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Discrete Event control for the automation of Reactive Sputter Plants

Discrete Event Control for the Automation of Reactive Sputte...

引用

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

作者： Fabian Schneider Alexander Fay Christian Woelfel Chair of Automation Ruhr University Bochum Germany

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

In this contribution a new discrete event control scheme is proposed to ensure a defined and a reproducible process in reactive sputtering plants. the control scheme is based on a novel hybrid model that describes the pressure behaviour and the electrical behaviour of such processes. A new automation system is developed to allow the experimental validation of the control scheme, which consists of two parts. An interlock control prevents prohibited process states and a sequence control ensures a desired sequence of process states. Experimental data are shown to demonstrate the applicability of the discrete event control scheme and of the automation system.

关键词： automation Fluctuations Computational modeling Process control control systems Product design Quality assessment Sputtering Robots Monitoring

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Non-Parametric Stochastic Policy Gradient with Strategic Retreat for Non-Stationary Environment 18

Non-Parametric Stochastic Policy Gradient with Strategic Ret...

引用

IEEE 18th international conference on automation Science and Engineering (IEEE CASE)

作者： Dastider, Apan Lin, Mingjie Univ Cent Florida Dept ECE Orlando FL 32816 USA

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

In modern robotics, effectively computing optimal control policies under dynamically varying environments poses substantial challenges to the off-the-shelf parametric policy gradient methods, such as the Deep Deterministic Policy Gradient (DDPG) and Twin Delayed Deep Deterministic policy gradient (TD3). In this paper, we propose a systematic methodology to dynamically learn a sequence of optimal control policies non-parametrically, while autonomously adapting with the constantly changing environment dynamics. Specifically, our non-parametric kernel-based methodology embeds a policy distribution as the features in a non-decreasing Euclidean space, therefore allowing its search space to be defined as a very high (possible infinite) dimensional RKHS (Reproducing Kernel Hilbert Space). Moreover, by leveraging the similarity metric computed in RKHS, we augmented our non-parametric learning with the technique of AdaptiveH- adaptively selecting a timeframe window of finishing the optimal part of whole action-sequence sampled on some preceding observed state. To validate our proposed approach, we conducted extensive experiments with multiple classic benchmarks and one robotics benchmark equipped with dynamically changing environments. Overall, our methodology has outperformed the well-established DDPG and TD3 methodology by a sizeable margin in terms of learning performance.

关键词： Measurement Systematics Optimal control Benchmark testing Aerospace electronics Robot sensing systems Hilbert space

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A Triangular Descriptor with Distance Information for Loop Closure Detection in LiDAR SLAM 6

A Triangular Descriptor with Distance Information for Loop C...

引用

6th international conference on robotics, Intelligent control and Artificial Intelligence, RICAI 2024

作者： Xie, Yucheng Yang, Zhong College of Automation Nanjing University of Aeronautics and Astronautics Nanjing China

ISBN: (纸本)9798331541699

In the field of mobile robotics, loop closure detection serves as an essential component of Simultaneous Localization and Mapping (SLAM). Compared with vision-based approaches, LiDAR-based loop closure detection offers more stable geometric features. this paper proposes a novel triangular descriptor with distance information. the proposed method extracts keypoints through adaptive Euclidean clustering, constructs distance vectors based on keypoint relationships, and generates the descriptor by integrating triangular geometric features. Experiments on the KITTI dataset demonstrate that our method outperforms existing approaches with superior maximum F1 scores across multiple sequences. Integration of the algorithm into the LeGO-LOAM system reduces cumulative drift error by 31.16%, validating the effectiveness of the proposed approach. © 2024 IEEE.

关键词： Mapping

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Model-Free Sliding Mode control Based on Time-Delay Estimation and Ultra-Local Model for Manipulator Including Motor Dynamics and Input Saturation 6

Model-Free Sliding Mode Control Based on Time-Delay Estimati...

引用

6th international conference on robotics and Computer vision, ICRCV 2024

作者： Zhang, Jie Tian, Yang Wang, Haoping School of automation Nanjing University of Science and Technology Nanjing China

ISBN: (纸本)9798331527426

In this article, a model-free sliding-mode controller(MFSM C) is proposed for the n-link manipulator including DC motor dynamics and saturation of input voltage. this developed MFSMC has high-precision position tracking with small chattering effect. the considered manipulator is a highly complex coupled system and contain many non-linearities, so it is challenging to obtain the system precise model information. the considered MFSMC combines the TDE-iPD sub-controller and a continuous nonsingular terminal sliding-mode sub-controller (CNTSMC) with integral-type sliding surface. Based on the ultra-local model, the time delay estimation is used to estimate unknown parts of the system. And the CNTSMC is used to guarantee convergence. Finally, to validate the superiority of the controller, a PUMA560 manipulator with motor dynamics and input saturation of voltage is used to carried out corresponding simulation. With Comparisons to time-delay estimation-based intelligent proportional-derivative control (TDE-iPD) and receding-horizon Model-Free control, the proposed MFSMC has the better control performance. © 2024 IEEE.

