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3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

作者： Belharet, Karim Folio, David Ferreira, Antoine ENSI Bourges Inst PRISME EA 4229 F-18020 Bourges France

ISBN: (纸本)9781424477098

This paper presents an endovascular navigation of a ferromagnetic microdevice using a MRI-based predictive control. The concept was studied for future development of microrobot designed to perform minimally invasive interventions in remote sites accessible through the human cardiovascular system. A system software architecture is presented illustrating the different software modules to allow 3D navigation of a microdevice in blood vessels, namely: (i) vessel path extraction, (ii) magnetic gradient steering, (iii) tracking and (iv) closed-loop navigation control. First, the navigation path of the microrobot into the blood vessel is extracted using Fast Marching Method (FMM) from the pre-operation images (3D MRI imaging) to guide the microrobot from the injection point to the tumor area through the anarchic vessel network. Based on the pre-computed path, a Model Predictive controller (MPC) is proposed for robust navigation along a 3D path. The simulation results suggest the validation of the proposed image processing and control algorithms.

关键词： 3D MRI-based predictive control 3D navigation anarchic vessel network biomedical MRI blood vessels blood vessels cardiovascular system closed-loop navigation control control algorithm endovascular navigation fast marching method ferromagnetic microdevice ferromagnetic microrobot navigation human cardiovascular system image processing injection point magnetic devices magnetic gradient steering medical image processing microrobot design microrobots minimally invasive intervention model predictive controller predictive control preoperation imaging robust navigation software architecture technological forecasting tracking tumor area tumours vessel path extraction

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Autonomous parafoil system precision landing via closed-loop guidance and control considering six-degree-of-freedom model

Autonomous parafoil system precision landing via closed-loop...

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AIAA SciTech Forum

作者： Wei, Zhenyu Gao, Yan Shao, Zhijiang Zhejiang Univ Coll Control Sci & Engn Hangzhou Peoples R China Zhejiang Univ State Key Lab Ind Control Technol Hangzhou Peoples R China

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

Emerging payload delivery missions bring the need to improve the landing accuracy of the parafoil system. However, traditional guidance and control algorithms for the the parafoil system are based on the simplified three-degree-of-freedom (3-DOF) kinematic model. This unavoidably deteriorates the terminal landing accuracy and hinders the flare maneuver. To address this issue, this work proposes a novel guidance and control algorithm based on the six-degree-of-freedom (6-DOF) dynamic model. Firstly, the 6-DOF parafoil system terminal landing trajectory optimization problem is established. Then, a two-step trajectory optimization framework is introduced, incorporating a trajectory initialization algorithm to improve the computation efficiency of the simultaneous collocation method in generating the terminal landing trajectory. On this basis, the guidance and control framework based on the 6-DOF parafoil system dynamic model is designed. In the proposed framework, the guidance trajectory is updated using a receding-horizon mechanism, and the control command is generated through the advanced-step nonlinear model predictive control method. Simulation results demonstrate that the proposed 6-DOF guidance and control framework achieves a superior touchdown performance, which is evaluated through the simulation of a seven-degree-of-freedom parafoil-payload system subjected to disturbances.

关键词： Parafoil Three Degrees of Freedom Nonlinear Model Predictive control Optimal control Problem Numerical Simulation Payload Fairing control algorithm Dynamic Modelling Precision Landing Monte Carlo Simulation

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Dependable control Systems with Self-Recovery Constraint 3

Dependable Control Systems with Self-Recovery Constraint

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3rd International Conference on control, Automation and Information Sciences (ICCAIS)

作者： Tri Tran Ha, Q. P. Nanyang Technol Univ Cambridge Ctr Adv Res Energy Efficiency Singapore Yunnan Garden Campus Singapore Singapore Univ Technol Sydney Fac Elect Mech & Mechtron Syst Sydney NSW Australia

ISBN: (纸本)9781479972043

A novel constrained-state feedback control design method for duty-standby controllers of a dependable control system is presented in this paper. The dependable control system is a replacement for the classical reliable control system which has been developed for wired and analog systems. As an alternative to the control summation in reliable control systems, only one controller is active at any one time in a dependable control system. This will make it compatible with the duty-standby architecture of dependable computer systems that run the control algorithm. The automated managing of duty-standby controllers is challenging, especially in wireless sensor and actuator networks, owing to the scarcity of both information and processing resources. The solutions proposed in this paper are effective and feasible, as taking into account both state-and control-incremental constraints, and simply involving a static state-feedback strategy to minimize the computational demand in implementations. The state feedback gains are synthesized to fulfill the strict requirement on the two incremental constraints. As a result of that, the duty-standby controllers will be able to operate independently, while assuring the closed-loop system stability with a newly introduced self-recovery constraint. For a dependable control system, the employed self-recovery constraint is a quadratic constraint with respect to the control and state increments.

