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Weighted Maximum Likelihood for controller Tuning

Weighted Maximum Likelihood for Controller Tuning

引用

IEEE international conference on robotics and automation (ICRA)

作者： Angel Romero Shreedhar Govil Gonca Yilmaz Yunlong Song Davide Scaramuzza Department of Informatics Robotics and Perception Group University of Zurich Switzerland Department of Neuroinformatics University of Zurich and ETH Zurich Switzerland

Recently, Model Predictive Contouring control (MPCC) has arisen as the state-of-the-art approach for model-based agile flight. MPCC benefits from great flexibility in trading-off between progress maximization and path following at runtime without relying on globally optimized trajectories. However, finding the optimal set of tuning parameters for MPCC is challenging because (i) the full quadrotor dynamics are non-linear, (ii) the cost function is highly non-convex, and (iii) of the high dimensionality of the hyperparameter space. This paper leverages a probabilistic Policy Search method—Weighted Maximum Likelihood (WML)—to automatically learn the optimal objective for MPCC. WML is sample-efficient due to its closed-form solution for updating the learning parameters. Additionally, the data efficiency provided by the use of a model-based approach allows us to directly train in a high-fidelity simulator, which in turn makes our approach able to transfer zero-shot to the real world. We validate our approach in the real world, where we show that our method outperforms both the previous manually tuned controller and the state-of-the-art auto-tuning baseline reaching speeds of 75 km/h.

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Smooth Computation without Input Delay: Robust Tube-Based Model Predictive control for Robot Manipulator Planning

Smooth Computation without Input Delay: Robust Tube-Based Mo...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Yu Luo Qie Sima Tianying Ji Fuchun Sun Huaping Liu Jianwei Zhang Department of Computer Science and Technology Tsinghua University Beijing China Department of Informatics University of Hamburger Hamburg Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Model Predictive control (MPC) has exhibited remarkable capabilities in optimizing objectives and meeting constraints. However, the substantial computational burden associated with solving the Optimal control Problem (OCP) at each triggering instant introduces significant delays between state sampling and control application. These delays limit the practicality of MPC in resource-constrained systems when engaging in complex tasks. The intuition to address this issue in this paper is that by predicting the successor state, the controller can solve the OCP one time step ahead of time thus avoiding the delay of the next action. To this end, we compute deviations between real and nominal system states, predicting forthcoming real states as initial conditions for the imminent OCP solution. Anticipatory computation stores optimal control based on current nominal states, thus mitigating the delay effects. Additionally, we establish an upper bound for linearization error, effectively linearizing the nonlinear system, reducing OCP complexity, and enhancing response speed. We provide empirical validation through two numerical simulations and corresponding real-world robot tasks, demonstrating significant performance improvements and augmented response speed (up to 90%) resulting from the seamless integration of our proposed approach compared to conventional time-triggered MPC strategies.

关键词： Upper bound Optimal control Stochastic processes Predictive models Robustness Delays Task analysis

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controllability of Fractional Linear Systems with Delays 25

Controllability of Fractional Linear Systems with Delays

引用

25th international conference on Methods and Models in automation and robotics, MMAR 2021

作者： Jerzy, Klamka Institute of Theoretical and Applied Informatics Polish Academy of Sciences Gliwice44-100 Poland

ISBN: (纸本)9781728173801

The main purpose of this paper is to study controllability of linear continuous-time fractional dynamical systems containing both lumped constant delay in state variables and distributed delays in admissible controls. Necessary and sufficient conditions for relative controllability in finite time interval are formulated and proved using theory of linear bounded operators, solution properties of fractional differential equations and results taken directly from linear matrix algebra. The main result of the paper is to show, that global relative controllability of fractional linear systems with different types of delays is equivalent to non-singularity of suitably defined relative controllability matrix. © 2021 IEEE.

关键词： Linear systems

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Learning Deposition Policies for Fused Multi-Material 3D Printing

Learning Deposition Policies for Fused Multi-Material 3D Pri...

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IEEE international conference on robotics and automation (ICRA)

作者： Kang Liao Thibault Tricard Michal Piovarči Hans-Peter Seidel Vahid Babaei Max Planck Institute for Informatics Beijing Jiaotong University Institute of Science and Technology Austria

3D printing based on continuous deposition of materials, such as filament-based 3D printing, has seen widespread adoption thanks to its versatility in working with a wide range of materials. An important shortcoming of this type of technology is its limited multi-material capabilities. While there are simple hardware designs that enable multi-material printing in principle, the required software is heavily underdeveloped. A typical hardware design fuses together individual materials fed into a single chamber from multiple inlets before they are deposited. This design, however, introduces a time delay between the intended material mixture and its actual deposition. In this work, inspired by diverse path planning research in robotics, we show that this mechanical challenge can be addressed via improved printer control. We propose to formulate the search for optimal multi-material printing policies in a reinforcement learning setup. We put forward a simple numerical deposition model that takes into account the non-linear material mixing and delayed material deposition. To validate our system we focus on color fabrication, a problem known for its strict requirements for varying material mixtures at a high spatial frequency. We demonstrate that our learned control policy outperforms state-of-the-art hand-crafted algorithms.

