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A Dynamic Adaptive Search Algorithm for CoSpace Rescue Robot 6

A Dynamic Adaptive Search Algorithm for CoSpace Rescue Robot

引用

6th international conference on robotics and automation Engineering, ICRAE 2021

作者： Chengbo, Li Xiaoming, Wang Zixi, Huang Guangyao, Pang Xinyu, Han Yaguang, Lin Dalian Free Trade Zone No. 1 High School Dalian China Key Laboratory of Modern Teaching Technology Ministry of Education Xi'an China School of Computer Science Shaanxi Normal University Xi'an710119 China Shenzhen Middle School Shenzhen China Wuzhou University School of Data Science and Software Engineering Wuzhou China Singapore Polytechnic Advanced Robotics and Intelligent Control Centre Singapore

ISBN: (纸本)9781665406970

The application of robots to assist humans in earthquake rescue has always been an important topic that researchers are constantly studying. CoSpace Rescue is an abstract modeling and simulation of earthquake rescue and a simulation platform for studying robot rescue search algorithms. Its mathematical model is a multi-objective optimization problem. In this paper, we propose a search algorithm design framework for the CoSpace Rescue robot. Based On this framework and the idea of the heuristic search algorithm, we design and implement the 'Multi-objective Optimal Dynamic Adaptive On-Demand Search Algorithm'. The results of the experiment show that the algorithm can dynamically adapt to the changes in the environment and significantly improve the search efficiency of the rescue robot. © 2021 IEEE.

关键词： Earthquakes

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Low Energy Consumption Quadrupedal Locomotion with Quasi-resonant Compliant Backbone 1

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17th international conference on informatics in control, automation and robotics, ICINCO 2020

作者： Parra Ricaurte, Edgar Andres Dominguez, S. Rossi, C. Centre for Automation and Robotics UPM-CSIC Universidad Politécnica de Madrid Madrid Spain

ISBN: (数字)9783030924423

ISBN: (纸本)9783030924416

Thanks to their flexible trunk, many quadrupeds are capable of highly power efficient gaits. The backbone, tendons and musculature help their different gaits, especially running, by storing and releasing elastic energy. Additionally, they also help a smooth deceleration and a fast acceleration of the different parts of the body involved during running. In this work we present our studies aimed at modeling and reproducing such phenomena for efficient robot locomotion. In addition, we studied how to amplify such effect when the frequency of the backbone is brought close to the natural resonant frequency of the compliant structure. We demonstrate that a flexible artificial structure representing the backbone, muscle and tendons, driven to quasi-resonant oscillations is capable of dramatically reducing the energy required to maintain oscillations. At the same time, such oscillations increase their amplitude. Such effect will be used to design fast running and energy efficient quadruped robots. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Energy efficiency

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Transparent Slide Detection and Gripper Design for Slide Transport by Robotic Arm

Transparent Slide Detection and Gripper Design for Slide Tra...

引用

international Symposium on Computational Intelligence and informatics

作者： Marianna Dimitrova Kucarov Mátyás Takács Béla Molnár Miklos Kozlovszky Doctoral School of Applied Informatics and Applied Mathematics BioTech Óbuda University 3DHistech Ltd. Budapest Hungary 3DHistech Ltd. Óbuda University University Research and Innovation Center (EKIK) Budapest Hungary 3DHistech Ltd. Budapest Hungary John von Neumann Faculty of Informatics Óbuda University Budapest Hungary

ISBN: (纸本)9798350398830

Transparent slide detection, pick and place automation are obtained in order to boost speed, accuracy and smooth workflow between slide coverslipping and digital scanning operation in digital pathology. Fully automatic, precise, robust solution has been developed by robotic arm using computer vision and image processing techniques. Magazine (slide holder) and gripper design, camera selection and mapping to robot base coordinate system are all guided. Python based software algorithms for slide detection and 3D position determination applied in dynamically changeable environment are also explained step by step. Complete automatic process control method is implemented and tested for different types of slide.

