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Approximating viability kernels of non-linear systems 15

Approximating viability kernels of non-linear systems

引用

15th international conference on informatics in control, automation and robotics, ICINCO 2018

作者： Carvalho, André M. Sequeira, João S. Instituto Superior Técnico / Institute for Systems and Robotics Lisbon Portugal

ISBN: (纸本)9789897583216

A typical concern in robotics is to assess if it is possible to keep a robot inside a set of safe states, e.g., an autonomous car that must stay on the road. that is closely tied with the problem of computing the viability kernel of the system, i.e., the largest set of initial states for which it is guaranteed that the system has controls that keep maintain the trajectories inside the constraint set. the approach in this paper builds on previous work, on linear sampled-data systems. It is based on sampling the boundary of the constraint set, finding the states inside the viability kernel using finite-horizon forward simulation. Our adaptation extends the original algorithm, approximating the viability kernel for some non-linear systems through linearization methods. the non-linear systems here approached are the ones described by first order differential equations with continuous derivatives and convex with respect to the inputs. Existence and uniqueness conditions are also established to ensure adequate results for the whole algorithm. A practical example, with a simple non-linear system, to illustrate the proposed algorithm is also presented. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Nonlinear systems

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Park-Shield: Two-Wheeler Anti-theft System 6

Park-Shield: Two-Wheeler Anti-Theft System

引用

6th international conference on Computing, Communication, control and automation, ICCUBEA 2022

作者： Pillai, Chanthu S Pedram, Rushal Salumuri, Nishanth Nath, Deepa Pakhrani, Kishita School of Electronics and Communication Engineering Dr.Vishwanath Karad Mit World Peace University Pune India School of Mechanical Engineering Dr.Vishwanath Karad Mit World Peace University Pune India School of Robotics and Automation Engineering Dr.Vishwanath Karad Mit World Peace University Pune India

ISBN: (纸本)9781665484510

In India the number of two-wheelers is greater than the cardinal number of parking spots available, hence people tend to park their vehicles at undesignated spots and open spaces which increases the risk of damage to the vehicle. To prevail over this situation, we contemplated, designed, and came up with a solution. Park Shield predominantly aims towards providing an all-inclusive system for two-wheeler vehicles that notifies the attempts of theft and live location tracking for your vehicle with absolute authentication of the users. the uniqueness of the system is that it can be controlled using an android application with authorized users registered on the database. In case the vehicle is hoisted or hauled, the live location update with an alert notification will be sent to the owner's cellular device via the application. © 2022 IEEE.

关键词： Authentication

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Movement Intention based Brain Computer Interface for Virtual Reality and Soft robotics Rehabilitation using novel Autocorrelation analysis of EEG 6

Movement Intention based Brain Computer Interface for Virtua...

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6th IEEE international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Wairagkar, Maitreyee Zoulias, Ioannis Oguntosin, Victoria Hayashi, Yoshikatsu Nasuto, Slawomir Univ Reading Sch Syst Engn Reading RG6 6AY Berks England

ISBN: (纸本)9781509032877

Brain Computer Interface (BCI) could be used as an effective tool for active engagement of patients in motor rehabilitation by enabling them to initiate the movement by sending the command to BCI directly via their brain. In this paper, we have developed a BCI using novel EEG analysis to control a Virtual Reality avatar and a Soft robotics rehabilitation device. this BCI is able identify and predict the upper limb movement. Autocorrelation analysis was done on EEG to study the complex oscillatory processes involved in motor command generation. Autocorrelation represented the interplay between oscillatory and decaying processes in EEG which change during voluntary movement. To investigate these changes, the exponential decay curve was fitted to the autocorrelation of EEG windows which captured the autocorrelation decay. It was observed that autocorrelation decays slower during voluntary movement and fast otherwise, thus, movement intention could be identified. this new method was translated into online signal processing for BCI to control the virtual avatar hand and soft robotic rehabilitation device by intending to move an upper limb. the soft robotic device placed on the joint between upper and the lower arm inflated and deflated resulting to extension and flexion of the arm providing proprioceptive feedback. Avatar arm viewed in virtual 3D environment with Oculus Rift also moved simultaneously providing a strong visual feedback.

关键词： Brain computer interface

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Artificial Neural Network Based E-Nose And their Analytical Applications In Various Field

Artificial Neural Network Based E-Nose And Their Analytical ...

