检索结果-内蒙古大学图书馆

Iberian robotics Conference (ROBOT)

作者： Violeta Redondo Gallego Jose Rodriguez-Nogueira Sergio Di Giovannantonio Luca Rosario Buonocore Carlos Veiga Almagro Manuel Ferre Perez Eloise Matheson Mario Di Castro Christopher Mcgreavy Centre for Automation and Robotics (CAR) UPM-CSIC Universidad Politécnica de Madrid Madrid Spain BE-CEM-MRO European Organization for Nuclear Research (CERN) Meyrin Switzerland

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

Teleoperation, or Remote Handling (RH), enables humans to interact with hazardous and difficult-to-access environments from a safe distance by using robots to perform a range of demanding tasks in their place. A major challenge in RH is plugging and unplugging connectors, which requires careful positioning and force control to avoid damaging the components. This paper focuses on plugging and unplugging peripheral devices to larger structures, specifically vacuum pump to collimators in the Large Hadron Collider (LHC) at CERN. Our research addresses this challenge by designing and developing a prototype tool to connect the vacuum pump to the collimator. To aid operators' awareness of the remote environment, we also present a computer vision algorithm, implemented in the CERN Robotic Mixed Reality Interface, to track connector locations after they are identified by operators. To validate the concepts and designs developed, several tests were performed in the LHC mockup laboratory environment at CERN's robot lab using the Future Circular Collider (FCC) robotic arm. Analysis of the experimental results shows that effective execution using our RH methods adds standardization to the intervention planning, enabling quick, reliable operation of a highly dexterous task and ensuring safety for the operator and robotic platform.

关键词： Collimators Machine learning algorithms Large Hadron Collider Laboratories Prototypes Mixed reality Grasping Robots Remote handling Plugs

来源：评论

学校读者我要写书评

暂无评论

The interplay between symmetries and impact effects on hybrid mechanical systems*

The interplay between symmetries and impact effects on hybri...

引用

European Control Conference (ECC)

作者： William Clark Leonardo Colombo Anthony Bloch Department of Mathematics Ohio University Athens OH USA Centre for Automation and Robotics (CSIC-UPM) Madrid Spain Department of Mathematics University of Michigan Ann Arbor MI USA

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

Hybrid systems are dynamical systems with continuous-time and discrete-time components in their dynamics. When hybrid systems are defined on a principal bundle we are able to define two classes of impacts for the discrete-time transition of the dynamics: interior impacts and exterior impacts. In this paper we define hybrid systems on principal bundles, study the underlying geometry on the switching surface where impacts occur and we find conditions for which both exterior and interior impacts are preserved by the mechanical connection induced in the principal bundle.

关键词： Geometry Europe Switches Control systems Mechanical systems Dynamical systems

来源：评论

学校读者我要写书评

暂无评论

Self-configuring motion planner for automated vehicles based on human driving styles

Self-configuring motion planner for automated vehicles based...

引用

IEEE Symposium on Intelligent Vehicle

作者： Juan Medina-Lee Antonio Artuñedo Jorge Godoy Vinicius Trentin Jorge Villagra Computer Science and Engineering Department University of Puerto Rico Mayagüez PR USA Autopia Group Centre for Automation and Robotics (CSIC-UPM) Arganda del Rey Spain

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

Automated vehicles are expected to enter the market in the coming years. To achieve this goal, it is essential to develop vehicles that prioritize both safety and reliability, but they should also ensure a comfortable user experience. As a result, autonomous driving functions should adapt to the individual preferences and requirements of drivers. This paper proposes an algorithm to dynamically update the parameters of a motion planner while driving to fit a driving style based on human-driver data. The motion planner generates multiple trajectory candidates and it can adjust the selection criteria online to prioritize the trajectory that matches better to a given behavior. The system was implemented in a real vehicle and compared to different human drivers, showing that it can reproduce their driving styles.

关键词： Heuristic algorithms User experience Trajectory Safety Reliability Autonomous vehicles

来源：评论

学校读者我要写书评

暂无评论

An Aerial/Ground Robot Team for Autonomous Firefighting in Urban GNSS-Denied Scenarios

Field Robotics

引用

Field robotics 2025年 2卷 241-273页

作者： Simón Martínez-Rozas Rafael Rey David Alejo Domingo Acedo José Antonio Cobano Alejandro Rodríguez-Ramos Pascual Campoy Luis Merino Fernando Caballero Service Robotics Laboratory Universidad Pablo de Olavide Crta. Utrera km. 1 41013 Sevilla Spain Computer Vision and Aerial Robotics Group Centre for Automation and Robotics (C.A.R.) Universidad Politécnica de Madrid (UPM-CSIC) Calle Jose Gutierrez Abascal 2 28006 Madrid Spain

This paper presents a framework for urban firefighting with a heterogeneous aerial/ground robot team. The system was developed to address Challenge 3 of the MBZIRC'20. The challenge required autonomously detecting, locating, and extinguishing fires on multiple interior floors and on exterior facade and ground surfaces. Our multi-robot system consists of a robot team of up to three Unmanned Aerial Vehicles (UAV) and one Unmanned Ground Vehicle (UGV). We describe the main hardware and software components for UAV and UGV platforms and present the system's main algorithmic components: a 3D LIDAR-based Mapping and Localization module able to work in GPS-denied scenarios, a Global Planner and a fast local re-planning system for robot navigation, Infrared-Based Perception and robot actuation control for fire extinguishing, and Mission Executive and coordination module based on Behavior Trees. Finally we describe our results from the competition, where the system worked fully autonomously and scored in all the trials performed. The presented system ended in 7 th place (out of 20 teams) in Challenge 3 and 5 th place (out of 17 teams) in the Grand Challenge's Challenge 3 portion.

