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A differential game approach for beyond visual range tactics

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arXiv 2020年

作者： Garcia, Eloy Casbeer, David W. Tran, Dzung Pachter, Meir Control Science Center of Excellence Air Force Research Laboratory Wright-Patterson AFB OH45433 United States Department of Electrical Engineering Air Force Institute of Technology Wright-Patterson AFB OH45433 United States

An operational relevant conflict between teams of autonomous vehicles in the Beyond Visual Range domain is addressed in this paper. Optimal strategies are designed in order for a team of air interceptors to protect a high value asset and block the attacking team at a safe distance from such asset. The attacking agents take specific roles of leader and wingman and also devise their own optimal strategies in order to launch an attack as close as possible from the asset. The problem is formulated as a zero-sum differential game between players with different speed over two stages: the attack and the retreat stages. For each stage the state-feedback optimal strategies of each player are derived in analytical form. Copyright © 2020, The Authors. All rights reserved.

关键词： Optimal systems

A Two-team Linear Quadratic Differential Game of Defending a Target

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A Two-team Linear Quadratic Differential Game of Defending a...

American control Conference

作者： Eloy Garcia David W. Casbeer Meir Pachter Jess W. Curtis Emily Doucette Control Science Center of Excellence Air Force Research Laboratory Wright-Patterson AFB OH Department of Electrical Engineering Air Force Institute of Technology Wright-Patterson AFB OH Munitions Directorate AFRL Eglin AFB FL

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

In this paper we consider the operational scenario where two missiles (attackers) are launched against a stationary target. Two interceptor missiles are fired in order to intercept the attackers. A non-homogeneous scenario is considered where the two attackers represent different levels of threat to the target and it it desired to be able to redirect an interceptor accordingly. The problem is posed as a Linear Quadratic Differential Game (LQDG) with several representative terminal weights and where the players also consider their energy expenditure. The closed-form solution to this zero-sum differential game which can be implemented in a state feedback form is provided in this paper. This type of solution is highly desirable in differential games since only by implementing closed-loop state feedback strategies the players are able to exploit non-optimal plays by the opponent and shift the Value of the game in their favor.

关键词： differential games Attackers Linear quadratic Players Energy Expenditure State feedback Zero

Robust Impedance control for Dual User Haptic Training System

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Robust Impedance Control for Dual User Haptic Training Syste...

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： R. Heidari M. Motaharifar H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

In this paper, an impedance controller with switching parameters for a dual-user haptic training system is introduced. The trainer and the trainee are connected through their haptic consoles, and the trainee performs the surgical procedure on the environment. The trainer can intervene in the procedure by pressing a mechanical pedal; thus, the control parameters are switched to transfer the authority over the task from the trainee to the trainer. The stability of each subsystem and the closed-loop stability of the overall system are investigated. The simulation results verify the performance of the proposed controller.

关键词： Haptic interfaces Impedance Surgery Training Mathematical model Stability analysis Force

Multi-variant scheduling of critical time-triggered communication in incremental development process: Application to FlexRay

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arXiv 2019年

作者： Dvořák, Jan Hanzálek, Zdeněk Department of Control Engineering Faculty of Electrical Engineering CTU in Prague Industrial Informatics Research Center Czech Institute of Informatics Robotics and Cybernetics CTU in Prague

