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Robust energy aware output controller for uncertain plant

IFAC-PapersOnLine 2019年第13期52卷 259-264页

作者： Dobriborsci, Dmitrii Margun, Alexey Kolyubin, Sergey Control systems and Robotics faculty ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

Nowadays, safety guarantee during physical Human-Robot Interaction (pHRI) is important problem. Control over energy becomes very useful approach and provides possibility of safety conditions implementation but requires measurement of energy variables. In this paper we extend our previous results for discrete robust output control algorithm by insertion of energy aware mechanism in the structure of control system. It is proven earlier that this way make the controller aware of the energy that they inject into the plant. By combining this approaches we introduce here a robust discrete-time output controller for uncertain plant that provides exponential convergence of tracking error to the bounded area and passivity of the closed loop system. The proposed approach is validated through simulation and experiments using Ball-and-Plate setup. © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Controllers Budget control Closed loop systems Human robot interaction Man machine systems Plates (structural components) Power management Robust control Energy aware Energy budgets Exponential convergence Output controllers Passive systems Physical humanrobot interaction (phri) Safety guarantees Uncertain plants

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Route to Coherence in a Frequency-Heterogeneous Kuramoto Network 4

Route to Coherence in a Frequency-Heterogeneous Kuramoto Net...

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4th Scientific School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2020

作者： Frolov, Nikita Maksimenko, Vladimir Ghosh, Dibakar Majhi, Soumen Rakshit, Sarbendu Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Indian Statistical Institute Physics and Applied Mathematics Unit Kolkata India

ISBN: (纸本)9781728172866

Synchronization phenomena in populations of interacting elements are the subject of extensive research in biological, chemical, physical and social systems. Understanding of the emergent behavior in controlled experiments or real systems requires a focus on the consideration of heterogeneous network models. In this study, we explore the influence of the network topology on the rout to coherence in a heterogeneous Kuramoto model under the monotonically increasing coupling strength. Specifically, we consider regular (non-locally coupled ring), small-world (SW) and scale-free (SF) networks. We demonstrate a specific type of a chimera-like behavior that emerges in all three types of topology under certain conditions. © 2020 IEEE.

关键词： Complex networks

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Chaotic Change of Extracellular Matrix Molecules Concentration in the Presence of Periodically Varying Neuronal Firing Rate 20th

Chaotic Change of Extracellular Matrix Molecules Concentrati...

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20th International Conference on Mathematical Modeling and Supercomputer technologies, MMST 2020

作者： Rozhnova, Maiya A. Bandenkov, Daniil V. Kazantsev, Victor B. Pankratova, Evgeniya V. Department of Applied Mathematics Institute of Information Technologies Mathemaics and Mechanics Lobachevsky State University of Nizhni Novgorod Nizhny Novgorod Russia Neurotechnology Department Lobachevsky State University of Nizhni Novgorod Nizhny Novgorod Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center of Neurotechnologies and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9783030787585

Transmission and processing of information in the brain are highly complicated processes that are defined by a lot of non-trivial interconnections of structural elements of neural networks. To shed light on peculiarities of such communication, a lot of mathematical models were introduced and computer simulations were carried out. In this work, a model describing the impact of neural activity on changes in brain extracellular matrix (ECM) molecules concentration was considered. It was assumed that the rate of neural activity is periodically changed. For this case, various regular and chaotic modes in dynamics of ECM-molecules concentration were observed. The role of the amplitude and frequency of the periodically varying neuronal firing rate in transitions between various dynamical modes in the ECM-model were examined. Bifurcational mechanisms for chaotic oscillations appearance were demonstrated. © 2021, Springer Nature Switzerland AG.

关键词： Brain

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Unmanned Aerial Vehicle Path Planning for Exploration Mapping

Unmanned Aerial Vehicle Path Planning for Exploration Mappin...

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Nonlinearity, Information and robotics, (NIR) International Conference

作者： Victor Massague Respall Dmitry Devitt Roman Fedorenko Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728187631

ISBN: (纸本)9781728187648

This paper presents a new path planner for the exploration of previously unknown environments. The proposed algorithm uses a Next-Best-View (NBV) fashion to decide the movements ahead. A Rapidly-Exploring Random Tree (RRT) is built and the node with the highest gain is the next configuration to execute, based on the amount of unmapped volume in the field of view (FoV) of the sensor employed. The proposed planner is able to send online a 3D occupancy map of the volume and work with a variety of different depth sensors. The performance is analyzed in various challenging simulations, such as exploration of a city street or a narrow tunnel. Moreover, real experiments indoor and outdoor were conducted to further validate the proposed approach results. In cases with large scale volumes, it can cover a wide range in affordable flight time.