关键词： Robots Robot kinematics Buildings Robot sensing systems Navigation Autonomous aerial vehicles Sensors Hardware Global Positioning System Autonomous robots

来源：评论

学校读者我要写书评

暂无评论

A Virtual Spring-Damper Approach for UAV Swarm Formation and Decentralised Collision Avoidance

A Virtual Spring-Damper Approach for UAV Swarm Formation and...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Luis Mejias Pedro Arias-Perez Javier Melero-Deza Pascual Campoy The School of Electrical Engineering and Robotics Queens-land University of Technology (QUT) Brisbane QLD Australia The Computer Vision and Aerial Robotics Group Centre for Automation and Robotics (C.A.R.) Universidad Politecnica de Madrid (UPM-CSIC) Madrid Spain

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This paper introduces a method for controlling UAV swarm formations and avoiding collisions using the Virtual Spring-Damper (VSD) approach. This approach draws upon classical mechanical spring-damper systems, employing displacement and velocities to generate attractive and repulsive forces. These forces help sustain swarm formation and prevent collisions in a decentralized manner. Extensive simulations provided a systematic approach to obtain the parameters involved in the spring-damper system. Flight tests were carried out to verify the proposed method. The experimental outcomes align with our simulations, demonstrating effectiveness in collision avoidance while preserving a specified flight formation.

关键词： Systematics Autonomous aerial vehicles Trajectory Collision avoidance Aircraft Drones Testing

来源：评论

学校读者我要写书评

暂无评论

Overview of control systems for robotic harvesting of sweet peppers and apples 43

Overview of control systems for robotic harvesting of sweet ...

引用

43. Jahrestagung der Gesellschaft fur Informatik in der Land-, Forst- und Ernahrungswirtschaft - Resiliente Agri-Food-Systeme: Herausforderungen und Losungsansatze, GIL 2023 - 43rd Annual Conference of the Society for Informatics in Agriculture, Forestry, and Food Industry - Resilient Agri-Food Systems: Challenges and Solutions, GIL 2023

作者： Zeini, Mostafa Shokrian Shamshiri, Redmond R. Dworak, Volker Käthner, Jana Höfner, Nora Navas, Eduardo Weltzien, Cornelia Technik im Pflanzenbau Max-Eyth-Allee 100 Potsdam14469 Germany Technische Universität Berlin Fachgebiet Agromechatronik Straße des 17. Juni 135 Berlin10623 Germany Centre for Automation and Robotics UPM-CSIC Carretera CAMPO- REAL Km 0.2 Arganda del Rey Madrid28500 Spain

ISBN: (纸本)9783885797241

Automated harvesting systems are becoming a crucial part of digital agriculture. Substituting time-consuming and laborious manual harvesting with a continuously automated operation would result in reduced human efforts, which contribute to higher field efficiency. This could be achieved by means of robotic harvesting which comprises robot manipulators, gripping and grasping mechanisms, software implementations. However, the inadequate design of control strategies could cause the agricultural production loss. This paper reviews some of the latest achievements in control systems of agricultural robotics and more specifically in robotic harvesting. The employed robot arms, their degrees of freedom (DOF), and the crops are also considered in this review study. While the control algorithms are being developed with high robustness and fast-response properties, our conclusion is that the performance of controllers could be drastically affected by different parameters such as the number of DOF, estimation accuracy of the robot pose during visual servoing and failure of robot’s inverse kinematics solver. © 2023 Gesellschaft fur Informatik (GI). All rights reserved.

关键词： Harvesting

来源：评论

学校读者我要写书评

暂无评论

Learning-based Balancing of Model-based and Feedback Control for Second-order Mechanical Systems

Learning-based Balancing of Model-based and Feedback Control...

引用

IEEE Conference on Decision and Control

作者： Thomas Beckers Leonardo J. Colombo Manfred Morari George J. Pappas Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia USA Centre for Automation and Robotics (CSIC-UPM) Madrid Spain

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

High-performance tracking control of mechanical systems typically requires model-based control as it enables to counteract undesirable dynamics in a timely fashion. The quality of the compensation depends on the accuracy of the underlying model. However, the dynamics are often (partially) infeasible for complex systems in a-priori unknown environments. Due to the favorable properties of model-based control, the goal is to apply feedback control for error compensation only when necessary. In this paper, we present an online learning-based balancing (OLBB) framework to adapt the feedback gains such that the controlled system with state-dependent uncertainties satisfies given performance specifications. For this purpose, an oracle predicts the unknown dynamics and an error model adapts the feedback gains. The framework can be easily applied to existing control approaches to improve the safety and performance of the closed-loop.

