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3rd IFAC Conference on Intelligent Control and automation Science, ICONS 2013

作者： Zhang, Shuang He, Wei Liu, Chang Huang, Deqing Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Aeronautics Imperial College London London SW7 2AZ United Kingdom

ISBN: (纸本)9783902823458

In this paper, the end-point regulation problem is investigated for a flexible robotic manipulator under the spatiotemporally varying disturbance. By using the Hamilton's principle, the dynamics of the flexible robotic manipulator are represented by one partial differential equation (PDE) and five ordinary differential equations (ODEs). Boundary control is developed to drive the manipulator to the desired set-point and simultaneously suppress the vibrations of the flexible link. Considering the unknown spatiotemporally varying disturbance, the developed boundary control schemes achieve uniform boundedness of the steady state error between the boundary payload and the desired position. Simulations are provided to illustrate the applicability and effectiveness of the proposed control. Copyright © 2013 IFAC.

关键词： Ordinary differential equations

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End-Point Regulation of a Flexible Robotic Manipulator under the Unknown Spatiotemporally Varying Disturbance

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IFAC Proceedings Volumes 2013年第20期46卷 713-718页

作者： Shuang Zhang Wei He Chang Liu Deqing Huang Department of Electrical & Computer Engineering National University of Singapore Singapore 117576 Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Aeronautics Imperial College London London SW7 2AZ UK

关键词： Flexible robotic manipulator distributed parameter system boundary control

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Rotary-wing UAVs trajectory planning by distributed linear MPC with reconfigurable communication network topologies

Rotary-wing UAVs trajectory planning by distributed linear M...

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4th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2013

作者： Grancharova, Alexandra Grøtli, Esten I. Johansen, Tor A. Institute of System Engineering and Robotics Bulgarian Academy of Sciences Acad. G. Bonchev str. Bl.2 P.O.Box 79 Sofia 1113 Bulgaria Department of Industrial Automation University of Chemical Technology and Metallurgy 8 Sv. Kliment Ohridski Blvd. Sofia 1756 Bulgaria Department of Engineering Cybernetics Norwegian University of Science and Technology 7491 Trondheim Norway Norwegian University of Science and Technology 7491 Trondheim Norway

ISBN: (纸本)9783902823557

In this paper, a distributed approach to Model Predictive Control (MPC)-based trajectory planning for rotary-wing UAV (Unmanned Aerial Vehicle) communication network topologies under radio path loss constraints is proposed. The goal is to find trajectories that are safe with respect to grounding and collision, fuel efficient and satisfy criteria for communication such that the UAVs form chains to multiple targets with given radio communication capacities. The MPC-based optimization sub-problems are computed autonomously within each UAV, using convex quadratic programming, with the requirement that each UAV communicates its current measured position to all other UAVs. In addition, a simple coordination between UAVs allows for the communication network topology to be reconfigured in case of failures or radio path loss changes. The control performance of the distributed linear MPC trajectory planning is studied based on a simulation case with four UAVs and two targets. Copyright © 2013 IFAC.

关键词： Unmanned aerial vehicles (UAV)

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Rotary-Wing UAVs Trajectory Planning by Distributed Linear MPC with Reconfigurable Communication Network Topologies

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IFAC Proceedings Volumes 2013年第27期46卷 198-205页

作者： Alexandra Grancharova Esten I. Grøtli Tor A. Johansen Institute of System Engineering and Robotics Bulgarian Academy of Sciences Acad. G. Bonchev str. Bl.2 P.O. Box 79 Sofia 1113 Bulgaria (Tel: +*** ) Department of Industrial Automation University of Chemical Technology and Metallurgy 8 Sv. Kliment Ohridski Blvd. Sofia 1756 Bulgaria Department of Engineering Cybernetics Norwegian University of Science and Technology 7491 Trondheim Norway Center for Autonomous Marine Operations and Systems (AMOS) Department of Engineering Cybernetics Norwegian University of Science and Technology 7491 Trondheim Norway

关键词： Autonomous vehicles, Radio-communication, Path planning, Predictive control, Distributed control, Constraints, Multi-vehicle coordination

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Theoretical analysis of friction compensation using sliding mode control

Theoretical analysis of friction compensation using sliding ...

