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IEEE Conference on Decision and Control

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

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Flocking control of multi-agents system is challenging for agents with partially unknown dynamics. These dynamics typically occur due to unfavorable nonlinearities such as friction or production inaccuracies. This paper proposes an online learning-based controller to stabilize flocking motion of double-integrator agents with additional state-dependent, unknown dynamics by using a Gaussian process (GP). Agents interaction is described by a time-invariant infinitesimally minimally rigid undirected graph. We provide a decentralized control law that exponentially stabilizes the motion of the agents and captures Reynold boids motion for swarms by using GPs as an online learning-based oracle for the prediction of the unknown dynamics. In particular the presented approach guarantees a probabilistic bounded tracking error with high probability.

关键词： Visualization Tracking Dynamics Gaussian processes Production Probabilistic logic Solids

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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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Routine analysis of community-dwelling older adults and anomaly detection by using room level location

Routine analysis of community-dwelling older adults and anom...

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IEEE International Workshop on Medical Measurement and Applications (MEMEA)

作者： Sergio Lluva Plaza José M. Villadangos Carrizo Ana Jimé nez Martí n Antonio R. Jimé nez Ruiz Juan Jesú s Garcí a Domí nguez Department of Electronics University of Alcal&#x00E1 Alcal&#x00E1 de Henares Spain Centre for Automation and Robotics (CAR). CSIC-UPM Arganda del Rey Spain

ISBN: (数字)9781665482998

ISBN: (纸本)9781665483001

In recent years there has been a considerable interest in monitoring people, especially the elderly, by using different technologies [1], with the aim of improving their quality of life and their independence. In addition, the growing of elderly population [2] implies an increase in medical costs, as they are the age group that requires the highest use of public health services. The detection of changes in the elderly people routines can be an indicator of the onset of physical or cognitive impairment. The early detection of that decline can alert to implement measures to alleviate the deterioration, and as a consequence, this can lead to both improve independent living and reduce health care costs. This work is focused on the analysis of routines of elderly people living in care homes. They are quite routine people since the ordinary activities they perform are supervised by carers. Currently, several volunteers are being monitored to obtain their symbolic location based on BLE (Bluetooth Low Energy) technology [3], and through this location the objective is to derive their routines. BLE beacons have been installed in each room of interest within the nursing home, and volunteers wear a smartwatch that stores the MAC (Media Access Control) address and RSSI (Received Signal Strength Indicator) of each beacon it receives. However, due to the lack of data at this stage of the project, we proceed to generate synthetic routines based on real data and carers information, to evaluate the proposed algorithms.

关键词： Wearable Health Monitoring Systems Costs Sociology Robustness Received signal strength indicator Proposals Older adults

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Implicit Nonholonomic Mechanics with Collisions ⁎

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IFAC-PapersOnLine 2024年第6期58卷 71-76页

作者： Álvaro Rodríguez Abella Leonardo Colombo Facultad de Ciencias Matemáticas Universidad Complutense de Madrid Plaza de las Ciencias 3 Madrid 28040 Madrid Spain Centre for Automation and Robotics (CSIC-UPM) Ctra. M300 Campo Real Km 0200 Arganda del Rey - 28500 Madrid Spain

In this paper, variational techniques are used to analyze the dynamics of nonholonomic mechanical systems with impacts. Implicit nonholonomic smooth Lagrangian and Hamiltonian systems are extended to a nonsmooth context appropriate for collisions. In particular, we provide a variational formulation for implicit nonholonomic mechanical systems with collisions, for those collisions that preserve energy and momentum at the impact. Lastly, the theoretical results are illustrated by examining the example of a rolling disk hitting a wall.

关键词： Implicit Lagrangian systems Implicit Hamiltonian systems Nonholonomic systems Lagrange-d’Alembert-Pontryagin principle Collision dynamics

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Object-based Velocity Feedback for Dynamic Occupancy Grids

Object-based Velocity Feedback for Dynamic Occupancy Grids

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IEEE Symposium on Intelligent Vehicle

作者： Ví ctor Jimé nez Jorge Godoy Antonio Artuñ edo Jorge Villagra Centre for Automation and Robotics (CAR) CSIC-UPM Ctra. de Campo Real km. 0200 Arganda del Rey Spain

Dynamic occupancy grids (DOGs) have raised interest in the last years due to their ability to fuse information without explicit data association, to represent free space and arbitrary-shape objects and to estimate obstacles’ dynamics. Different works have presented strategies with demonstrated good performance. Most of them rely on LiDAR sensors, and some have shown that including additional velocity measurements enhance the estimation. This work aims at showing that velocity information can be directly inferred from objects displacement. Thus, a strategy using velocity feedback and its inclusion in the DOG is presented. The qualitative and quantitative analysis of results obtained from real data experimentation show a very good performance, specially in dynamic changing situations.

关键词： Laser radar Statistical analysis Radar measurements Estimation Dogs Radar tracking Sensors

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Design and Assessment of a Modular Exoskeleton for Lifting Bimanual Loads

Design and Assessment of a Modular Exoskeleton for Lifting B...