关键词： Adaptation models Uncertainty Torque control Training data Predictive models Control systems Feedback control

来源：评论

学校读者我要写书评

暂无评论

Safe learning-based control for an aerial robot with manipulator arms

引用

IFAC-PapersOnLine 2024年第6期58卷 36-41页

作者： Omayra Yago Nieto Leonardo J. Colombo O.Yago Nieto is with Universidad Politécnica de Madrid (UPM) José Gutiérrez Abascal 2 28006 Madrid Spain L.Colombo is with Centre for Automation and Robotics (CSIC-UPM) Ctra. M300 Campo Real Km 0200 Arganda del Rey - 28500 Madrid Spain

Aerial manipulation aims at combining the versatility and the agility of some aerial platforms as multirotor unmanned aerial vehicles (UAVs) with the manipulation capabilities of robotic arms. Trajectory tracking control of these vehicles is a substantial aspect for an increasing range of application domains. However, external disturbances and parts of the internal dynamics are often unknown or very time-consuming to model. To overcome this issue, we present a tracking control law using an learning-based oracle based on Gaussian process models. The presented approach guarantees a bounded tracking error with high probability where the bound is explicitly given. A numerical example highlights the effectiveness of the proposed control law.

关键词： Learning-based control Gaussian process Aerial robots Multi-body systems

来源：评论

学校读者我要写书评

暂无评论

An overview of visual servoing for robotic manipulators in digital agriculture 43

An overview of visual servoing for robotic manipulators in d...

引用

作者： Shamshiri, Redmond R. Dworak, Volker Zeini, Mostafa Shokrian Navas, Eduardo Käthner, Jana Höfner, Nora Weltzien, Cornelia Technische Universität Berlin Fachgebiet Agromechatronik Straße des 17. Juni 135 Berlin10623 Germany Centre for Automation and Robotics UPM-CSIC Carretera CAMPO- REAL Km 0.2 Arganda del Rey Madrid28500 Spain Leibniz Institute for Agricultural Engineering and Bioeconomy Max-Eyth-Allee 100Bornim Potsdam14469 Germany

ISBN: (纸本)9783885797241

Innovations in terms of robotic manipulator control in digital agriculture have advanced considerably in the last decade with the aim of reducing costs and increasing efficiencies. The availability of compact imaging sensors such as digital cameras that can perceive depth information besides the flexibility of open-source image processing software that can be trained for different applications has played significant roles in accelerating this sector. Preliminary studies have shown that the majority of available robot manipulators in agriculture are using Image-Based Visual Servo (IBVS) control to reach a target position. The presented study provides an overview of different redundant manipulators that are controlled by means of visual servoing for automating various field tasks in digital agriculture including (i) pruning, thinning, and trimming, (ii) harvesting, and (iii) inspection and target spraying. The reviewed works suggest that developing optimal tree shapes and planting techniques is necessary to improve the performance of visual servo control and automate farming operations with robots. In addition, selection of the right imaging sensors, graphics processing units, and training of the computer vision algorithms with more fruits and plants datasets have been highlighted as the three main elements for improving the functionality of IBVS in manipulator control for agricultural applications. © 2023 Gesellschaft fur Informatik (GI). All rights reserved.

关键词： Agricultural robots

来源：评论

学校读者我要写书评

暂无评论

Learning Cost Functions for Reinforced Learned Controllers in a Quadrupedal Robot ⁎

引用

IFAC-PapersOnLine 2024年第6期58卷 42-47页

作者： Gabriel Torre Omayra Yago Nieto Alexandre Anahory Simoes Juan I. Giribet Leonardo J. Colombo G. Torre is with at LINAR Laboratory Universidad de San Andrés and Universidad de Buenos Aires Buenos Aires Argentina O.Yago Nieto is with Universidad Politécnica de Madrid (UPM) José Gutiérrez Abascal 2 28006 Madrid Spain A. Anahory Simoes is with the School of Science and Technology IE University Spain J. Giribet is with CONICET and Universidad de San Andrés Buenos Aires Argentina L.Colombo is Centre for Automation and Robotics (CSIC-UPM) Centre for Automation and Robotics (CSIC-UPM) Ctra. M300 Campo Real Km 0200 Arganda del Rey - 28500 Madrid Spain

In this work, we will consider a reinforced learning controller developed for a quadrupedal robot and we learn for which cost function such a controller is an optimal control. In particular, we will transform the learning problem into a quadratic programming problem and solve it to obtain the learned cost function. Our approach is based on second-order Lagrangian mechanics since we will use that an optimal control problem is equivalent to a second-order variational problem. We also obtain error bounds for the approximation of the cost function.

关键词： Optimal Control Learning-based Control Quadratic Programming Quadrupedal Robots Inverse Reinforcement Learning Higher-order Lagrangian Mechanics

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：