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Co-Design Optimisation of Morphing Topology and Control of Winged Drones

Co-Design Optimisation of Morphing Topology and Control of W...

引用

ieee international Conference on robotics and automation (ICRA)

作者： Fabio Bergonti Gabriele Nava Valentin Wüest Antonello Paolino Giuseppe L’Erario Daniele Pucci Dario Floreano Artificial and Mechanical Intelligence Laboratory Istituto Italiano di Tecnologia (IIT) School of Computer Science University of Manchester Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne (EPFL) Department of Industrial Engineering University of Naples Federico II

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient solution. However, morphing drones require the addition of actuated joints that increase the topology and control coupling, making the design process more complex. We propose a co-design optimisation method that assists the engineers by proposing a morphing drone’s conceptual design that includes topology, actuation, morphing strategy, and controller parameters. The method consists of applying multi-objective constraint-based optimisation to a multi-body winged drone with trajectory optimisation to solve the motion intelligence problem under diverse flight mission requirements, such as energy consumption and mission completion time. We show that co-designed morphing drones outperform fixed-winged drones in terms of energy efficiency and mission time, suggesting that the proposed co-design method could be a useful addition to the aircraft engineering toolbox.

关键词： Energy consumption Costs computational modeling Process control Energy efficiency Topology Trajectory

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robotics research : the second international symposium /

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1985年

作者： edited by Hideo Hanafusa and Hirochika Inoue.

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Matrix approach to deadlock avoidance of dispatching in multi-class finite buffer reentrant flow lines

Matrix approach to deadlock avoidance of dispatching in mult...

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ieee international symposium on Intelligent Control (ISIC)

作者： S. Bogdan F.L. Lewis Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Automation and Robotics Research Institute University of Texas Arlington Worth TX USA

For a very general class of finite-buffer multi-class reentrant flow lines, necessary and sufficient conditions are given for the absence of deadlock in terms of circular wait relations. The result is a multi-class last buffer first serve (LBFS) dispatching policy for finite buffer flow lines. The notion of so-called "critical siphons", as well as the novel notion of "critical traps" are introduced in this paper. Petri net (PN) techniques are used in the analysis. computationally efficient matrix techniques are given for implementing a multiclass dispatching policy that is guaranteed not only to avoid deadlock, but allows one to obtain efficient utilization of the resources in multi-class reentrant flow lines.

关键词： System recovery Dispatching Manufacturing systems Petri nets Stability Flexible manufacturing systems computational complexity Assembly systems Computer aided manufacturing Production facilities

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Lightning NeRF: Efficient Hybrid Scene Representation for Autonomous Driving

Lightning NeRF: Efficient Hybrid Scene Representation for Au...

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ieee international Conference on robotics and automation (ICRA)

作者： Junyi Cao Zhichao Li Naiyan Wang Chao Ma MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University Shanghai China Tusimple Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Recent studies have highlighted the promising application of NeRF in autonomous driving contexts. However, the complexity of outdoor environments, combined with the restricted viewpoints in driving scenarios, complicates the task of precisely reconstructing scene geometry. Such challenges often lead to diminished quality in reconstructions and extended durations for both training and rendering. To tackle these challenges, we present Lightning NeRF. It uses an efficient hybrid scene representation that effectively utilizes the geometry prior from LiDAR in autonomous driving scenarios. Lightning NeRF significantly improves the novel view synthesis performance of NeRF and reduces computational overheads. Through evaluations on real-world datasets, such as KITTI-360, Argoverse2, and our private dataset, we demonstrate that our approach not only exceeds the current state-of-the-art in novel view synthesis quality but also achieves a five-fold increase in training speed and a ten-fold improvement in rendering speed. Codes are available at https://***/VISION-SJTU/Lightning-NeRF.

