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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Micha Heiß Jakob Grimm Hansen Dengyun Li Michał Kozłowski Erdal Kayacan Department of Electrical and Computer Engineering Artificial Intelligence in Robotics Laboratory (AiR Lab) Aarhus University Aarhus C Denmark Department of Electrical Engineering and Information Technology Automatic Control Group Paderborn University Paderborn Germany

This paper proposes PredictiveSLAM, a novel extension to ORB-SLAM2, which extracts features from specific regions of interest (ROI). The proposed method was designed with the risk posed both to humans and robotic systems in large-scale industrial sites in mind. The ROI are determined through an object detection network trained to detect moving human beings. The method detects and removes humans from feature extraction, predicting their potential future trajectory. This is done by omitting a specific ROI from extraction, deemed to be occluded in consecutive time steps. Two masking methods -static object and moving object trajectories - are proposed. This approach improves tracking accuracy and the performance of SLAM by removing the dynamic features from the reference for tracking and loop closures. The method is tested on data collected in a laboratory environment and compared against a state-of-the-art ground truth system. The validation data was collected from real-time experiments which aimed at simulating the typical human worker behaviours in industrial environments using an unmanned aerial vehicle (UAV). This study illustrates the advantages of the proposed method over earlier approaches, even with a highly dynamic camera setup on a UAV working in challenging environments.

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Robot-CT Scanning Oriented Synchronous Trajectory Planning of a Dual-Manipulator System

Robot-CT Scanning Oriented Synchronous Trajectory Planning o...

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Chinese control Conference (CCC)

作者： Shuaikang Zhang Mingxing Yuan Xuebo Zhang Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin P. R. China Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing P. R. China

At present, most CT scanning systems adopt the traditional horizontal O-frame, suspension or C-arm structures, which can not balance the flexibility and functionality. With the development of robot technology, CT scanning systems based on manipulators have gradually emerged. However, limited by the motion accuracy of the manipulator, most researchers sacrifice the flexibility or increase the mass to improve the accuracy. To overcome this limitation, a new master-slave teaching-based scanning method is proposed to improve the scanning accuracy of the dual-manipulator Robot-CT system with the auxiliary function of rigid links. First, a rigid link is employed to connect the end effectors of the two manipulators. Next, the sampled trajectory of each joint of the slave-manipulator is recorded while the master-manipulator pulls the slave-manipulator to perform a circular motion. Finally, when carrying out the scanning, the dual-manilupator system reproduces the recorded joint trajectory without the rigid element, thereby improving the accuracy of the dual-manipulator CT scanning system to achieve a high-accuracy spatiotemporal synchronization and alignment of pose. To this end, a fifth-order spline interpolation is used to interpolate the sampled trajectory of each joint of the slave-manipulator, which allows it to perfectly reproduce the joint trajectory recorded during the teaching process and ensures the smoothness of the angular velocity and acceleration curves. Simulations are investigated and the corresponding results confirm the effectiveness of the trajectory planning method of the slave-manipulator.

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A Novel ADRC control Strategy for PWM Rectifier

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IFAC-PapersOnLine 2023年第2期56卷 422-427页

作者： Wei Wang Zixin Huang Ziang Wei Lejun Wang School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan China Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing China

Aiming at current harmonics, disturbance immunity and energy efficiency of pulse width modulation (PWM) rectifier system, a novel active disturbance rejection control (ADRC) strategy based on equivalent input disturbance (EID) is proposed. The circuit equations of the system are established, and then the underactuated characteristics of the model are used to design a dual closed-loop control strategy. Based on the conventional ADRC voltage loop controller, a new nonlinear error state feedback function is constructed by using the error estimation of the EID control to design a improved ADRC control strategy. The current loop adopts sliding mode controller. Simulation models are built by Matlab/Simulink, and conducted comparative tests. The results demonstrate that the novel ADRC control strategy has better performance than the traditional ADRC control strategy, faster DC voltage response rate, higher power factor and better results in resisting voltage disturbance and load disturbance.