关键词： Pathology Computer vision Three-dimensional displays Robot kinematics Image processing Process control Reliability theory

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Alternating Implicit and Semi-implicit Iterations in the Periodic QZ Algorithm 1

引用

17th international conference on informatics in control, automation and robotics, ICINCO 2020

作者： Sima, Vasile Gahinet, Pascal National Institute for Research and Development in Informatics Bucharest Romania Technical Sciences Academy of Romania Bucharest Romania MathWorks 3 Apple Hill Drive NatickMA United States

ISBN: (数字)9783030924423

ISBN: (纸本)9783030924416

The periodic QZ (pQZ) algorithm is a basic tool in many applications, including periodic systems, cyclic matrices and matrix pencils, and solution of skew-Hamiltonian/Hamiltonian eigenvalue problems, which, in turn, is essential in optimal and robust control, and characterization of dynamical systems. This iterative algorithm operates on a formal product of matrices. The shifts needed to increase the convergence rate are implicitly defined and applied via an embedding of the Wilkinson polynomial. But the implicit approach may not converge for some periodic eigenvalue problems, since the shifts involved may be indefinitely unsuitable. A semi-implicit approach has been recently proposed hoping to avoid convergence failures and reduce the number of iterations. In this approach, the shifts are chosen based on eigenvalues computed explicitly using a special pQZ algorithm for subproblems of order two, and they are enforced via a suitable embedding. This offers degrees of freedom unavailable for the implicit approach. But a semi-implicit pQZ step is more expensive than an implicit pQZ step, since an inner iterative process is involved. Moreover, the purely semi-implicit approach may also sometimes fail to converge. However, alternating implicit and semi-implicit iterations offers the advantages of both approaches, improving the behavior of the pQZ algorithm. The numerical results in extensive tests have shown no convergence failures and a reduced number of iterations. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Numerical methods

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On the Simulation of Lower Order control Strategies for Higher Order Systems

On the Simulation of Lower Order Control Strategies for High...

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international Symposium on Computational Intelligence and informatics

作者： Awudu Atinga János F. Bitó József K. Tar Doctoral School of Applied Informatics and Applied Mathematics Óbuda University Budapest Hungary ABC iRob John von Neumann Faculty of Informatics Óbuda University Budapest Hungary Doctoral School of Applied Informatics and Applied Mathematics ABC iRob John von Neumann Faculty of Informatics Óbuda University Budapest Hungary

ISBN: (纸本)9798350398830

In model-based control of dynamical systems the order of the necessary controller is that of the time-derivative of the generalized coordinate of the system that immediately can be set by the controller. It is determined by the “physics” of the system to be controlled. In finite time-resolution approach the digital controllers model the derivatives by finite differences, and the simplest numerical integration via Euler’s method also uses such differences. Whenever some fractional order derivative of the tracking error is fed back, this long memory term allows the realization of such control strategies for various integer order systems by appropriately masking” and weighting certain elements of longer sequences. On this mathematical basis the idea of controlling a higher order system by the application of a lower order strategy can be formulated, too. The main benefit may be achieving monotonic decrease in the components of the tracking error. In this paper the first order control of a popular second order system often used for benchmark applications, the van der Pol oscillator is considered. The realization of a simple proportional feedback first order controller in two variants, and a PID-type Computed Torque control are considered in the fixed point iteration-based adaptive framework to tackle the problems caused by modeling imprecisions. The applicability and the limits of the investigated approaches are concluded.

关键词： Adaptation models Computational modeling Torque control Kinematics Transforms Benchmark testing control systems

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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...

引用

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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Analysis of Network-based Data Collection Mechanisms Applicable in Securing Critical Infrastructures

Analysis of Network-based Data Collection Mechanisms Applica...

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international Symposium on Computational Intelligence and informatics

作者： Katalin Ferencz Ernő RigÓ Faculty of Technical and Human Sciences Sapientia Hungarian University of Transylvania Târgu Mureş Romania Doctoral School of Applied Informatics and Applied Mathematics Óbuda University Budapest Hungary Eötvös Loránd Research Network Institute for Computer Science and Control Budapest Hungary

ISBN: (纸本)9798350398830

One of the important directions of the digital trends defining our everyday life is the integration of smart devices into our systems, so that thanks to this we can collect more and more detailed data and control certain units remotely or automatically. As a result, our systems, which until now only operated in an isolated environment, are now connected to external services, or even establish a network connection to the Internet. However, this can have serious and dangerous consequences, pronounced in the case of systems that are considered critical infrastructure, because the wider the network range achieved, the more vulnerabilities and security gap can appear in the systems. In this article, we will present some options for network-based data collection methods, as well as highlight their most important properties and their parameters, which are useful to consider when planning a network system.

关键词： Mechatronics Scalability Data collection Critical infrastructure Planning Security Smart devices

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Blockchain Technology with Applications to Distributed control and Cooperative robotics

Blockchain Technology with Applications to Distributed Contr...

