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Disentangling Planning and control for Non-Prehensile Tabletop Manipulation 19

Disentangling Planning and Control for Non-Prehensile Tablet...

引用

19th IEEE international conference on Automation Science and Engineering, CASE 2023

作者： Mandadi, Vishal Reddy Saha, Kallol Guhathakurta, Dipanwita Qureshi, M. Nomaan Agarwal, Aditya Sen, Bipasha Das, Dipanjan Bhowmick, Brojeshwar Singh, Arun Krishna, Madhava Robotics Research Center IIIT-H India Tcs Research India University of Tartu Estonia

ISBN: (纸本)9798350320695

Manipulating a target object using non-prehensile actions presents a complex problem that requires addressing multiple constraints, such as finding collision-free trajectories, modeling the object dynamics, and speed of execution. Previous approaches have relied on contact-rich manipulation, where the object moves predictably while attached to the manipulator, thereby avoiding the need to model the object's dynamics. However, this assumption may not always hold, and different end-effectors may be necessary depending on the use case. In place of contact-rich manipulation, we implement the pushing-by-striking method (without tactile feedback) by explicitly modeling the object dynamics. Our novel framework disentangles planning and control enabling us to operate in a context-free manner. Our method consists of two components: an A* planner and a low-level RL controller. The low-level RL controller feeds on purely object-centric representations and has an object-centric action space, thus making it agnostic of the scene context. On the other hand, the planning module operates idependently of the low-level control and only takes scene context into account, making the approach quick to adapt and implement. We demonstrate the performance of our algorithm against a global RL policy which is computationally expensive and unreliable to train or fine-tune. To the best of our knowledge, a model-free RL policy without tactile feedback on push-by-strike problems has not been addressed before. © 2023 IEEE.

关键词： controllers

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Algorithm for Finding Optimal control for problems with a Free Right Endpoint Based on Gradient Descent

Algorithm for Finding Optimal Control for Problems with a Fr...

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international conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Svetlana Mustafina Ishmurat Gallyamitdinov Department of Mathematical and Computer Modeling Ufa University of Science and Technology Ufa Russia

ISBN: (数字)9798331532178

ISBN: (纸本)9798331532185

This manuscript addresses the problem of finding optimal control for dynamic systems using the gradient descent method. A numerical algorithm is constructed to find the optimal control in problems with a free right endpoint of the trajectory. The accuracy and speed of the algorithm depend on the choice of the time interval partition size and the stopping conditions of the gradient descent method. A key feature of the proposed algorithm is its ability to generalize for problems of finding optimal control with various types of boundary conditions. The algorithm's operation is illustrated by the example of finding the optimal temperature in a chemical kinetics problem. Numerical simulations have shown an improvement in accuracy and convergence speed compared to existing methods.

关键词： Accuracy Uncertainty Heuristic algorithms Optimal control Production Numerical simulation Partitioning algorithms Trajectory Kinetic theory Chemicals

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Fly-ABAC: Attribute Based Access control for the Navigation of Unmanned Aerial Vehicles

Fly-ABAC: Attribute Based Access Control for the Navigation ...

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2024 IEEE international conference on Big Data, BigData 2024

作者： Japp, Wynter Lee, Victoria Vagicherla, Sai Avinash Rubio-Medrano, Carlos University of Louisiana at Lafayette LafayetteLA United States University of California Berkeley BerkeleyCA United States Texas A&m University-Corpus Christi Corpus ChristiTX United States

ISBN: (纸本)9798350362480

With the increasing deployment of UAVs across more and more domains such as surveillance, agriculture monitoring, and commercial delivery, there is an increasing need for robust systems that respect both federal regulations and private property owners' constraints. To address these concerns, this paper presents a novel application of Attribute-Based Access control (ABAC) for the navigation of Unmanned Aerial Vehicles (UAVs) to ensure compliance with both federal and public property owner preferences. Our research demonstrates that an ABAC system we call Fly-ABAC can effectively manage complex property restrictions by modeling positive and negative attributes as well as exclusion zones. Through simulations, our system has shown the ability to generate paths that avoid unauthorized zones and comply with specified access requirements, ensuring a high level of precision and customization in property access *** leveraging the granularity of ABAC, Fly-ABAC can accommodate diverse property preferences and is easy to adjust to different scenarios, making it suitable for a wide range of applications, including enforcing regulations for flying over government buildings, airports, emergency operations, and private properties. Our findings indicate that this system not only enhances security and compliance but also provides property owners with a powerful tool to enforce their access policies. The implications of this research extend to improving the safety and operational efficiency of UAVs in complex environments, paving the way for the broader adoption of UAV for both commercial and private uses. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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MBSE- Based Construction Method of Unified Information Model for Production Equipment 4th

MBSE- Based Construction Method of Unified Information Model...

