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Online Multi-Phase Trajectory Generation for Compliant Landing control of Quadruped Robots 21

Online Multi-Phase Trajectory Generation for Compliant Landi...

引用

21st international conference on Advanced Robotics (ICAR)

作者： Wang, Shuai Chi, Wanchao Zuo, Jinbo Zhou, Qinqin Chen, Ke Yang, Sicheng Xiang, Lingzhu Zheng, Yu Tencent Tencent Robot X Shenzhen 518057 Guangdong Peoples R China Univ Manchester Dept Elect & Elect Engn Manchester M13 9PL England

ISBN: (纸本)9798350342291

While modern quadruped robots can jump or even somersault, without proper control, landing from the air could cause serious impacts and damages to both the mechanical and electrical components of robots. The landing process often faces different robot's poses and velocities, e.g., vertical, horizontal, and/or pitch movements, as well as contact phase change, e.g., from initial two-leg contact to final four-leg contact phase. Also, the time left for the robot to respond to emerging contacts is extremely short before giving rise to any damage. Considering all these challenges, this paper proposes a compliant landing control framework for quadruped robots. First, based on a 2-D rigid body model, we formulate the computing of reference landing trajectories with as much compliance as possible as a quadratic programming problem, which can be solved quickly online. Then, a model-predictive control algorithm is used to determine the joint torque commands for following the reference trajectories to realize compliant landing. The effectiveness of the proposed framework has been verified with various landing scenarios in both simulation and real experiments.

关键词： Landing

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Agent-Based Modeling for Analysis of Cyber Attacks on the intelligent Transportation System 26

Agent-Based Modeling for Analysis of Cyber Attacks on the In...

引用

IEEE 26th international conference on intelligent Transportation systems (ITSC)

作者： Jackson, Elanor Sarvestani, Sahra Sedigh King, Justin Hurson, Ali R. Missouri Univ Sci & Technol Dept Elect & Comp Engn Rolla MO 65401 USA

ISBN: (纸本)9798350399462

The advanced computing and communication between components within the intelligent transportation system creates vulnerabilities that can be exploited by bad actors. To ensure the safety of autonomous vehicles and secure the infrastructure, we must first understand how a cyber attack propagates through the intelligent transportation system. This propagation occurs through communications between individual agents and entire subsystems. By understanding the impact of component and subsystem interactions, we can better fortify the intelligent transportation system against cyber attacks. This paper presents an agent-based model for detection of and recovery from cyber attacks on the intelligent transportation system for autonomous vehicles. In this model, vehicles, pedestrians, and intelligent infrastructure are represented as distinct agent populations. Simulations were run to test the spread of cyber attack while considering the origin and aggressiveness of the attack, and detection and defense capabilities. The simulations showed that clusters of distinct agents will form based on communication ranges. These clusters can quickly merge as new agents are introduced. Preventing the introduction of new agents can isolate subsystems affected by an attack.

关键词： Autonomous vehicles

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I-ASM: Iterative Acoustic Scene Mapping for Enhanced Robot Auditory Perception in Complex Indoor Environments

I-ASM: Iterative Acoustic Scene Mapping for Enhanced Robot A...

引用

2024 international conference on intelligent Robots and systems

作者： Fu, Linya He, Yuanzheng Wang, Jiang Qiao, Xu Kong, He Southern Univ Sci & Technol Shenzhen Key Lab Control Theory & Intelligent Sys Shenzhen 518055 Peoples R China

