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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Andrzej M.J. Skulimowski Wojciech Szulc Decision Science Laboratory AGH University Kraków Poland International Center for Decision Sciences and Forecasting Progress & Business Foundation Kraków Poland Automatic Control and Robotics AGH University

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This article studies the deployment of autonomous robots in smart environments equipped with Industrial Internet of Things (IIoT) infrastructure. First, we characterize state-of-the-art IIoT solutions based on a bibliographic and openweb surveys, focusing on the interaction between autonomous robots and the IIoT infrastructures in the context of Robot-as-a-Service (RaaS) paradigm. Then, we define the criteria and requirements for optimal integration of a robot team equipped with an Internet of Vehicles (IoV) communication protocol with an existing IIoT. Sensors, edge devices, and data exchange algorithms are highlighted as crucial elements of seamless soft- and hardware integration. Establishing a quick interaction of robot decision-making algorithms with IIoT is seen as instrumental in identifying bottlenecks and vulnerabilities of the overall system, and a key to its desired performance. Another relevant issue is safety assurance of robot team in an IIoT environment as reflected in the appropriate standards that advocate responsible and sustainable technological progress in AI-enabled robotic systems. Finally, we will provide a real-life application example illustrating the principles and advantages of appropriate multirobot team integration in covered crops smart horticulture. This example pertains to the relevant area of Agricultural IoT (AIoT) applications, specifically focusing on the design of autonomous fruit-picking robots embedded in a greenhouse or polytunnel control infrastructures. Existing AIoT and crop control is integrated with robot software such as anticipatory coordination algorithms, world model building, navigation, and SLAM. Optimal integration is reached via a prior simulation with a dedicated Digital Twin application implemented in Matlab.

关键词： Performance evaluation Protocols Service robots Robot kinematics Mathematical models Safety Robots Standards Industrial Internet of Things Autonomous robots

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Combined Filters Design, Using the Principle of Internal Models

Combined Filters Design, Using the Principle of Internal Mod...

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International Russian Automation Conference (RusAutoCon)

作者： Anatoly Gaiduk Darya Denisenko Nikolay Prokopenko Department of Automatic Control Systems Southern Federal University Scientific Design Office Robotics and Control Systems Taganrog Rostov-on-Don Russia Department of scientific research Department of Automatic Control Systems Don State Technical University Southern Federal University Rostov-on-Don Russia Department of Information Systems and Radio Engineering Don State Technical University Rostov-on-Don Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

To design active analog, discrete-analog and digital filters a new method is suggested, taking into account the conditions of selective invariance and using the internal models principle of the dynamic systems. For this purpose, the structure of each basic filter ensures the presence of an explicit spectral model of the filtered signal. Such a filter is selectively invariant, and this property depend only on the spectrum-setting parameters and do not depend on other parameters. It is suggest-ed to carry out the design of the combined selective filters by integration of the suggested basic second-order filters, focusing on the log magnitude plot of the latter. This makes possible to minimize the order of the combined both analog and digital filters. The combined selective filters are distinguished by high stability of selective properties and can be used in the systems for measurement, signal processing, data transmission, as well as automatic and automated control of various social, production and special facilities.

关键词： Automation Filtering Focusing Production Signal processing Stability analysis Data communication Digital filters Dynamical systems

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Enhancing Thin-Film Wafer Inspection With A Multi-Sensor Array And Robot Constraint Maintenance

arXiv

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arXiv 2025年

作者： Sánchez-Arriaga, Néstor Eduardo Canzini, Ethan Espley-Plumb, Nathan John Farnsworth, Michael Pope, Simon Leyland, Adrian Tiwari, Ashutosh Department of Automatic Control & Systems Engineering University of Sheffield Sheffield United Kingdom Department of Materials Science & Engineering University of Sheffield Sheffield United Kingdom Airbus Robotics Airbus UK Chester United Kingdom

Thin-film inspection on large-area substrates in coating manufacture remains a critical parameter to ensure product quality;however, extending the inspection process precisely over a large area presents major challenges, due to the limitations of the available inspection equipment. An additional manipulation problem arises when automating the inspection process, as the silicon wafer requires movement constraints to ensure accurate measurements and to prevent damage. Furthermore, there are other increasingly important large-area industrial applications, such as Roll-to-Roll (R2R) manufacturing where coating thickness inspection introduces additional challenges. This paper presents an autonomous inspection system using a robotic manipulator with a novel learned constraint manifold to control a wafer to its calibration point, and a novel multi-sensor array with high potential for scalability into large substrate areas. We demonstrate that the manipulator can perform required motions whilst adhering to movement constraints. We further demonstrate that the sensor array can perform thickness measurements statically with an error of 0.5◦ from the calibration point whilst monitoring the RMSE and R2 over 1406 data points. These features are potentially useful for detecting displacement variations in R2R manufacturing processes. © 2025, CC BY-NC-ND.

