A. Sargolzaei, K. Yen, M. Abdelghani, Alireza Abbaspour, S. Sargolzaei
Networked Control Systems (NCSs) have been implemented in several different industries. The integration with advanced communication networks and computing techniques allows for the enhancement of efficiency of industrial control systems. Despite all the advantages that NCSs bring to industry, they remain at risk to a spectrum of physical and cyber-attacks. In this paper, we elaborate on security vulnerabilities of NCSs, and examine how these vulnerabilities may be exploited when attacks occur. A general model of NCS designed with three different controllers, i.e., proportional-integral-derivative (PID) controllers, Model Predictive control (MPC) and Emotional Learning Controller (ELC) are studied. Then three different types of attacks are applied to evaluate the system performance. For the case study, a networked pacemaker system using the Zeeman nonlinear heart model (ZHM) as the plant combined with the above-mentioned controllers to test the system performance when under attacks. The results show that with Emotional Learning Controller (ELC), the pacemaker is able to track the ECG signal with high fidelity even under different attack scenarios.
{"title":"Generalized Attack Model for Networked Control Systems, Evaluation of Control Methods","authors":"A. Sargolzaei, K. Yen, M. Abdelghani, Alireza Abbaspour, S. Sargolzaei","doi":"10.4236/ICA.2017.83013","DOIUrl":"https://doi.org/10.4236/ICA.2017.83013","url":null,"abstract":"Networked Control Systems (NCSs) have been implemented in several different industries. The integration with advanced communication networks and computing techniques allows for the enhancement of efficiency of industrial control systems. Despite all the advantages that NCSs bring to industry, they remain at risk to a spectrum of physical and cyber-attacks. In this paper, we elaborate on security vulnerabilities of NCSs, and examine how these vulnerabilities may be exploited when attacks occur. A general model of NCS designed with three different controllers, i.e., proportional-integral-derivative (PID) controllers, Model Predictive control (MPC) and Emotional Learning Controller (ELC) are studied. Then three different types of attacks are applied to evaluate the system performance. For the case study, a networked pacemaker system using the Zeeman nonlinear heart model (ZHM) as the plant combined with the above-mentioned controllers to test the system performance when under attacks. The results show that with Emotional Learning Controller (ELC), the pacemaker is able to track the ECG signal with high fidelity even under different attack scenarios.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":"08 1","pages":"164-174"},"PeriodicalIF":0.0,"publicationDate":"2017-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45584905","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The recently proposed data-driven pole placement method is able to make use of measurement data to simultaneously identify a state space model and derive pole placement state feedback gain. It can achieve this precisely for systems that are linear time-invariant and for which noiseless measurement datasets are available. However, for nonlinear systems, and/or when the only noisy measurement datasets available contain noise, this approach is unable to yield satisfactory results. In this study, we investigated the effect on data-driven pole placement performance of introducing a prefilter to reduce the noise present in datasets. Using numerical simulations of a self-balancing robot, we demonstrated the important role that prefiltering can play in reducing the interference caused by noise.
{"title":"An Improvement on Data-Driven Pole Placement for State Feedback Control and Model Identification","authors":"Pyone Ei Ei Shwe, S. Yamamoto","doi":"10.4236/ICA.2017.83011","DOIUrl":"https://doi.org/10.4236/ICA.2017.83011","url":null,"abstract":"The recently proposed data-driven pole placement method is able to make use of measurement data to simultaneously identify a state space model and derive pole placement state feedback gain. It can achieve this precisely for systems that are linear time-invariant and for which noiseless measurement datasets are available. However, for nonlinear systems, and/or when the only noisy measurement datasets available contain noise, this approach is unable to yield satisfactory results. In this study, we investigated the effect on data-driven pole placement performance of introducing a prefilter to reduce the noise present in datasets. Using numerical simulations of a self-balancing robot, we demonstrated the important role that prefiltering can play in reducing the interference caused by noise.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":"08 1","pages":"139-153"},"PeriodicalIF":0.0,"publicationDate":"2017-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48059866","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Naser Alajmi, Ali Alobaidly, Mubarak K. Alhajri, Salem H. Salamah, M. A. Alsubaie
Selecting a proper initial input for Iterative Learning Control (ILC) algorithms has been shown to offer faster learning speed compared to the same theories if a system starts from blind. Iterative Learning Control is a control technique that uses previous successive projections to update the following execution/trial input such that a reference is followed to a high precision. In ILC, convergence of the error is generally highly dependent on the initial choice of input applied to the plant, thus a good choice of initial start would make learning faster and as a consequence the error tends to zero faster as well. Here in this paper, an upper limit to the initial choice construction for the input signal for trial 1 is set such that the system would not tend to respond aggressively due to the uncertainty that lies in high frequencies. The provided limit is found in term of singular values and simulation results obtained illustrate the theory behind.