The portfolio of models offered by car manufacturing groups often includes many variants (i.e., different car models and their versions). With such diversity in car models, variant management becomes a formidable task. Thus, there is an effort to keep the variants as close as possible. This simple requirement forms a big challenge in the area of communication protocols. When several vehicle variants use the same signal, it is often required to simultaneously schedule such a signal in all vehicle variants. Furthermore, new vehicle variants are designed incrementally in such a way as to maintain backward compatibility with the older vehicles. Backward compatibility of time-triggered schedules reduces expenses relating to testing and fine-tuning of the components that interact with physical environment (e.g., electromagnetic compatibility issues). As this requirement provides for using the same platform, it simplifies signal traceability and diagnostics, across different vehicle variants, besides simplifying the reuse of components and tools. This paper proposes an efficient and robust heuristic algorithm, which creates the schedules for internal communication of new vehicle variants. The algorithm provides for variant management by ensuring compatibility among the new variants, besides preserving backward compatibility with the preceding vehicle variants. The proposed method can save about 20% of the bandwidth with respect to the schedule common to all variants. Based on the results of the proposed algorithm, the impact of maintaining compatibility among new variants and of preserving backward compatibility with the preceding variants on the scheduling procedure is examined and discussed. Thanks to the execution time of the algorithm, which is less than one second, the network parameters like the frame length and cycle duration are explored to find their best choice concerning the schedule feasibility. Finally, the algorithm is tested on benchmark sets and the concept

关键词： Scheduling

Path Planning for a UAV by Considering Motion Model Uncertainty

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Path Planning for a UAV by Considering Motion Model Uncertai...

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Hossein Sheikhi Darani Ali Noormohammadi-Asl Hamid D. Taghirad Advanced Robotics and Automated System (ARAS) Industrial Control Center of Excellence (ICEE) Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

The primary purpose of path planning for unmanned aerial vehicles (UAVs), which is a necessary prerequisite toward an autonomous UAV, is to guide the robot to the predefined target while the chosen path is optimized. This paper addresses the problem of path planning for an unmanned aerial vehicle in a 2D indoor environment, considering motion uncertainty. To cope with this challenge, the problem of motion planning is formulated in three parts. A vision-based extended Kalman Filter (EKF) is used to localize the UAV in the unstructured environment. To overcome motion uncertainty, the problem is modeled as a Markov decision problem (MDP). Finally, a novel dynamic feedback linearization based switching controller is proposed for point-to-point motion. Simulation and experimental results are given to show the effectiveness of the proposed path planning method in practice.

关键词： Robot kinematics Path planning Uncertainty Robot sensing systems Switches

Efficient MedSAMs: Segment Anything in Medical Images on Laptop

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arXiv 2024年

作者： Ma, Jun Li, Feifei Kim, Sumin Asakereh, Reza Le, Bao-Hiep Nguyen-Vu, Dang-Khoa Pfefferle, Alexander Wei, Muxin Gao, Ruochen Lyu, Donghang Yang, Songxiao Purucker, Lennart Marinov, Zdravko Staring, Marius Lu, Haisheng Dao, Thuy Thanh Ye, Xincheng Li, Zhi Brugnara, Gianluca Vollmuth, Philipp Foltyn-Dumitru, Martha Cho, Jaeyoung Mahmutoglu, Mustafa Ahmed Bendszus, Martin Pflüger, Irada Rastogi, Aditya Ni, Dong Yang, Xin Zhou, Guang-Quan Wang, Kaini Heller, Nicholas Papanikolopoulos, Nikolaos Weight, Christopher Tong, Yubing Udupa, Jayaram K. Patrick, Cahill J. Wang, Yaqi Zhang, Yifan Contijoch, Francisco McVeigh, Elliot Ye, Xin He, Shucheng Haase, Robert Pinetz, Thomas Radbruch, Alexander Krause, Inga Kobler, Erich He, Jian Tang, Yucheng Yang, Haichun Huo, Yuankai Luo, Gongning Kushibar, Kaisar Amankulov, Jandos Toleshbayev, Dias Mukhamejan, Amangeldi Egger, Jan Pepe, Antonio Gsaxner, Christina Luijten, Gijs Fujita, Shohei Kikuchi, Tomohiro Wiestler, Benedikt Kirschke, Jan S. de la Rosa, Ezequiel Bolelli, Federico Lumetti, Luca Grana, Costantino Xie, Kunpeng Wu, Guomin Puladi, Behrus Martín-Isla, Carlos Lekadir, Karim Campello, Victor M. Shao, Wei Brisbane, Wayne Jiang, Hongxu Wei, Hao Yuan, Wu Li, Shuangle Zhou, Yuyin Wang, Bo AI Collaborative Centre University Health Network Department of Laboratory Medicine and Pathobiology University of Toronto Vector Institute Toronto Canada Peter Munk Cardiac Centre University Health Network Toronto Canada Toronto General Hospital Research Institute University Health Network Department of Computer Science University of Toronto University Health Network Vector Institute Toronto Canada University of Science Vietnam National University Ho Chi Minh City Viet Nam Institute of Computer Science University of Freiburg Freiburg Germany School of Medicine and Health Harbin Institute of Technology Harbin China Division of Image Processing Department of Radiology Leiden University Medical Center Leiden Netherlands Department of System and Control Engineering School of Engineering Institute of Science Tokyo Formerly Tokyo Institute of Technology Tokyo Japan Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe Germany School of Information and Communication Engineering University of Electronic Science and Technology of China Chengdu China School of Electrical Engineering and Computer Science University of Queensland Brisbane Australia School of Cyberspace Hangzhou Dianzi University Hangzhou China Division for Computational Radiology and Clinical AI The Department of Neuroradiology University Hospital Bonn Germany Division for Computational Radiology and Clinical AI The Department of Neuroradiology University Hospital Bonn Germany Department of Neuroradiology Heidelberg University Hospital Heidelberg Germany Division for Computational Radiology and Clinical AI Department of Neuroradiology University Hospital Bonn Germany School of Biomedical Engineering Shenzhen University Shenzhen China School of Biological Science and Medical Engineering Southeast University Nanjing China Department of Urology Cleveland Clinic Cleveland United States Department of Computer Science University of Minnesota Minneapolis United St