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Efficient and Accurate Template-based Reconstruction of Deformable Surfaces

Efficient and Accurate Template-based Reconstruction of Defo...

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

作者： Dominik Slomma Shoudong Huang Liang Zhao Faculty of Engineering and Information Technology Robotics Institute University of Technology Sydney Australia School of Informatics The University of Edinburgh Scotland

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

3D surface reconstruction in deformable environments presents significant challenges. Template-based methods have proven robust for achieving accurate reconstructions by utilising images and textured triangulated meshes as reference data. These methods rely on feature detection in both the reference and current images to establish corresponding points, leveraging reprojection and deformation constraints for precise reconstruction. However, challenges arise when features are not uniformly distributed across mesh triangles, potentially resulting in sparse or coarse reconstructions. Moreover, the combined computational cost of reprojection and deformable constraints often leads to prolonged optimisation times. This study aims to enhance efficiency in reconstructing deformations within the field of view. Our approach involves back-projecting vertices from a reference mesh onto the reference image plane and subsequently tracking them directly in the subsequent image. This method assumes the resulting observations are sufficiently accurate, encoding the deformation within this information. By eliminating the re-projection constraint and focusing solely on a deformation constraint based on Euclidean distances between vertices, we significantly reduce computational and memory costs. The results of our proposed algorithm demonstrate a notable reduction in computational cost and memory cost, while maintaining reconstruction accuracy comparable to related methods. The code of our algorithm is publicly available at https://***/DominikSlomma/Efficient-and-Accurate-Template-based-Reconstruction-of-Deformable-Surfaces

关键词： Surface reconstruction Accuracy Three-dimensional displays Costs Deformation Linear programming Computational efficiency Image reconstruction Optimization Robots

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Soft Manipulator for Minimally Invasive Surgery

Soft Manipulator for Minimally Invasive Surgery

引用

international conference on control, automation and Systems ( ICCAS)

作者： Muhammad Asim Huzefa Turab Usman Ghafoor Yumna Qureshi Ruqia Ikram Muhammad Raheel Bhutta Department of Mechanical Engineering Institute of Space Technology Islamabad Pakistan Department of Operations and Supply Chain NUST Business School National University of Sciences and Technology Islamabad Pakistan Department of Electrical and Computer Engineering University of UTAH Asia Campus Incheon Republic of Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

Minimally invasive surgery (MIS) is the type of surgery in which a small incision is created in the abdominal area to insert the laparoscopic tools. Previously, the tools used for MIS were less dexterous due to their rigid links and less degrees of freedom. The new technology which provides more dexterity and ease of operation is known as soft manipulator which uses the concept of soft robotics to perform surgical procedures. In this work, a prototype design and fabrication of soft manipulator for minimally invasive surgery’ introduces a novel, bioinspired manipulator for MIS. The manipulator is entirely composed of soft materials, and it has been designed to test the surgical environment. The manipulator is composed of four similar modules; provided with bending, elongation and stiffening capabilities, like an octopus tentacle. The manipulator was actuated using fluid actuation control system. The combination of stiffening capabilities and manipulation tasks was addressed to confirm the manipulator’s potential employment in a real surgical scenario. Such design is considered promising in the biomedical industry as they are safer compared to rigid-link robots when meeting tissues and organs and will be proved more bio compatible.

关键词： Laparoscopes Minimally invasive surgery Service robots Instruments Prototypes Soft robotics Bending Manipulators control systems Testing

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Implementation of SmartTechLab Digital Twin to AR/VR Technology for Educational Purposes 2nd

Implementation of SmartTechLab Digital Twin to AR/VR Technol...

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2nd EAI international conference on automation and control in Theory and Practice, EAI ARTEP 2024

作者： Nazim, Anastasiia Židek, Kamil Balog, Michal Kalman, Olha Svetlík, Jozef Department of Industrial Engineering and Informatics Faculty of Manufacturing Technologies with the seat in Prešov Technical University of Košice Prešov Slovakia Department of Production Technology and Robotics Faculty of Mechanical Engineering Technical University of Košice Košice Slovakia

