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Adaptive Obstacle Avoidance of UAV Leader/Followers with Nonlinear Logarithm Quaternion control

Adaptive Obstacle Avoidance of UAV Leader/Followers with Non...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Huda Naji Al-Sudany Béla Lantos Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Budapest Hungary

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

This paper addresses a significant challenge within the realm of fixed wing Unmanned Aerial Vehicles (UAVs), namely obstacle avoidance of the Leader-Follower system. The proposed approach involves formulating the Leader-Follower problem, consisting of one leader and three followers, with control strategies utilizing the logarithm exponential Quaternion method. Subsequently, the designed control law employing quaternions is applied to both the leader and the follower UAVs. Moreover, a notable contribution of this research lies in the incorporation of adaptive obstacle avoidance. The idea based on potential field as obstacle avoidance algorithm, with adaptive techniques for determining obstacle avoidance parameters. These parameters are dynamically adjusted based on the distance between the UAV and the obstacle through a non-linear adaptation function. The comprehensive implementation of these methods is rigorously evaluated by employing a predefined reference path for the leader and conducting numerous scenario-based tests. Random directions of followers were used in case of stuck in local minimum to avoid it; this was applied in case when potential filed force is less than small value. Experiments to test some scenarios of obstacle avoidance were conducted. The final results conclusively demonstrate the stability of the control law even in the presence of obstacles. The effectiveness of the adaptive obstacle avoidance approach is clearly evident from the trajectories of the UAV followers.

关键词： Adaptation models automation Quaternions Heuristic algorithms Force Autonomous aerial vehicles Stability analysis

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New and efficient method for the direct kinematic solution of the general planar stewart platform

New and efficient method for the direct kinematic solution o...

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IEEE international conference on automation and Logistics

作者： Xiguang Huang Guangpin He School of Mechanical and Electrical Engineering North-China University of Technology Beijing China

ISBN: (纸本)9781424447947

In this paper a new and efficient algorithm to solve a closed-form direct kinematics solution of the general 6-6 planar Stewart platform is presented. The main idea is to compute the reduced Groebner basis under degree lexicographic ordering for the closed-form equations by using computer algebra firstly. Secondly, select 10 Groebner bases from the obtained 41 ones and construct a 10times10 Sylvester's matrix, which is relatively small in size. A 20th degree univariate equation is obtained from the determinate of the matrix and all 40 sets closed-form direct kinematics solutions are obtained. The proposed algorithm is simple and reduces greatly the computation burden than the existed methods. The process also shows that there exist many different resultants that will lead to the same univariate equation. The same results can be obtained by using the continuation method. Finally a numerical example is given to verify the algorithm and its results without extraneous roots agree with the original equations.

关键词： Kinematics informatics Robot sensing systems Communication system control robotics and automation Robot control Mobile robots Neural networks Network servers Radio communication

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Robust and Dexterous Dual-arm Tele-Cooperation using Adaptable Impedance control

Robust and Dexterous Dual-arm Tele-Cooperation using Adaptab...

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IEEE international conference on robotics and automation (ICRA)

作者： Keyhan Kouhkiloui Babarahmati Mohammadreza Kasaei Carlo Tiseo Michael Mistry Sethu Vijayakumar School of Informatics University of Edinburgh UK School of Engineering and Informatics University of Sussex UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In recent years, the need for robots to transition from isolated industrial tasks to shared environments, including human-robot collaboration and teleoperation, has become increasingly evident. Building on the foundation of Fractal Impedance control (FIC) introduced in our previous work, this paper presents a novel extension to dualarm tele-cooperation, leveraging the non-linear stiffness and passivity of FIC to adapt to diverse cooperative scenarios. Unlike traditional impedance controllers, our approach ensures stability without relying on energy tanks, as demonstrated in our prior research. In this paper, we further extend the FIC framework to bimanual operations, allowing for stable and smooth switching between different dynamic tasks without gain tuning. We also introduce a telemanipulation architecture that offers higher transparency and dexterity, addressing the challenges of signal latency and low-bandwidth communication. Through extensive experiments, we validate the robustness of our method and the results confirm the advantages of the FIC approach over traditional impedance controllers, showcasing its potential for applications in planetary exploration and other scenarios requiring dexterous telemanipulation. This paper’s contributions include the seamless integration of FIC into multi-arm systems, the ability to perform robust interactions in highly variable environments, and the provision of a comprehensive comparison with competing approaches, thereby significantly enhancing the robustness and adaptability of robotic systems.

关键词： Training Accuracy Service robots Refining Switches Robustness Impedance

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Development of a remote-brained humanoid for research on whole body action

Development of a remote-brained humanoid for research on who...