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11th international conference on control, automation, robotics and Vision (ICARCV 2010)

作者： Jamal, Maria Khan, M. R. Imam, S. A. Jamal, Arif GGSIPU IGIT ECE Dept Delhi 6 India JMI ECE Dept Delhi 25 India CPWD Delhi 01 India

ISBN: (纸本)9781424478132

A brief and historical overview of research and development in the field of artificial neural network based electronic nose system is presented. Electronic-nose devices have received considerable attention in the field of sensor technology during the past twenty years, largely due to the discovery of numerous applications derived from research in diverse fields of applied sciences. Electronic/artificial noses are being developed as systems for the automated detection and classification of odors, vapors, and gases. An electronic nose is generally composed of a chemical sensing system (e. g., sensor array or spectrometer) and a pattern recognition system (e. g., artificial neural network). We are developing electronic noses for the automated identification of volatile chemicals for environmental, medical applications, commercial industries, including the agricultural, biomedical, cosmetics, food, manufacturing, military, pharmaceutical, regulatory applications and various scientific research fields. this paper is a review of the major electronic nose technologies, developed since this specialized field was born and became prominent in the mid 1980s, and a summarization of some of the more important and useful applications that have been of greatest benefit to man.

关键词： Artificial Neural Network Back propagation algorithm multilayer Feed-forward network e-nose

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Singularity Configuration Pass Algorithm of Manipulator Based on PVT Trajectory Planning 6

Singularity Configuration Pass Algorithm of Manipulator Base...

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6th international conference on control, robotics and Cybernetics, CRC 2021

作者： Chunlai, He Yunfei, Liu Shuo, Cheng The 21ST Research Institute of China Electronic Technology Group Corporation Robotics Engineering Center Shanghai China

ISBN: (纸本)9781665424370

In order to satisfy the requirement that Cartesian space trajectory planning requires high real-time calculation of inverse kinematics of the manipulator, the analytical solution method is used to calculate the inverse kinematics of the tandem manipulator. According to the judgment conditions in the process of obtaining the analytical solution, three kinds of singular configuration situations that the manipulator may encounter in the process of obtaining the inverse solution are determined. For the singular configuration, a manipulator singularity based on PVT trajectory planning is proposed. the configuration passes the algorithm, so that the robot arm can maintain the continuity and stability of the motion of the robot arm when passing through the singular configuration. Finally, the algorithm was verified from two aspects of theory and experimental data simulation, and the result analysis showed that the algorithm was correct and feasible. this method has good adaptability to traditional industrial six-axis manipulators, cooperative six-axis manipulators and redundant seven-degree-of-freedom manipulators. © 2021 IEEE.

关键词： Inverse kinematics

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Deep level situation understanding and its application to casual communication between robots and humans

Deep level situation understanding and its application to ca...

引用

10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Tang, Yongkang Dong, Fangyan Yuhki, Mina Yamazaki, Yoichi Shibata, Takanori Hirota, Kaoru Dept. of Computational Intelligence and Systems Science Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology G3-49 4259 Nagatsuta Midori-ku Yokohama 226-8502 Japan Dept. of Electrical Electronic and Information Engineering Faculty of Engineering Kanto Gauin University 1-50-1 Mutsuura-higashi Kanazawa-ku Yokohama 236-8501 Japan Central 6 1-1-1 Higashi Tsukuba 305-8566 Japan

ISBN: (纸本)9789898565716

the concept of Deep Level Situation Understanding is proposed to realize human-like natural communication among agents (e.g., humans and robots/machines), where it consists of surface level understanding (such as gesture/posture recognition, facial expression recognition, and speech/voice recognition), emotion understanding, intention understanding, and atmosphere understanding by applying customised knowledge of each agent and by taking considerations to careful attentions. It aims to not impose burden on humans in human-machine communication, to realize harmonious communication by excluding unnecessary troubles or misunderstandings among agents, and finally to create a peaceful, happy, and prosperous humans-robots society. A scenario is established to demonstrate several communication activities between a businessman and a secretary-robot/a human-boss/a waitress-robot/a human-partner/a therapy-robot (PARO) in one day.

关键词： Human robot interaction

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Probabilistic Decision-Making at Road Intersections: Formulation and Quantitative Evaluation 15

Probabilistic Decision-Making at Road Intersections: Formula...

