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International Conference on System Theory, Control, and Computing (ICSTCC)

作者： Agustín Jiménez Basil Mohammed Al-Hadithi Luciano Alonso Juan Pérez-Oria Intelligent Control Group CAR Center for Automation and Robotics (UPM-CSIC) Madrid Spain Intelligent Control Group University of Cantabria Spain

In this work, a fuzzy based linear quadratic regulator (FLC-LQR) is developed. The main aim is to obtain an improved performance of non-linear multivariable systems. In this work, the well known weighting parameters approach is applied to optimize local and global approximation and modelling capability of Takagi-Sugeno (T-S) fuzzy model. A multi-input multi-output (MIMO) thermal mixing process system is chosen to evaluate the robustness, effectiveness, accuracy and remarkable performance of estimation approach and the proposed controller. The results obtained show a robust, smooth and well damped response using the proposed FLC-LQR of the system under study.

关键词： MIMO Robustness Nonlinear systems Mathematical model Approximation methods Estimation Equations

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Haptic intention augmentation for cooperative teleoperation

Haptic intention augmentation for cooperative teleoperation

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IEEE International Conference on robotics and automation (ICRA)

作者： Michael Panzirsch Ribin Balachandran Jordi Artigas Cornelia Riecke Manuel Ferre Alin Albu-Schaeffer Insitute for Robotics and Mechatronics German Aerospace Center Oberpfaffenhofen Germany Centre for Automation and Robotics (CAR) Universidad Politécnica de Madrid UPM-CSIC Madrid Spain

Multiple robotic agents, autonomous or teleoperated, can be employed to synergise and cooperate to achieve a common objective more effectively. Tasks using robotic manipulators can be eased and improved in terms of reliability, adaptability and ergonomics via robot cooperation. In spite of visual and haptic feedback, cooperative telemanipulation of multiple robots by distant operators can still be challenging due to practical limitations in synchronisation and supervision. This paper presents a new control approach for haptic intention augmentation between two human operators handling objects via teleoperation in a cooperative manner. The force feedback to each operator is enhanced by information on the motion intention of the other operator observed by a force sensor at the input devices. Besides on-ground experiments, an experiment is presented that involves the cooperative teleoperation of an on-ground robot by a cosmonaut on the International Space Station and another distant operator on ground.

关键词： Force Delay effects Force feedback Robot kinematics Aerospace electronics

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Data-driven fractional PID control: application to DC motors in flexible joints

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IFAC Proceedings Volumes 2012年第3期45卷 709-714页

作者： Jorge Villagra Blas Vinagre Inés Tejado AUTOPIA Program Center for Automation and Robotics (CAR UPM-CSIC) 28500 Arganda del Rey Madrid Spain Industrial Engineering School University of Extremadura 06006 Badajoz Spain.

Recent advances in data-driven (or model-free) control have permitted to enhance the closed loop behavior of linear and especially nonlinear systems using very simple control structures. As a result, unknown or badly known dynamics are compensated and disturbances are rejected without any learning or on-line identification procedure. However, the ultra-local phenomenological models on which this control technique rely have not yet exploited the fractional nature of many processes and the nonlocal nature of the fractional integrodifferential operators. In this paper, fractional derivatives are used in the so called model free control structure in order to explore the advantages they provide in terms of robustness and dynamic response. Fractional and integer order data driven PIDs will be compared for a DC motor in a robot flexible joint control application in a simulation environment.

关键词： PID control fractional control data-driven control

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Real-Time Beach Monitoring: Addressing Beach Safety with UAVs and Computer Vision

Real-Time Beach Monitoring: Addressing Beach Safety with UAV...

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Iberian robotics Conference (ROBOT)

作者： Rodrigo Da-Silva-Gomez Alejandro Rodriguez-Ramos David Perez-Saura Guillermo GP-Lenza Fernando Palacios-Lopez Salvador Dominguez Ana Redondo-Rodriguez Daniel Sanz-Merodio Helder Rodriguez Pascual Campoy Miguel López Computer Vision and Aerial Robotics (CVAR) Centre for Automation and Robotics (CAR) UPM-CSIC ARQUIMEA Research Center (ARC) Universidad Politécnica de Madrid Spain

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

This study employs computer vision techniques to address beach safety concerns, with a focus on camera-equipped UAVs. The UAVs provide five channels of information that require preprocessing and image alignment to remove noise. The main challenges addressed are the identification of dangerous areas and people detection. For segmentation tasks, several lightweight models were evaluated, with YOLOv8-seg demonstrating superior efficiency and computational lightness across diverse conditions. In people detection, YOLOv8 also shows suitable results, identifying beach users, bathers, swimmers, and surfers. These solutions enable the use of UAVs for beach monitoring, providing a foundation for applications that evaluate danger for individuals on the beach. The results demonstrate the models' effectiveness and their capability to be deployed in real-time on board the UAVs.

