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Adaptive controller Based on Barrier Lyapunov Function for a Composite Cartesian-Delta Robotic Device for Precise Time-Varying Position Tracking

Adaptive Controller Based on Barrier Lyapunov Function for a...

引用

international conference on control, Mechatronics and automation (ICCMA)

作者： Jazmín Mendoza Bautista L. Abril Torres-Mendez Isaac Chairez Robotics and Advanced Manufacturing CINVESTAV Campus Saltillo Ramos Arizpe Coahuila Mexico Mechatronics Department Tecnologico de Monterrey Guadalajara Jalisco Mexico

ISBN: (纸本)9781665490498

this paper describes the design of an adaptive controller based on a barrier Lyapunov function (CBLF) that solves the trajectory tracking problem of a hybrid robotic structure with an event-driven regulator. the selected robot is a fully actuated Cartesian-delta device composed of 5 Degrees of Freedom (DoFs); the first 2 DoFs correspond to the Cartesian robot, and the last 3 DoFs for the delta device. this adaptive controller considers the state restrictions for the end-effector position and the set of joints. the activation function of the adaptive event-driven controller is defined according to a convergence quality indicator, and its adjustment laws for the control gains were derived using a control barrier Lyapunov function. An experimental test is presented to prove the algorithm performance. the robot tracked the reference trajectories considering that the robot works in two stages; one for the serial and the other for the parallel one. the adaptive scheme a better performance than the proportional- integral-derivative (PID) control.

关键词： Performance evaluation Regulators Trajectory tracking End effectors Trajectory Joints Adaptive control

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Using Deep Reinforcement Learning to Solve a Navigation Problem for a Swarm robotics System

Using Deep Reinforcement Learning to Solve a Navigation Prob...

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international Carpathian control conference (ICCC)

作者： Alaa Iskandar Hussam M. Rostum Béla Kovács Faculty of Mechanical Engineering and Informatics University of Miskolc Miskolc Hungary Institute of Automation and Info-Communication University of Miskolc Miskolc Hungary

Five mobile robots in a swarm are trained in this paper using the deep reinforcement learning method to solve a navigation problem with two targets without prior knowledge of the environment. the Proximal Policy Optimization method trains E-puck mobile robots to avoid obstacles while completing tasks in the shortest distance for each robot. A Webots simulator is used to model the environment in three-dimension space. the suggested algorithm works with continuous states derived from eight infrared sensors and continuous action spaces that reflect the velocities of two motors for each robot in the swarm. then the robot's behavior will be examined in light of two categories of rewards: Spares and Shaping rewards. If the environment's complexity is not decreased, proximal policy optimization with spare rewards will not be able to train every robot in the system how to accomplish its goal. Compared to the spare rewards technique, shaping rewards aid the robot in gaining experience from prior knowledge during the training process. this speeds up learning and aids navigation in more complex environments.

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Efficient and Accurate Template-based Reconstruction of Deformable Surfaces

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

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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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Bio Based Autonomous Smart Home Concept

Bio Based Autonomous Smart Home Concept

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international conference on Instrumentation, Communications, Information Technology, and Biomedical Engineering (ICICI-BME)

作者： Dody Qori Utama Yoke S. Irawan Masyithah Nur Aulia Annisa Riyani Allya P. Koesoema Tauhid Nur Azhar School of Electrical Engineering and Informatics Institut Teknologi Bandung Bandung Indonesia Institut Teknologi Bandung Bandung Jawa Barat ID IEEE SIGHT on eHealth & Telemedicine Indonesian Section Indonesia

this research offers a smart home automation concept that can understand the residents based on their condition. the condition of the residents is derived from the biosignal which represent their body condition. By getting the condition of the body of the residents, we can determine the best and most ideal condition for their house. User's biosignal is captured using wearable devices that are mounted directly to the user. then the captured biosignal is processed by adaptive fuzzy based algorithm to obtain the condition of the occupant. Based on the conditions of its residents, smart home system will set home appliance such as AC temperature, home entertainment system, perfume, intensity and color of the light to fit with the condition of the residents. this study offers concepts and methods for future homes that can understand the user.

