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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

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NMPC for Trajectory Tracking of Hybird Terrestrial-Aerial Vehicles with Collision Avoidance

NMPC for Trajectory Tracking of Hybird Terrestrial-Aerial Ve...

引用

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

作者： Haoyu Wang Zhiqiang Miao Haoming Tang Yizong Chen Yaonan Wang College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center for Robot Visual Perception and Control Changsha China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

In recent years, researches on Hybrid Terrestrial-Aerial Vehicles (HTAVs) have received a lot of attention. However, most of the existing researches focus on achieving basic motion control in both modes, thus neglecting the situation of encountering obstacles during motion. To fill this research gap and achieve accurate trajectory tracking with collision avoidance, we proposes the use of Nonlinear Model Predictive control (NMPC). In this paper, we firstly focus on passive-wheeled HTAVs as the target platform. Subsequently, we introduce distance constraint function and dynamics models for both aerial and terrestrial modes, along with three motion constraints specific to the terrestrial mode. then we designed the NMPC controller base on distance constraint function and the dynamics models for each mode, incorporating the motion constraint in the terrestrial controller to ensure smooth movement on the ground. At the end of this paper, we conduct simulation experiments to evaluate the effectiveness of trajectory tracking. the results of simulations demonstrate that regardless of the mode, the HTAV achieves a relatively high tracking accuracy and avoid collision when following a nonlinear trajectory with fixed initial position and orientation. Additionally, the position error converges rapidly and exhibits minimal fluctuation, highlighting the significant role played by the added constraints in control.

关键词： Adaptation models Accuracy Fluctuations Trajectory tracking Simulation Aerodynamics Trajectory Vehicle dynamics Collision avoidance Robots

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Fractional Order Tracking control of Unmanned Aerial Vehicle in Presence of Model Uncertainties and Disturbances 18

Fractional Order Tracking Control of Unmanned Aerial Vehicle...

引用

18th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Maurya, Heera Lal Singh, Padmini Yogi, Subhash Chand Behera, Laxmidhar Verma, Nishchal K. Indian Inst Technol Dept Elect Engn Kanpur 208016 Uttar Pradesh India

ISBN: (纸本)9789897585227

An unmanned Aerial Vehicle (UAV) is a highly non-linear unstable system. In this work using fractional order calculus, a novel fractional order dynamics of UAV is proposed. the concept of fractional order depicts the more realistic behavior of UAVs. For proposed fractional order model, a fractional order sliding mode controller (SMC) is designed such that the desired path can be achieved by the UAV in finite-time. In addition to this model uncertainty and disturbance is considered in the system which is handled by the proposed robust SMC. Stability analysis is given for the fractional order SMC using fractional Lyapunov method. Simulations have been done for position and attitude tracking of UAV to demonstrate the efficacy of the proposed method.

关键词： Unmanned Aerial Vehicle Fractional Calculus Sliding Mode control Model Uncertainty

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control System Design via Constraint Satisfaction using Convolutional Neural Networks and Black Hole Optimization 18

Control System Design via Constraint Satisfaction using Conv...

引用

18th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Yaghoobi, Saber Fadali, M. Sami Univ Nevada Dept Elect & Biomed Engn Reno NV 89557 USA

ISBN: (纸本)9789897585227

this paper proposes a new approach to control system design through solving a Constraint Satisfaction Problem (CSP) using artificial intelligence, first using a genetic algorithm then using a Convolutional Neural Network (CNN). the genetic algorithm determines the feasible controller parameters by minimizing a cost function subject to inequality design constraints. the CNN-finds the parameters by designing a deep neural network. It is shown that the evolutionary optimization algorithm converges almost surely to the optimal solution. To demonstrate the methodologies, they are applied to the design of PID controllers for linear and nonlinear systems. Two examples are presented, an armature-controlled DC motor and Bouc-Wen nonlinear hysteresis model. Simulations results show that the proposed methods yield solutions that satisfy design specifications.

关键词： Bouc-Wen Hysteresis Model Constraint Satisfaction Problem control System Design MBH Optimization Algorithm Deep Learning PID controller

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Discrete fractional order PID controller in case of the FLHex robot leg position control system 26

Discrete fractional order PID controller in case of the FLHe...

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26th international conference on Methods and Models in automation and robotics

作者： Burzynski, Piotr Bialystok Tech Univ Fac Mech Engn Bialystok Poland

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

Practical implementation of the fractional order PID (FOPID) controller for FLHex robot leg position control system with comparison of selected performance indexes for different controller's coefficients. In the case of systems such as the FLHex mobile robot, where multiple PID controllers are used, more advanced control algorithms such as FOPID controller can improve quality of control and energy consumption, which is extremely important in the case of mobile robots. Presented comparison of FOPID controllers with varied coefficients in case of leg underwater movement for step sequence setpoint shown differences in parameters of averaged step response, integrals of the squared error (ISE) and integrals of energy consumption (IEC).