引用

international conference on Contemporary Computing and informatics (IC3I)

作者： K. Suresh Kumar Dharmendra Yadav Sanjeev Kumar Joshi M. Kalyan Chakravarthi Amit Kumar Jain Vikas Tripathi Department of MBA Panimalar Engineering College Varadarajapuram Poonamallee Chennai Department of Computer Science and Engineering Bikaner (Constituent College of Bikaner Technical University Bikaner) Chak Rural Rajasthan Uttaranchal Institute of Technology Uttaranchal University Dehradun Uttarakhand India School of Electronics Engineering VIT - AP University Amaravati Andhra Pradesh Computer Science Delhi University Delhi India Department of Computer Science & Engineering Graphic Era Deemed to be University Dehradun Uttarakhand India

Various advantages of blockchain include decentralisation, persistence, anonymity, and auditability. Numerous researchers are now interested in distributed control systems that facilitate coordinated and cooperative autonomy as a result of the rising market for robotics. The fields of distributed control and cooperative robotics have constantly faced unsolvable issues with safety and distributed communication. Blockchain innovation has recently been recognized in this setting as a viable technique to solve several of the above problems, including the recognition of malicious nodes, malfunction in process automation, non-compliance with the established standards and privacy protections, safety strikes on robotic, and lack of clarity in measuring performance and audits. This research aims to offer a pathway for newcomers to enter this study area by providing a comprehensive image of blockchain technology’s operating principle and important components in the terminology of management and robotics. Blockchain innovation holds out hope for a comprehensive resolution to this issue and offers a comprehensive review of the system in the form of tutorials. The importance of blockchain in various robotics application cases is then examined. The approaches for future study that can lead to breakthroughs and successful blockchain incorporation in the robotics industry are then highlighted.

关键词： Technological innovation Service robots Terminology Robot kinematics Decentralized control Swarm robotics Tutorials

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Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints

Non-prehensile Planar Manipulation via Trajectory Optimizati...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Joã o Moura Theodoros Stouraitis Sethu Vijayakumar School of Informatics The University of Edinburgh Edinburgh U.K. The Alan Turing Institute London U.K.

Contact adaptation is an essential capability when manipulating objects. Two key contact modes of non-prehensile manipulation are sticking and sliding. This paper presents a Trajectory Optimization (TO) method formulated as a Mathematical Program with Complementarity Constraints (MPCC), which is able to switch between these two modes. We show that this formulation can be applicable to both planning and Model Predictive control (MPC) for planar manipulation tasks. We numerically compare: (i) our planner against a mixed integer alternative, showing that the MPCC planner converges faster, scales better with respect to the time horizon (TH), and can handle environments with obstacles; (ii) our controller against a state-of-the-art mixed integer approach, showing that the MPCC controller achieves improved tracking and more consistent computation times. Additionally, we experimentally validate both our planner and controller with the KUKA LWR robot on a range of planar manipulation tasks. See our accompanying video here: https://***/EkU6YHMhjto.

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Platoon-Based Distributed control for Automated Material Handling Systems

Platoon-Based Distributed Control for Automated Material Han...

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international conference on control, Decision and Information Technologies (CoDIT)

作者： Alessandro Bozzi Jose-Fernando Jimenez Camilo Hernandez-Rodriguez Eliana-Maria Gonzalez-Neira Damien Trentesaux Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genova Italy Laboratory System and Materials for Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France Industrial Engineering Department Pontificia Universidad Javeriana Bogota Columbia Laboratory of Industrial and Human Automation Control Mechanical Engineering and Computer Science (LAMIH) Université Polytechnique Hauts-de-France Valenciennes France

Smart manufacturing systems combine collaborative and autonomous control systems to provide optimal performance and respond to volatile demands. A key component of smart manufacturing is material management, as raw materials, work-in-progress, and finished products must be transported to the right location at the right time. However, during the production phase, it is imperative to establish an optimal traffic control scheme in order to avoid congestion and optimize material flow. This paper proposes a platooning-based control procedure implemented in a virtual agent-based manufacturing environment to increase the material flow efficiency on a manufacturing shop floor. An analysis of the production makespan and an indicator of the level of congestion in the material handling system was conducted in order to determine productivity improvements. An agent-based simulation is used to test the effectiveness of the novel platooning approach versus a traditional basic approach. A multivariate analysis of variance (MANOVA) reveals that the inclusion of a platoon-based procedure improves production performance and reduces congestion risks.

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