{"title":"An Upper Limit for Iterative Learning Control Initial Input Construction Using Singular Values","authors":"Naser Alajmi, Ali Alobaidly, Mubarak K. Alhajri, Salem H. Salamah, M. A. Alsubaie","doi":"10.4236/ICA.2017.83012","DOIUrl":"https://doi.org/10.4236/ICA.2017.83012","url":null,"abstract":"Selecting a proper initial input for Iterative Learning Control (ILC) algorithms has been shown to offer faster learning speed compared to the same theories if a system starts from blind. Iterative Learning Control is a control technique that uses previous successive projections to update the following execution/trial input such that a reference is followed to a high precision. In ILC, convergence of the error is generally highly dependent on the initial choice of input applied to the plant, thus a good choice of initial start would make learning faster and as a consequence the error tends to zero faster as well. Here in this paper, an upper limit to the initial choice construction for the input signal for trial 1 is set such that the system would not tend to respond aggressively due to the uncertainty that lies in high frequencies. The provided limit is found in term of singular values and simulation results obtained illustrate the theory behind.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":"08 1","pages":"154-163"},"PeriodicalIF":0.0,"publicationDate":"2017-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46512359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents the use of active disturbance rejection control method (ADRC) to synchronize two different chaotic systems. The master system and slave systems have uncertainties and external disturbances. The numerical results are presented for the synchronization between the Duffing-Holmes system and the van der pol system. The numerical results presented show the effectiveness of the proposed method.
本文提出了用自抗扰控制方法来同步两个不同的混沌系统。主系统和从系统具有不确定性和外部干扰。给出了Duffing-Holmes系统和van der pol系统同步的数值结果。数值结果表明了该方法的有效性。
{"title":"Synchronization of Chaotic Systems via Active Disturbance Rejection Control","authors":"F. A. Khadra","doi":"10.4236/ICA.2017.82007","DOIUrl":"https://doi.org/10.4236/ICA.2017.82007","url":null,"abstract":"This paper presents the \u0000use of active disturbance rejection control method (ADRC) to synchronize two \u0000different chaotic systems. The master system and slave systems have \u0000uncertainties and external disturbances. The numerical results are presented \u0000for the synchronization between the Duffing-Holmes system and the van der pol \u0000system. The numerical results presented show the effectiveness of the proposed \u0000method.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":"08 1","pages":"86-95"},"PeriodicalIF":0.0,"publicationDate":"2017-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42810717","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper is concerned with the discretization of the fractional-order differentiator and integrator, which is the foundation of the digital realization of fractional order controller. Firstly, the parameterized Al-Alaoui transform is presented as a general generating function with one variable parameter, which can be adjusted to obtain the commonly used generating functions (e.g. Euler operator, Tustin operator and Al-Alaoui operator). However, the following simulation results show that the optimal variable parameters are different for different fractional orders. Then the weighted square integral index about the magtitude and phase is defined as the objective functions to achieve the optimal variable parameter for different fractional orders. Finally, the simulation results demonstrate that there are great differences on the optimal variable parameter for differential and integral operators with different fractional orders, which should be attracting more attentions in the design of digital fractional order controller.