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Iberian robotics Conference (ROBOT)

作者： Andrea De la Viuda Nancy Barbosa Clara Molina Fernando Blaya Miguel Berzal Juan M. Muñoz-Guijosa Miguel Á. Sánchez-Urán Manuel Ferre CAR UPM-CSIC Universidad Politécnica de Madrid Madrid Spain Ing. Mecánica Química y D. Industrial Universidad Politécnica de Madrid Madrid Spain Dep. Ingeníeria Mecánica Universidad Polité cnica de Madrid Madrid Spain Centre for Automation and Robotics (CAR) UPM-CSIC Universidad Politécnica de Madrid Madrid Spain

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

This article proposes a new model of modular exoskeleton that assists the lifting of loads through electrome-chanical systems. With a mainly rigid structure, the exoskeleton has an innovative articulated system in the back region that guarantees freedom of movement during the performance of the activity. The main mechanisms of motion control in the shoulder and elbow joints are described, highlighting the role of the actuators of the latter joint, which generate the torque that allows the movement of the forearm. To this end, the study includes an analysis of the results obtained in relation to the assistance capacity shown by the servomotors according to the perception of different subjects.

关键词： Torque Neuromuscular Exoskeletons Shoulder Prototypes Robot sensing systems Sensors Elbow Servomotors Testing

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Artificial Cognitive Architecture with Self-Learning and Self-Optimization Capabilities 1st ed. 2019

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丛书名： Springer Theses

2019年

作者： Gerardo Beruvides

ISBN: (数字)9783030039493

ISBN: (纸本)9783030039486

This book introduces three key issues: (i) development of a gradient-free method to enable multi-objective self-optimization; (ii) development of a reinforcement learning strategy to carry out self-learning and finally, (iii) experimental evaluation and validation in two micromachining processes (i.e., micro-milling and micro-drilling). The computational architecture (modular, network and reconfigurable for real-time monitoring and control) takes into account the analysis of different types of sensors, processing strategies and methodologies for extracting behavior patterns from representative process' signals. The reconfiguration capability and portability of this architecture are supported by two major levels: the cognitive level (core) and the executive level (direct data exchange with the process). At the same time, the architecture includes different operating modes that interact with the process to be monitored and/or controlled. The cognitive level includes three fundamental modes such as modeling, optimization and learning, which are necessary for decision-making (in the form of control signals) and for the real-time experimental characterization of complex processes. In the specific case of the micromachining processes, a series of models based on linear regression, nonlinear regression and artificial intelligence techniques were obtained. On the other hand, the executive level has a constant interaction with the process to be monitored and/or controlled. This level receives the configuration and parameterization from the cognitive level to perform the desired monitoring and control tasks.

关键词： Artificial intelligence. Cognitive science. Machine learning. Mathematical optimization. Micromachining.

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Towards Quality Control in Soft Actuators by Computer Vision

Towards Quality Control in Soft Actuators by Computer Vision

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Eduardo Navas Roemi Ferná ndez Carlos Navas-Merlo Manuel Armada Pablo Gonzalez-de-Santos Centre for Automation and Robotics CAR CSIC-UPM Madrid Spain Dpto. Teor&#x00ED a de la Se&#x00F1 al e Ing. Telem&#x00E1 atica University of Valladolid Valladolid Spain

Quality control is a key step in any manufacturing process in the industry. However, it is still an unexplored area in soft robotics, especially in the production of soft actuators. This article proposes a quality control method based on a series of specific tests and analyzes using computer vision to verify the performance of these actuators and identify possible manufacturing defects. Facilitating automation and faster implementation of quality control will help bring this technology closer to industrialization.

关键词： Performance evaluation Actuators Computer vision Process control Quality control Soft robotics Reliability engineering

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Virtual constraints on Riemannian homogeneous spaces ⁎

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IFAC-PapersOnLine 2024年第6期58卷 77-82页

作者： Efstratios Stratoglou Alexandre Anahoy Simoes Anthony Bloch Leonardo Colombo E. Stratoglou 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 A. Bloch is with Department of Mathematics University of Michigan Ann Arbor MI 48109 USA L.Colombo is with Centre for Automation and Robotics (CSIC-UPM) Ctra. M300 Campo Real Km 0200 Arganda del Rey - 28500 Madrid Spain

Virtual constraints are relations imposed on a control system which insure invariance via feedback control, as opposed to physical constraints acting on the system. In this work, we introduce the notion of virtual constraints on Riemannian homogeneous spaces in a geometric framework which is a generalization of the classical controlled invariant distribution setting and we show the existence and uniqueness of a control law preserving the invariant distribution. We illustrate the theory with an example.

关键词： Virtual constraints feedback control Riemannian homogeneous spaces geometric control

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The interplay between symmetries and impact effects on hybrid mechanical systems

arXiv

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arXiv 2024年

作者： Clark, William Colombo, Leonardo Bloch, Anthony The Department of Mathematics Ohio University AthensOH45701 United States Centre for Automation and Robotics CSIC UPM Ctra. M300 Campo Real Km 0200 Arganda del Rey Madrid28500 Spain Department of Mathematics University of Michigan Ann ArborMI48109 United States

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. Copyright © 2024, The Authors. All rights reserved.

关键词： Hybrid systems

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