Promptable segmentation foundation models have emerged as a transformative approach to addressing the diverse needs in medical images, but most existing models require expensive computing, posing a big barrier to their adoption in clinical practice. In this work, we organized the first international competition dedicated to promptable medical image segmentation, featuring a large-scale dataset spanning nine common imaging modalities from over 20 different institutions. The top teams developed lightweight segmentation foundation models and implemented an efficient inference pipeline that substantially reduced computational requirements while maintaining state-of-the-art segmentation accuracy. Moreover, the post-challenge phase advanced the algorithms through the design of performance booster and reproducibility tasks, resulting in improved algorithms and validated reproducibility of the winning solution. Furthermore, the best-performing algorithms have been incorporated into the open-source software with a user-friendly interface to facilitate clinical adoption. The data and code are publicly available to foster the further development of medical image segmentation foundation models and pave the way for impactful real-world applications. © 2024, CC BY-NC-SA.

关键词： Open source software

A rapid fault reconstruction strategy using a bank of sliding mode observers

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arXiv 2019年

作者： Shakarami, Mehran Esfandiari, Kasra Suratgar, Amir Aboulfazl Talebi, Heidar Ali Engineering and Technology Institute Groningen University of Groningen AG Groningen 9747 Netherlands Center for Systems Science Yale University New HavenCT United States Center of Excellence on Control and Robotics Department of Electrical Engineering Tehran Polytechnic Tehran Iran

This paper deals with the design of a model-based rapid fault detection and isolation strategy using sliding mode observers. To address this problem, a new scheme is proposed by adaptively combining the information provided by a bank of observers. In this regard, a new structure for sliding mode observers is considered. Then, the well-known recursive least square algorithm is utilized to merge individual state estimations suitably such that the system fault is detected faster. The required condition for enhancing perfect state estimation is derived, and the stability of the overall system is proven via Lyapunov's direct method. The supremacy of proposed scheme is fully discussed through mathematical analyses as well as simulations. Copyright © 2019, The Authors. All rights reserved.

关键词： State estimation

Performance Improvement of Axial Switched Reluctance Motor using Low-Cost Magnet

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Performance Improvement of Axial Switched Reluctance Motor u...