ISBN: (纸本)9798350377712;9798350377705

This paper addresses the challenge of acoustic scene mapping (ASM) in complex indoor environments with multiple sound sources. Unlike existing methods that rely on prior data association or SLAM frameworks, we propose a novel particle filter-based iterative framework, termed IASM, for ASM using a mobile robot equipped with a microphone array and LiDAR. I-ASM harnesses an innovative "implicit association" to align sound sources with Direction of Arrival (DoA) observations without requiring explicit pairing, thereby streamlining the mapping process. Given inputs including an occupancy map, DoA estimates from various robot positions, and corresponding robot pose data, I-ASM performs multi-source mapping through an iterative cycle of "Filtering-Clustering-Implicit Associating". The proposed framework has been tested in real-world scenarios with up to 10 concurrent sound sources, demonstrating its robustness against missing and false DoA estimates while achieving high-quality ASM results. To benefit the community, we open-source all the codes and data at https://***/AISLAB-sustech/Acoustic-Scene-Mapping

关键词： Direction of arrival

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Generating Force Vectors from Projective Truncated Signed Distance Fields for Collision Avoidance and Haptic Feedback

Generating Force Vectors from Projective Truncated Signed Di...

引用

2024 international conference on intelligent Robots and systems

作者： Bien, Seongjin Naceri, Abdeldjallil Figueredo, Luis Haddadin, Sami Tech Univ Munchen TUM Munich Inst Robot & Machine Intelligence MIRMI Munich Germany Univ Nottingham Sch Comp Sci Nottingham England

ISBN: (纸本)9798350377712;9798350377705

Signed Distance Fields are a common surface representation method widely used for both 3D mapping and obstacle avoidance. While the former traditionally uses projective Truncated Signed Distance Fields (TSDF), the latter often requires a complete Euclidean Signed Distance Field (ESDF) representation of the environment. In this paper, we propose a unified system by combining both methods to generate force vectors to nearby obstacles from a TSDF-based 3D reconstruction. We introduce a new merging scheme to better capture the geometry of the object, with no post-processing requirements, and a way to increase the effective range of the system. Validation experiments demonstrate the accuracy of the force vector calculation by comparing it against an ideal simulated environment. The exibility of the system is demonstrated by implementing a haptic feedback teleoperation setup, which is validated through a user study in a teleoperation task. Through this, it is shown that the proposed method provides a statistically significant improvement to the task. Finally, a brief description on future improvements to the system is presented.

关键词： Remote control

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Network Intrusion Detection System Using Optuna 5

Network Intrusion Detection System Using Optuna

引用

5th international conference on IoT Based control Networks and intelligent systems, ICICNIS 2024

作者： Parekh, Nishank Sen, Arzob Rajasekaran, P. Jayaseeli, J. D. Dorathi Robert, P. School of Computing Department of Computer Science and Engineering SRM Institute of Science and Technology Tamil Nadu Chengalpattu India School of Computing Department of Computing Technologies SRM Institute of Science and Technology Tamil Nadu Chengalpattu India

ISBN: (纸本)9798331518097

The rapid growth of the digital industry has created a higher demand for robust Network Intrusion Detection systems (NIDS) to protect valuable information and the integrity of network infrastructures as the digital industry grows rapidly. One of the most important challenges in the current intrusion detection landscape is the growing sophistication of cyber threats, including zero-day attacks, polymorphic malware, and advanced persistent threats, which are difficult to detect using traditional methods. Furthermore, systems often suffer from high false positive rates and struggle to scale effectively in real-time applications. Traditionally, intrusion detection methods were quite effective, but performance is still lacking due to the inability to adapt to evolving threats. Recent breakthroughs include deep learning approaches, ensemble methods, and hybrid detection models. However, these are still plagued by high computational overhead and a lack of transparency in their decision-making processes. The work exploits Optuna for the optimization of hyperparameters, specifically in the performance improvement of various ML models. Among the best-ranked frameworks for the optimization of hyperparameters, Optuna provides a principled method for tuning hyperparameters, resulting in significantly enhanced accuracy and efficiency of the intrusion detection model. The implication of this research work is that it searches for the best configuration of parameters for each algorithm with balanced false positives and detection rates. The study includes an overall scenario of recent development in NIDS. More precisely, this paper shows how Hyperparameter tuning attains very superior model performance compared to other models. The comparative results presented have shown that models which are optimized using Optuna surpass the non-optimized ones by a huge margin with respect to accuracy, recall, precision, and F1-score. The paper also discusses ensemble techniques by integrating the

关键词： Network intrusion

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An Assessment of Several Electric Vehicle Motors Performance for AI Vehicles 3

An Assessment of Several Electric Vehicle Motors Performance...