关键词： Computer vision Image segmentation Computational modeling Noise Real-time systems Safety Computational efficiency Monitoring

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Quantifying Intentional Social Acceptance for Effective Child-Robot Interaction

Quantifying Intentional Social Acceptance for Effective Chil...

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Iberian robotics Conference (ROBOT)

作者： Ericka P. Madrid Ruiz Raquel Cedazo León Cecilia E. García Cena Center for Automation and Robotics (CAR) UPM CSIC Universidad Politécnica de Madrid Spain Departamento de Ingeniería Pontificia Universidad Católica del Perú Perú

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

Child-robot interaction has become an important issue as social robots are increasingly being designed for use in education, healthcare, entertainment, and other fields. Therefore, robot acceptance among children is a relevant topic, especially since most researchers define metrics and measure robot interaction primarily with adults. This has created a gap in defining metrics for measuring child-robot interaction. In response, this paper presents a protocol and results aimed at quantifying intentional social acceptance in interactions between children aged six and a social robotic platform called JARI. The study was conducted in a primary school in Madrid, Spain. The protocol established interactions in a natural setting, specifically a classroom, where children performed guided activities with the robot for 15 minutes. To asses the validity and reliability of the metric the paper presents a confirmatory factor analysis (CFA) and alpha coefficient analysis. The results confirm the validity of the metric, and the data indicate that children demonstrate a high intention to use the robot.

关键词： Measurement Pediatrics Protocols Shape Education Social robots Entertainment industry Medical services Reliability Robots

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A real-time supervised learning approach for sky segmentation onboard unmanned aerial vehicles

A real-time supervised learning approach for sky segmentatio...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Adrian Carrio Carlos Sampedro Changhong Fu Jean-François Collumeau Pascual Campoy Computer Vision Group Center for Automation and Robotics (UPM-CSIC) Madrid Spain School of Mechanical and Aerospace Engineering and ST Engineering-NTU Corp Laboratory Nanyang Technological University Singapore

Vision-based sky segmentation and horizon line detection can be extremely useful to perform important tasks onboard Unmanned Aerial Vehicles (UAVs), such as pose estimation and collision avoidance. Most of the existing vision-based solutions use traditional image processing methods to identify the horizon line. This results in good overall accuracy and fast computation times. However, difficult environmental conditions such as a foggy or cloudy skies hinder correct sky segmentation. This paper proposes a solution for sky segmentation in RGB images using a supervised Machine Learning approach by first splitting the image into fixed-size patches, extracting and classifying color descriptors for each patch and performing a final post-processing stage to improve segmentation quality. A method for automatic horizon line detection is also proposed. The performance of our approach was evaluated on flight images captured onboard UAVs, achieving performance accuracies above 93% at real-time frame rates.

关键词： Image color analysis Image segmentation Aircraft Image edge detection Histograms Real-time systems Unmanned aerial vehicles

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NeRFLight: Fast and Light Neural Radiance Fields using a Shared Feature Grid

NeRFLight: Fast and Light Neural Radiance Fields using a Sha...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Fernando Rivas-Manzaneque Jorge Sierra-Acosta Adrian Penate-Sanchez Francesc Moreno-Noguer Angela Ribeiro Arquimea Research Center Universidad Politecnica de Madrid IUSIANI Universidad de las Palmas de Gran Canaria CSIC-UPC Institut de Robotica i Informatica Industrial CSIC-UPM Centre for Automation and Robotics

While original Neural Radiance Fields (NeRF) have shown impressive results in modeling the appearance of a scene with compact MLP architectures, they are not able to achieve real-time rendering. This has been recently addressed by either baking the outputs of NeRF into a data structure or arranging trainable parameters in an explicit feature grid. These strategies, however, significantly increase the memory footprint of the model which prevents their deployment on bandwidth-constrained applications. In this paper, we extend the grid-based approach to achieve real-time view synthesis at more than 150 FPS using a lightweight model. Our main contribution is a novel architecture in which the density field of NeRF-based representations is split into N regions and the density is modeled using N different decoders which reuse the same feature grid. This results in a smaller grid where each feature is located in more than one spatial position, forcing them to learn a compact representation that is valid for different parts of the scene. We further reduce the size of the final model by disposing of the features symmetrically on each region, which favors feature pruning after training while also allowing smooth gradient transitions between neighboring voxels. An exhaustive evaluation demonstrates that our method achieves real-time performance and quality metrics on a pair with state-of-the-art with an improvement of more than 2× in the FPS/MB ratio.