{"title":"Discretization of Fractional Order Differentiator and Integrator with Different Fractional Orders","authors":"Qi Zhang, Baoye Song, Huadong Zhao, Jiansheng Zhang","doi":"10.4236/ICA.2017.82006","DOIUrl":"https://doi.org/10.4236/ICA.2017.82006","url":null,"abstract":"This paper is concerned with the discretization of the fractional-order \u0000differentiator and integrator, which is the foundation of the digital \u0000realization of fractional order controller. Firstly, the parameterized \u0000Al-Alaoui transform is presented as a general generating function with one \u0000variable parameter, which can be adjusted to obtain the commonly used \u0000generating functions (e.g. Euler operator, Tustin operator and Al-Alaoui \u0000operator). However, the following simulation results show that the optimal \u0000variable parameters are different for different fractional orders. Then the \u0000weighted square integral index about the magtitude and phase is defined as the objective functions to achieve the optimal variable \u0000parameter for different fractional orders. Finally, the simulation results demonstrate \u0000that there are great differences on the optimal variable parameter for differential \u0000and integral operators with different fractional orders, which should be attracting \u0000more attentions in the design of digital fractional order controller.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":"08 1","pages":"75-85"},"PeriodicalIF":0.0,"publicationDate":"2017-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47782856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
K. Osaka, H. Sugimoto, T. Tanioka, Yuko Yasuhara, R. Locsin, Yueren Zhao, Kikuko Okuda, Ken Saito
Healthcare for older adults with dementia is an important healthcare problem in Japan and in other developed countries. Importantly, healthcare workers in Japan are also getting older. In order to address solutions to this problem, using robots is being realized and is starting to assist healthcare and welfare practice needs. The aim of this study was to identify the characteristics of a transactive phenomenon in relationships among older adults with dementia, with nurses as intermediaries and with a cognitive skill-aid robot. Subjects were two institutionalized older adults who were diagnosed with dementia using Hasegawa’s Dementia Scale-Revised; a Kabochan (Nodding Kabochan) fixed with a remote-controlled speaker, Pechat (Kabochan with Pechat). Measurements of autonomic nervous activity were done using wearable electrocardiography attached to the subjects for four hours. Heart Rate Variability data were assessed at various frequency bands using a HRV software tool. In a continuously recorded data, interbeat (R-R) intervals were obtained for a 1-min segment using the maximum entropy method. In this study, the two major spectral components of HRV, the variances of the low-frequency (LF: 0.04 - 0.15 Hz) band and high-frequency (HF: 0.15 - 0.4 Hz) band, were calculated. Activities and behaviors of subjects transacting with Kabochan were observed by the expert nurses and video-recorded. Throughout the transaction period, observations were recorded of patients’ behavior, words uttered and over-all contents of the transactive conversation with the Kabochan or Kabochan with Pechat. Identified characteristics were transactive relationship phenomenon; changes in autonomic nervous system activity of persons with dementia are expressed as per one minute, linguistic response of elderly people, transactive relations among Kabochan, Kabochan with Pechat, and nurses as intermediaries. These were exhibited as Figures: Situation 1, A Sense of Fear, Situation 2, A Pleasant Sensation, and Situation 3, Misunderstanding and Confusion. It also showed that autonomic nervous system activity of persons with communication skills is actively changing in older adults with dementia. Conversation of adding Pechat to the Kabochan illustrated that nurses as intermediaries showed emotional conversations as established by effectively manipulating the Pechat. Also, it was revealed that if Kabochan with Pechat uttered words about patient’s personal information in a conversation, the patient felt a sense of fear. The researchers suggest that when developing future communication robot for elderly with dementia, it is necessary to consider, for an effective conversation, transactive relationships including nurses as intermediaries. The role functions of these intermediaries have been shown of high versatility, indicating that situations such as these can also be controlled by other healthcare providers such as by occupational therapists.
