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Docking operation by multiple space robots for minimum attitude disturbance

international JOURNAL OF MODELLING AND simulation 2018年第1期38卷 38-49页

作者： Dalla, Vijay Kumar Pathak, Pushparaj Mani Indian Inst Technol Mech & Ind Engn Dept Roorkee Uttar Pradesh India Vidya Jyothi Inst Tech Hyderabad Autonomous Hyderabad Telangana India

Object handling is challenging for space robots due to its free-floating base, which rotates and translates during object interaction. Hence, these consequences affect the position and the attitude disturbance due to being strongly coupled and non-holonomic space robot characteristics. The attitude disturbance can be very crucial as ground communication depends upon the spacecraft's attitude/orientation. If attitude disturbance is controlled by equipping the attitude controller in a space robot, this may shorten the space mission life through fuel consumption, as spacecraft can carry only limited fuel. This work was motivated by curiosity to see if a floating object can be handled by three space robots and whether attitude disturbance would be more or less when two space robots are used for the same act. Would handling operation by three space robots be more stable than two space robots? simulation and animation studies were carried out to analyze the results. It was observed that docking by each manipulator of the two space robots provides more attitude disturbance than three space robots. This shows that the three space robots provide increased stability than the two space robots. The bond graph modeling methodology was used to model the system dynamics.

关键词： Attitude control multiple space robots docking operation free-floating object bond graph modeling

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Learning a Behavior Model of Hybrid Systems Through Combining Model-Based Testing and Machine Learning 31st

Learning a Behavior Model of Hybrid Systems Through Combinin...

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31st IFIP WG 6.1international conference on Testing Software and Systems (ICTSS)

作者： Aichernig, Bernhard K. Bloem, Roderick Ebrahimi, Masoud Horn, Martin Pernkopf, Franz Roth, Wolfgang Rupp, Astrid Tappler, Martin Tranninger, Markus Graz Univ Technol Graz Austria

ISBN: (纸本)9783030312800;9783030312794

Models play an essential role in the design process of cyber-physical systems. They form the basis for simulation and analysis and help in identifying design problems as early as possible. However, the construction of models that comprise physical and digital behavior is challenging. Therefore, there is considerable interest in learning such hybrid behavior by means of machine learning which requires sufficient and representative training data covering the behavior of the physical system adequately. In this work, we exploit a combination of automata learning and model-based testing to generate sufficient training data fully automatically. Experimental results on a platooning scenario show that recurrent neural networks learned with this data achieved significantly better results compared to models learned from randomly generated data. In particular, the classification error for crash detection is reduced by a factor of five and a similar F1-score is obtained with up to three orders of magnitude fewer training samples.

关键词： Hybrid systems Behavior modeling Automata learning Model-Based Testing Machine learning autonomous vehicle Platooning

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1st international conference on Applied Physics, System Science and Computers, APSAC 2016

1st International Conference on Applied Physics, System Scie...

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1st international conference on Applied Physics, System Science and Computers, APSAC 2016

ISBN: (纸本)9783319539331

The proceedings contain 37 papers. The special focus in this conference is on Applied Physics, System Science and Computers. The topics include: Quantum thermodynamics and coherence in ion channels;micro-pulse stimulation;exploring the therapeutic effects of micro-pulse stimulation;modeling of the waterflooding process in the presence of discontinuities in the oil reservoirs;terahertz spectroscopy applications in medicament analysis;stability of capillary waves of finite amplitude;the numerical scheme for the basset type integro-differential equation in hydrodynamics;on the issue of choosing the measuring zones in a faraday balance when studying magnetic susceptibility of small samples;energy aware autonomous deployment for mobile wireless sensor networks;an optimal process for average value-at-risk portfolios in financial management;on quantification of the hidden distributed generation capacity and its effects;modeling the operating costs for production of the hydrolyzate;the problems of data security in cloud computing and its solution using Petri nets;designing of the pseudorandom number generators on the basis of two-dimensional cellular automata;a mixed fixed point and floating point graphics pipeline;mathematical modeling and computer simulation of simple permutation brainteaser in MS excel;research of methods of learning of programming objects-first and object-later;multichannel queueing systems and their simulation;on computational evaluation of stress concentration using micropolar elasticity;an algorithm for edge detection of the image for application in WSN and training samples construction for energy utilities operational assets management.

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The control toolbox — An open-source C++ library for robotics, optimal and model predictive control

The control toolbox — An open-source C++ library for roboti...

