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Research on controls of Sub Crawlers for Climbing up Stairs with LRF for Rescue Robots 14

Research on Controls of Sub Crawlers for Climbing up Stairs ...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Hatano, Masatoshi Kitahara, Yuki Nihon Univ Coll Sci & Technol 7-24-1 Narashinodai Funabashi Chiba 2748501 Japan Nihon Univ Grad Sch Sci & Technol 7-24-1 Narashinodai Funabashi Chiba 2748501 Japan

ISBN: (纸本)9781509035496

this paper presents an autonomous control method for rescue robots climbing up stairs using LRF. In disaster areas caused by earthquakes, rescue robots are needed to find injured people from under broken buildings instead of rescue workers. then, the robots require high skills to be controlled, because the robots are operated by remote controls with wireless cameras. Especially, in case of climbing up stairs to find victims, it is hard to recognize a depth between robots and steps for operators with wireless cameras. then we have proposed the method to estimate slope angles of stairs using LRF and an angle control method for sub crawlers of rescue robots. Here, we try to develop the estimation system with small and low-cost sensors instead of commercial ranging sensors that are too large to be attached on rescue robots. In this paper, we present the validity of the proposed method for actual stairs in a building. First, we present a method for estimating a slope angle of stairs using LRF. Second, a selection method of measured points for an accurate estimation for the slope angle is considered. third, it is shown that our constructed rescue robot estimates the angle of the slope and climbs up the actual stairs with controlling postures of the robot with sub crawlers.

关键词： Remote control

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Dynamic Sensor-Based control 14

Dynamic Sensor-Based Control

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Vandernotte, Sylvain Chriette, Abdelhamid Martinet, Philippe Roos, Adolfo Suarez IRT Jules Verne Chemin Chaffault F-44430 Bouguenais France LUNAM IRCCyN 1 Rue Noe F-44300 Nantes France Airbus Grp Innovat 13 Rue Pasteur F-92152 Suresnes France

ISBN: (纸本)9781509035496

Robots in industries are often used for repetitive tasks. their motions rely on precise virtual model of their environment and they are not able to handle changes or unexpected events. this disqualifies them to perform tasks that would require precision in a non controlled environment such as an assembly task in real world. Visual servoing is a well known tool to control the robot using spatial sensors. It includes real world references at control law level. But, visual servoing and more generally sensor-based control schemes provide kinematic control law and do not consider robot dynamics. As consequences, tracking performances are poor and convergence behavior is hardly predictable. In this paper, we proposed a new control scheme considering second order sensor-based control law and robot dynamics. Our main goal is to enable full trajectory tracking in sensor-space. Additionally, the scheme is compatible with priority-ordered task sequencing and it can be also used within a hybrid control scheme where force control is considered. this new control scheme brings the possibility to make easier the robot task definition, dividing a complex positioning task into small easy-manageable ones. Multi-tasks operation has been validated in simulation by using MSC Adams software [1] and where the robot has to perform an engraving task on a surface.

关键词： Visual servoing

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Research Methods Review of Magnetic Materials Multi-process Coordination Production Planning and Scheduling 14

Research Methods Review of Magnetic Materials Multi-process ...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Liu, Yefeng Chai, Tianyou Shenyang Inst Technol Coll Informat & Control Fushun Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang Peoples R China

ISBN: (纸本)9781509035496

Due to the non-renewable character, magnetic materials (especially rare earth permanent magnet) become a hot topic which world scientists are eager to explore and research. Magnetic enterprises are constantly promoting lean production. the core of lean production is production planning and scheduling, which is also the core of enterprise management. It is essential to effective control of plant inventory, improve production efficiency, reduce production cost and rise product delivery satisfaction rate. All above can be realized by using the fast and effective methods which come from multi-process coordination production planning and scheduling. A research method review of magnetic materials multi-process coordination production planning and scheduling is given on the base of describing magnetic materials production process with rare earth as the raw material. Finally, the paper gives four research fields of magnetic materials multi-process coordination production planning and scheduling.

关键词： magnetic materials(rare earth permanent magnet) NdFeB(Neodymium Iron Boron) intelligent algorithms multi-process coordination production planning and scheduling

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Predictor-Based Model Reference Adaptive control of an Unmanned Underwater Vehicle 14

Predictor-Based Model Reference Adaptive Control of an Unman...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Makavita, C. D. Nguyen, H. D. Jayasinghe, S. G. Ranmuthugala, D. Univ Tasmania Australian Maritime Coll Hobart Tas 7250 Australia