{"title":"Characteristics of a Transactive Phenomenon in Relationships among Older Adults with Dementia, Nurses as Intermediaries, and Communication Robot","authors":"K. Osaka, H. Sugimoto, T. Tanioka, Yuko Yasuhara, R. Locsin, Yueren Zhao, Kikuko Okuda, Ken Saito","doi":"10.4236/ICA.2017.82009","DOIUrl":"https://doi.org/10.4236/ICA.2017.82009","url":null,"abstract":"Healthcare for older adults with dementia is an important healthcare problem in Japan and in other developed countries. Importantly, healthcare workers in Japan are also getting older. In order to address solutions to this problem, using robots is being realized and is starting to assist healthcare and welfare practice needs. The aim of this study was to identify the characteristics of a transactive phenomenon in relationships among older adults with dementia, with nurses as intermediaries and with a cognitive skill-aid robot. Subjects were two institutionalized older adults who were diagnosed with dementia using Hasegawa’s Dementia Scale-Revised; a Kabochan (Nodding Kabochan) fixed with a remote-controlled speaker, Pechat (Kabochan with Pechat). Measurements of autonomic nervous activity were done using wearable electrocardiography attached to the subjects for four hours. Heart Rate Variability data were assessed at various frequency bands using a HRV software tool. In a continuously recorded data, interbeat (R-R) intervals were obtained for a 1-min segment using the maximum entropy method. In this study, the two major spectral components of HRV, the variances of the low-frequency (LF: 0.04 - 0.15 Hz) band and high-frequency (HF: 0.15 - 0.4 Hz) band, were calculated. Activities and behaviors of subjects transacting with Kabochan were observed by the expert nurses and video-recorded. Throughout the transaction period, observations were recorded of patients’ behavior, words uttered and over-all contents of the transactive conversation with the Kabochan or Kabochan with Pechat. Identified characteristics were transactive relationship phenomenon; changes in autonomic nervous system activity of persons with dementia are expressed as per one minute, linguistic response of elderly people, transactive relations among Kabochan, Kabochan with Pechat, and nurses as intermediaries. These were exhibited as Figures: Situation 1, A Sense of Fear, Situation 2, A Pleasant Sensation, and Situation 3, Misunderstanding and Confusion. It also showed that autonomic nervous system activity of persons with communication skills is actively changing in older adults with dementia. Conversation of adding Pechat to the Kabochan illustrated that nurses as intermediaries showed emotional conversations as established by effectively manipulating the Pechat. Also, it was revealed that if Kabochan with Pechat uttered words about patient’s personal information in a conversation, the patient felt a sense of fear. The researchers suggest that when developing future communication robot for elderly with dementia, it is necessary to consider, for an effective conversation, transactive relationships including nurses as intermediaries. The role functions of these intermediaries have been shown of high versatility, indicating that situations such as these can also be controlled by other healthcare providers such as by occupational therapists.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":"08 1","pages":"111-125"},"PeriodicalIF":0.0,"publicationDate":"2017-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45070163","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The paper proposes a new method of dynamic VaR and CVaR risk measures forecasting. The method is designed for obtaining the forecast estimates of risk measures for volatile time series with long range dependence. The method is based on the heteroskedastic time series model. The FIGARCH model is used for volatility modeling and forecasting. The model is reduced to the AR model of infinite order. The reduced system of Yule-Walker equations is solved to find the autoregression coefficients. The regression equation for the autocorrelation function based on the definition of a long-range dependence is used to get the autocorrelation estimates. An optimization procedure is proposed to specify the estimates of autocorrelation coefficients. The procedure for obtaining of the forecast values of dynamic risk measures VaR and CVaR is formalized as a multi-step algorithm. The algorithm includes the following steps: autoregression forecasting, innovation highlighting, obtaining of the assessments for static risk measures for residuals of the model, forming of the final forecast using the proposed formulas, quality analysis of the results. The proposed method is applied to the time series of the index of the Tokyo stock exchange. The quality analysis using various tests is conducted and confirmed the high quality of the obtained estimates.