关键词： Silicon wafers

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An algorithm for modeling an environment and creating a semantic model of its topology

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Procedia Computer Science 2021年 192卷 612-621页

作者： Daniel Figurowski Paweł Dworak Department of Automatic Control and Robotics West Pomeranian University of Technology Szczecin Poland

This paper discusses the problem of a semantic topology map generation during the environment mapping process. A method is proposed which provides a model of a mobile robot’s working space. The proposed world representation is divided into two maps: semantic topology map and metric map. The first one is created by employing graph structure which describes relations between different zones generated during exploration of the environment, and the metric one which defines zones by expandable polygonal chain of border points. The acquired hierarchical world model can be used in the path planning and decision tasks in a human-friendly way by the means of semantic sentences. Such approach increases versatility of human-robot cooperation. The proposed algorithm has been validated in an experiment and the obtained results which shows a good performance of the devised method are presented.

关键词： environment mapping topology graph semantic map

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control for Nonlinear Electric Drive System of the Lower Limb Exoskeleton

Control for Nonlinear Electric Drive System of the Lower Lim...

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Electrical Engineering, Automation & control Systems, Theory and Practical Applications (EEACS), Seminar on

作者： Dinh Dang Truong Nguyen Van Lanh Nguyen Dinh Khanh Department of Automatic Control Systems Naval Academy Nha Trang Viet Nam Department of Robotics and Industrial Automation Saint Petersburg Electrotechnical University "LETI" Saint Petersburg Russia Department of Automatic Control Systems Saint Petersburg Electrotechnical University "LETI" Saint Petersburg Russia

The paper presents a method of sliding control for nonlinear electrical drive system to eliminate the influence of nonlinear factors and external disturbances on stability and position tracking of movement of the lower limb exoskeleton. Sliding control solves a powerful non-linear problem of a moving exoskeleton object with uncertain dynamic model parameters, friction elements, and external disturbance to ensure convergence and stability of the joint angle position tracking error. Modelling the dynamic movement of the lower limb exoskeleton by the mathematical method is established, which includes five links with the consideration of nonlinear elements of friction, elasticity and external disturbance to evaluate the effectiveness of the recommended control method. The stability of the recommended controller and the tracking efficiency of the control system are demonstrated by applying the theorem of Lyapunov stability and simulation in the Matlab/Simulink environment.

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Estimation of Faults for Some Class of Fractional-Order Systems

Estimation of Faults for Some Class of Fractional-Order Syst...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Stefan Domek Marcin Witczak Marcin Pazera Department of Automatic Control and Robotics West Pomeranian University of Technology in Szczecin ul. Sikorskiego 37 Szczecin Poland Institute of Control and Computation Engineering University of Zielona Góra ul. Szafrana 2 Zielona Góra Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

This paper presents the design of a robust estimator for simultaneous actuator and sensor faults aimed at Fault Diagnosis (FD) in a specific class of fractional-order digital systems. The proposed ${\mathcal{H}}_{\infty}$ estimator design methodology ensures a specified disturbance attenuation level and convergence, making it suitable for both fault diagnosis and fault-tolerant control applications.

关键词： Fault diagnosis Fault tolerance Actuators Digital systems Design methodology Fault tolerant systems Estimation

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Lipschitz-Bounded 1D Convolutional Neural Networks using the Cayley Transform and the controllability Gramian

Lipschitz-Bounded 1D Convolutional Neural Networks using the...

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IEEE Conference on Decision and control

作者： Patricia Pauli Ruigang Wang Ian R. Manchester Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Australia

We establish a layer-wise parameterization for 1D convolutional neural networks (CNNs) with built-in end-to-end robustness guarantees. In doing so, we use the Lipschitz constant of the input-output mapping characterized by a CNN as a robustness measure. We base our parameterization on the Cayley transform that parameterizes orthogonal matrices and the controllability Gramian of the state space representation of the convolutional layers. The proposed parameterization by design fulfills linear matrix inequalities that are sufficient for Lipschitz continuity of the CNN, which further enables unconstrained training of Lipschitz-bounded 1D CNNs. Finally, we train Lipschitz-bounded 1D CNNs for the classification of heart arrythmia data and show their improved robustness.

