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共 5296 条记录，以下是241-250 订阅

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Vibration Tests of a Spacecraft via a Switched Robust controller-based Virtual Shaker 17

Vibration Tests of a Spacecraft via a Switched Robust Contro...

引用

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

作者： Arefin, Samsul Dumur, Didier Tebbani, Sihem Hot, Aurelien Pasquet, Jean-Marie Univ Paris Saclay CNRS Cent AleSupelecTech Author Cannes Lab Signaux & SystCNESStruct & Mech DeptThales Paris France Univ Paris Saclay CNRS AleSupelec Lab Signaux & Syst F-91190 Gif Sur Yvette France CNES Struct & Mech Dept Toulouse Toulouse France Thales Alenia Space Tech Author Cannes France

ISBN: (纸本)9781665476874

this paper considers the control of spacecraft's vibration testing system. this test system is used for the qualification of the dynamic behavior of spacecraft under severe launch environment. the vibration testing system shall cover the launcher's vibration frequency band with respect to the spacecraft limitations (notching around the eigen frequencies). Several control strategies were already studied, leading however to inaccurate tracking performance and important oscillations due to the excitation of the vibrational modes of the spacecraft. An additional difficulty results from the large spectral interval tracking problem, generally beginning at 5 Hz, and continuing up to 150 Hz. In this paper, a switching control strategy is developed based on several robust controllers, where the switch between controllers depends on the reference frequency. the performance of this strategy is assessed by means of a model in-the-loop (MIL) architecture introduced for the virtual shaker testing campaign up to 40 Hz, including Monte-Carlo simulations. Moreover, the campaign's security is assured through guaranteed stability margins of the closed-loop system, limiting the testing campaign to a single run vibration testing instead of the current four-stage one, reducing the testing cost.

关键词： Large Spectral Tracking Virtual Shaker Test Sine Sweep Tracking Robust Vibration control

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Robot Locomotion control Using Central Pattern Generator with Non-linear Bio-mimetic Neurons 9

Robot Locomotion Control Using Central Pattern Generator wit...

引用

9th international conference on automation, robotics and Applications (ICARA)

作者： Vivekanand, Vijay Shankaran Hashemkhani, Shahin Venkatachalam, Shanmuga Kubendran, Rajkumar Univ Pittsburgh Elect & Comp Engn Pittsburgh PA 15260 USA Univ Pittsburgh ECE & Bioengn Pittsburgh PA USA

ISBN: (纸本)9781665489218

Central pattern generators (CPG) generate rhythmic gait patterns that can be tuned to exhibit various locomotion behaviors like walking, trotting, etc. CPGs inspired by biology have been implemented previously in robotics to generate periodic motion patterns. this paper aims to take the inspiration even further to present a novel methodology to control movement of a four-legged robot using a non-linear bio- mimetic neuron model. In contrast to using regular leaky integrate and fire (LIF) neurons to create coupled neural networks, our design uses non-linear neurons constituting a mixed-feedback (positive and negative) control system operating at multiple timescales (fast, slow and ultraslow ranging from sub-ms to seconds), to generate a variety of spike patterns that control the robotic limbs and hence its gait. the use of spikes as motor control signals allows for low memory usage and low latency operation of the robot. Unlike LIF neurons, the bio-mimetic neurons are also jitter tolerant making the CPG network more resilient and robust to perturbations in the input stimulus. As a proof of concept, we implemented our model on the Petoi Bittle bot, a quadruped pet dog robot and were able to reliably observe different modes of locomotion-walk, trot and jump. Four bio-mimetic neurons forming a CPG network to control the four limbs were implemented on Arduino microcontroller and compared to a similar CPG built using four LIF neurons. the differential equations for both neurons were solved real-time on Arduino and profiled for memory usage, latency and jitter tolerance. the CPG using bio-mimetic non-linear neurons used marginally higher memory (378 bytes, 18% higher than LIF neurons), incurred insignificant latency of 3.54ms compared to motor activation delay of 200ms, while providing upto 5-10x higher jitter tolerance.

关键词： central pattern generators non-linear neurons spike-based control neuromorphic computing neuromodulation

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Emulating Networked control System with Hardware-in-the-Loop and Software Defined Radios Amidst Channel Uncertainties

Emulating Networked Control System with Hardware-in-the-Loop...