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15th international conference on control, automation, robotics and Vision (ICARCV)

作者： Barbier, Mathieu Laugier, Christian Simonin, Olivier Ibanez-Guzman, Javier Renault SAS 1 Ave Golf F-78288 Guyancourt France Inria Grenoble Rhone Alpes Chroma Team 655 Ave Europe F-38330 Montbonnot St Martin France INSA Lyon CITI Lab 6 Ave Arts F-69680 Villeurbanne France

ISBN: (纸本)9781538695821

As drivers approach a road intersection, they must decide whether to cross it or to come to a stop. For this purpose, drivers make a situation assessment and adapt their behaviour accordingly. When this task is performed by a computer, the available information is partial and uncertain. Any decision requires the system to use this information as well as taking into account the behaviour of other drivers to avoid collisions. Common metrics such as collision rate can remain low in an interactive environment because of other driver's actions. Consequently, evaluation metrics must depend on other driving aspects. In this paper a decision-making mechanism and metrics to evaluate such a system at road intersection crossing are presented. For the former, a Partially Observable Markov Decision Process is used to model the system with respect to uncertainties in the behaviour of other drivers. For the latter, different key performance indicators are defined to evaluate the resulting behaviour of the system with different configurations and scenarios. the approach is demonstrated within an automotive grade simulator. It has showed at times, that whilst the vehicle can cross safely the intersection, it might not satisfy other key performance indicators related to highway code.

关键词： Decision making

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Wave Based control of A Deployable Cable Driven Robot 6

Wave Based Control of A Deployable Cable Driven Robot

引用

6th RSI international conference on robotics and Mechatronics (IcRoM)

作者： Khalilpour, S. A. Khorrambakht, R. Taghirad, H. D. Cardou, Philippe KN Toosi Univ Technol Fac Elect & Comp Engn Adv Robot & Automated Syst POB 16315-1355 Tehran Iran Laval Univ Robot Lab Dept Mech Engn Quebec City PQ G1V 0A6 Canada

ISBN: (纸本)9781728101279

Cable driven parallel manipulator are known by their low costs and numerous applications. However despite of all research interests and developed methods they are not yet vastly used in action. the reason for this, is their limiting requirements for accurate assembly and installation process. the main goal of this paper is to propose a suitable control method by which the robot could appropriately be controlled, requiring no accurate calibrations or precise sensors. As it is well known, uncertainty in kinematics equations can lead to loose cables in redundant robots controlled through joint space controllers. In this paper a simple but very effective joint space controller is proposed that addresses the problem of loose cables by a wave based control method by employing a novel force feedback scheme. Indeed, a new conceptual framework for controlling deployable cable driven parallel manipulators is introduced by which such robots are greatly empowered at real-world scenarios. Finally, the performance of the proposed controller and its effectiveness is verified through some practical experiments showing that the proposed controller outperforms conventional cascade topologies in terms of much smoother tracking performance.

关键词： controllers

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2021 6th IEEE international conference on Advanced robotics and Mechatronics, ICARM 2021

2021 6th IEEE International Conference on Advanced Robotics ...

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6th IEEE international conference on Advanced robotics and Mechatronics, ICARM 2021

ISBN: (纸本)9780738133645

the proceedings contain 159 papers. the topics discussed include: learning to predict action based on b-ultrasound image information;gait planning and control of hexapod robot based on velocity vector;a review of bilateral teleoperation control strategies with soft environment;a swing-foot trajectory generation method for biped walking;adaptive admittance control based on linear quadratic regulation optimization technique for a lower limb rehabilitation robot;a three-dimensional path planning method of autonomous burrowing robot for lunar subsurface exploration;and ground reaction force estimation in robotic prosthesis using super-twisting extended state observer.

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Dynamic Parameter Identification and Collision Detection of Robot 6

Dynamic Parameter Identification and Collision Detection of ...

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6th international conference on control, robotics and Cybernetics, CRC 2021

作者： Guo, Qiang Wang, Weijun Ma, Chaoyang The 21ST Research Institute of China Electronic Technology Group Corporation The Robotics Engineering Center Shanghai China

ISBN: (纸本)9781665424370

A method based on MD-H model is proposed to establish the geometric parameter error model of SCARA robot and carry out error compensation. In this paper, by analyzing the causes of robot positioning accuracy error, the geometric parameter error model of SCARA robot is established through the modified MD-H model. the Jacobian matrix of the robot is calculated, and the redundancy analysis of the columns of the J matrix is carried out, and the redundant parameter columns are eliminated. then the same world coordinate system of laser tracker and SCARA robot is established by axis method. Finally, the absolute coordinate data of SCARA robot before and after correction are measured by laser tracker. From the measured data, it can be obtained that the maximum absolute positioning accuracy before the robot correction is 7.4 mm, and the maximum absolute positioning accuracy after the robot correction is 0.933 mm, which is 6.9 times higher than that before. © 2021 IEEE.

关键词： Error compensation

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