ISBN: (纸本)9783031592379

This article focuses on the implementation of the SmartTechLab Digital Twin to augmented reality (AR) and virtual reality (VR) technologies for educational purposes. The article begins by discussing the growing popularity of AR and VR technologies in various industries and their potential applications in education. The article then moves on to describe the process of setting up a digital laboratory, including selecting appropriate hardware and software to utilize AR and VR technologies effectively. For creating several models, different software tools were used: Autodesk Inventor, Reality Scan, and the Matterport device scanner. After conducting research, the most accurate models were imported into the Unreal Engine. Also, some widgets were added, which describe machines and tools used in the manufacturing line and are visible in virtual reality. The article also describes the concept of transferring information to augmented and virtual reality and explores the possibilities of using this model with immersive technologies. The article concludes by highlighting the limitations of AR/VR devices and emphasizes the importance of integrating AR and VR technologies into the modern educational landscape. It also emphasizes the need for further research and collaboration. Ultimately, the implementation of the SmartTechLab Digital Twin to AR and VR technologies has the potential to revolutionize education and provide highly immersive and effective learning experiences for students. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Virtual environments

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Meta-Reinforcement Learning via Language Instructions

Meta-Reinforcement Learning via Language Instructions

引用

IEEE international conference on robotics and automation (ICRA)

作者： Zhenshan Bing Alexander Koch Xiangtong Yao Kai Huang Alois Knoll Department of Informatics Technical University of Munich Germany School of Data and Computer Science Sun Yat-sen University China

Although deep reinforcement learning has recently been very successful at learning complex behaviors, it requires a tremendous amount of data to learn a task. One of the fundamental reasons causing this limitation lies in the nature of the trial-and-error learning paradigm of reinforcement learning, where the agent communicates with the environment and pro-gresses in the learning only relying on the reward signal. This is implicit and rather insufficient to learn a task well. On the con-trary, humans are usually taught new skills via natural language instructions. Utilizing language instructions for robotic motion control to improve the adaptability is a recently emerged topic and challenging. In this paper, we present a meta-RL algorithm that addresses the challenge of learning skills with language instructions in multiple manipulation tasks. On the one hand, our algorithm utilizes the language instructions to shape its in-terpretation of the task, on the other hand, it still learns to solve task in a trial-and-error process. We evaluate our algorithm on the robotic manipulation benchmark (Meta-World) and it significantly outperforms state-of-the-art methods in terms of training and testing task success rates. Codes are available at https://***/million.

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Semantic-Based Reasoning Engine for Service Orchestration in Mass Customization Manufacturing 4

Semantic-Based Reasoning Engine for Service Orchestration in...

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2022 4th international conference on Electronic Engineering and informatics, EEI 2022

作者： Liu, Yang Zhang, Tianshi Zhao, Yanling Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110000 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Tsinghua University Beijing100084 China

ISBN: (纸本)9783800759231

In the mass customization manufacturing environment, manufacturing companies can connect to the customers directly via Internet and receive users manufacturing request to adjust the production resource and patterns. In this new situation, the allocation of manufacturing resources and the adjustment of production configuration should have the capability of timely responsing the demands from a large amount of customers. Therefore, efficient matching and processing of dynamic data from customer requirement and customized rules become increasingly important. This paper presents a semantic-based reasoning engine (hereinafter referred to as SBRE) in improving performance of rule engine. The paper uses a BP neural network to classify customer parameters from users requirements based on the semantic web interface. In this stage, for the customer parameters, in order to find a suitable rule engine, a semantic matching method is proposed, which can greatly mitigate complexity and improve the efficiency of matching compared with traditional matching process. The experiment results show that the method can be performed efficiently and flexibly with high data throughput. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Data handling

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A New Approach for Spread Spectrum Steganography in Audio Containers

A New Approach for Spread Spectrum Steganography in Audio Co...

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international conference on control Systems, Mathematical Modelling, automation and Energy Efficiency (SUMMA)

作者： Stanimir Zhelezov Krasimir Kordov Atanas Nachev Daniela Pavlova Panayot Gindev Nikolay Litchkov Konstantin Nesterov dept. Computer Science and Technologies Konstantin Preslavsky University of Shumen Shumen Bulgaria dept. Computer Informatics Konstantin Preslavsky University of Shumen Shumen Bulgaria University of Library Studies and Information Technologies Sofia Bulgaria Institute of Robotics at Bulgarian Academy of Sciences Sofia Bulgaria Institute of Metal Science Equipment and Technologies with Center for Hydro- and Aerodynamics Acad. A. Balevski Bulgarian Academy of Sciences Sofia Bulgaria

ISBN: (数字)9798331532178

ISBN: (纸本)9798331532185

The most common approach among researchers is to implement cryptographic techniques and methods to provide a secure and reliable way to transmit sensitive information. This paper proposes a steganographic embedding algorithm based on Circle Map and Modified Rotation Equations. Audio files randomly selected from the Internet are used for the purpose of the study. Messages of different sizes were embedded in them using the proposed steganographic embedding algorithm. The accumulated database of more than 200 containers and stegofiles was analyzed using the most common steganalysis methods. From the analyses, it can be clearly seen that the proposed method of steganographic embedding in audio containers provides a very high level of security in the transmission of hidden information.

关键词： Steganography automation Databases Containers control systems Mathematical models Generators Energy efficiency Internet Reliability

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