关键词： closed loop systems control system synthesis distributed control stability state feedback analog system closed-loop system stability constrained-state feedback control design control algorithm control-incremental constraint dependable control system duty-standby controller duty-standby controller management information resource processing resource quadratic constraint self-recovery constraint state feedback gain state-incremental constraint static state-feedback strategy wired system wireless sensor and actuator networks Computer architecture Computer network reliability control systems Program processors Reliability Vectors Wireless sensor networks

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control of a Bionic Hand using real-time gesture recognition techniques through Leap Motion controller 13

Control of a Bionic Hand using real-time gesture recognition...

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13th Technologies Applied to Electronics Teaching Conference (TAEE)

作者： Artal-Sevil, J. S. Montanes, J. L. Acon, A. Dominguez, J. A. Univ Zaragoza Dept Elect Engn Univ Sch Engn & Architecture EINA Campus Rio Ebro3 Edificio Torres Quevedo Zaragoza 50018 Spain

ISBN: (纸本)9781538609286

This document has shown the development and implementation of a control algorithm for the operation of a small bionic hand. As a real-time gesture recognition system, Leap Motion controller commercial device has been used. The purpose has been to simulate the natural movement of the hand and fingers. Nowadays, technological advances related to robotics and modern control techniques have caused these disciplines of knowledge to be used as an educational complement. Thus, these concepts have been incorporated both in basic education and in higher education. Develop and implement advanced control strategies in robotic elements, by remote control, is a clear example of academic work that causes extra motivation in science, technology and engineering students. On the other hand, Final Year Project (TFG) or Final Master Project (TFM), constitutes an academic activity that allows to evaluate in detail the different competences acquired by the students during their university education period. In this paper, a novel and current electronic application is presented, based on the management of a bionic hand using real-time gesture recognition techniques. As a result, the control of a bionic hand that simulates the degrees of freedom (DOF) of the human hand has been developed. The initial objectives have been satisfactorily resolved. So the robotic prototype built has exceeded initial expectations. In addition, its cost has been low.

关键词： Bionic Hand Motion and Gesture Recognition Leap Motion Sensor control algorithm Hand prosthesis Arduino Open Source Low Cost 3D-Printing

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Adaptive End-to-End Architecture for Autonomous Spacecraft Navigation and control During Rendezvous and Proximity Operations

Adaptive End-to-End Architecture for Autonomous Spacecraft N...

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AIAA SciTech Forum

作者： Kruger, Justin Guffanti, Tommaso Park, Tae Ha Murray-Cooper, Mason Low, Samuel Bell, Toby D'Amico, Simone Roscoe, Christopher Westphal, Jason Stanford Univ Stanford Space Rendezvous Lab Stanford CA 94305 USA Stanford Univ Dept Aeronaut & Astronaut Stanford CA 94305 USA Ten One Aerosp Washington DC 20002 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

Onboard guidance, navigation, and control (GNC) during rendezvous and proximity operations (RPO) between spacecraft poses unique challenges for associated algorithms. Future missions will require greater on-board autonomy while maintaining in-orbit safety guarantees at varying distances, and scenarios of interest may feature multiple spacecraft which may be cooperative or non-cooperative. This paper presents the conception and development of a new GNC software payload for distributed space systems, which enables safe, autonomous RPO between multiple objects with maximum flexibility and modularity. Navigation algorithms fuse far-range camera images, close-range camera images, differential carrier-phase Global Navigation Satellite System data, and inter-satellite crosslink data to estimate absolute orbits, relative orbits, target pose, and auxiliary states across the entire regime of interest. A control algorithm suite provides optimal maneuver solutions for efficient long-term formation maintenance at far range, centimeter-level rendezvous accuracy at close range, and fast, robust collision avoidance. Prototype simulations featuring cooperative and non-cooperative targets at far, medium and close ranges demonstrate highly capable GNC performance for distributed space systems, and are a significant step towards achieving complete integration of a flexible autonomous RPO kit for spacecraft.

关键词： Global Navigation Satellite System Guidance, Navigation, and control Satellites Collision Avoidance Navigation algorithm Distributed Space Systems control algorithm Autonomous Spacecraft Navigation Model Predictive control Orbit Determination

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Adaptive Consensus control of Rigid Body Attitude Motion Based on Rotation Matrices

Adaptive Consensus Control of Rigid Body Attitude Motion Bas...

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AIAA Science and Technology Forum and Exposition (AIAA SciTech)

作者： Koru, Ahmet Taha Johnson, Eric N. Maadani, Mohammad Butcher, Eric A. Sarsilmaz, Selahattin Burak Yucelen, Tansel Penn State Univ Dept Aerosp Engn State Coll PA 16802 USA Penn State Univ State Coll PA 16802 USA Univ Arizona Tucson AZ 85721 USA Univ S Florida Tampa FL 66317 USA

ISBN: (数字)9781624105951

ISBN: (纸本)9781624105951

In this paper, we focus on the consensus problem in terms of angular velocity and attitude for heterogeneous rigid bodies over a fixed undirected connected graph. The bodies' inertia matrices are partially or entirely unknown. We formulate the rigid body kinematics in terms of the 3D rotation group SO(3) which is a Lie group. First, we present the decentralized control protocol for N reference rigid bodies whose inertia matrices are the identity matrix. Then, we present a model reference adaptive control algorithm to guarantee that each actual rigid body asymptotically tracks the corresponding reference model;therefore, they can reach consensus as their reference counterparts do. Finally, we demonstrate the efficacy of the proposed method through a numerical example and compare its performance with the nominal controller without adaptation.