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IEEE international conference on robotics and automation (ICRA)

作者： F. Kanehiro I. Mizuuchi K. Koyasako Y. Kakiuchi M. Inaba H. Inoue Department of Mechano Informatics University of Tokyo Bunkyo Tokyo Japan

In this paper, a second generation remote-brained humanoid robot is presented which is developed for research on whole body action. Humanoid robots are important as a platform for the integration of techniques and algorithms acquired from research on manipulators, legged robots and so on. And they have new problems such as how to acquire, memorize, select and carry out various motions which use their whole bodies efficiently. In order to do research on these problems, a good robot body, which has whole body and enough performance for walking and getting up when it falls down is necessary. At the same time, a powerful brain is necessary which can be evolved through the body. As a solution to these demands, remote-brained approach was proposed and several humanoid robots was developed. Using these robots, several researches were done. For example, a brain framework called BeNet, an action acquisition using GA and NN and so on. They were done using a simple wireless connection. Interface between robot brain and its body to concentrate on a high-level problem. However this interface limited actions the robot can do simultaneously. In this paper, this old interface is taken to the next step. New interface has multiple actuator control methods which are switched on demand, and an onbody microprocessor network which controls actuators, measures sensors and interacts with a brain. Finally a new humanoid robot is developed on this interface.

关键词： Humanoid robots Legged locomotion Robot sensing systems Manipulators Actuators Leg Open loop systems Switches Process control Human robot interaction

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control of nonlinear systems by fuzzy observer-controller with unmeasurable premise variables

Control of nonlinear systems by fuzzy observer-controller wi...

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international conference on Advanced robotics and Intelligent Systems (ARIS)

作者： Chuang Liu H.K. Lam Shun-Hung Tsai Chin-Sheng Chen Department of Informatics King's College London London United Kingdom Graduate Institute of Automation Technology National Taipei University of Technology Taipei Taiwan

In this paper, we investigate the stability of Takagi-Sugeno (T-S) fuzzy-model-based (FMB) observer-control system. Premise membership functions depending on unmeasurable premise variables are considered to enhance the flexibility and applicability of the fuzzy observer-controller. The fuzzy observer is designed to estimate the system states and the estimated states are employed for state-feedback control of nonlinear systems. Convex stability conditions are obtained through matrix decoupling technique so that a solution can be searched using convex programming techniques. The proposed analysis is able to reduce the number of predefined scalars by adequately choosing the augmented vector. Nonetheless, due to the mismatched premise membership functions between the fuzzy model and fuzzy observer-controller, it complicates the stability analysis which potentially leads to conservative stability conditions. To alleviate the problem, the stability conditions are relaxed by membership-function-dependent approach which takes the information of membership functions into consideration in the stability analysis. Simulation examples are provided to demonstrate the feasibility and relaxation of proposed FMB observer-control scheme.

关键词： Stability analysis Observers Numerical stability Lyapunov methods Nonlinear systems Polynomials Asymptotic stability

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Stoichiometry control of the two gas reactive sputtering process

Stoichiometry control of the two gas reactive sputtering pro...

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international Symposium on Computational Intelligence and informatics

作者： Róbert Rossi Madarász András Kelemen Doctoral School of Applied Informatics and Applied Mathematics Óbuda University Budapest Hungary Sapientia Hungarian University of Transylvania Tîrgu Mures Romania

ISBN: (数字)9781728156255

ISBN: (纸本)9781728156262

The objective of the paper is the synthesis of a control structure for a two-gas reactive magnetron sputtering process, using a model that is suitable for modeling the coverage of the substrate with different compounds of the particles participating in the process. Assuming its observability, the ternary compound coverage is controlled by means of the gas flow of oxygen supplied in a continuous fashion, with the oxygen partial pressure limitation dependent on the nitrogen partial pressure. On the other hand, the set value of the nitrogen partial pressure depends on the set value of the discharge current, which is controlled by means of the nitrogen gas flow. The control characteristics have been derived and the dynamic behavior of the proposed stoichiometry control structure has been simulated based on the parameters of a laboratory sputtering chamber, which is intended to be used for the experimental validation of the simulation results.

关键词： magnetron sputtering two-gas reactive sputtering partial pressure control stoichiometry titanium oxynitride TiOxNy

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Safe Execution of Learned Orientation Skills with Conic control Barrier Functions

Safe Execution of Learned Orientation Skills with Conic Cont...

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IEEE international conference on robotics and automation (ICRA)

作者： Zheng Shen Matteo Saveriano Fares J. Abu-Dakka Sami Haddadin Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich Germany Department of Industrial Engineering (DII) University of Trento Trento Italy Electronic and Informatics Department Faculty of Engineering Mondragon Unibertsitatea Bilbao Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In the field of Learning from Demonstration (LfD), Dynamical Systems (DSs) have gained significant attention due to their ability to generate real-time motions and reach predefined targets. However, the conventional convergence-centric behavior exhibited by DSs may fall short in safety-critical tasks, specifically, those requiring precise replication of demonstrated trajectories or strict adherence to constrained regions even in the presence of perturbations or human intervention. Moreover, existing DS research often assumes demonstrations solely in Euclidean space, overlooking the crucial aspect of orientation in various applications. To alleviate these shortcomings, we present an innovative approach geared toward ensuring the safe execution of learned orientation skills within constrained regions surrounding a reference trajectory. This involves learning a stable DS on SO(3), extracting time-varying conic constraints from the variability observed in expert demonstrations, and bounding the evolution of the DS with Conic control Barrier Function (CCBF) to fulfill the constraints. We validated our approach through extensive evaluation in simulation and showcased its effectiveness for a cutting skill in the context of assisted teleoperation.