ISBN: (纸本)9781509035496

Unmanned Underwater Vehicles (UUVs) are being deployed in advanced applications that require precise manoeuvring close to complex underwater structures such as oilrigs and subsea installations or moving objects such as ships and submarines. the effect of vehicle's hydrodynamic parameter variations is significant in such scenarios and in extreme conditions the UUV may experience loss of control. In addition, external disturbances and actuator failures degrade the performance of the UUV. Adaptive control has been identified as a promising solution that can improve the performance in such situations. However, adaptive control is not widely used in UUVs mainly due to the trade-off between fast learning and smooth control signals. the latter can be guaranteed at low learning rates but require additional input to improve learning. the Predictor Model Reference Adaptive control (PMRAC) is one such method that uses a prediction error to improve learning. In this paper, the performance of PMRAC in UUV applications is investigated and compared to standard Model Reference Adaptive control (MRAC) at low learning rates under normal operational conditions, partial actuator failure, and under the influence of external disturbances. Simulation results show that PMRAC significantly reduces the tracking error compared to MRAC. In addition, PMRAC is less affected and recovers quickly from actuator failure and external disturbances, while generating smooth control signals with less oscillation compared to MRAC.

关键词： actuator failure external disturbances model reference adaptive control state predictor underwater vehicles

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Design of Super Twisting Sliding Mode control for Single Axis Direct Drive Motor 14

Design of Super Twisting Sliding Mode Control for Single Axi...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Heng, Chiew Tsung Jamaludin, Zamberi Hashim, Ahrnad Yusairi Bani Rafan, Nur Aidawaty Abdullah, Lokrnan Univ Teknikal Malaysia Melaka Dept Robot & Automat Fac Mfg Engn Hang Tuah Jaya 76100 Melaka Malaysia

ISBN: (纸本)9781509035496

Chattering effect is often associated negatively with the application of the robust nonlinear sliding mode control. this paper compares the tracking responses of system controlled with different controllers and demonstrates the ability of super twisting sliding mode control in chattering suppression and enhancement of tracking performance against classical controller and traditional sliding mode control. the controller was numerically analyzed and experimentally validated on a direct drive single axis positioning system which is described as a second order single-input-single-output system. three controllers, namely;PID, pseudo sliding mode control and super twisting sliding mode control were designed, analyzed and compared. A Kalman-Bucy filter was designed for velocity estimation to reduce noises from numerical differentiation of position measurement. Results showed the superiority of super twisting sliding mode controller in smoothing the control input and suppressing the chattering effect compared to pseudo sliding mode control. Additional investigation was performed by replacing the signum function using a hyperbolic tangent function. However, only slight improvement in tracking performance was recorded. the results displayed the novelty of super twisting algorithm in chattering suppression making it an attractive option for real-time application.

关键词： chattering machine tools sliding mode control super twisting tracking

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OpenBuildNet Framework for Distributed Co-Simulation of Smart Energy Systems 14

OpenBuildNet Framework for Distributed Co-Simulation of Smar...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Nghiem, Truong X. Bitlislioglu, Altug Gorecki, Tomasz Qureshi, Faran A. Jones, Colin N. Ecole Polytech Fed Lausanne Automat Control Lab Lausanne Switzerland

ISBN: (纸本)9781509035496

the complexity and diversity of future energy systems will require co-simulation solutions that enable the integration of tools from multiple domains for research and development. We introduce an open-source framework, OpenBuildNet, for distributed co-simulation of large-scale smart energy systems. Using a loose-coupling approach to co-simulate parallel processes, it can leverage and seamlessly integrate specialized simulation and computation tools in a common platform. Users can therefore benefit from the capabilities of state-of-the-art and widely used tools in each domain. OpenBuildNet is scalable and highly flexible as it uses a decentralized architecture, message-based communication, and peer-to-peer data exchange between subsystem nodes. It also provides a set of easy-to-use software tools tailored for researchers and engineers. this paper presents the architecture and tool suite of OpenBuildNet, and demonstrates its usefulness in a case study of controlling multiple buildings for demand response.

关键词： Electronic data interchange

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A Distributed Algorithm for Economic Dispatch in a Large-Scale Power System 14

A Distributed Algorithm for Economic Dispatch in a Large-Sca...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Guo, Fanghong Wen, Changyun Xing, Lantao Nanyang Technol Univ Interdisciplinary Grad Sch Energy Res Inst NTU Singapore Singapore Nanyang Technol Univ Sch Elect & Elect Engn Singapore Singapore Zhejiang Univ Coll Control Sci & Engn Hangzhou Zhejiang Peoples R China

ISBN: (纸本)9781509035496

In this paper, we present a distributed economic dispatch strategy for a large-scale power system. At first, we treat each generator and load in the grid as an "agent". By decomposing the centralized optimization into optimizations at local agents, a scheme is proposed for each agent to iteratively estimate a solution of the optimization problem in a distributed manner. Due to the large number of the agents, the agents are sorted into several clusters and each cluster has a leader to communicate with the leaders of its neighboring clusters. the agents in the same cluster can conduct local optimization and communicate with its neighboring agents in parallel. After that, the leader agents of each cluster exchange their information simultaneously. It is shown that the estimated solutions of all the agents reach consensus of the optimal solution asymptomatically. Compared to our previous work in [14], where the leader agent in each cluster conducts the optimization in a sequential way, the proposed scheme in this paper allows them communicate and conduct optimization simultaneously, which greatly improves the algorithm efficiency. A case study implemented on IEEE 30-bus power system are discussed and tested to validate the proposed method.