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4th International Conference on Mechanical and Electrical Technology, ICMET 2012

作者： Rafan, N.A. Jamaludin, Z. Tjahjowidodo, T. Chey, L.S. Chiew, T.H. Department of Robotics and Automation Faculty of Manufacturing Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Level 2 Singapore 639798 Singapore

ISBN: (纸本)9783037855102

Friction is an undesired nonlinear phenomenon that reduces position and tracking accuracy in machine tools application. This paper focuses on development of control technique to compensate friction force at motion reversal of a drive system that generates quadrant glitch phenomenon thus improving tracking accuracy. Sliding Mode Control (SMC) is designed to compensate friction. The Generalized Maxwell-Slip (GMS) friction model is applied for numerical analysis. The performance of the controller is analysed based on the reduction in the quadrant glitches magnitude. The performance of the SMC controller is compared with the classical PID controller. Results show that SMC controller yields the smallest quadrant glitch magnitudes. © (2012) Trans Tech Publications, Switzerland.

关键词： Controllers

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Object pose estimation and tracking by fusing visual and tactile information

Object pose estimation and tracking by fusing visual and tac...

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2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2012

作者： Bimbo, Joao Rodriguez-Jimenez, Silvia Liu, Hongbin Song, Xiaojing Burrus, Nicolas Senerivatne, Lakmal D. Abderrahim, Mohamed Althoefer, Kaspar Centre for Robotics Research King's College London WC2R 2LS London United Kingdom Department of Systems Engineering and Automation Carlos III University of Madrid Leganés Spain

ISBN: (纸本)9781467325110

Robot grasping and manipulation require very accurate knowledge of the object's location within the robotic hand. By itself, a vision system cannot provide very precise and robust pose tracking due to occlusions or hardware limitations. This paper presents a method to estimate a grasped object's 6D pose by fusing sensor data from vision, tactile sensors and joint encoders. Given an initial pose acquired by the vision system and the contact locations on the fingertips, an iterative process optimises the estimation of the object pose by finding a transformation that fits the grasped object to the finger tips. Experiments were carried out in both simulation and a real system consisting of a Shadow arm and hand with ATI Force/Torque sensors instrumented on the fingertips and a Microsoft Kinect camera. In order to make the method suitable for real-time applications, the performance of the algorithm was investigated in terms of speed and accuracy of convergence. © 2012 IEEE.

关键词： Iterative methods

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Mapping utility infrastructure via underground GPS positioning with autonomous telerobotics

Mapping utility infrastructure via underground GPS positioni...

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Pipelines 2012: Innovations in Design, Construction, Operations, and Maintenance - Doing More with Less

作者： Baiden, G. Bissiri, Y. Luoma, S. Henrich, G. Department of Robotics and Automation School of Engineering Laurentian University Sudbury ON Canada Penguin Automated Systems Inc 1755 Regional Road 55 Naughton ON P0M 2M0 Canada

ISBN: (纸本)9780784412480

This paper presents technology applications from the autonomous mining and construction industries in tunnel and underground environments as applied to critical large diameter utility infrastructure. A self-contained inertial navigation system for the positioning and mapping of underground infrastructures is a significant development in tunnel profiling, 3D referencing and gyro/laser surveying;a key service offered by the results of this project. The underground positioning relies on a network of satellites placed to surround an area of interest, with a range of up to 2km through soil or rock with accuracy better than 3%, enabling accurate positioning of underground assets. The robotic mapping system has the capabilities to accurately map tunnels, pipes and conduits, in detail and sequentially transfer the data collected into popular engineering CAD systems. A specialized military grade inertial referencing system (IRS) linked to multiple scanners provides high precision profiling while measuring roughness, deflection, ovality and positioning. The IRS component is linked to multiple laser scanners supplying high precision profiling while being driven forward. Laser scanning collects hundreds of data points per second linked to an accurate position through the IRS. All data is collected to on-board computer hard drives and transferred to the engineering office via memory storage systems or directly by wireless networks set up within the pipeline. Combining sectional scans with positioning and altitude data in real time creates 3D maps for surface referencing, a valuable service for pinpointing underground infrastructure problem locations in relation to surface features enabling informed risk management decisions. © 2012 American Society of Civil engineering.

