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Passivity-Based Distributed Event-Triggered Flocking Control of Port-Hamiltonian Systems

IEEE Control Systems Letters 2025年 9卷 342-347页

作者： Aranda-Escolastico, Ernesto Abdelrahim, Mahmoud Fernandez-Amoros, David Guinaldo, Maria Colombo, Leonardo Department of Software and Systems Engineering Universidad Nacional de Educación a Distancia (UNED) Juan del Rosal 16 Madrid 28040 Spain Prince Sultan University Renewable Energy Laboratory College of Engineering Riyadh 11586 Saudi Arabia Computer Science and Automatic Control Department Universidad Nacional de Educación a Distancia (UNED) Juan del Rosal 16 Madrid 28040 Spain Centre for Automation and Robotics (CSIC-UPM) Ctra. M300 Campo Real Km 0200 Madrid Arganda del Rey 28500 Spain

This paper addresses the problem of flocking motion in the context of port-Hamiltonian systems. The port-Hamiltonian framework offers advantages in modeling networks, dissipation, and heterogeneous agents. In this regard, designing flocking controllers in port-Hamiltonian form significantly increases their practical applications. Additionally, event-triggered control has proven effective in reducing bandwidth consumption. However, challenges remain in combining flocking requirements with energy-dissipating terms. Therefore, we propose a novel event-triggered flocking controller suitable for port-Hamiltonian systems. The method is validated through numerical simulations of a group of hexarotors. © 2017 IEEE.

关键词： flocking passivity. port-Hamiltonian systems event-triggered control multi-agent systems

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Interaction-aware risk assessment: focus on the lateral intention

Interaction-aware risk assessment: focus on the lateral inte...

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Connected and Automated Vehicles Symposium (CAVS)

作者： Jorge Villagra Antonio Artuñedo Vinicius Trentin Jorge Godoy Autopia Program Centre for Automation and Robotics (CSIC-UPM) Arganda del Rey (Madrid) Spain

ISBN: (数字)9781728190013

ISBN: (纸本)9781728190020

To make the massive deployment of automated vehicles possible in complex urban environments, it is essential to provide them with the ability of making safe and useful decisions. To that end, it is necessary to improve their capability to infer the intentions of the surrounding vehicles and their associated collision risk for the ego-vehicle in complex driving scenes. This work shows the implementation and validation in simulation of a probabilistic approach to estimate the risk of driving under uncertain conditions, combining (i) intention estimations and (ii) the expected behaviour of vehicles according to the topology and the subsequent traffic rules of the considered driving scenario. Promising results in terms of success rate and prediction horizon have been obtained testing the proposed approach in driving situations where lateral intention estimation is relevant, namely in multi-lane roundabouts and highways.

关键词： Road transportation Urban areas Estimation Probabilistic logic Topology Risk management Testing

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Errata: Mathematical Modeling and Designing a Heavy Hybrid-Electric Quadcopter, Controlled by Flaps

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Unmanned Systems 2024年第1期12卷 183-183页

作者： Mohammad Sadeq Ale Isaac Ahmed Refaat Ragab Enrique Caballero Garcés Marco Andres Luna Pablo Flores Peña Pascual Campoy Cervera Drone Hopper Company Spain Computer Vision and Aerial Robotics Group at Universidad Politécnica de Madrid (CVAR-UPM) at Centre for Automation and Robotics C.A.R. (UPM-CSIC) Spain University of Carlos III of Madrid Spain UC3M and Aerodynamics Engineer at Drone Hopper Spain

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Eye corners tracking for head movement estimation

Eye corners tracking for head movement estimation

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2019 IEEE International Work Conference on Bioinspired Intelligence, IWOBI 2019

作者： Larrazabal, Agostina J. Cena, Cecilia E. Garcia Martinez, Cesar E. FICH-UNL/CONICET Santa Fe3000 Argentina Centre for Robotics and Automation UPM-CSIC Madrid28006 Spain