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Investigating the Power Budget of a 3U Nanosatellite Designed for Earth Observation 10

Investigating the Power Budget of a 3U Nanosatellite Designe...

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10th IEEE International Workshop on Metrology for AeroSpace, MetroAeroSpace 2023

作者： Daghouri, Amina El Hachimi, Youssef Ouhammam, Abdelaali Chanoui, Mohammed Alae Elhani, Soumia Mahmoudi, Hassane ENSAM University Center for Research in Space Technologies Energy Optimization Diagnosis and Control Team EMI Mohammed v University Rabat Morocco Power Electronics Smart Control Techniques Automatic and Robotics Team EMI University Center for Research in Space Technologies EMI Mohammed v University Rabat Morocco EST University Center for Research in Space Technologies LASTIMI Laboratory EMI Mohammed v University Rabat Morocco

ISBN: (纸本)9781665456906

The Electrical Power System (EPS) is one of the most critical subsystems of a nanosatellite. Thus, its design should be done carefully for a successful mission. To verify that the power needs of its subsystems does not exceed the power available, a power budget should be established. The purpose of this work is to evaluate the 3U nanosatellite's EPS by analyzing its power budget using Systems Tool Kit (STK) software. In this study, the orbital design, the sizing of the PV panels and the batteries used are presented. The simulation is done taking into account the worst case assumptions: the sun-synchronous Low Earth Orbit (LEO) orbit with the longest eclipse period, the worst case solar irradiance of 1316 W/m2. The results of the power budget established confirm the selection and the sizing of PV panels and the batteries. © 2023 IEEE.

关键词： Electric power utilization

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Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators

arXiv

引用

arXiv 2022年

作者： Becker, Marvin Caspers, Philipp Hattendorf, Tom Lilge, Torsten Haddadin, Sami Müller, Matthias A. Institut of Automatic Control Leibniz University Hannover Germany Munich School of Robotics and Machine Intelligence and Robotics and System Intelligence Technical University Munich Germany

In this paper a global reactive motion planning framework for robotic manipulators in complex dynamic environments is presented. In particular, the circular field predictions (CFP) planner from Becker et al. (2021) is extended to ensure obstacle avoidance of the whole structure of a robotic manipulator. Towards this end, a motion planning framework is developed that leverages global information about promising avoidance directions from arbitrary configuration space motion planners, resulting in improved global trajectories while reactively avoiding dynamic obstacles and decreasing the required computational power. The resulting motion planning framework is tested in multiple simulations with complex and dynamic obstacles and demonstrates great potential compared to existing motion planning approaches. © 2022, CC BY.

关键词： Motion planning

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Measurement of unbalanced voltages in three-phase induction motors using acoustic transducers and zero-crossing-weighted energy 5

Measurement of unbalanced voltages in three-phase induction ...

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5th International Symposium on Instrumentation Systems, Circuits and Transducers, INSCIT 2021

作者： Lucas, Guilherme Beraldi De Castro, Bruno Albuquerque Alves, Brigite Peinado Glowacz, Adam Andreoli, Andre Luiz Sao Paulo State University Department of Electrical Engineering Bauru Brazil AGH University of Science and Technology Department of Automatic Control and Robotics Krakow Poland

ISBN: (纸本)9781728197265

In modern industries, transducers and measurement systems have been largely applied for equipment monitoring. In this context, three-phase induction motors (TIMs) are the main focus of predictive maintenance due to their relevance within the production lines. Among electrical and mechanical failures in TIMs, voltage unbalance (VU) is a critical condition that can lead the motor to total failure. It motivated the development of sensor-based solutions to diagnose this supply anomaly, including the acoustic emission (AE) technique, which stands out as a non-invasive alternative for fault diagnosis. However, none of the previous works carried out a comprehensive evaluation of VU. Therefore, to fill this research gap, this manuscript proposes a detection, phase(s) identification, and percentage classification of VU. This approach is based on AE signals acquired by piezoelectric transducers and Zero-Crossing-Weighted Energy (ZE) to accomplish the analysis. The methodology consisted of several experiments where the TIM was subjected to unbalanced voltages. The signals were processed using the ZE index to perform a 3D clustering map for phase identification and a 2D linear regression for percentage classification. The results showed that the proposed method successfully evaluated the origin and magnitude of VU faults in TIMs. © 2021 IEEE.

关键词： Failure analysis

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