关键词： Smart homes Entertainment industry Electroencephalography Electromyography Home appliances conferences Temperature sensors

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Improving viewpoint invariance of image feature extraction methods using intensity and range images

Improving viewpoint invariance of image feature extraction m...

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international Carpathian control conference (ICCC)

作者： V. Kovács G. Tevesz Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

the most common image feature extraction algorithms such as SIFT (Scale Invariant Feature Transform) and SURF (Speeded Up Robust Feature) have been proven to be invariant to changes in rotation, scale and with restrictions to illumination and viewpoint changes. these algorithms generate descriptor vectors around keypoints in 2D images. Close descriptors suggest similar image patch. In case of mobile robotics applications it is important to achieve good viewpoint invariance and stability to detect landmarks and objects with high reliability. Improving viewpoint invariance for image feature detection increases the efficiency of SLAM algorithms. In this paper we present and evaluate a method to use additional data provided by range image sensors to supplement traditional feature extraction algorithms to improve viewpoint invariance. We present the method and results of computer simulation and also real world examples comparing the SURF (OpenSURF) with and without the improvement. An active structured light based range and intensity image sensor was used to acquire real world test images.

关键词： Feature extraction Vectors Detectors Image color analysis Algorithm design and analysis Image resolution Transforms

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Medical Robotic System for MISS

Medical Robotic System for MISS

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the 5th international conference on Computer Science & Education(第五届国际计算机新技术与教育学术研讨会 ICCSE'10)

作者： Peili Sun Yanqiu Chen Economic Management Institute Dalian Ocean University(Dalian Fisheries University) Dalian P.R.China Department of Computer Science Dalian Neusoft Institute of Information Dalian P.R.China

A conceptual medical robotic system applicable for establishing surgical platform in the process of minimally invasive spine surgery (MISS) is proposed in this paper. According to the requirement of MISS operation, a five-degreeof-freedom (5-DOF) operating mechanism is designed and developed for such applications, and a detailed analysis has been performed for the robot involving the issues of kinematics, control and navigation. In view of the physical constraints imposed by mechanical joints, the operating mechanism is determined. Moreover, the kinematic analysis is carried out via the Denavit-Hartenberg (D-H) representation, and the control system is briefly introduced. Based on the principle of volume reconstruction and Windows programming technology, the surgical navigation system is established. At last, the experimental results made for the prototype illustrate the system well. this research will lay a good foundation for the development of a medical robot to assist in MISS operation.

关键词： medical robotics:minimally invasive spine surgery surgical navigation:3D modeling

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Conditions for active assistance control of exoskeleton robot

Conditions for active assistance control of exoskeleton robo...

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international conference on Advanced robotics and Mechatronics (ICARM)

作者： Shiyin Qiu Wei Guo Fusheng Zha Xin Wang Wentao Sheng Fei Chen Darwin Caldwell State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China Shenzhen Academy of Aerospace Technology Robotics Institute of Shenzhen Academy of Aerospace Technology Shenzhen China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

the condition of active assistance is the basic design criteria of target assistance torque profile. Based on the human-exoskeleton interaction model, the condition of active assistance was derived first. And then, some biomechanical simulation experiments based on OpenSim were carried out to demonstrate the the condition of active assistance. the condition of active assistance for exoskeleton robot is that the target assistance torque and the human joint muscle torque should be in a same direction and the assistance ratio should be greater than 0 and less than 1.

关键词： Exoskeletons Torque Muscles Robots Trajectory Force Dynamics

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Tensor Product Model Transformation Based Friction Compensation of a Mechatronic System

Tensor Product Model Transformation Based Friction Compensat...