引用

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

作者： Ayyappadas Rajagopal Shaikshavali Chitraganti Department of Electrical Engineering Indian Institute of Technology Palakkad India

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

With the advent of advanced communication technologies, networked control systems have seen remarkable growth in recent times. Although numerous theoretical works exist in this field, solid experimental testbeds featuring actual hardware with networking capabilities that emulate real systems under real channel conditions are rare. this work aims to fill this gap by designing and developing a Hardware-in-the-Loop system with networking capabilities using software defined radios for closed-loop testing of hardware devices in a networked control environment before their actual deployment.

关键词： Uncertainty Networked control systems Solids Hardware Real-time systems Safety Reliability Robots Software radio Testing

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vision Based Sidewalk Navigation for Last-mile Delivery Robot 17

Vision Based Sidewalk Navigation for Last-mile Delivery Robo...

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

作者： Wen, Mingxing Zhang, Jun Chen, Tairan Peng, Guohao Chia, Timothy Ma, Yingchong Nanyang Technol Univ Continental NTU Corp Lab 50 Nanyang Ave Singapore 639798 Singapore Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore Continental Automot Singapore Pte Ltd 80 Boon Keng Rd Singapore 339780 Singapore

ISBN: (纸本)9781665476874

Navigating delivery robot along the sidewalk safely and robustly in a campus environment is extremely challenging due to the narrow motion space, appearance changes and unstable GPS localization signal under canopies of trees, etc. To that end, we have completed a systematic implementation for delivery robot sidewalk navigation, where a robust vision based navigation algorithm has been proposed. And it consists of three main modules: sidewalk segmentation, costmap generation and motion planning. More Specifically, the first module is to find the drivable area of the surrounding environment, where an image-based segmentation neural network has been developed to extract where the robot can traverse. Since it only takes as input immediate and local sensory data, thus releasing the high dependence on a prior map. then, an inverse perspective mapping follows to generate a bird-eye-view of the drivable area and constructs the local occupancy grid map intuitively. Next, two different motion planners, control-based primitives (Dynamic Window Approach) and state-based primitives (state lattice planner), have been adopted to generate a trajectory candidate for navigating the robot along the sidewalk. Both simulation and real-world sidewalk navigation experiments have been conducted to test and evaluate their performance. the results show that our algorithm can precisely extract the sidewalk area for traversing, and the state-based primitive planner demonstrates superior performance in terms of trajectory length and time cost, achieving 14.3% and 18.7% improvement compared with control-based primitive planner.

关键词： Motion planning

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Laser Weld Defect Detection Based on Laser vision and Region Growth 4

Laser Weld Defect Detection Based on Laser Vision and Region...

引用

4th international conference on Industrial automation, robotics and control Engineering, IARCE 2024

作者： Li, Dejian Zhang, Yajun Xu, Jianing Ding, Zhibo Li, Shaoli School of Information Science and Engineering Shenyang University of Technology Shenyang China

ISBN: (纸本)9798350380323

In this paper, we propose a laser vision-based approach for detecting defects in steel laser welding. the Bounding Volume Hierarchy (BVH) algorithm is combined with region growing to effectively segment point cloud data. this segmentation process leverages both local region features and the interrelationships among neighbouring points. Initially, the BVH algorithm is utilized to group the point cloud data, identifying optimal seed point locations for subsequent analysis. Subsequently, the region growing algorithm is applied, with the establishment of specific growth criteria to determine point inclusion within their respective regions. these defined growth criteria serve as guidance for expanding the regions from the initially selected seed points. this expansion process culminates in the derivation of segmentation results and facilitates the identification of defects. Importantly, this process eliminates the need for pre-emptive defect type confirmation or the conversion of 3D data into 2D data, as typically practiced in conventional point cloud processing. this enhancement significantly enhances detection efficiency. Experimental results underscore the effectiveness of this approach in overcoming potential interferences such as light source noise, leading to successful defect segmentation. At the same time, compared with other typical methods, our method takes the shortest time. Consequently, this method holds potential for detecting welding defects within industrial settings. © 2024 IEEE.

关键词： Laser beam welding

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Leveraging Lazy theta* Path Planning for UAV Pseudospectral Trajectory Optimization Initialization

Leveraging Lazy Theta* Path Planning for UAV Pseudospectral ...