International Conference on Electric Vehicular Technology (ICEVT)

作者： Yoga Uta Nugraha Dimas Anton Asfani Dedet Candra Riawan Muhammad Nur Yuniarto Department of Electrical Engineering enter of Excellence for Automotive Control & System Institut Teknologi Sepuluh Nopember Surabaya Indonesia Department of Electrical Engineering Institut Teknologi Sepuluh Nopember Surabaya Indonesia Center of Excellence for Automotive Control & System Institut Teknologi Sepuluh Nopember Surabaya Indonesia

A Switched reluctance motor (SRM) is known characterized by a robust, simple structure, and low cost. However, its torque density is generally lower than the induction motor (IM) and brushless DC motor (BLDC). In addition, axial SRM produces more torque than radial SRM by the same dimension. In this paper, performance improvement of axial SRM by adding a low-cost magnet in the stator yoke is investigated. A nonrare earth type magnet, Alnico, has been used for this research. Placement and dimensions of low-cost magnet affect performance improvement. Simulation and analysis using Finite Element Magnetic Method (FEMM) and Ansys Maxwell. A comparison between existing axial SRM and axial SRM with low-cost magnet is reported.

关键词： Reluctance motors Stator windings Magnetic flux Torque Rotors

Localization and Surface Characterization by Zhurong Mars Rover at Utopia Planitia

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Research Square

Research Square 2021年

作者： Ding, Liang Zhou, Ruyi Yu, Tianyi Gao, Haibo Yang, Huaiguang Li, Jian Yuan, Ye Liu, Chuankai Wang, Jia Zhao, Yuyan Wang, Zhengyin Wang, Xiyu Bao, Gang Deng, Zongquan Huang, Lan Li, Nan Cui, Xiaofeng He, Ximing Jia, Yang Yuan, Baofeng Liu, Guangjun Zhang, Hui Zhao, Rui Zhang, Zuoyu Cheng, Ziqing Wu, Fan Xu, Qian Lu, Hao Richter, Lutz Liu, Zhen Niu, Fuliang Qi, Huanan Li, Shu Feng, Wenhao Yang, Chaojie Chen, Baichao Dang, Zhaolong Zhang, Mingming Li, Lichun Wang, Xiaoxue Huang, Zhao Zhang, Jitao Xing, Hongjun Wang, Guanyu Niu, Lizhou Xu, Peng Wan, Wenhui Di, Kaichang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China Beijing Aerospace Control Center Beijing100094 China Center for Lunar and Planetary Sciences Institute of Geochemistry Chinese Academy of Science Guiyang550081 China CAS Center for Excellence in Comparative Planetology Hefei230026 China University of Chinese Academy of Sciences Beijing100049 China Beijing Institute of Spacecraft System Engineering Beijing100094 China Department of Aerospace Engineering Ryerson University TorontoONM5B 2K3 Canada Hauptstrasse 1e Eching Germany State Key Laboratory of Remote Sensing Science Aerospace Information Research Institute Chinese Academy of Sciences Beijing100101 China

China’s first Mars rover, Zhurong, has successfully touched down on the southern Utopia Planitia of Mars at 109.925° E, 25.066° N, and since performed cooperative multiscale investigations with the Tianwen-1 orbiter. Here we present primary localization and surface characterization results based on complementary data of the first 60 sols. The Zhurong rover has traversed 450.9 m southwards over a flat surface with mild wheel slippage (less than 0.2 in slip ratio). The encountered crescent-shaped sand dune indicates a NE-SW local wind direction, consistent with larger-range remote-sensing observations. Soil parameter analysis based on terramechanics indicates that the topsoil has high bearing strength and cohesion, and its equivalent stiffness and internal friction angle are ~1390-5872 kPa∙m-n and ~21°-34° respectively. Rocks observed strewn with dense pits, or showing layered and flaky structures, are presumed to be involved in physical weathering like severe wind erosion and potential chemical weathering processes. These preliminary observations suggest great potential of in-situ investigations by the scientific payload suite of the Zhurong rover in obtaining new clues of the region’s aeolian and aqueous history. Cooperative investigations using the related payloads on both the rover and the obiter could peek into the habitability evolution of the northern lowlands on Mars. © 2021, CC BY.

关键词： Sols