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international conference on Intelligence Engineering Systems

作者： Bela Takarics Peter Korondi Peter Baranyi Dept. of Mechatronics Optics and Engineering Informatics Budapest University of Technology and Economics Cognitive Informatics Research Group Computer and Automation Research Institute

ISBN: (纸本)9781424476527

the Tensor Product (TP) model transformation is a recently proposed technique for transforming given Linear Parameter-Varying (LPV) state-space models into polytopic model form, namely, to parameter-varying convex combination of Linear Time Invariant (LTI) systems. the main advantage of the TP model transformation is that it is executable in a straightforward way and the Linear Matrix Inequality (LMI) based control design frameworks can immediately be applied to the resulting polytopic models to yield controllers with tractable and guaranteed performance. the main contribution of this paper is that it represents the friction of a DC servo drive in TP model form, automatically designs LMI based controller for friction compensation. the reference signal compensation is also based on the TP model transformation. the results were simulated for speed control of the DC servo drive and were compared to other control techniques.

关键词： Non-linear system control Friction compensation DC servo drive Simulation

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On analyzing the blocking probability of M2M transmissions for a CQI-based RRM scheme model in 3GPP LTE 15th

On analyzing the blocking probability of M2M transmissions f...

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15th international Scientific conference on Information Technologies and Mathematical Modelling, ITMM 2016

作者： Samouylov, Konstantin Gudkova, Irina Markova, Ekaterina Dzantiev, Iliya RUDN University 6 Miklukho-Maklaya Street Moscow117198 Russia Institute of Informatics Problems Federal Research Center ‘Computer Science and Control’ of Russian Academy of Sciences RUDN University 6 Miklukho-Maklaya Street Moscow117198 Russia

ISBN: (纸本)9783319446141

Machine type communications (MTC) or machine-tomachine (M2M) services become one of the drivers towards 5th generation (5G) wireless network. Various MTC devices such as smart meters and sensors form the basis of smart cites and homes. the question is how to efficiently transmit the information from MTC devices via a wireless network, which is primarily used for human-to-human (H2H) communications. Nevertheless, one of the important qualities of service (QoS) measure is still blocking probability. In the simplest case, the Erlang B formula is used to calculate the blocking probability. A more precise value can be obtained considering the MTC devices positons within a cell and applied radio resource management (RRM) mechanisms. First of all, it is expressed in the distances from the devices to eNodeB. In the paper, following the approach of including the stochastic distance in the queuing system, we propose formulas for calculating stationary probability distribution in product form considering a channel quality indicator (CQI) reported by MTC devices. Two RRM schedulers working according to the round robin policy (RRP) and full power policy (FPP) are considered. the former assumes full occupation of a time frame by all MTC devices and a variable devices’ power such that to achieve a needed uplink bit rate. the latter assumes a constant power and variable time frame occupation. © Springer international Publishing Switzerland 2016.

关键词： Blocking probability

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Path Planning of Dual Ammunition Loading Robot Based on Velocity Repulsion Field

Path Planning of Dual Ammunition Loading Robot Based on Velo...

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IEEE international conference on automation, Electronics and Electrical Engineering (AUTEEE)

作者： Qicheng Dong Zhigang Xu Junyi Wang College of Mechanical and Electrical Engineering Shenyang University of Aeronautics and Astronautics Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences Shenyang China

ISBN: (数字)9781665471978

ISBN: (纸本)9781665471985

Aiming at the problems of slow charging speed of single ammunition loading robot and complicated path planning of dual robots, a path planning method of dual ammunition loading robots based on velocity repulsion field is proposed. Firstly, a robot collision detection system is established, and the robot is simplified by the form of sphere enclosing, so that the collision detection between robots can be converted into geometric distance detection; secondly, the collision-free motion path of the double-charged robot is planned by using the velocity repulsion field algorithm; finally, the experimental verification is carried out in matlab. the results show that the algorithm can effectively plan the collision-free path of the robot, which satisfies the work requirements and verifies the reliability and effectiveness of the algorithm.

关键词： Electrical engineering Loading Fixtures Programming Reliability engineering Path planning Stability analysis

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