关键词： Inertial navigation systems

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An omnidirectional mobile robot

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Science China(Information Sciences) 2011年第12期54卷 2651-2658页

作者： YE ChangLong 1,2 , MA ShuGen 2,3 & HUI Li 1 1 School of Mechatronics engineering, Shenyang Aerospace University, Shenyang 110136, China 2 State robotics Laboratory, Shenyang Institute of automation, Shenyang 110016, China 3 department of robotics, Ritsumeikan University, Kusatsu 525-8577, Japan 1. School of Mechatronics Engineering Shenyang Aerospace University Shenyang 110136 China2. State Robotics Laboratory Shenyang Institute of Automation Shenyang 110016 China3. Department of Robotics Ritsumeikan University Kusatsu 525-8577 Japan

A novel omnidirectional wheeled mobile robot, mainly composed of three special wheeled structures-MY wheel, is developed in this paper. Based on the movement principle of sphere, the sphere of the special wheel is divided into contact part and non-contact part. The function of the omnidirectional wheel is realized utilizing the mutual complementarities of the two parts of the sphere. The passive rotational axes of two parts of the sphere are in staggered arrangement to each other at an angle of 45 degrees to realize continuous contact with the ground. At the same time, this structure also improves the strength of omnidirectional wheel. It is verified by the kinematic analysis and simulation of the wheeled mobile mechanism that the mechanism can achieve the omnidirectional movement. It is also proved by the movement experiment of the mobile robot that the omnidirectional mechanism can not only achieve the omnidirectional movements but also step over obstacles.

关键词： omnidirectional mobile robot mechanism design kinematics

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A Simple and Low Cost Device for Automatically Supervising Urine Output of Critical Patients

A Simple and Low Cost Device for Automatically Supervising U...

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4th International Joint Conference on Biomedical engineering Systems and Technologies, BIOSTEC 2011

作者： Otero, Abraham Palacios, Francisco Apalkov, Andrey Fernández, Roemi Department of Information Systems Engineering University San Pablo CEU 28668 Madrid Spain Critical Care Unit University Hospital of Getafe Getafe Carretera Toledo KM 12.500 28901 Madrid Spain Centre for Automation and Robotics CSIC-UPM Ctra. Campo Real Km. 02 La Poveda Arganda del Rey 28500 Madrid Spain

Nowadays, patients admitted to critical care units have most of their physiological parameters sensed by sophisticated commercial monitoring devices. These devices also supervise whether the values of the parameters lie within a preestablished range of normality set by the clinician. If any of the parameters leaves its normality range, an alarm will be triggered. The automation of the sensing and supervision of physiological parameters discharges the healthcare staff of a considerable workload. It also avoids human errors, which are common in repetitive and monotonous tasks. Urine output is a physiological parameter that, despite being of great relevance in the treatment of critical care patients, is still measured and supervised manually. This paper presents a device capable of sensing and supervising urine output automatically. The device uses reed switches that are activated by a magnet that is attached to a float in order to measure the amount of urine collected in two containers. An electronic unit sends the state of the reed switches to a PC, which supervises the achievement of therapeutic goals. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Reed relays

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Robust guaranteed cost control of linear systems with norm bounded uncertainties and external disturbance

Robust guaranteed cost control of linear systems with norm b...

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2010 IEEE International Conference on Information and automation, ICIA 2010

作者： Zhang, Fei Liu, Guangjun Wang, Hongguang Fang, Lijin State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Department of Aerospace Engineering Ryerson University Toronto ON M5B 2K3 Canada School of Mechanical Engineering and Automation Northeastern University Shenyang 110004 China Graduate School Chinese Academy of Sciences Beijing 100039 China

ISBN: (纸本)9781424457021

This paper proposes a robust guaranteed cost control method for a linear system with norm bounded time varying parametric uncertainties and external disturbance. Using the Lyapunov stability theory and linear matrix inequality method, a robust guaranteed cost control law is derived to guarantee that the closed loop system is not only stable, but also has adequately quadratic and H∞ performance levels for all the admissible uncertainties and external disturbance. A convex optimization problem is formulated to obtain the optimal state feedback controller which can minimize the quadratic and H ∞ performance levels. Based on the model of the robot prototype for inspecting power transmission lines, simulation results verify the effectiveness of the proposed method. ©2010 IEEE.

关键词： Linear matrix inequalities

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