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Unscented Kalman filter and Magnetic Angular Rate Update (MARU) for an improved Pedestrian Dead-Reckoning

Unscented Kalman filter and Magnetic Angular Rate Update (MA...

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IEEE Symposium on Position Location and Navigation (PLANS)

作者： Francisco Zampella Mohammed Khider Patrick Robertson Antonio Jiménez Centre for Automation and Robotics (CAR) Consejo Superior de Investigaciones Cientfficas (CSIC)-UPM La Poveda Madrid España Institute for Communication and Navigation German Aerospace Center (DLR) Oberpfaffenhofen Germany

The Extended Kalman Filter (EKF) has been the state of the art in Pedestrian Dead-Reckoning for foot-mounted Inertial Measurements Units. However due to the non-linearity in the propagation of the orientation the EKF is not the optimal Bayesian filter. We propose the usage of the Unscented Kalman Filter (UKF) as the integration algorithm for the inertial measurements. The UKF improves the mean and covariance propagation needed for the Kalman filter. Although the UKF provides a better estimate of the orientation, with Zero velocity UPdaTes (ZUPT) measurements, the yaw and the bias in the gyroscope associated with it becomes unobserved and might generate errors in the positioning. We studied the changes in the magnetic field during the stance phase and their relationship with the turn rates to propose three measurements using the magnetometer signal that will be called Magnetic Angular Rate Updates (MARUs). The first measurement uses the change in the angle of the magnetic field in the horizontal plane to measure the change in the yaw and provides a simple measurement for the UKF implementation. The second measurement relates the change in the magnetic field vector to the turn rate and provides information on the bias of the gyroscope for an UKF. The last measurement uses a first order approximation to generate a linear relationship with the gyroscope bias and therefore it can be used in an EKF. Finally we proposed a metric for the reliability of the stance as a way to use the pre and post stance information but adjusting the covariance of the measurements gradually from swing to stance. These methods were tested on real and simulated signals and they have shown improvements over the original PDR algorithms.

关键词： Magnetic field measurement Magnetometers Kalman filters Gyroscopes Navigation Magnetic separation

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Evaluation of AHRS algorithms for inertial personal localization in industrial environments

Evaluation of AHRS algorithms for inertial personal localiza...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Estefania Munoz Diaz Fabian de Ponte Müller Antonio R. Jiménez Francisco Zampella German Aerospace Center (DLR) Institute of Communications and Navigation Oberpfaffenhofen Wessling Germany Centre for Automation Robotics (CAR) Consejo Superior de Investigaciones Científicas (CSIC)- UPM Ctra Madrid Spain

This paper presents a comparison among several state-of-the-art Attitude and Heading Reference Systems (AHRS). These algorithms can be used for 3D orientation and position estimation of users or devices. The robust performance of these AHRS algorithms is of paramount importance, specially in environments with potential external perturbations, such as industrial environments. The comparison among AHRS algorithms presented in this paper also includes an algorithm recently proposed by the authors (DLR-AHRS). In this paper the performance of the different AHRS will be studied, including the effect of magnetic perturbations on the performance of orientation estimation, and the effect of using different patterns of motion when the sensor is carried by a user at different locations (pocket, foot/shoe, hand). These AHRS algorithms are also compared with the Kalman-based commercially available AHRS algorithm of Xsens. The performance of the AHRS algorithms depends strongly on the strategies used to reject perturbations (sudden accelerations or deformations of the Earth magnetic field) and the ability of the systems to estimate the biases of the gyroscopes.

关键词： Magnetometers Gyroscopes Estimation Acceleration Accelerometers Earth Gravity

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Fuzzy Modeling and Control: Theory and Applications 1

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丛书名： Atlantis Computational Intelligence Systems

1000年

作者： Fernando Matía G. Nicolás Marichal Emilio Jiménez

ISBN: (数字)9789462390829

ISBN: (纸本)9789462390812

Much work on fuzzy control, covering research, development and applications, has been developed in Europe since the 90's. Nevertheless, the existing books in the field are compilations of articles without interconnection or logical structure or they express the personal point of view of the author. This book compiles the developments of researchers with demonstrated experience in the field of fuzzy control following a logic structure and a unified the style. The first chapters of the book are dedicated to the introduction of the main fuzzy logic techniques, where the following chapters focus on concrete applications. This book is supported by the EUSFLAT and CEA-IFAC societies, which include a large number of researchers in the field of fuzzy logic and control. The central topic of the book, Fuzzy Control, is one of the main research and development lines covered by these associations.

关键词： Computational Intelligence Control and Systems Theory Engineering, general

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