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4th international conference on Innovative Intelligent Industrial Production and Logistics, IN4PL 2023

作者： Li, Jun Dou, Keqin Zhou, Yong Liu, Jinsong Li, Qing Tang, Yiqiang China Industrial Control Systems Cyber Emergency Response Team Beijing100040 China Department of Automation Tsinghua University Beijing100084 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9783031493386

Under the background of the integration and development of next-generation information technology and the manufacturing industry, production equipment has evolved into Cyber-Physical System (CPS), which seamlessly combine embedded computing, network communication, and high-performance control. In this context, the information model of production equipment has gradually become a pivotal aspect supporting the visualization of the physical operation status of production equipment, optimizing decision-making in the digital realm, and enabling communication and interaction mapping in the cyber-physical space. Based on the model-based systems engineering (MBSE) principle, a unified information model for the whole manufacturing process of production equipment is proposed to solve the problems of diverse information types, diverse expression forms and complex model heterogeneity in the field of production equipment information modeling. From the perspectives of communication, knowledge, and geometry, the management activities of production equipment are analyzed, function modules are assigned, and information elements are defined. Consequently, a holistic information model for production equipment is formulated to support the integration of multidimensional models and realize the optimization and control of heterogeneous production equipment, which providing valuable reference for developers and practitioners of the production equipment information model. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Cyber-Physical Information Model Model-based System Engineering Production Equipment System

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Computer Simulation of Intelligent control systems for High-Precision Cruise Missiles

Computer Simulation of Intelligent Control Systems for High-...

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2022 international conference on Smart Information systems and Technologies, SIST 2022

作者： Khuralay, Moldamurat Telektesovich, Akhmetov Kayrat Serikovich, Otegen Alikhan Serikovna, Brimzhanova Saule Zhalenovna, Otyzbayeva Karlygash Oteulievna, Zhiyenbek Arailym Space Engineering And Technology L.N. Gumilyov Eurasian National University Nur-Sultan Kazakhstan Space Engineering And Technology PhD. L.N. Gumilyov Eurasian National University Nur-Sultan Kazakhstan Natural Sciences Lecturer Nplc «a. Baitursynov Kru» Kostanay Academy Of The Mia Of The Rk Named After Sh. Kabylbaev Kostanay Kazakhstan L.N. Gumilyov Eurasian National University Department Of Foreign Languages Nur-Sultan Kazakhstan L.N. Gumilyov Eurasian National University Department Of System Analysis And Control Nur-Sultan Kazakhstan

ISBN: (数字)9781665467902

ISBN: (纸本)9781665467902

This article discusses an intelligent flight control system for high-precision cruise missiles. In the field of space engineering and technologies, the most effective aspects of using computer programs and studying space analysis in a computer program are considered. Calculations and computer studies of precision guidance and guidance of high-speed cruise missiles are presented. Therefore, system of the control is set by the fuzzy logic method based on artificial intelligence. Computer modeling of intelligent control systems for high-precision cruise missiles. The cruise missile control system requires a large number of parameters and complex mathematical calculation models and physical problems to control the intelligent system. The article provides a simulator in a computer program to test high-speed cruise missiles. This simulator is written in Matlab editor R2015b in C ++ programming language. © 2022 IEEE.

关键词： Computer circuits

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The Influence of Electromagnetic Absorber Thickness on the Characteristics of the Filter based on Coupled Transmission Line 3

The Influence of Electromagnetic Absorber Thickness on the C...

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3rd IEEE international conference on problems of Informatics, Electronics and Radio Engineering, PIERE 2024

作者： Trubcheninov, Vyacheslav A. Vlasov, Sergey V. Zhechev, Yevgeniy S. Tomsk State University of Control Systems and Radioelectronics Department of Microwave and Quantum Radio Engineering Tomsk Russia

ISBN: (纸本)9798331516321

The study investigated the influence of electromagnetic absorber (EA) thickness on the time and frequency characteristics of a two-conductor microstrip transmission line (TL). The structure with EA applied as a coating for signal conductors on the outer sides was examined. The modeling, conducted using COMSOL Multiphysics software, analyzed parameters such as signal arrival time, interference amplitude at the output, cutoff frequency, and transmission and reflection coefficients. The EA thickness varied from 0 to 1000 μm in 200 μm increments. The results showed that at an EA thickness of 400 μm, effective suppression of ultra-wideband interference was achieved, with the interference arrival time increasing by 1.41 times and the interference amplitude decreasing by 2.8 times. At this thickness, the interference amplitude at the output decreased from 0.125 V to 0.035 V, the signal arrival time increased from 1.4 ns to 1.973 ns, and the cutoff frequency decreased from 3.1 GHz to 0.05 GHz. It was also found that further increasing the EA thickness did not lead to significant improvements in characteristics, indicating the need to optimize the use of materials based on their effective thickness. The practical significance of this work lies in the potential to improve the electromagnetic compatibility (EMC) of electronic equipment through the application of optimal EA thickness, enhancing resistance to ultra-wideband interference without significant changes to the device's design. © 2024 IEEE.