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

作者： Zdeněk Bouček Miroslav Flídr Ondřej Straka Department of Cybernetics Faculty of Applied Sciences New Technologies for the Information Society Research Center University of West Bohemia Pilsen Czechia

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

this paper examines the influence of initial guesses on trajectory planning for unmanned aerial vehicles (UAVs) formulated in terms of the optimal control problem (OCP). the OCP is solved numerically using the pseudospectral collocation method. Our approach leverages a path identified through Lazy theta* and incorporates known constraints and a model of the UAV's behavior for the initial guess. Our findings indicate that a suitable initial guess has a beneficial influence on the planned trajectory and suggests promising directions for future research.

关键词： automation Trajectory planning Optimal control Autonomous aerial vehicles Numerical models Robots Trajectory optimization

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Low Level Detection and Tracking for Robust Following of a Single Person in Cluttered Environment

Low Level Detection and Tracking for Robust Following of a S...

引用

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

作者： Olivier Aycard National Polytechnic Institute of Grenoble (Grenoble INP - UGA) - GIPSA Lab France

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

To deploy mobile robots in spaces that they will share with humans, mobile robots should have social navigation methods. One important feature to design such methods is the ability to follow a moving person. In this paper, we present how we detect and track a moving person that our mobile robot is following. A low level detection of the moving person followed, to detect the person independently of their position and orientation with respect to the mobile robot, is combined with a sliding window approach to track the moving person. Some experimental results show the robustness of the method on real scenarios.

关键词： automation Navigation Design methodology Robustness Mobile robots

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Single- Frame Background Reconstruction Based on Image Semantic Propagation

Single- Frame Background Reconstruction Based on Image Seman...

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

作者： Yang Zhang Peize Li Yuan Xu Qunxiong Zhu Yanlin He Mingqing Zhang College of Information Science and Technology Beijing University of Chemical Technology Beijing China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Image background recognition and reconstruction is an important research content in the field of computer vision. Instead of paying attention to all the targets in the image, this paper only focuses on the static background in the scene. therefore, an adaptive semantic propagation method is proposed to reconstruct the complete background of static images. It executes single-connected region division and edge detection on a single frame. Experimental results demonstrate the robustness and adaptability of the method, achieving convincing performance under both simple and complex road conditions.

关键词： Deep learning Computer vision automation Roads Image edge detection Semantics Reconstruction algorithms Robustness Real-time systems Image reconstruction

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Adaptive Prescribed Performance control with Performance-Triggered Batch Least-Squares Identifier

Adaptive Prescribed Performance Control with Performance-Tri...

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

作者： Jiajun Shen Zitong Bai Wei Wang Jing Zhou School of Automation Science and Electrical Engineering Beihang University Beijing China Zhongguancun Laboratory Beijing China Department of Engineering Sciences University of Agder Grimstad Norway

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

this paper focuses on adaptive prescribed performance control for nonlinear systems with parametric uncertainties. the proposed control scheme incorporates a certainty equivalence controller, a batch least-squares identifier (BaLSI) and a performance triggered condition. the off-line BaLSI, which utilizes all the previously appeared excitation information for parameter updating, is activated as intervals by the performance triggered condition. the effects of the parametric uncertainties are eliminate in finite times of updating, and the closed-loop system can achieve the prescribed performance without suffering from stiff differential equation problem. the simulation results are provided to demonstrate the effectiveness of the proposed control scheme.

关键词： Uncertainty Adaptive systems automation Simulation Linear regression Differential equations Mathematical models Closed loop systems Nonlinear systems Robots

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Adaptive Super-Twisting Sliding Mode control of a BLDC Motor Speed control

Adaptive Super-Twisting Sliding Mode Control of a BLDC Motor...

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

作者： R. Achdad A. Rabhi S. Benzaouia X. Pierre H. Midavaine Modeling Information and Systems Laboratory University of Picardie Jules Verne Amiens France

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

In this paper, an adaptive super-twisting algorithm is introduced for controlling a Brushless DC motor (BLDC) drive system. the main focus of this study is the assumption that the bounds of uncertainties and perturbations are unknown. the proposed control strategy employs dynamically adapted control gains to ensure the controller's finite-time stability. A key aspect of the adaptation algorithm is its ability to avoid the overestimation of the control gain values. the controller's effectiveness is demonstrated through simulation and experiments on a test setup.

关键词： Uncertainty Adaptive systems Perturbation methods Heuristic algorithms Simulation Velocity control Robustness Stability analysis Steady-state Sliding mode control

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