{"title":"Method of Dynamic VaR and CVaR Risk Measures Forecasting for Long Range Dependent Time Series on the Base of the Heteroscedastic Model","authors":"N. Pankratova, Nataliia G. Zrazhevska","doi":"10.4236/ICA.2017.82010","DOIUrl":"https://doi.org/10.4236/ICA.2017.82010","url":null,"abstract":"The paper proposes a new method of dynamic VaR and CVaR risk measures forecasting. The method is designed for obtaining the forecast estimates of risk measures for volatile time series with long range dependence. The method is based on the heteroskedastic time series model. The FIGARCH model is used for volatility modeling and forecasting. The model is reduced to the AR model of infinite order. The reduced system of Yule-Walker equations is solved to find the autoregression coefficients. The regression equation for the autocorrelation function based on the definition of a long-range dependence is used to get the autocorrelation estimates. An optimization procedure is proposed to specify the estimates of autocorrelation coefficients. The procedure for obtaining of the forecast values of dynamic risk measures VaR and CVaR is formalized as a multi-step algorithm. The algorithm includes the following steps: autoregression forecasting, innovation highlighting, obtaining of the assessments for static risk measures for residuals of the model, forming of the final forecast using the proposed formulas, quality analysis of the results. The proposed method is applied to the time series of the index of the Tokyo stock exchange. The quality analysis using various tests is conducted and confirmed the high quality of the obtained estimates.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":"08 1","pages":"126-138"},"PeriodicalIF":0.0,"publicationDate":"2017-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41494000","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In order to improve the quality of clinker produced by pellet rotary kiln, flame temperature that it is a very important factor of affecting on the quality of clinker is studied. The flame images collected from pellet rotary kiln are decomposed into three gray images by the method of RGB, so we can get more information of flame. Taking advantage of gray level co-occurrence matrix, the monitoring model for flame temperature based on image texture is established with RGB channels. In order to test the universality of the algorithm, candle flame temperature is detected by this method. The maximum error of the model is less than 3%.
{"title":"Temperature Calculation of Pellet Rotary Kiln Based on Texture","authors":"Chunli Lin, Yufan Wu","doi":"10.4236/ICA.2017.82005","DOIUrl":"https://doi.org/10.4236/ICA.2017.82005","url":null,"abstract":"In order to improve the quality of clinker produced by pellet rotary kiln, flame temperature that it is a very important factor of affecting on the quality of clinker is studied. The flame images collected from pellet rotary kiln are decomposed into three gray images by the method of RGB, so we can get more information of flame. Taking advantage of gray level co-occurrence matrix, the monitoring model for flame temperature based on image texture is established with RGB channels. In order to test the universality of the algorithm, candle flame temperature is detected by this method. The maximum error of the model is less than 3%.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":"08 1","pages":"67-74"},"PeriodicalIF":0.0,"publicationDate":"2017-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48135630","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
T. Tanioka, K. Osaka, R. Locsin, Yuko Yasuhara, Hirokazu Ito
The purpose of this article is to describe recommendations towards the design and direction of development for Humanoid Nursing Robots (HNRs) from the standpoint of researchers of nursing care practice. Efforts to introduce robot technologies in nursing practice and to use them in elderly and high-tech healthcare environments have begun in developed countries like Japan. Companies are developing various types of robots, although their types and functionalities continue to require a clear identification and definition. Regardless, robot developments for health care purposes are progressing well to meet universal technological demands. While human caring has been a human-to-human relationship, in a nonhuman-to-human relationship in the case of HNRs, it is essential to consider ethical concerns and human safety. If HNRs are to support patients directly, they must be required to have the same level of comprehensive judgment ability and responsiveness as that of human nurses. This includes abilities to genuinely observe, judge, rapidly respond, and conduct human caring practice emphasizing individuality. If HNRs support patients independently, abilities which are much like those of humans will be required of them in addition to the appropriate intelligence and skillfulness to do so. A low level robot nurse exerts work that should be called non-nursing or as a medical aid assistant no matter who thinks and what these technologies can do. Similarly, a higher level HNR with higher level artificial intelligence is expected to exceed the capabilities of human beings. As such, current discourse and debate also include the concern that HNRs may now become one’s superior or rather that the HNR is a subordinate thereby requiring human management.
