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Cyberattack detection and compensation for distant-controlled mobile robots 20

Cyberattack detection and compensation for distant-controlle...

引用

20th ieee International symposium on computational intelligence and Informatics (CINTI)

作者： Nagy, Lehel Marton, Lorinc Sapientia Hungarian Univ Transylvania Dept Elect Engn Corunca Romania

ISBN: (纸本)9781728183398

This paper presents the design and implementation of a resilient control method that allows adequate remote control of mobile robots, even in the case of DOS (Denial of Service) or such other types of cyberattacks that overload the communication channels. The proposed approach focuses on the so-called Move-and-Wait remote control strategy. It uses an attack detector that estimates the magnitude of the attack using communication parameter measurements. Based on this information, a compensator algorithm modifies the activity period of the robots motion sequence, as well as its speed, such that the robots movement remains as continuous as possible, even in the case of a cyberattack. Real-time experimental measurements are also presented in the paper to show the effectiveness of the proposed cyberattack mitigation strategy.

关键词： Teleoperated robot Move and Wait control DoS Attack Resilient control

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An Improved Voltage Sensorless Model Predictive Direct Power control for Vienna Rectifier 1

An Improved Voltage Sensorless Model Predictive Direct Power...

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1st ieee International Power Electronics and Application symposium, PEAS 2021

作者： Dang, Chaoliang Wang, Fei Tong, Xiangqian Liu, Ding Mu, Xiaoyu Song, Weizhang Xi'An University of Technology Xi'An Jiaotong University School of Automation And Information Engineering State Key Laboratory of Electrical Insulation And Power Equipment Shaanxi China Xi'An University of Technology School of Electrical Engineering Shaanxi China Xi'An University of Technology School of Automation And Information Engineering Shaanxi China

ISBN: (纸本)9781665413596

The control system design of Vienna rectifier is inseparable from the parameters of grid voltage, which will increase the cost and complexity when using voltage sensors. Therefore, this paper proposes a grid voltage sensorless model predictive control strategy for Vienna rectifier. Firstly, the virtual flux mathematical model of Vienna rectifier is established to estimate the grid voltage. Due to the mathematical model contains integral operation, the integrator is modified to a second-order low-pass filter (LPF) by solving the problems of integral initial value and dc bias to improve the observation effect. Then, the given values of active power and reactive power of the system are obtained through the outer loop. Lastly, combined with direct power and model predictive control (DPMPC), it can quickly find the switch sequence of tracking target. A simplified vector selection is also used to the system to reduce the computational complexity. Thus, it is verified the correctness of the theoretical analysis, and the results shows that the proposed model predictive direct power control has good steady-state and dynamic performance. © 2021 ieee.

关键词： Model predictive control

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A Geometric Motion Mapping Algorithm from Master Human Arm to Heterogeneous Slave Robot Arm with Offset Joints 11

A Geometric Motion Mapping Algorithm from Master Human Arm t...

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11th ieee Annual International Conference on CYBER Technology in automation, control, and Intelligent Systems, CYBER 2021

作者： Gong, Daoxiong Wang, Ruihua Yu, Jianjun Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Faculty of Information Technology Beijing100124 China

ISBN: (纸本)9781665425278

In this paper, we presented a geometric motion mapping algorithm that translates the motor commands issued by the human master arm to a heterogeneous slave robot manipulator with offset joints for intuitive teleoperation. Firstly, we set up two spherical coordinate systems on the shoulder of the master tele-operator and the slave robotic arm, respectively. Then, we proposed a motion mapping algorithm comprising three phases of computations, i.e., to determine the positions of the wrist joints of the robot arm according to the target position and orientation of the slave end-effector (EE), to determine the configuration of the robotic arm for reaching the target position of the first wrist joint of the slave arm, and to determine the rotation angles of the wrist joints for realizing the expected position/orientation of the slave EE. Finally, we validate the proposed algorithm via simulations with the KIT human motion capture data. The proposed algorithm can achieve excellent motion mapping results, i.e., exactly attain the expected position/orientation of the slave EE and at the same time possess similar master/slave elbow motion. Therefore, the studied motion mapping algorithm is able to make the master human operator feeling natural and comfortable for intuitive and efficient teleoperation. © 2021 ieee.

关键词： Remote control

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Smart Travel Solutions Harnessing Artificial intelligence for Optimal Route Efficiency

Smart Travel Solutions Harnessing Artificial Intelligence fo...