关键词： Three-dimensional displays Laser radar Urban areas Robot sensing systems Sampling methods Path planning Unmanned aerial vehicles

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Stiffness Parameters Idenification for Walking Robot 3

Stiffness Parameters Idenification for Walking Robot

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3rd School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2019

作者： Popov, Dmitry Klimchik, Alexandr Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

This paper discusses the stiffness parameters identification for an anthropomorphic walking platform. The robot stiffness model build using a virtual joint model by introducing additional springs, then the parameters of these springs are determined using identification algorithms. Two variants of a model are considered: taking into account the links and joints compliance and only joints. Numerical experiments were performed on the AR-601M robot model. © 2019 IEEE.

关键词： Stiffness

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Detecting Changes in Contact Interaction Regime with a Reaction Predictor and a Linear Contact Model 3

Detecting Changes in Contact Interaction Regime with a React...

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3rd School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2019

作者： Savin, Sergei Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

This paper is focused on a problem of using reaction predictors in the control pipeline of walking robots. The use of such predictors has been proposed for bipedal robots and the main advantage of this proposal is that it allows to exclude unknown reaction forces from the dynamics equations, and hence from model-based control formulations for those robots. In this paper, an additional benefit of predictor-based control formulation is discussed, namely the possibility of using it to predict changes in the contact interaction scenario, such as slipping or take off from the supporting surface. © 2019 IEEE.

关键词： Mobile robots

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Design of the Parallel Spherical Manipulator for Wrist Rehabilitation 3

Design of the Parallel Spherical Manipulator for Wrist Rehab...

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3rd School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2019

作者： Valeria, Skvortsova Dmitry, Popov Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

This paper presents the most important steps of the wrist rehabilitation robot design. In this work, kinematic synthesis problem of a 3-RRR spherical parallel manipulator is considered including a solution for forward and inverse kinematic problems. In order to maximize dexterity of the parallel manipulator over its workspace, its design is developed by finding optimal link shape parameters. The CAD design for the prototype is obtained based on this optimization. © 2019 IEEE.

关键词： Manipulators

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Convex Optimization-based Stiffness Control for Tensegrity Robotic Structures

Convex Optimization-based Stiffness Control for Tensegrity R...

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Mediterranean Conference on Control and Automation (MED)

作者： Sergei Savin Oleg Balakhnov Alexandr Klimchik Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

In this paper, the problem of controlling compliance of a robotic tensegrity structure (finding the state of the structure which produces desired stiffness) is discussed. Tensegrity structures have a number of unique properties: they are well suited for uncertain environments, are easily deployed, impact resistant, foldable and light-weight and thus provide a desirable component for a number of robotics applications. They are currently being studied as a structural element of robotic extraterrestrial probes, crawling robots, swimming robots and others. The compliance control problem here is solved by a convex relaxation of the original nonconvex program, which in turn is done by introducing two linear models: one for the stiffness matrix and one for the elastic forces. Solution accuracy is controlled by introducing an iterative scheme, solving the convex problem on each iteration. Proposed algorithm converges providing accuracy better than 10 -2 N/m in terms of stiffness using only 10 iterations of the algorithm, and the accuracy of force equilibrium is better than 1 N.

关键词： Robots Force Collision avoidance Optimization Mathematical model Jacobian matrices Task analysis

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Trajectory Planning for Biped Walk with Non-instantaneous Double Support Phase 3

Trajectory Planning for Biped Walk with Non-instantaneous Do...

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3rd School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2019

作者： Khusainov, Ramil Mamedov, Shamil Dmitry, Popov Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

In this paper we present a technique for finding periodic gaits for five-link planar bipedal robot with point feet. Unlike most works that are limited to the consideration of only underactuated single support phase (SSP) we show that this phase change condition is state dependant and extend our approach to the presence of double support phase (DSP). The concept of virtual holonomic constraints is used with full set of constraints during SSP and during SSP to DSP change. © 2019 IEEE.

关键词： Robot programming

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Obstacle avoidance for robotic manipulator using Mixed reality glasses 3

Obstacle avoidance for robotic manipulator using Mixed reali...

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3rd School on Dynamics of Complex Networks and their Application in Intellectual robotics, DCNAIR 2019

作者： Evlampev, A. Ostanin, M. Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

ISBN: (纸本)9781728124704

The problem of finding the shortest path for manipulators with obstacle avoidance has many solutions. The paper presents the usage of well-known methods for solving that problem using mixed reality glasses. Glasses contain the Spatial mapping module, presented in the form of an continuously updating mesh. Analyzing space through mixed reality glasses, we have developed algorithms for obtaining the shortest path in the Cartesian and Joint spaces. In the beginning, we implement A∗ simple algorithm and then realized the improved RRT algorithm. The approaches were verified using Unity, Microsoft HoloLens and 6 DOF robot UR10e. © 2019 IEEE.

关键词： Motion planning

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