关键词： biologically-inspired robots FOPID controller control systems performance indexes

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An Assist-as-Needed Variable Admittance controller for Adaptive Support of Mobile Walking Assistive Robots 30

An Assist-as-Needed Variable Admittance Controller for Adapt...

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30th international conference on Mechatronics and Machine vision in Practice, M2VIP 2024

作者： Chen, Xinxing Zheng, Yue Su, Zongming Leng, Yuquan Huang, Jian Fu, Chenglong Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Huawei Technologies Technology Planning Department Shenzhen China Key Laboratory for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9798350391916

Mobile walking assistive robots have been widely used for monitoring patients' gait patterns and providing support to prevent falls. Traditional approaches often separate the operational modes of these robots into human-following and supporting modes, which can lead to discontinuities in assistance and potentially compromise safety. this paper proposes a novel assist-as-needed control strategy that incorporates a Balance Index (BI) to dynamically adjust the robot's support based on the user's balance capability. the BI is calculated using the interaction force between the user and the robot along the z-axis and the gait symmetry index (GSI). the proposed variable admittance controller modifies its parameters based on the BI, ensuring seamless transitions between compliance and support modes. Experimental validation was conducted with a healthy subject walking both with and without a knee fixation brace. the results demonstrate that the robot provides minimal interference during natural gait and increased support during impaired gait, validating the effectiveness of the proposed control strategy in enhancing user safety and promoting natural walking patterns. © 2024 IEEE.

关键词： Assistive technology

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Efficient and Accurate Template-based Reconstruction of Deformable Surfaces

Efficient and Accurate Template-based Reconstruction of Defo...

引用

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

作者： Dominik Slomma Shoudong Huang Liang Zhao Faculty of Engineering and Information Technology Robotics Institute University of Technology Sydney Australia School of Informatics The University of Edinburgh Scotland

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

3D surface reconstruction in deformable environments presents significant challenges. Template-based methods have proven robust for achieving accurate reconstructions by utilising images and textured triangulated meshes as reference data. these methods rely on feature detection in both the reference and current images to establish corresponding points, leveraging reprojection and deformation constraints for precise reconstruction. However, challenges arise when features are not uniformly distributed across mesh triangles, potentially resulting in sparse or coarse reconstructions. Moreover, the combined computational cost of reprojection and deformable constraints often leads to prolonged optimisation times. this study aims to enhance efficiency in reconstructing deformations within the field of view. Our approach involves back-projecting vertices from a reference mesh onto the reference image plane and subsequently tracking them directly in the subsequent image. this method assumes the resulting observations are sufficiently accurate, encoding the deformation within this information. By eliminating the re-projection constraint and focusing solely on a deformation constraint based on Euclidean distances between vertices, we significantly reduce computational and memory costs. the results of our proposed algorithm demonstrate a notable reduction in computational cost and memory cost, while maintaining reconstruction accuracy comparable to related methods. the code of our algorithm is publicly available at https://***/DominikSlomma/Efficient-and-Accurate-Template-based-Reconstruction-of-Deformable-Surfaces

关键词： Surface reconstruction Accuracy three-dimensional displays Costs Deformation Linear programming Computational efficiency Image reconstruction Optimization Robots

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Optimal Synthesis for Stochastic Systems with Information Security Preservation Under Temporal Logic Constraints

Optimal Synthesis for Stochastic Systems with Information Se...

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

作者： Yiwei Zheng Weiyao Lan Xiao Yu Department of Automation Xiamen Xiamen China Key Laboratory of Multimedia Trusted Perception and Efficient Computing Ministry of Education of China Xiamen China Institute of Artificial Intelligence Xiamen University Xiamen China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

In this paper, we present a method for synthesizing optimal policies for stochastic systems under high-level mission specifications while maintaining information security. the stochastic systems are modeled as probabilistic labeling Markov decision processes (PLMDPs), and the high-level mission specifications are represented by linear temporal logic (LTL) formulas, which must be satisfied repeatedly, infinitely often. Meanwhile, an intruder is modeled as an observer who knows the exact structure of the system and passively monitors its behavior, aiming to infer the high-level mission specifications. Our objective is to synthesize an optimal policy that minimizes the mean payoff cost while preventing the intruder from definitively determining the given mission specifications. We begin by extending the PLMDP model by incorporating an observation function and the corresponding probability function, and we introduce the concept of LTL opacity for stochastic systems. Next, by proposing a new structure called the synchronous accepting maximally end component, we identify the subset of the accepting end components that satisfy the LTL opacity requirement. Finally, we develop a modified linear program with information security constraints to synthesize an optimal policy that ensures both formal correctness and LTL opacity.