引用

3rd international conference on Communication, control, and intelligent systems, CCIS 2024

作者： Garg, Rinku University Institute of Computing Chandigarh University Mohali India

ISBN: (纸本)9798331528201

As the global automotive industry transitions to more ecologically friendly and sustainable forms of transportation, electric automobiles, or EVs, have shown a great deal of promise as a replacement for conventional internal combustion engine vehicles. The electric motors in electric vehicles (EVs) need to function well for the vehicles to be popular and generally accepted. The performance analysis of this study comprehensively examines the various types of electric motors used in electric vehicles, such as permanent magnet synchronous motors (PMSM), induction motors (IM), and switching resistance motors (SRM). The first section of the study provides a thorough overview of the basic ideas, design, and operation of all types of motors. The focus lies on providing an overview of their benefits, limitations, and appropriateness for different automotive *** size, light weight , durability and compatibility with regenerative braking is focused. It is found that 45-50 % vehicles uses permanent magnet synchronous motor ,30-35 % uses Induction motors,10-15 % uses synchronous reluctance motor. 5-10 % uses switched reluctance motor,1-5% Axial Flux reluctance motor,5-7 % brush less DC motor and transverse flux motor is less that 1%. © 2024 IEEE.

关键词： Reluctance motors

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Theoretical principles and simulation analysis of an intelligent corrosion sensor based on fiber Bragg grating 11

Theoretical principles and simulation analysis of an intelli...

引用

11th IEEE international conference on Cybernetics and intelligent systems (CIS) / 11th IEEE international conference on Robotics, Automation and Mechatronics (RAM)

作者： Gong, Yongjian Guo, Yongxing Xiong, Li Wuhan Univ Sci & Technol Key Lab Met Equipment & Control Technol Minist Educ Wuhan Peoples R China Wuhan Univ Sci & Technol Hubei Key Lab Mech Transmiss & Mfg Engn Wuhan Peoples R China

ISBN: (纸本)9798350364200;9798350364194

Corrosion of reinforcing bars is a major factor affecting the durability of reinforced concrete structures. The volume of corroded reinforcement expands and the protective layer gradually cracks, which in turn reduces the serviceability of the structure. In this study, a fibre optic intelligent corrosion monitoring device based on magnetic sensing is investigated. A new type of magnetic probe is designed for sensing the corrosion of steel reinforcement, and strain sensing is carried out by utilizing high elasticity diaphragm and fibre optic grating structure. A finite element method is utilized to simulate the sensitivity and linearity of the device under different magnetic forces. The experimental results show that the sensor has good mechanical response effect and the fibre optic diaphragm stress sensing structure has good linearity, which can achieve longterm high-precision non-destructive monitoring of rebar corrosion.

关键词： Reinforcement corrosion FBG Sensor Monitoring

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Implement of Edge computing for Cyber-Physical System in the Smart Grids Quasi-Real Time control Context 12

Implement of Edge Computing for Cyber-Physical System in the...

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12th IEEE international conference on intelligent Data Acquisition and Advanced computing systems: Technology and Applications, IDAACS 2023

作者： Dombrovskyi, Mykhailo Dombrovskyi, Zbyshek Pashchuk, Ivan West Ukrainian National University Ternopil Ukraine