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IEEE international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Markus Giftthaler Michael Neunert Markus stäuble Jonas Buchli Eidgenossische Technische Hochschule Zurich Zurich ZH CH ETH Zurich Agile & Dexterous Robotics Lab Switzerland

We introduce the Control Toolbox (CT), an open-source C++ library for efficient modeling, control, estimation, trajectory optimization and Model Predictive Control. The CT is applicable to a broad class of dynamic systems but features interfaces to modeling tools specifically designed for robotic applications. This paper outlines the general concept of the toolbox, its main building blocks, and highlights selected application examples. The library contains several tools to design and evaluate controllers, model dynamical systems and solve optimal control problems. The CT was designed for intuitive modeling of systems governed by ordinary differential or difference equations. It supports rapid prototyping of cost functions and constraints and provides standard interfaces for different optimal control solvers. To date, we support Single Shooting, the iterative Linear-Quadratic Regulator, Gauss-Newton Multiple Shooting and classical Direct Multiple Shooting. We provide interfaces to general purpose NLP solvers and Riccati-based linear-quadratic optimal control solvers. The CT was designed to solve large-scale optimal control and estimation problems efficiently and allows for online control of dynamic systems. Some of the key features to enable fast run-time performance are full compatibility with Automatic Differentiation, derivative code generation, and multi-threading. still, the CT is designed as a modular framework whose building blocks can also be used for other control and estimation applications such as inverse dynamics control, extended Kalman filters or kinematic planning. The CT is available as open-source software under the Apache v2 license and can be retrieved from https://***/adrlab/ct.

关键词： Optimal control robots Libraries Mathematical model Tools C++ languages Planning

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Fast Multi-Body simulations of robots Controlled with Error Feedback

Fast Multi-Body Simulations of Robots Controlled with Error ...

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IEEE international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Shepherd, John Zapolsky, Samuel Drumwright, Evan M.

ISBN: (纸本)9781509046164

Roboticists modeling control of manipulator and legged robots often assume force/torque-based control using an open-loop model of voltage, hydraulic pressure, or pneumatic pressure to actuator torques. This paper shows that such force/torque-based models can lead to stiff differential equations, which are computationally inefficient to solve: relatively small integration steps are necessary to ensure simulation stability. We have investigated two approaches that appear to mitigate this problem: incorporating transmission modeling (applicable only to electromagnetic actuators at present) and applying inverse dynamics control. Both of these approaches require increased computation per integration step, but this work will demonstrate that the larger integration steps can still yield considerably higher simulation throughput. This paper will also identify research challenges with using inverse dynamics control within multi-rigid body simulations, where the simulation is integrated forward subject to contact and inverse dynamics constraints. In particular, we examine a state of the art approach concerning inverse dynamics control, and we identify theoretical and practical algorithmic challenges. Experimental virtual robot platforms include a UR10 arm with attached prismatic manipulator and a locomoting quadrupedal robot.

关键词： Manipulators

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RPSL meets Lightning: A Model-based Approach to Design Space Exploration of Robot Perception Systems

RPSL meets Lightning: A Model-based Approach to Design Space...

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IEEE international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Gammaitoni, Loic Hochgeschwender, Nico Univ Luxembourg Luxembourg Luxembourg Bonn Rhein Sieg Univ St Augustin Germany

ISBN: (纸本)9781509046164

The design space of a robotic application defines at a meta level what are all of its possible implementations. Those possibilities are called design alternatives and differ on many different aspects, one being preferred to the other depending on how, where, when or what the application should do. Design Space Exploration (DSE) is the process of reviewing those design alternatives, prior to their implementation, with intention to verify that the set of all design alternatives to be implemented covers all the possible scenarios in which the application is to be executed. In this paper we address two challenges related to DSE, namely, (1) the formal definitions of design spaces, a non-trivial task due to the many dimensions to be taken into consideration, and (2) the automatisation of DSE, that is, enabling a domain expert to review design alternatives corresponding to a given design space effortlessly. In this paper, we address those challenges in the context of robot perception software systems by combining two already existing technologies, namely RPSL for the specification of robot perception system's design spaces and Lightning, a language workbench that we use to formalise RPSL and obtain, from RPSL specifications, corresponding design alternatives.

关键词： Specifications

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Graph-based Software Knowledge: storage and Semantic Querying of Domain Models for Run-Time Adaptation

Graph-based Software Knowledge: Storage and Semantic Queryin...