关键词： Electric load dispatching

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vision-based Robotic Grasp Success Determination with Convolutional Neural Network

Vision-based Robotic Grasp Success Determination with Convol...

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IEEE international conference on Cyber Technology in automation, control, and Intelligent Systems

作者： Hanbo Zhang Xuguang Lan Xinwen Zhou Jianji Wang Nanning Zheng Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Shaanxi China

We present two Convolutional Neural Network (CNN) models to determine whether a robot successfully grasps the target object using RGB image as input. As we know, this is the first time that vision is applied to help robot determine if something is grasped by itself. Our network performs end-to-end classification on our own dataset collected using Baxter Robot. this requires the network to acquire the refined spatial relationship between gripper and target in the image. Compared with traditional ways of using only force and distance sensors, which are restricted in terms of object size, weight and grasp postures, vision-based CNN models have potential ability to be applied in wider range and are more similar to human ways in aspect of perceiving environment. the experimental result shows that it is feasible to use images to help robot determine whether the target is grasped to overcome the drawbacks of only using force or distance sensors. In addition, we also test our networks on Baxter Robot, the results show that our models have good generalization ability and can fit the situation of real world well.

关键词： Robot sensing systems Grippers Convolution Training Neural networks Feature extraction

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Optimal Impulse control for Cow Parturient Paresis Treatment Design 14

Optimal Impulse Control for Cow Parturient Paresis Treatment...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Wang, Xiaohua Xing, Yueyue Miao, Zhonghua Balakrishnan, S. N. Shanghai Univ Shanghai Key Lab Power Stn Automat Technol Dept Automat Shanghai 200072 Peoples R China Missouri Univ Sci & Technol Dept Mech & Aerosp Engn Rolla MO 65401 USA

ISBN: (纸本)9781509035496

Parturient paresis(milk fever) is a common disease associated with the onset of parturition in dairy cows. the disease is considered due to a large increased demand for calcium. Several work has mathematically and biologically modelled this process. Based on the existing models on calcium dynamics in diary cows, an optimal impulse treatment is proposed in this paper. the treatment is executed at a fixed time interval and lasts a relatively very small time duration, which is termed as a "fixed time impulse" control. For the optimization, with a selected objective function, a series of equations for optimality are to be satisfied, including control equations, costate equations and state equations. those impulsive differential equations form a two point boundary value problem and are difficult to solve. A numerical scheme, SNAC(Single Network Adaptive Critic), is then proposed. the algorithm key is to use one neural network to capture the optimal relation between the pre-impulse state and the after-impluse costate. After the neural network is trained and the relation is captured, the optimal impulse dosage of medicine can be provided when a parturient paresis is detected, and the cow's calcium level can be brought back to the normal status. Simulations are presented for illustrative purposes.

关键词： Calcium

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Integrating Symmetry of Environment by Designing Special Basis functions for Value Function Approximation in Reinforcement Learning 14

Integrating Symmetry of Environment by Designing Special Bas...

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14th international conference on control, automation, robotics and vision (ICARCV)

作者： Wang, Guo-fang Fang, Zhou Li, Bo Li, Ping Zhejiang Univ ZJU Sch Aeronaut & Astronaut Hangzhou Zhejiang Peoples R China Zhejiang Univ ZJU Dept Control Sci & Engn Hangzhou Zhejiang Peoples R China

ISBN: (纸本)9781509035496

Reinforcement learning (RL) is usually regarded as tabula rasa learning, and the agent needs to randomly explore the environment, so the time consuming and data inefficiency will hinder RL from the real application. In order to accelerate learning speed and improve data efficiency, in this paper we expand the symmetry definition from finite state space to infinite state space and then propose designing a special type of symmetric basis functions for value function approximation to integrate the prior knowledge of symmetry about the environment for large or even infinite state space. After that, as an example, this particular approximate structure is incorporated into the policy evaluation phase of Least-Square Policy Iteration (LSPI), which we call symmetric LSPI (S-LSPI) and the convergence property is analyzed. Simulation results of chain walk and inverted pendulum balancing demonstrate that in contrast with regular LSPI (R-LSPI), the convergence speed of S-LSPI increases greatly and the computational burden decreases significantly simultaneously. It can illustrate the use of symmetric basis functions to capture the property of symmetry very well, and as a case study, it shows the promise to integrate symmetry of environment into RL agent.

关键词： Reinforcement Learning Symmetric basis functions Value Function Approximation S-LSPI

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