ISBN: (纸本)9798350358056

An increase in the number of power consumers leads to scale up a power supply grids, and the introduction of Smart Grid (SG) for connecting components and subsystems of distributed generation, increases the complexity of the interaction configuration and, accordingly, grids control. At the same time, with peak loads cases, when there is a lack of power, the probability of big-scale fluctuations increases, which turns the energy system from deterministic to stochastic. Unpredictable manifestations of big-scale fluctuations spread in the form of a cascade of failures through the grid, which lead to the loss of reliability of the entire power grid. To simplify the controllability of complex big-scale power grids and prevent cascading failures in the supply of electric power, they are divided into a big number of microgrids. To increase observability and controllability, big-scale SGs are implementing innovative intelligent products and cyber-physical systems (CPS) that connect the virtual world with the world of things. CPSs allow to carry out instant monitoring and display of the states of power system components in large geographical areas, however, due to the concentration of control in the center, it does not ensure control efficiency in critical peak load times. Thus, it is important to increase the energy efficiency of smart grids, in particular by reducing power dispersion and increasing the flexibility, safety and reliability of energy supply. Such requirements lead to rethinking the structure of both the physical and cybernetic subsystems of the CPS, with which users and suppliers of energy resources interact. To meet these requirements, it is proposed to develop the structure of the CPS and improve computation based on the processing of 'instant data' with the use of edge computations in quasi-real time, in order to ensure an increase in the efficiency of a big-scale complex power networks control. © 2023 IEEE.

关键词： big-scale power grid cyber-physical systems edge computing instant data quasi-real time control smart grid

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Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers

Assisted Physical Interaction: Autonomous Aerial Robots with...

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international conference on Unmanned Aircraft systems (ICUAS)

作者： Berra, Andrea Sankaranarayanan, Viswa Narayanan Seisa, Achilleas Santi Mellet, Julien Gamage, Udayanga G. W. K. N. Satpute, Sumeet Gajanan Ruggiero, Fabio Lippiello, Vincenzo Tolu, Silvia Fumagalli, Matteo Nikolakopoulos, George Soto, Miguel Angel Trujillo Heredia, Guillermo CATEC Adv Ctr Aerosp Technol Seville Spain Lulea Univ Technol Dept Comp Elect & Space Engn Robot & AI Team Lulea Sweden Univ Naples Federico II Naples Dept Elect Engn & Informat Technol PRISMA Lab Naples Italy Tech Univ Denmark Dept Elect Engn & Photon Automat & Control Grp Lyngby Denmark Univ Seville Robot Vis & Control Grp Sch Engn Seville Spain

ISBN: (纸本)9798350357899;9798350357882

The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced onboard computational load, and a control barrier function (CBF)-based controller for safe and precise maneuvering. The target detection system is trained on a dataset under challenging visual conditions and evaluated for accuracy across various unseen data with changing lighting conditions. Depth features are utilized for target pose estimation, with the entire detection framework offloaded into low-latency edge computing. The CBF-based controller enables the UAV to converge safely to the target for precise contact. Simulated evaluations of both the controller and target detection are presented, alongside an analysis of real-world detection performance.

关键词： Aerial Physical Interaction UAVs control Barrier Function Neural Network Edge computing

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intelligent Tracking control of Nonlinear systems with Pure-Feedback Structure Using Optimized Backstepping 2

Intelligent Tracking Control of Nonlinear Systems with Pure-...

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2nd international conference on Cyber-Energy systems and intelligent Energy, ICCSIE 2024

作者： Xu, Qiushi Dong, Qingyuan Long, Feng Zhang, Yan Zhao, Wanxin Deng, Linjiang State Grid Yingkou Power Supply Company Yingkou China

ISBN: (纸本)9798350373318

This article studies the problem of adaptive optimized finite-time tracking control for a class of nonlinear single-input single-output systems in the form of pure-feedback. In order to realizing the finite optimal control, the adaptive optimized control technology is used. Based on the low-pass filter, an adaptive finite-time optimized scheme is presented, which can address the problem of algebraic loop. It can be demonstrated that based on the proposed adaptive optimized controller, both the optimized tracking and finite-time control are guaranteed. A simulation of the actual nonlinear system proves the validity of the presented method. © 2024 IEEE.

关键词： Low pass filters

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