关键词： Costs Stochastic systems Markov decision processes Information security Observers Probabilistic logic Labeling Robots Optimization Monitoring

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LiDAR-Inertial- Visual Fusion SLAM in Dynamic Environments

LiDAR-Inertial- Visual Fusion SLAM in Dynamic Environments

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

作者： Xin Xiong Zhong Luo Jianliang Ma Senqiang Zhu Mingkang Xiong Hongchao Song Wei Xi School of School of Mechanical Engineering & Automation North-eastern University Shenyang China Foshan Graduate Innovation School of Northeastern University Foshan China KUKA Robots(Guang dong) Midea Group Foshan China Midea Corporate Research Center Foshan China State Key Laboratory of High-end Heavy-load Robots Midea Group Foshan China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

In this paper, we propose a LiDAR-Inertial-Visual multi-sensor fusion SLAM system for dynamic environments. While many state of the art multi-sensor fusion SLAM systems can achieve excellent performance in static environment, achieving high accuracy and robustness in dynamic environment remains a significant challenge. In order to address the dynamic object elimination issue during mapping, a dynamic voxel judgment method based on octree map is proposed. Spe-cifically, we perform template matching between the current frame and submap to calculate the dynamic voxel occupancy rate of point clouds in Box, so as to effectively detect dynamic objects in the environment. At the same time, we continue to track dynamic objects and eliminate them in the map. Exten-sive experiments have been conducted on the KITTI dataset and our own dataset. Results shows the proposed method can effectively eliminate dynamic objects and improve the SLAM accuracy in dynamic environments.

关键词： Point cloud compression Visualization Simultaneous localization and mapping Laser radar Accuracy Target tracking Heuristic algorithms Semantics Odometry Visual odometry

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Design of Upper Limb Rehabilitation Assistance Training System Based on Unity 3D

Design of Upper Limb Rehabilitation Assistance Training Syst...

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

作者： Zejing Niu Haoran Wang Xuyang Sui Linling Tan Taian Xu Wendong Xiao School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China School of Integrated Circuits and Electronics Beijing Institute of Technology Beijing China School of Information Science and Engineering Zaozhuang University Zaozhuang China Shunde Innovation School University of Science and Technology Beijing Foshan China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Cerebral stroke is a disease with a high incidence and disability rate. As its most common sequela, upper limb motor dysfunction seriously affects patients' daily activities when it occurs. Traditional rehabilitation training requires patients to go to medical institutions, which is limited due to the lack of human resources. In recent years, the development of virtual reality has provided a novel technology for rehabilitation training, which has attracted more attention in the medical field. In order to overcome the limitations of traditional rehabilitation approaches, this paper develop a virtual reality upper limb rehabilitation training assistance system based on wearable devices and Unity 3D engine. this system combines monotonous training movements in rehabilitation training with virtual games, achieving interaction between human arms and virtual training scenes. the system consists of two upper body training games. It has entertainment, sustainability and real-time feedback functions, providing users with an immersive gaming experience and meeting their training demands for different parts of the upper limbs.

关键词： Training Technological innovation three-dimensional displays Games Virtual reality Motors Real-time systems Wearable devices Sustainable development Robots

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EOG-Assist: Real-Time EOG-Based Eye Tracking for Assistive Systems

EOG-Assist: Real-Time EOG-Based Eye Tracking for Assistive S...

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

作者： Barath S Narayan Sreyas Janamanchi Achintya Harsha Nitheezkant R Prashanth Jonna Madhav Rao Surgical and Assistive Robotics Lab IIIT-Bangalore

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Paralysed patients find it hard to move various body parts depending on the severity of the injury. In an attempt to recover the motor imagery skills, rehabilitation schemes are recommended. One of the biggest barrier is the continuously dropping motivation for performing physiotherapy, besides the logistics hardships constantly borne by the care-taker. While the latter challenge remains personal, various Human-Computer-Interaction (HCI) emerged applications have shown promise to maintain the zeal to continue the therapy. Eye Tracking has been one of the popular interfaces to the HCI based rehabilitation gaming engines. Besides eye tracking also serves as a measure to evaluate the degree of neurological disorders and recovery from the same. vision based eye-tracking exists but are cost ineffective, besides being a privacy-disabled solution. Alternately, (Electrooculogram) EOG signals to track eye movements for HCI purpose has emerged and have shown potential. this work establishes real-time EOG signal devised eye and blink tracker system. Two channels of EOG signals are collected and supplied to motion tracker model. Random forest and LGBM classifier models with an accuracy of 96% were found suitable for real-time tracking. For pilot demonstration, the proposed EOG signal tracker system was interfaced with a rotating camera system that follows the eye movement to provide 360 °of vision at 2 ° resolution. the real-time use-case of EOG eye tracker system paves way for integration with much more finer physiotherapy applications for paraplegia patients. the design files and EOG datasets for eye-tracking are made freely available for further usage to the researchers and users.

关键词： Electrooculography Accuracy Tracking Predictive models Cameras Motors Real-time systems Robots Injuries Signal resolution

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