关键词： Model Reference Adaptive control Rigid Body Kinematics Quaternions Satellites Lagrange D'Alembert Principle Feedback Linearization Newton Raphson Method Large Angle Maneuver Numerical Simulation control algorithm

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Satellite Relative Motion SDRE-based control for Capturing a Noncooperative Tumbling Object 9

Satellite Relative Motion SDRE-based Control for Capturing a...

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9th International Conference on Recent Advances in Space Technologies (RAST)

作者： Akhloumadi, Mandi Ivanov, Danil Moscow Inst Phys & Technol Moscow Russia Keldysh Inst Appl Math RAS Moscow Russia

ISBN: (纸本)9781538694480

The paper considers the problem of relative motion control for a docking to the noncooperative tumbling object. The translational motion is assumed to be controlled by the thrusters;the attitude control system is based on the reaction wheels. The SDRE-based coupled motion control algorithm is proposed and its performance is studied. The misalignment of the thrusters and the reaction wheels saturation are taken into account in the numerical simulations. The area of acceptable the control system parameters for successful docking is obtained. The influence of the tumbling object angular velocity and its inertia moment ratio to the reaction wheels saturation is studied using multiple simulations.

关键词： control algorithm docking reaction wheels saturation

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Dual-Spin Attitude Stabilization of Magneto-Coulombic Satellite Using Linear Time-Variant Model Predictive control

Dual-Spin Attitude Stabilization of Magneto-Coulombic Satell...

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AIAA SciTech Forum

作者： Basak, Kumardip Giri, Dipak Kr Univ Maryland Dept Aerosp Engn College Pk MD 20742 USA Indian Inst Technol Kanpur Dept Aerosp Engn Kanpur 208016 Uttar Pradesh India

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

This paper implements a model predictive control scheme for dual-spin attitude stabilization of the magneto-Coulombic Earth-pointing satellite system. Firstly, a non-linear mathematical model of the attitude dynamics of a dual-spin magento-Coulombic satellite system is derived and then linearized using Taylor series expansion near equilibrium. The linear model was converted to state-space form, and a Linear Time-Variant Model Predictive controller (LTV-MPC) is implemented with a detailed analysis of the conditions of its recursive feasibility and closed-loop stability. The stability proof is further investigated through an exact and a zeroth-order analysis. Then a stability-enforced predictive control scheme is implemented, which guarantees the system's local asymptotic closed-loop stability a priori. The stability constraint is imposed using an auxiliary controller. A velocity feedback controller is proposed that establishes the local asymptotic stability for stability-enforced predictive control for the system when the gravity gradient torque is destabilizing, and the wheel angular momentum is neglected. Simulations are carried out to demonstrate the effectiveness of the proposed control algorithm on the system.

关键词： Attitude Stabilization Low Earth Orbit Satellites Model Predictive control Earth Mathematical Models Taylor Series control algorithm Algebraic Riccati Equation Earth's Magnetic Field Full State Feedback

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Modal control of a deformable mirror via the focal spot using actuator influence functions

Modal control of a deformable mirror via the focal spot usin...

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International Conference on Laser Optics (ICLO)

作者： Yagnyatinskiy, D. A. Fedoseyev, V. N. FSUE SRI SIA LUCH Podolsk Russia

The paper reports on modal focal-spot-based algorithms for adaptive optics, that use generalized influence functions of the deformable mirror. Mersenne matrix is used to build that special modes. One of the algorithms... 详细信息

ISBN: (纸本)9781538636121

关键词： control algorithm adaptive optics focal spot influence functions deformable mirror Mersenne matrix

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The optimal stochastic control of an epitaxial process unit

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Computers in Industry 1980年第3期1卷 141-154页

作者： Jůza, Jiří Čermák, Jan Tesla Rožnov n.p. Rožnov ČSSR Institute of Chemical Process Fundamental Praha 6 165 02 Rozvojová 135 Czech Republic

The problem of computerized batch control of the silicon epitaxial layer deposition technological process has been solved using optimal stochastic control methods. A control algorithm is presented the main emphasis being given to the forecasting and compensating of disturbing processes which act on a process unit under real operation conditions. The method of multidimensional time series, stochastic model form identification for the process noise is developed based on multidimensional time series, correlation analysis results. The "maximum likelihood" identification method is applied in order to obtain efficient estimates of the model parameters. The identification of the model form and model parameters is carried out on the basis of a rather extensive set of data obtained from operation records of a high capacity epitaxial unit. The adequacy of the identified models is checked by means of a correlation analysis of the model residuals. It is demonstrated that results comparable to those with an intuitive process control by an experienced operator, can be achieved when using the algorithm presented in the present work for process computer control. This algorithm thus represents a reliable and rational basis for process control computer software development. © 1980.

关键词： batch processes chemical vapor deposition control algorithm correlation analysis epitaxial deposition integrated circuits manufacture multidimensional time series process control process disturbances Stochastic control time series model

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