We study the problem of formation control and trajectory tracking for a group of fully actuated marine vehicles, in the presence of uncertainties and unknown disturbances. The objective is to achieve and maintain desi...
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We study the problem of formation control and trajectory tracking for a group of fully actuated marine vehicles, in the presence of uncertainties and unknown disturbances. The objective is to achieve and maintain desired formation tracking, and guarantee no collision between the marine vehicles. The control development relies on existing potential functions which fall at a minimum value when the vehicles reach the desired formation, and blow up to infinity when the vehicles approach collision. The combination of the potential functions, backstepping and variable structure based design technique allows us to handle time varying disturbances by ensuring a stable formation. Using the sliding-Backstepping technique and Lyapunov synthesis, a stable coordination tracking controller is designed. Uniform boundedness of the closed loop signals system is achieved.
This paper considers the cooperative control problem of networked class of underactuated systems. We propose a new set up for synchronization of this type of systems based on the use of passivity as a design tool to s...
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This paper considers the cooperative control problem of networked class of underactuated systems. We propose a new set up for synchronization of this type of systems based on the use of passivity as a design tool to solve the problem in hand. First the underactuated system is transformed to a class of nonlinear system with chain structure using a suitable non-linear static feedback. The cooperative control is designed using a combination of the standard backstepping procedure and the passivity theory by which a synchronizing outputs are constructed recursively then shared within the group. The proposed design technique is based on strongly connected digraph communication structures. Numerical simulations are carried out to illustrate the effectiveness of the proposed approach.
Advancements in wearable robots aim to improve the users' motion, performance, and comfort by optimizing, mainly, energetic cost (EC). However, EC is a noisy measurement with a physiological delayed response that ...
Advancements in wearable robots aim to improve the users' motion, performance, and comfort by optimizing, mainly, energetic cost (EC). However, EC is a noisy measurement with a physiological delayed response that requires long evaluation periods and wearing an uncomfortable mask. This study aims to estimate and minimize an EMG-based objective function that describes the natural energetic expenditure of individuals walking. This objective is assessed by combining multiple electromyography (EMG) variables from the EMG intensity and muscle synergies. To evaluate this objective function simply and repeatedly, we prescribed step frequency (SF) via a metronome and optimized this frequency to minimize muscle activity demands. Further, a linear mixed-effects model was fitted for EC, with the EMG variables as fixed-effects and a random intercept that varies by participant. After the model was fitted to the data, a cubic polynomial was used to identify the optimal SF that reduces the overall EMG-based objective function. Our analysis outlines that the proposed objective function is comparable to the EC during walking, the primary objective function used in human-in-the-loop optimization. Thus, this EMG-based objective function could be potentially used to optimize wearable robots and improve human-robot interaction.
By creating a dependable, transparent, and cost-effective system for forecasting and ongoing environmental impact monitoring of exploration and exploitation activities in the deep sea, TRIDENT seeks to contribute to t...
By creating a dependable, transparent, and cost-effective system for forecasting and ongoing environmental impact monitoring of exploration and exploitation activities in the deep sea, TRIDENT seeks to contribute to the sustainable exploitation of seabed mineral resources. In order to operate autonomously in remote locations under harsh conditions and send real-time data to authorities in charge of granting licenses and providing oversight, this system will create and integrate new technology and innovative solutions. The efficient monitoring and inspection system that will be created will abide by national and international legal frameworks. At the sea surface, mid-water, and the bottom, TRIDENT will identify all pertinent physical, chemical, geological, and biological characteristics that must be monitored. It will also look for data gaps and suggest procedures for addressing them. These are crucial actions to take in order to produce accurate indicators of excellent environmental status, statistically robust environmental baselines, and thresholds for significant impact, allowing for the standardization of methods and tools. In order to monitor environmental parameters on mining and reference areas at representative spatial and temporal scales, the project consortium will thereafter develop and test an integrated system of stationary and mobile observatory platforms outfitted with the most recent automatic sensors and samplers. The system will incorporate high-capacity data processing pipelines able to gather, transmit, process, and display monitoring data in close to real-time to facilitate prompt actions for preventing major harm to the environment. Last but not least, it will offer systemic and technological solutions for predicting probable impacts of applying the developed monitoring and mitigation techniques.
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