关键词： PWM rectifier Underactuated characteristics Equivalent input interference Active disturbance rejection control Sliding mode control

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Dielectric Elastomer Actuator biased by Magnetorheological Elastomer with Permanent Magnet

arXiv

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arXiv 2023年

作者： Bernat, Jakub Kolota, Jakub Gajewski, Piotr Marcinkowska, Agnieszka Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Institute of Chemical Technology and Engineering Poznan University of Technology Berdychowo 4 Poznan60-965 Poland

Dielectric elastomer actuators have become one of the most important smart material transducers in recent times. One of the crucial aspects in this field is the application of bias to find the best operating conditions. The basic task is to find the proper bias configuration to obtain a wide range of displacements in the actuator. In the literature, various biases, such as mechanical springs, permanent magnets, or pneumatic springs, are studied. In our work, the magnetorheological elastomer is applied to build a novel bias that ensures a wide range of displacement. Because of the softness and the compliant chemical structure, the magnetorheological elastomer can be easily integrated with the dielectric elastomer actuator. The magnetorheological elastomer as a bias for a dielectric elastomer actuator is verified in the series of experiments. Finally, the discussion on the advantages and disadvantages of the new bias type is performed. Copyright © 2023, The Authors. All rights reserved.

关键词： Permanent magnets

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Identification of aircraft aerodynamic derivatives based on photogrammetry and computational fluid dynamics 1

Identification of aircraft aerodynamic derivatives based on ...

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1st International Conference on Emerging Electrical Energy, Electronics and Computing Technologies 2019, ICE4CT 2019

作者： Aati, S. Nejim, S. Automatic Control and Marine Robotics Research Unit Naval Academy of Tunisia 7050 Menzel Bourguiba Tunisia

Nowadays, Computational Fluid Dynamic (CFD) analysis is one of the most affordable techniques to determine the aerodynamic characteristics of an aircraft. It allows a development of advanced flight controllers. However, the accuracy of this technique depends on the input parameters such as the solid model. This paper describes a methodology to estimate aerodynamic derivatives of a Cessna 182 aircraft based on solid model established by using photogrammetry technique. 312 images have been taken using Canon D750 camera with a 24 mm lens. A dense point cloud of the aircraft was generated using MicMac photogrammetry software. Then, the aircraft 3D-geometry was extracted in order to create the CAD model. Afterwards, parameters such as lift and drag coefficients were estimated at different angles of attack using Ansys Fluent software. The simulation results show that the lift and drag increase up to stall angle, then the lift starts to decrease. These results matches the theoretical ones. © Published under licence by IOP Publishing Ltd.

关键词： 3D modeling

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Design of Output and Impacts control Systems

Design of Output and Impacts Control Systems

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International Russian Automation Conference (RusAutoCon)

作者： Anatoly Gaiduk Nikolay Prokopenko Vladislav Chumakov Dept. of Automatic Control Systems Scientific Design Office Robotics and Control Systems Taganrog Southern Federal University Rostov-on-Don Russia Dept. of Scientific Research Dept. of Information Systems and Radio Engineering Don State Technical University Rostov-on-Don Russia

To design linear control systems a new method is suggested on the basis of the principle of output and impacts control. The main difference of this principle consists in the use of only measurable variables and separate operators for each input signal of the control device. The design problem has a solution if the plant is completely controllable, and at least the controllable variable is measured. The suggested approach makes it possible to eliminate the well-known contradiction between the accuracy and stability of systems with control on deviation, and to provide the required astatism orders or selective invariance to the external actions. At the same time, the conditions of ensuring the direct indicators of the transient quality and the physical implementation of the control device are taken into account. The coefficients of the equation of the output and impacts control device are determined by solving a system of linear algebraic equations. The control device can be implemented on the basis of either operational amplifiers or sufficiently high-speed digital automation tools. The suggested method can be applied for designing high-quality linear control systems for various purposes.

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High-Accuracy Pose Estimation for 3D Reconstruction Considering the Manipulator Motion Constraints with an Eye-in-Hand RGB-D Camera

High-Accuracy Pose Estimation for 3D Reconstruction Consider...