关键词： Training Point cloud compression Geometry Image color analysis Lightning Neural radiance field Rendering (computer graphics)

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A Comparative Analysis of Short-Term Solar Power Forecasting Using Machine Learning Methods

A Comparative Analysis of Short-Term Solar Power Forecasting...

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robotics, automation, Artificial-intelligence and Internet-of-Things (RAAICON), 2019 ieee international Conference on

作者： Nasrin Sultana Md. Samin Safayat Islam Md. Rashidul Islam Md. Rafiqul Islam Sheikh Md. Omer Faruque Department of Electrical & Electronic Engineering Rajshahi University of Engineering and Technology Rajshahi Bangladesh Department of Electrical & Electronic Engineering Dhaka University of Engineering and Technology Gazipur Bangladesh

ISBN: (数字)9798331534400

ISBN: (纸本)9798331534417

Integrated power systems encounter a multitude of challenges due to the variability observed in solar energy. As a result, it is requisite to make precise predictions regarding solar power. This study conducted a comparative analysis of various models including categorical boosting (CatBoost), random forest (RF), adaptive boosting (AdaBoost), gradient boosting (GB), extreme gradient boosting (XGBoost), and gated recurrent network (GRU). The objective of this paper is to determine the most accurate model for predicting global horizontal irradiance (GHI) in Canberra, Australia. This research used data collected at 60-minute, 30-minute, 15-minute, 10-minute, and 5-minute intervals throughout the year to ensure each model’s consistency in performance. As the number of samples increased in the dataset, each model’s performance improved significantly. This research made it quite evident that GRU outperformed all other models in producing the best results for this dataset.

关键词： Radio frequency Analytical models Accuracy computational modeling Power system dynamics Predictive models Boosting Data models Australia Forecasting

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Hardware realization of fuzzy adaptive filters for non linear channel equalization

Hardware realization of fuzzy adaptive filters for non linea...

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ieee international symposium on Circuits and Systems (ISCAS)

作者： F. Olarte P. Ladino M. Melgarejo Laboratory for Automation Microelectronics and Computational Intelligence Universidad Distrital Francisco José de Caldas Bogota Colombia

The article presents the architectural proposal and hardware implementation of two fuzzy adaptive filters, which are intended to perform real time non linear channel equalization. The proposed architecture considers on-line adaptation of Gaussian membership functions. The key point of the architecture is a circuit that generates Gaussian membership functions. Taking into account the proposed architecture, two first order fuzzy adaptive filters are implemented over field programmable gate array technology. These implementations are compared with their software counterparts in terms of processing speed and bit error rate performance.

关键词： Hardware Adaptive filters Adaptive equalizers Computer architecture Proposals Circuits Adaptive arrays Field programmable gate arrays Software performance Bit error rate

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Estimation of External Force acting on Underwater Robots

Estimation of External Force acting on Underwater Robots

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ieee international Conference on automation Science and Engineering (CASE)

作者： Srinivasan Lakshminarayanan Daniel Duecker Andriy Sarabakha Amartya Ganguly Leila Takayama Sami Haddadin Munich Institute of Robotics and Machine Intelligence (MIRMI) TU Munich Germany Department of Electrical and Computer Engineering Aarhus University Denmark Department of Computational Media University of California USA

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In the context of robotics, accurately estimating external forces is essential. These estimations play a crucial role in collision detection, motion planning, robot control, disturbance compensation, environmental interactions, etc. Given the importance of external force estimation, We introduce a framework to estimate the forces acting on underwater robots. By leveraging dynamic models of the underwater remotely operated vehicle (ROV), our framework predicts and estimates forces based on velocity and acceleration data. We conducted real-world experiments on BlueROV2 underwater vehicle to test and verify the efficacy of our proposed framework. We determined that our framework can predict the external forces with an MAE of 0.8 N.