关键词： Learning systems Perturbation methods Real-time systems Trajectory Behavioral sciences Usability Task analysis

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Airfoil Inverse Design using Conditional Generative Adversarial Networks

Airfoil Inverse Design using Conditional Generative Adversar...

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

作者： Xavier Tan Dai Manna Joyjit Chattoraj Liu Yong Xu Xinxing Dao My Ha Yang Feng Computing & Intelligence Department Institute of High Performance Computing A*STAR Singapore School of Informatics & IT Diploma in Big Data Analytics Temasek Polytechnic Singapore Fluid Dynamics Department Institute of High Performance Computing A*STAR Singapore

ISBN: (纸本)9781665476881

Creating an aerodynamic shape, like an airfoil wing, requires many factors to be considered, especially aerodynamic properties such as its lift-to-drag ratio (L/D). Currently, generating feasible airfoil shapes usually requires computationally expensive tools, such as Computational Fluid Dynamics (CFD). In recent years, increasing work has been directed to utilizing machine learning algorithms to synthesize accurate airfoil shapes while reducing the required computational cost. Generative Adversarial Network (GAN) is one of many algorithms to see success in airfoil shape optimization and is shown to generate good airfoils given a small set of training examples. This paper focuses on implementing a conditional GAN (cGAN) based framework with various filters for airfoil inverse design problem. By labelling the training dataset with aerodynamic characteristics separated by pre-defined thresholds to lift-to-drag ratio (L/D) and shape area, the class labels will be able to guide the network to generate different classes of airfoils influenced by these characteristics. Together with layers of Savitzky-Golay (SG) filter and B-Spline Interpolation, the developed model was shown to achieve good performance in generating new airfoils. In addition, we explored the viability of adding Wasserstein loss from Wasserstein GAN into the network architecture, forming a cWGAN-GP. Testing results showed that cWGAN-GP was able to achieve better performance for a specific airfoil class.

关键词： Training Interpolation Machine learning algorithms Shape Atmospheric modeling Computational fluid dynamics Generative adversarial networks

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Auto fuzzy tuning having minimum structure by using genetic algorithm and delta rule

Auto fuzzy tuning having minimum structure by using genetic ...

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international conference on Emerging Technologies and Factory automation (ETFA)

作者： T. Fukuda H. Ishigami T. Shibata F. Arai Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan Shin-Nagoya Thermal Power Station Cyubu Electric Power Company Inc. Nagoya Japan Bio-Robotics Division Robotics Department MITI Mechanical Engineering Laboratory Tsukuba Japan

An auto tuning algorithm of fuzzy inference for Fuzzy neural networks using the genetic algorithm and the delta rule is presented. Some auto-tuning methods are proposed to reduce time-consuming operations by human experts. This tuning method brings the minimal and optimal structure of the fuzzy model. Two types of the fuzzy model are prepared, whose membership functions on the antecedent part consist of triangular and Gaussian type, respectively. The effectiveness of the proposed methods compared with the former methods is shown by simulation. The proposed method has the potential to be applied to robotic motion control, sensing and recognition problems.< >

关键词： Genetic algorithms Humans Fuzzy systems Convergence Fuzzy neural networks control systems Optimization methods Thermal engineering Power generation Mechanical engineering

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Motion control and communication of cooperating intelligent robots by fuzzy signatures

Motion control and communication of cooperating intelligent ...

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IEEE international conference on Fuzzy Systems (FUZZ-IEEE)

作者： Aron Ballagi Laszlo T. Koczy Tamas D. Gedeon Department of Automation Széchenyi István University Hungary Department of Telecommunications and Media Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Department of Computer Science Australian National University Acton ACT Australia

This paper presents two examples of usage of fuzzy signatures in the field of mobile robotics. The first shows a complex lateral drift control method base on fuzzy signatures. This method inspects the motion system of the robot as a whole, unlike as simple parts of a complex system. The state space is written down by fuzzy signatures which add up flexibility, adaptability and learning ability to the system. In the second experiment a new communication approach is investigated for intelligent cooperation of autonomous mobile robots. Effective, fast and compact communication is one of the most important cornerstones of a high-end cooperating system. In this paper we propose a fuzzy communication system where the codebooks are built up by fuzzy signatures. We use cooperating autonomous mobile robots to solve some logistic problems.

关键词： Motion control Intelligent robots Fuzzy control Mobile communication Mobile robots Fuzzy systems Orbital robotics Communication system control State-space methods Logistics

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