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ieee International Conference on System, Computation, automation and Networking (ICSCAN)

作者： Mohanapriya. D Indumathi. R Priyatharsini. S Arounesh. A V.Kishore Kumar R. Kamalan Department of Computer science and Engineering Manakula Vinayagar Institute of Technology Puducherry Department of Electronics and Communication Engineering Karpagam Academy of Higher Education Coimbatore Department of Computer science and Engineering Manakula Vinayagar Institute of Technology

ISBN: (数字)9798331510022

ISBN: (纸本)9798331510039

This AI-based route optimizing system has put its focal point on only efficient travel routes based on real-time traffic. It focuses on calculating the shortest distance to source, along with destination and via points, distance, time-based traffic details, in order to arrive at the most optimal route for any journey. Advanced AI techniques in optimizing systems continuously adjust the route according to live traffic patterns so that users may experience the least delay possible. The system integrates with fuel consumption estimations provided the traveler through inputting vehicle mileage, enabling travelers to make better plans for their trips by considering time and fuel efficiency. This would save one time spent traveling, saves fuel, thus saving money while keeping the environment free from pollution. By such smart decisions on making routes, the system increases drivers' overall driving experience, especially in crowded areas or where there is heavy traffic. Since the system is inherently real-time, it's therefore very adaptive to the changing nature of road conditions, thus travel stream lined for the users.

关键词： Pollution Roads Estimation Traffic control Real-time systems Delays computational efficiency Fuels Artificial intelligence Vehicles

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ExSAIS: Workshop on Extreme Scaling of AI for Science Message from the workshop chairs

ExSAIS: Workshop on Extreme Scaling of AI for Science Messag...

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ieee International symposium on Parallel and Distributed Processing Workshops and Phd Forum (IPDPSW)

作者： Svitlana Volkova Robert Rallo

ISBN: (数字)9781665497473

ISBN: (纸本)9781665497480

ExSAIS: Workshop on Extreme Scaling of AI for Science, brings together researchers in Artificial intelligence (AI) and High Performance Computing (HPC) to enable scientific discovery at scale. The evolution of machine perception to machine learning and reasoning, and ultimately machine intelligence, has a potential to significantly impact acceleration and advancement of autonomous scientific discovery and the operation of scientific instruments. While machine reasoning will enable intelligent systems to better understand and interact with their physical world, machine intelligence through modeling, simulation and automation, closes the gap between experiments, extreme computing, and scientific discovery. In order to usher in this new era of autonomous science, advances in several areas of artificial intelligence and other disciplines e.g., high-performance computing, data engineering need to come together.

关键词： Conferences Artificial intelligence Distributed processing computational modeling Machine intelligence Instruments High performance computing

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Incorporating Visual intelligence in Line Following Robots

Incorporating Visual Intelligence in Line Following Robots

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ieee International symposium on Smart Electronic Systems (iSES)

作者： Dhyanik Pujara Palak Naik Riya Gautam Akash Mecwan Electronics and Comminication Department Institute of technology Nirma University Ahmedabad India

Line follower robot is a mobile robot that is programmed to detect the path and trace the same. A colored line follower is an improved version of the line follower robot which is able to select the desired line among different colored lines as per the instructions given by the user. Line-following robots have gained significant attention due to their applications in various fields, including industrial automation, transportation, and entertainment. Traditional line-followers use basic infrared sensor-based systems, which restrict their ability to handle complex and dynamic surroundings and also work for either black or white path. In order to improve the robot's ability to navigate and track a colored path, this paper suggests two methods that make use of sophisticated image processing and computer vision algorithms. Open CV and python are used to design the path detection system and a feedback-based control loop mechanism called PID controller is also implemented for robot movement. Out of the two proposed methods, the experimental results demonstrate the effectiveness of IR Analogy Algorithm over Image Warping based algorithm.

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Toward Behavior-Based models of bat echolocation

Toward Behavior-Based models of bat echolocation

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ieee symposium Series on computational intelligence (SSCI)

作者： Thinh H. Nguyen Dieter Vanderelst Electrical Engineering and Computer Science University of Cincinnati Cincinnati USA Electrical Engineering and Computer Science Biological Sciences University of Cincinnati Cincinnati USA

ISBN: (纸本)9781665487696

We propose a Behavior-Based Robotic (BBR) architecture to model the cognitive controller of echolocation bats. The architecture used a neural network to perform high-level control by governing two sensorimotor loops. We trained our model in a simulated environment where the echoes returned from the environment were derived from real echoes collected by a physical sonar system. We trained our BBR architecture on a foraging task and tested the trained agent in different experiments. The agent demonstrated the ability to learn the foraging task on different maze geometries by avoiding obstacles and approaching food items. The agent also demonstrated robustness against considerable noise in actuation. This prototype demonstrated the feasibility of training a BBR model of complex bat echolocation tasks using a hybrid simulated environment.

