarify how to carry out the control effectively. In the first case, the two robots are operated manually by a user with his/her both hands. In the second case, one robot is operated manually by a user, and the other robot is moved automatically under the proposed control. In the last case, the object is carried directly by a human instead of the robot which is operated by the user in the second case. As a result, experimental results demonstrate that the control can help each system operated manually by the user to carry the object smoothly.展开更多
以光伏、储能为代表的逆变式电源(inverter interfaced distributed generator,IIDG)大量接入配电网,使得传统距离保护受到巨大干扰,同时存在拒动或误动的风险。针对此问题,分析了含IIDG配电网不同类型故障下的复合序网,利用IIDG侧正序...以光伏、储能为代表的逆变式电源(inverter interfaced distributed generator,IIDG)大量接入配电网,使得传统距离保护受到巨大干扰,同时存在拒动或误动的风险。针对此问题,分析了含IIDG配电网不同类型故障下的复合序网,利用IIDG侧正序故障分量求取不同故障下的附加阻抗角。结合故障下阻抗的复平面关系,计算线路故障位置对应的短路阻抗,得到了一种真实短路阻抗求解办法。提出了一种适用于逆变式电源接入下的自适应距离保护方案。该方案求解过程利用IIDG侧单端电气量,解决了距离保护受IIDG故障输出受控特性和过渡电阻影响的问题,在有效降低配网通信成本的同时不受故障位置变化的影响。通过实时数字仿真器(real time digital simulator,RTDS)对该保护方案进行了验证,结果表明其在不同类型故障下都有较好的选择性和可靠性。展开更多
基金supported by UGC Sponsored UPE-ⅡProject in Cognitive Science of Jadavpur University,Kolkata
文摘The paper introduces an electroencephalography(EEG) driven online position control scheme for a robot arm by utilizing motor imagery to activate and error related potential(ErrP) to stop the movement of the individual links, following a fixed(pre-defined) order of link selection. The right(left)hand motor imagery is used to turn a link clockwise(counterclockwise) and foot imagery is used to move a link forward. The occurrence of ErrP here indicates that the link under motion crosses the visually fixed target position, which usually is a plane/line/point depending on the desired transition of the link across 3D planes/around 2D lines/along 2D lines respectively. The imagined task about individual link's movement is decoded by a classifier into three possible class labels: clockwise, counterclockwise and no movement in case of rotational movements and forward, backward and no movement in case of translational movements. One additional classifier is required to detect the occurrence of the ErrP signal, elicited due to visually inspired positional link error with reference to a geometrically selected target position. Wavelet coefficients and adaptive autoregressive parameters are extracted as features for motor imagery and ErrP signals respectively. Support vector machine classifiers are used to decode motor imagination and ErrP with high classification accuracy above 80%. The average time taken by the proposed scheme to decode and execute control intentions for the complete movement of three links of a robot is approximately33 seconds. The steady-state error and peak overshoot of the proposed controller are experimentally obtained as 1.1% and4.6% respectively.
文摘This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface device while observing work of the robot with a video camera. We also investigate the effect of the proposed control by experiment. As cooperative work, we deal with work in which two robots carry an object together. The robot position control using force information finely adjusts the position of the robot arm to reduce the force applied to the object. Thus, the purpose of the control is to avoid large force so that the object is not broken. In our experiment, we make a comparison among the following three cases in order to clarify how to carry out the control effectively. In the first case, the two robots are operated manually by a user with his/her both hands. In the second case, one robot is operated manually by a user, and the other robot is moved automatically under the proposed control. In the last case, the object is carried directly by a human instead of the robot which is operated by the user in the second case. As a result, experimental results demonstrate that the control can help each system operated manually by the user to carry the object smoothly.
文摘以光伏、储能为代表的逆变式电源(inverter interfaced distributed generator,IIDG)大量接入配电网,使得传统距离保护受到巨大干扰,同时存在拒动或误动的风险。针对此问题,分析了含IIDG配电网不同类型故障下的复合序网,利用IIDG侧正序故障分量求取不同故障下的附加阻抗角。结合故障下阻抗的复平面关系,计算线路故障位置对应的短路阻抗,得到了一种真实短路阻抗求解办法。提出了一种适用于逆变式电源接入下的自适应距离保护方案。该方案求解过程利用IIDG侧单端电气量,解决了距离保护受IIDG故障输出受控特性和过渡电阻影响的问题,在有效降低配网通信成本的同时不受故障位置变化的影响。通过实时数字仿真器(real time digital simulator,RTDS)对该保护方案进行了验证,结果表明其在不同类型故障下都有较好的选择性和可靠性。