关键词： Sliding mode control

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Produce Harvesting by Laser Stem-Cutting 18

Produce Harvesting by Laser Stem-Cutting

引用

IEEE 18th international conference on automation Science and Engineering (IEEE CASE)

作者： Sorour, Mohamed From, Pal Johan Elgeneidy, Khaled Kanarachos, Stratis Sallam, Mohamed Norwegian Univ Life Sci NMBU Fac Sci & Technol Robot Grp N-1432 As Norway Knowledge Hub Univ Sch Engn R7 New Adm Capital Cairo Egypt Helwan Univ Dept Mech Engn Cairo 11795 Egypt

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

In this paper, we present a novel prototype for produce harvesting, that fulfils a set of predefined objectives, namely being productive, versatile, and robust. In our approach, the produce of interest enters the harvesting tube at one end, and exits from the other, in a way to cut the time consumed in manipulation. the stem is being cut by a laser module, with the optics set up for a faraway focal point. Such arrangement allows for minimal hardware at the produce-entry side and in turn, the overall dimensions. this is essential for fruit reachability. the tube is fitted to a robot manipulator to approach the harvest and maneuver for stem positioning into the focal point of the laser beam. An in-tube vision system is designed for stem/sepal and produce detection with utmost robustness against ambient light conditions. Successful experiments have been conducted by sample harvesting strawberry, chilli pepper, and aubergine as evident of versatility towards produce geometry and texture.

关键词： fruit picking produce harvesting agriculture robotics

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An Iterative Learning control for Nonlinear Systems without Arimoto's Assumptions 17

An Iterative Learning Control for Nonlinear Systems without ...

引用

17th international conference on control, automation, robotics and vision (ICARCV)

作者： Chien, Chiang-Ju Liu, Chen Ruan, Xiaoe Shen, Dong Huafan Univ Dept Technol Smart Living New Taipei Taiwan Xi An Jiao Tong Univ Sch Math & Stat Xian 710049 Peoples R China Renmin Univ China Sch Math Beijing 100872 Peoples R China

ISBN: (纸本)9781665476874

the iterative learning control problem for nonlinear systems without the requirements of Arimoto's assumptions is investigated in this paper. Typical Arimoto's assumptions for iterative learning control require that initial state error, system parameters, desired trajectory, external disturbance, and trial length are all iteration-invariant. When the assumptions are not satisfied, we call the system exists iteration-varying uncertainties. In general, it is a big challenge to design an iterative learning controller for systems with all the iteration-varying uncertainties. In this paper, we transform the iteration-varying uncertainties into an additive-type uncertainty and modify the traditional adaptive law so that a novel adaptive iterative learning controller can be applied to successfully solve the repetitive control problem. Compared with the existing works dealing with a similar issue of iteration-varying uncertainties, this proposed approach can be applied to the more general class of iteration-varying uncertain nonlinear systems and achieve better learning performance.

关键词： Nonlinear systems

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Decentralized event-triggered output feedback control for cyber-physical systems under denial-of-service attack 17

Decentralized event-triggered output feedback control for cy...

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17th international conference on control, automation, robotics and vision (ICARCV)

作者： Shu, Feng Zhai, Junyong Southeast Univ Sch Automat Nanjing 210096 Jiangsu Peoples R China

ISBN: (纸本)9781665476874

this note studies the issue of decentralized event-triggered control (ETC) for nonlinear cyber-physical systems (CPSs) under denial-of-service (DoS) attack by output feedback. Due to the existence of DoS attack, an attack signal dependent observer is designed to reconstruct the unknown system states. To save the communication resources, an ETC strategy is introduced. Since the triggering controller is only updated at triggering instants, it may not switch from normal (attack) mode to attack (normal) mode when the system works well or subjects to attack. this feature may lead to the mismatch behavior between triggering controller and corresponding sub-system and destroyed system performance. To solve this issue for nonlinear CPSs, a decentralized ETC scheme is given based on the feature of DoS attack. With the presented control scheme, a new decentralized event-triggered controller is designed through the idea of average dwell time, under which all closed-loop signals are bounded and the system states can converge to a bounded close set around the origin. Meantime, it is proved that the Zeno behavior is avoided successfully. Finally, as the effectiveness verification of the proposed control strategy, a practical example is provided.