关键词： Computer resource management

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Active Disturbance Rejection control of Carrier-Based Aircraft with High Angle of Attack Research Based on Trajectory Optimization 1

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3rd international conference on Autonomous Unmanned systems, ICAUS 2023

作者： Junyi, Duan Ming, Yan Yan, Bai Kai, Liu Dalian University of Technology Dalian116081 China Shenyang Aircraft Design and Research Institute Shenyang110035 China

ISBN: (数字)9789819711079

ISBN: (纸本)9789819711062

Aiming at solving the problems of long horizontal landing range, complex landing environment and many interference factors for carrier-based aircraft, an active disturbance rejection landing control method based on trajectory optimization was proposed in this paper. Firstly, the landing trajectory optimization strategy of carrier-based aircraft at high Angle of attack was analyzed comprehensively. The landing trajectory of carrier-based aircraft at high Angle of attack was designed from the perspective of reference trajectory design, constraint conditions, performance index setting and optimization method selection. Then active disturbance rejection control is used to realize the trajectory tracking and attitude control of carrier-based aircraft landing maneuver at high Angle of attack. Finally, through the analysis of simulation results, it is verified that the carrier-based active disturbance rejection control based on trajectory optimization can effectively achieve high Angle of attack landing, effectively improve the landing process of carrier-based aircraft, and shorten the horizontal landing range of carrier-based aircraft. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Attitude control

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modeling of a Digital V² controlled Buck Converter 10

Modeling of a Digital V<SUP>2</SUP> Controlled Buck Converte...

引用

10th IEEE international conference on Power Electronics, Drives and Energy systems (IEEE PEDES)

作者： Singha, Amit Kumar IIT Mandi Sch Comp & Elect Engn Mandi India

ISBN: (纸本)9781665455664

V-2 controllers are popular in the industry and academia owing to their simple control loop implementation and fast load transient response. However, transient performance and fast-scale stability status depend on the effective series resistance (ESR) of the output capacitor. In many applications, a large ESR of the output capacitor is not acceptable due to large ripple voltage at the output and poor efficiency. However, a small ESR makes the poles complex conjugate, thus, transient performance degrades. Using an average model, this paper derives an analytical expression of minimum ESR to make the closed-loop poles real. The minimum ESR boundary varies if the input voltage or compensating ramp slope changes. Based on the ESR boundary, designers can choose the right controller to enhance stability boundary and transient response of the buck converter. A prototype buck converter is fabricated and the analytical boundary is validated experimentally.

关键词： V-2 control small-signal model buck converter ESR

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Random Search Optimization Approach for Human-Robot systems modeling

Random Search Optimization Approach for Human-Robot Systems ...

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2022 international Russian Automation conference, RusAutoCon 2022

作者： Zaitceva, Iuliia Kuznetsov, Nikolay V. Andrievsky, Boris St. Petersburg State University Control of Comlex Systems Lab. Institute of Problems in Mechanical Engineering of Ras Applied Cybernetics Department St.Petersburg Russia

ISBN: (数字)9781665466554

ISBN: (纸本)9781665466554

Human operator behavior in manual control of any electro-mechanical system can be complex and varied. It is possible to single out human operator behavior well described by linear differential equations. It allows for studying many tasks of monotonous manual control, such as tracking a reference signal. The analysis of such a system forms the basis for understanding its stability and controllability features. It is necessary to know the parameters of the human operator model for studying and designing such a system, which may depend on the parameters of the plant. This paper proposes an approach to human operator parameters calculation in manual control systems based on derivative-free optimization method. For three coefficients of the PID controller, the parameters of the human operator model were calculated using the proposed algorithm in MATLAB/Simulink. The evolution of the system parameters in the process of searching for the extremum of the selected function is illustrated graphically. The proposed method can be applied as part of the robot's intelligent control in real-time. © 2022 IEEE.

关键词： Human robot interaction

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Proceedings - 2022 4th international conference on control systems, Mathematical modeling, Automation and Energy Efficiency, SUMMA 2022

Proceedings - 2022 4th International Conference on Control S...

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4th international conference on control systems, Mathematical modeling, Automation and Energy Efficiency, SUMMA 2022

ISBN: (纸本)9781665456593

The proceedings contain 187 papers. The topics discussed include: stochastic discrete model for hierarchical control of expenditure;control mechanisms for large company's branch production with supervised learning;binary model of restructuring the technology complex of economy;on the new inference control strategy in the resolution method;combined nonlinear control system for non-affine multi-loop plant with control and state delays;a problem with free boundaries in medicine;combined nonlinear control system for non-affine multi-loop plant with control and state delays;a problem with free boundaries in medicine;analysis of the multi-criteria decision-making problem under conditions of heterogeneous interval uncertainty;approximation of curves in phase space by solutions of control system;optimization of compositions of refractory composites using mathematical experiment planning;features of the formation of information support for space simulators;simulation of the stress state of an anisotropic body of revolution under the action of a non-axisymmetric load;approaches to the research of the effectiveness of information processes;and methods for research the effectiveness of purposeful information processes.

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