关键词： Training computational modeling Neural networks Sonar Prototypes Computer architecture Robot sensing systems

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Sliding mode control of the temperature of a nonlinear plate heat exchange system 14

Sliding mode control of the temperature of a nonlinear plate...

引用

14th International symposium on computational intelligence and Design, ISCID 2021

作者： Wu, Jie Yu, Sixun Wuhan University of Technology Deputy Dean School of Naval Architecture Ocean and Energy Power Engineering Wuhan China

ISBN: (纸本)9781665438568

Based on the working process and principles of a plate heat exchange system, a set of differential equations to control the temperature of the system was deduced. Based on analysis and calculation using FLUENT fluid simulation software, as well as repeated experiments using an experimental platform, mathematical expressions for the variable parameters, such as the temperature difference between cold and hot water and the heat transfer coefficient in the equation set, were determined. In the heat exchange model, the temperature of the cold water entering the heat exchanger and the temperature of the hot water exiting the heat exchanger were taken as the state variables, and the degree of opening of the electric control valves for the open-and closed-circulating cold water were taken as the control inputs. The system showed characteristics typical of a multi-input coupled nonlinear system. Using the method of solving the multi-input nonlinear system in the sliding mode variable structure theory, the model was studied as a type of multi-input affine nonlinear system, and the sliding mode variable structure controller was solved. Simulation research using MATLAB/Simulink was carried out on the nonlinear plate heat exchange control system. The results showed that sliding mode variable structure control had several advantages, including limited overshoot, rapid response speed, and strong anti-interference ability. © 2021 ieee.

关键词： MATLAB

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Grasp Analysis and Manipulation Kinematics for Isoperimetric Truss Robots

Grasp Analysis and Manipulation Kinematics for Isoperimetric...

引用

ieee International Conference on Robotics and automation (ICRA)

作者： Hammond, Zachary M. Usevitch, Nathan S. Follmer, Sean Stanford Univ Dept Mech Engn Stanford CA 94304 USA

ISBN: (纸本)9781728190778

Soft isoperimetric truss robots have demonstrated an ability to grasp and manipulate objects using the members of their structure. The compliance of the members affords large contact areas with even force distribution, allowing for successful grasping even with imprecise open-loop control. In this work we present methods of analyzing and controlling isoperimetric truss robots in the context of grasping and manipulating objects. We use a direct stiffness model to characterize the structural properties of the robot and its interactions with external objects. With this approach we can estimate grasp forces and stiffnesses with limited computation compared to higher fidelity finite elements methods, which, given the many degrees-of-freedom of truss robots, are prohibitively expensive to run on-board. In conjunction with the structural model, we build upon a literature of differential kinematics for truss robots and apply it to the task of manipulating an object within the robot's workspace.

关键词： Analytical models computational modeling Force Grasping Kinematics Data models Finite element analysis

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Improving Dynamics of an Aerial Manipulator with Elastic Suspension Using Nonlinear Model Predictive control

Improving Dynamics of an Aerial Manipulator with Elastic Sus...

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ieee International Conference on Robotics and automation (ICRA)

作者： Yigit, Arda Perozo, Miguel Arpa Cuvillon, Loic Durand, Sylvain Gangloff, Jacques Univ Strasbourg ICube Lab INSA Strasbourg F-67000 Strasbourg France

ISBN: (纸本)9781728190778

Aerial manipulation increases significantly the workspace size of robotic manipulators. However, aerial manipulation suffers from a lack of autonomy due to limited embedded energy. The Aerial Manipulator with Elastic Suspension (AMES) is designed to cope with this issue. It is an omnidirectional aerial vehicle equipped with a gripper and suspended under a robotic carrier by a spring for gravity compensation. In this paper, the AMES is controlled with a nonlinear model predictive controller (NMPC). To eliminate the steady-state errors, an observer based on a model of the AMES augmented with constant disturbances is implemented in conjunction with the NMPC controller. Experiments illustrate the efficiency of the NMPC by comparing it to a computed torque controller.

关键词： Suspensions (mechanical systems) Torque computational modeling Predictive models Observers Steady-state Vehicle dynamics

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