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Chinese control Conference (CCC)

作者： Yanling Zhou Xuebo Zhang Runhua Wang Shiyong Zhang Mingxing Yuan Jing Yuan Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin P. R. China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin P. R. China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education

Three-dimensional(3D) environmental reconstruction of the manipulator workspace is a prerequisite to enable autonomous collision-free path planning and subsequent task execution, wherein the positioning accuracy of the equipped sensor is one key issue to determine the performance of 3D reconstruction. In this paper, an eye-in-hand RGB-D camera is used to complete the manipulator workspace scanning and a novel high-accuracy pose estimation method for 3D reconstruction is proposed, which not only considers the geometric and photometric constraints constructed from the visual information used in traditional methods, but also considers the manipulator motion constraints since the positioning accuracy of the manipulator is usually high. Based on above three constraints, three error functions are constructed respectively and fused with different weights to form an integrated objective function. Then, the problem is converted into solving the least squares problem by the Gaussian Newton nonlinear iterative method, which involves the computation of Jacobian matrices and residuals of the three error functions. To this end, the mathematical derivation of their formulas considering the manipulator motion constraints are given in detail. By qualitative and quantitative experimental comparison with traditional methods, the proposed method can greatly improve the accuracy of pose estimation and 3D reconstruction, which always maintains the error within 3 cm, and show good robustness even in the challenging environments with weak texture or geometric features. (Supplemented video link: https://***/FkFTxssnWms)

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Modelling and control of a Parametric Wafer Manufacturing Process

Modelling and Control of a Parametric Wafer Manufacturing Pr...

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IEEE/IAS International Conference on Industry Applications (INDUSCON)

作者： Fotis N. Koumboulis Dimitrios G. Fragkoulis Dimitrios Mparkas Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National and Kapodistrian University of Athens Euripus Campus Greece Core Department National and Kapodistrian University of Athens Euripus Campus Greece

In the present paper the mathematical model of a wafer manufacturing process is presented using Discrete Event Systems. The novelty of the proposed mathematical description is the parametric number of vacuum chambers and robotic manipulators, as well as that three vacuum chambers and the respective buffers are served by each robotic manipulator. The last robotic manipulator serves a parametric number of champers depending on the total number of vacuum chambers modulo 3. The desired behavior of the process is expressed in the form of a set of regular languages. The realization of each regular language in the form of a supervisor automaton is developed. The satisfactory performance of the controlled automaton is derived. The present result can be considered as the first attempt towards the study of wafer manufacturing processes, where each robotic manipulator serves a parametric number of vacuum chambers and buffers.

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Mechatronics system for solving SuDoKu puzzle based on Cartesian robot

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IFAC-PapersOnLine 2024年第9期58卷 149-153页

作者： Radosław Tomaszewski Wojciech Walendziuk Roman Trochimczuk Adam Wolniakowski Kacper Jaroszewicz Zdenek Slanina Doctoral School of Bialystok University of Technology Bialystok Poland Department of Electrotechnics Power Electronics and Electrical Power Engineering Bialystok University of Technology Bialystok Poland Department of Automatic Control and Robotics Bialystok University of Technology Bialystok Poland VSB – Technical University of Ostrava 17. listopadu 2172/15 Ostrava - Poruba Czech Republic

The article describes an original solution of a mechatronic device with a Cartesian robot and a character recognition system for autonomous solving the SuDoKu puzzle. The device demonstrates the use of intelligent mechatronic devices for tasks that are difficult to algorithmize. The work contains a description of the mechanical executive system, including the motor apparatus of the system, a description of the electrical and information subsystem, and the software responsible for controlling the device in question. The OCR system operation principle, responsible for recognizing and locating characters on the SuDoKu board, is explained in the article. It also presents how to find a solution using the Backtracking algorithm. The results of testing the correct operation of the designed mechatronic system and estimating the execution time of individual test tasks are presented here.

关键词： Artificial Intelligence Smart Mechatronics SuDoKu Optical Character Recognition Cartesian Robot

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control of the Inverted Pendulum Using Quickly Adjustable, Discrete FOPID controller 20th

Control of the Inverted Pendulum Using Quickly Adjustable, ...

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20th Polish control Conference, PCC 2020

作者： Oprzędkiewicz, Krzysztof Dziedzic, Klaudia Rosól, Maciej Żegleń, Jakub Department of Automatic Control and Robotics AGH University Al. Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9783030509354

In the paper the control of inverted pendulum by discrete, Quickly Adjustable Fractional Order PID (QAFOPID) controllers is addressed. The fractional order parts of the both controllers are approximated using CFE approximation. The fractional orders can be easily switched using predefined CFE coefficients loaded from memory. The QAFOPIDs were tuned using GWO optimizer and simulations. Results of simulations and experiments show that the use of QAFOPID controllers allows one to obtain good control performance in the sense of the considered cost function. © 2020, Springer Nature Switzerland AG.

关键词： Real time systems

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