关键词： Underwater structures Autonomous underwater vehicles Force measurement Remotely guided vehicles Force Robot control Estimation Mathematical models Vehicle dynamics Collision avoidance

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Meta-modelling hybrid formalisms

Meta-modelling hybrid formalisms

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ieee international symposium on Computer Aided Control System Design (CACSD)

作者： S. Lacoste-Julien H. Vangheluwe J. de Lara P.J. Mosterman Mew-Modellins Hybrid Formalisms McGill University Canada University of California Berkeley Berkeley CA USA School of Computer Science Mcgill University Montreal Canada Department Ingeniería Informática Universidad Autónoma de Madrid Madrid Spain The Mathworks Inc. Natick MA USA

This article demonstrates how meta-modelling can simplify the construction of domain-and formalism-specific modelling environments. Using AToM 3 (a tool for multi-formalism and meta-modelling developed at McGill University), a model is constructed of a hybrid formalism, HS, that combines event scheduling constructs with ordinary differential equations. From this specification, an HS-specific visual modelling environment is synthesized. For the purpose of this demonstration, a simple hybrid model of a bouncing ball is modelled in this environment. It is envisioned that the future of modelling and simulation in general, and more specifically in hybrid dynamic systems design lies in domain-specific computer automated multi-paradigm modelling (CAMPaM) which combines multi-abstraction, multi-formalism, and meta-modelling. The small example presented in this article demonstrates the feasibility of this approach

关键词： computational modeling Differential equations Computer simulation Control system synthesis Automatic control Computer science Virtual prototyping Concrete

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Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges

Posterior Sampling for Anytime Motion Planning on Graphs wit...

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ieee international Conference on robotics and automation (ICRA)

作者： Brian Hou Sanjiban Choudhury Gilwoo Lee Aditya Mandalika Siddhartha S. Srinivasa Paul G. Allen School of Computer Science & Engineering University of Washington Seattle WA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Collision checking is a computational bottleneck in motion planning, requiring lazy algorithms that explicitly reason about when to perform this computation. Optimism in the face of collision uncertainty minimizes the number of checks before finding the shortest path. However, this may take a prohibitively long time to compute, with no other feasible paths discovered during this period. For many real-time applications, we instead demand strong anytime performance, defined as minimizing the cumulative lengths of the feasible paths yielded over time. We introduce Posterior Sampling for Motion Planning (PSMP), an anytime lazy motion planning algorithm that leverages learned posteriors on edge collisions to quickly discover an initial feasible path and progressively yield shorter paths. PSMP obtains an expected regret bound of Õ(√(SAT)) and outperforms comparative baselines on a set of 2D and 7D planning problems.

关键词： Planning Bayes methods History Uncertainty Geometry Learning (artificial intelligence) Search problems

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An Open and Flexible Robot Perception Framework for Mobile Manipulation Tasks

An Open and Flexible Robot Perception Framework for Mobile M...

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ieee international Conference on robotics and automation (ICRA)

作者： Patrick Mania Simon Stelter Gayane Kazhoyan Michael Beetz Institute for Artificial Intelligence University of Bremen Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Over the last years, powerful methods for solving specific perception problems such as object detection, pose estimation or scene understanding have been developed. While performing mobile manipulation actions, a robot’s perception framework needs to execute a series of these methods in a specific sequence each time it receives a new perception task. Generating proficient combinations of vision methods to solve individual perception tasks remains a challenge, as the combination depends on the requirements of the task and the capabilities of the robot’s *** this paper, we propose RoboKudo, an open-source knowledge-enabled perception framework that leverages the strengths of the Unstructured Information Management (UIM) principle and the flexibility of Behavior Trees to model task-specific perception processes. The framework can combine state-of-the-art computer vision methods to satisfy the requirements of each perception task and scales to different robot platforms. The generality and effectiveness of the framework are evaluated in real world experiments where it solves various perception tasks in the context of mobile manipulation actions in a household domain. Code and additional material are available at https://***/rkop.

关键词： Computer vision Codes computational modeling Pose estimation Object detection Data models Information management

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