关键词： Cyber Physical System

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PDE-based consensus control for leader-follower multi-agent systems 17

PDE-based consensus control for leader-follower multi-agent ...

引用

17th international conference on control, automation, robotics and vision (ICARCV)

作者： Cui, Xiaofeng He, Yankun Liu, Zhijie Wang, Zixu Zhao, Shizhen Univ Sci & Technol Beijing Shunde Grad Sch Foshan 528300 Peoples R China Univ Sci & Technol Beijing Inst Artificial Intelligence Beijing 100083 Peoples R China Chinese Aeronaut Estab Beijing Peoples R China Univ Birmingham Coll Engn & Phys Sci Birmingham B15 2TT W Midlands England Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China

ISBN: (纸本)9781665476874

In this paper, we propose a control for a class of multi-agent systems described by diffusion partial differential equations to solve the leader-follower consensus problem. Each group of follower agents changes according to the leader group's formation, obtaining the desired formation by applying boundary control. We use the Lyapunov direct method to prove the system is uniformly ultimately bounded. Numerical simulation results finally show the validity of the proposed control.

关键词： Multi agent systems

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Augmented Visual Localization Using a Monocular Camera for Autonomous Mobile Robots 18

Augmented Visual Localization Using a Monocular Camera for A...

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IEEE 18th international conference on automation Science and Engineering (IEEE CASE)

作者： Salimzadeh, Ali Bhatt, Neel P. Hashemi, Ehsan Univ Alberta Mech Engn Dept 9211-116 St NW Edmonton AB Canada Univ Waterloo Mech & Mechatron Engn Dept 200 Univ Ave W Waterloo ON Canada

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

A visual localization method utilizing a fisheye monocular camera is proposed to enhance navigation accuracy of autonomous mobile robots in indoor environments for warehouse or service robotics applications. Existing visual infrastructure-aided localization algorithms take advantage of uniquely colored or lit robots that limit their application to ideal lighting conditions, occlusion-free scenarios or multi-modal fusion with stereo vision, LiDAR, and inertial sensors which inevitably increases their complexity. Using fisheye monocular vision imposes challenges such as depth estimation, frame warping, and low accuracy of the state estimation for far objects. the proposed augmented localization framework includes an uncertainty-aware state observer employing a motion model with a learning-based input estimator and point cloud clusters over a region of interest, to estimate the position of a robot while maintaining effective computational efficiency. Observability of the developed state estimator and asymptotic stability of the estimation error dynamics are also studied. Various tests including occlusion, low visibility for far objects, and noisy depth estimation (from the clustered region of interest), have been conducted in indoor settings to validate the method. the tests confirm robust performance of the augmented visual localization framework in presence of intermittent measurements due to environmental conditions or low reliability of vision-based depth estimation. Furthermore, a significant increase in accuracy and consistency of visual localization is shown without using additional stereo, inertial, or LiDAR measurements.

关键词： Location awareness Visualization Estimation error Robot vision systems Dynamics Estimation Predictive models

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Improved LMI-based conditions for designing of PD-type ILC laws for linear batch processes over two-dimensional setting 17

Improved LMI-based conditions for designing of PD-type ILC l...

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17th international conference on control, automation, robotics and vision (ICARCV)

作者： Maniarski, Robert Paszke, Wojciech Tao, Hongfeng Hao, Shoulin Univ Zielona Gora Inst Automat Elect & Elect Engn Ul Szafrana 2 PL-65246 Zielona Gora Poland Jiangnan Univ Key Lab Adv Proc Control Light Ind Minist Educ Wuxi 214000 Jiangsu Peoples R China Dalian Univ Technol Lab Intelligent Control & Optimizat Ind Equipment Dalian Peoples R China

ISBN: (纸本)9781665476874

this paper considers the problem of designing of iterative learning control (ILC) laws for linear batch processes. Unlike the majority of existing results about ILC law design for linear batch processes over repetitive/two-dimensional setting where Lyapunov theory is applied, this study is focused on formulating the ILC law design procedures by transforming it into an equivalent problem of (structural) stability analysis for a linear Roesser model for two-dimensional (2D) systems. then, based on a non-conservative version of stability and stabilization conditions for linear 2D systems, suitable PD-type ILC laws are derived by the application of the linear matrix inequality (LMI) approach. Finally, a numerical example is given to show the validity of the proposed design procedure and some advantages are emphasized when compared to the existing alternatives.

关键词： Linear matrix inequalities

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