{"title":"Recommended Design and Direction of Development for Humanoid Nursing Robots Perspective from Nursing Researchers","authors":"T. Tanioka, K. Osaka, R. Locsin, Yuko Yasuhara, Hirokazu Ito","doi":"10.4236/ICA.2017.82008","DOIUrl":"https://doi.org/10.4236/ICA.2017.82008","url":null,"abstract":"The purpose of this article is to describe recommendations towards the design and direction of development for Humanoid Nursing Robots (HNRs) from the standpoint of researchers of nursing care practice. Efforts to introduce robot technologies in nursing practice and to use them in elderly and high-tech healthcare environments have begun in developed countries like Japan. Companies are developing various types of robots, although their types and functionalities continue to require a clear identification and definition. Regardless, robot developments for health care purposes are progressing well to meet universal technological demands. While human caring has been a human-to-human relationship, in a nonhuman-to-human relationship in the case of HNRs, it is essential to consider ethical concerns and human safety. If HNRs are to support patients directly, they must be required to have the same level of comprehensive judgment ability and responsiveness as that of human nurses. This includes abilities to genuinely observe, judge, rapidly respond, and conduct human caring practice emphasizing individuality. If HNRs support patients independently, abilities which are much like those of humans will be required of them in addition to the appropriate intelligence and skillfulness to do so. A low level robot nurse exerts work that should be called non-nursing or as a medical aid assistant no matter who thinks and what these technologies can do. Similarly, a higher level HNR with higher level artificial intelligence is expected to exceed the capabilities of human beings. As such, current discourse and debate also include the concern that HNRs may now become one’s superior or rather that the HNR is a subordinate thereby requiring human management.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":"08 1","pages":"96-110"},"PeriodicalIF":0.0,"publicationDate":"2017-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44592997","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
As a sequel to our recent work [1], in which a control framework was developed for large-scale joint swarms of unmanned ground (UGV) and aerial (UAV) vehicles, the present paper proposes cognitive and meta-cognitive supervisor models for this kind of distributed robotic system. The cognitive supervisor model is a formalization of the recently Nobel-awarded research in brain science on mammalian and human path integration and navigation, performed by the hippocampus. This is formalized here as an adaptive Hamiltonian path integral, and efficiently simulated for implementation on robotic vehicles as a pair of coupled nonlinear Schrodinger equations. The meta-cognitive supervisor model is a modal logic of actions and plans that hinges on a weak causality relation that specifies when atoms may change their values without specifying that they must change. This relatively simple logic is decidable yet sufficiently expressive to support the level of inference needed in our application. The atoms and action primitives of the logic framework also provide a straight-forward way of connecting the meta-cognitive supervisor with the cognitive supervisor, with other modules, and to the meta-cognitive supervisors of other robotic platforms in the swarm.
{"title":"Cognitive Supervisor for an Autonomous Swarm of Robots","authors":"V. Ivancevic, D. Reid","doi":"10.4236/ICA.2017.81004","DOIUrl":"https://doi.org/10.4236/ICA.2017.81004","url":null,"abstract":"As a sequel to our recent work [1], in which a control framework was developed for large-scale joint swarms of unmanned ground (UGV) and aerial (UAV) vehicles, the present paper proposes cognitive and meta-cognitive supervisor models for this kind of distributed robotic system. The cognitive supervisor model is a formalization of the recently Nobel-awarded research in brain science on mammalian and human path integration and navigation, performed by the hippocampus. This is formalized here as an adaptive Hamiltonian path integral, and efficiently simulated for implementation on robotic vehicles as a pair of coupled nonlinear Schrodinger equations. The meta-cognitive supervisor model is a modal logic of actions and plans that hinges on a weak causality relation that specifies when atoms may change their values without specifying that they must change. This relatively simple logic is decidable yet sufficiently expressive to support the level of inference needed in our application. The atoms and action primitives of the logic framework also provide a straight-forward way of connecting the meta-cognitive supervisor with the cognitive supervisor, with other modules, and to the meta-cognitive supervisors of other robotic platforms in the swarm.","PeriodicalId":62904,"journal":{"name":"智能控制与自动化(英文)","volume":"08 1","pages":"720-726"},"PeriodicalIF":0.0,"publicationDate":"2017-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47572981","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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