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IEEE international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Hochgeschwender, Nico Schneider, Sven Voos, Holger Bruyninckx, Herman Kraetzschmar, Gerhard K. Bonn Rhein Sieg Univ Appl Sci Dept Comp Sci St Augustin Germany Univ Luxembourg Res Unit Engn Sci Luxembourg Luxembourg Katholieke Univ Leuven Dept Mech Engn Leuven Belgium

ISBN: (纸本)9781509046164

Software development for robots is a knowledge-intensive exercise. To capture this knowledge explicitly and formally in the form of various domain models, roboticists have recently employed model-driven engineering (MDE) approaches. However, these models are merely seen as a way to support humans during the robot's software design process. We argue that the robots themselves should be first-class consumers of this knowledge to autonomously adapt their software to the various and changing run-time requirements induced, for instance, by the robot's tasks or environment. Motivated by knowledge-enabled approaches, we address this problem by employing a graph-based knowledge representation that allows us not only to persistently store domain models, but also to formulate powerful queries for the sake of run time adaptation. We have evaluated our approach in an integrated, real-world system using the neo4j graph database and we report some lessons learned. Further, we show that the graph database imposes only little overhead on the system's overall performance.

关键词： Query processing

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Cognitive Robot programming using Procedural Parameters and Complex Event Processing

Cognitive Robot Programming using Procedural Parameters and ...

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IEEE international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Erich, Floris Suzuki, Kenji Univ Tsukuba Sch Integrat & Global Majors SIGMA 1-1-1 Tennodai Tsukuba Ibaraki Japan Univ Tsukuba Fac Engn Informat & Syst Tsukuba Ibaraki Japan

ISBN: (纸本)9781509046164

Current robot software architectures use the publish/subscribe messaging protocol to enable communication between components. The messages published by a component have to meet the specifications of components subscribing to these messages. Because of this, components can often not be used directly together and either have to be modified first or need to be wrapped using connector components. This increases the amount of work required to develop robot software. In this paper we propose Complex Events Processing (CEP) with Procedural Parameters as an alternative solution. CEP allows a developer to use various operators besides subscribe to define the communication between components. These operators for example allow mapping, filtering and sampling of messages. To be able to provide a generic set of operators which can be used in any robot application, we allow developers to define procedures as parameters to the operators. The procedures act as a strategy for the computation to be performed, the operator defining what should be done and the procedural parameter defining how to do it. Through an example we show that CEP can be used for creating robot behaviors.

关键词： Robot programming

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Combining Robotics Component-Based Model-Driven Development with a Model-Based Performance Analysis

Combining Robotics Component-Based Model-Driven Development ...

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IEEE international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Lotz, Alex Hamann, Arne Lange, Ralph Heinzemann, Christian staschulat, Jan Kesel, Vincent stampfer, Dennis Lutz, Matthias Schlegel, Christian Univ Appl Sci Fac Comp Sci D-89075 Ulm Germany Robert Bosch Corp Res Robert Bosch Campus 1 D-71272 Renningen Germany

ISBN: (纸本)9781509046164

Real-time properties such as reaction times play a safety-critical role for service robot applications. Current robotic software frameworks and middlewares, however, abstract from the underlying executing platform and execution management of the operating system thereby hiding relevant timing information. In other domains, such as automotive, model-based timing analysis is used early in the development process to analyze timing properties of the system. These approaches are not yet common in the service robotics domain. In this paper, we extend a model-driven development approach for robotic systems and enhance the system-configuration step to include a novel performance view that enables model-based timing analysis for robotic applications. Our evaluation shows that the performance analysis reasonably represents the real robot's run-time performance.

关键词： Robot applications

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Ball control and position planning algorithms for soccer robots using fuzzy petri nets 31

Ball control and position planning algorithms for soccer rob...

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31st international conference on Computers and Their Applications, CATA 2016

作者： Yang, Yilin Ponsini, Daniel Kim, Seung-Yun Department of Electrical and Computer Engineering College of New Jersey United States

ISBN: (纸本)9781943436026

The Fuzzy Petri net model (FPN) can provide the fundamental basis for a wide variety of algorithms, including autonomous soccer robots. Contemporary research has been investigating the potential uses for FPN for decades, most commonly applying its flexible reasoning abilities and graphical representation for automating decisions. The integration of Petri nets with fuzzy logic offers countless possibilities for knowledge representation and analysis. Fuzzy logic is proposed as the programming logic of choice for modeling a soccer playing robot algorithm due to its versatile multi-valued logic reasoning. By using FPNs, it is possible to simulate, assess, and communicate the process and reasoning of the soccer algorithm and apply it to real world programming. In this paper, we propose the Soccer Playing Allies Referencing Tract and Coordinate Underlay System (SPARTaCUS) algorithm in order to optimize the sequence of actions of a team of robots to complete the given task. As a result of modeling and simulation, the proposed algorithm has outperformed non-systematic methods by 11%. Copyright ISCA.

关键词： Petri nets

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