ISBN: (纸本)9781728109671

Recently, video-oculographic gaze tracking has begun to be used in the diagnosis of a wide variety of neurological diseases, such as Parkinson and Alzheimer. For this application, the so-called feature-based methods are used, more precisely, 2D regression-based methods. They use geometrically derived eye features from high-resolution eye images captured by zooming into the user's eyes. The main weakness of these methods is that the head of the user must remain motionless to avoid estimation errors. In some patients, some involuntary movements cannot be avoided and it is necessary to measure them. In this paper, we tackle the measurement of head position as a way to improve the gaze tracking on these precision demanding medical applications. As a first stage, we propose to obtain the eye corners coordinates as a reference point, since they are the most stable points in front of the eyeball and eyelids movements. The problem was handled as a regression problem using a coarse-to-fine cascaded convolutional neural network in order to accurately regress the coordinates of the eye corner. Particularly, with the aim of achieving high precision we cascade two levels of convolutional networks. Finally, we added temporal information to increase accuracy and decrease computation time. The accuracy of the estimation was calculated from the mean square error between the predictions and the ground truth. Subjective performance was also evaluated through video inspection. In both cases, satisfactory results were obtained. © 2019 IEEE.

关键词： Eye tracking

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Local Decision Making based on Distributed Digital Twin Framework

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IFAC-PapersOnLine 2020年第2期53卷 10568-10573页

作者： A. Villalonga E. Negri L. Fumagalli M. Macchi F. Castaño R. Haber Centre for Automation and Robotics CSIC-UPM Arganda del Rey 28500 Spain Dept. Management Economics and Industrial Engineering Politecnico di Milano Milano Italy

In recent years, digitalization has taken an important role in the manufacturing industry. Digital twins (DT) are one of the key enabling technologies that are leading the digital transformation. Integrating DT with IoT and artificial intelligence enables the development of more accurate models to improve scheduling tasks, production performance indices, optimization and decision-making. This work proposes a distributed DT framework to improve decision making at local level in manufacturing processes. A decision-making module supported on an adaptive threshold procedure is designed and implemented. Finally, the proposed framework is evaluated on a pilot line, highlighting the behavior of the decision-making module for detecting possible faults, alerting the operator and notifying the manufacturing execution system to trigger actions of reconfiguration and scheduling.

关键词： Digital Twin distributed Digital Twin framework MES fault detection local decision making

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Higher-order retraction maps and construction of numerical methods for optimal control of mechanical systems

arXiv

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arXiv 2023年

作者： Simoes, Alexandre Anahory Liñán, María Barbero Colombo, Leonardo de Diego, David Martín The School of Science and Technology IE University Spain Departamento de Matemática Aplicada Universidad Politécnica de Madrid Av. Juan de Herrera 4 Madrid28040 Spain Centre for Automation and Robotics CSIC UPM Ctra. M300 Campo Real Km 0200 Arganda del Rey Madrid28500 Spain The Institute of Mathematical Sciences CSIC UAM UCM UC3M Calle Nicolás Cabrera 13-15 Cantoblanco Madrid28049 Spain

Retractions maps are used to define a discretization of the tangent bundle of the configuration manifold as two copies of the configuration manifold where the dynamics take place. Such discretization maps can be conveniently lifted to a higher-order tangent bundle to construct geometric integrators for the higher-order Euler-Lagrange equations. Given a cost function, an optimal control problem for fully actuated mechanical systems can be understood as a higher-order variational problem. In this paper we introduce the notion of a higher-order discretization map associated with a retraction map to construct geometric integrators for the optimal control of mechanical systems. In particular, we study applications to path planning for obstacle avoidance of a planar rigid body. © 2023, CC BY.

关键词： Motion planning

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Assessment of gait symmetry, torque interaction and muscular response due to the unilateral assistance provided by an active knee orthosis in healthy subjects

Assessment of gait symmetry, torque interaction and muscular...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Julio S. Lora-Millán Juan C. Moreno Eduardo Rocon Centre for Automation and Robotics (CAR) CSIC-UPM Madrid Spain Neural Rehabilitation Group of the Spanish National Research Council Madrid Spain

ISBN: (数字)9781728159072

ISBN: (纸本)9781728159089

Stroke survivors usually present asymmetric gait and mobility impairments as consequence of hemiparesis. In order to alleviate this unilateral loss of mobility and correct this asymmetry, we developed an active knee-orthosis to assist the movement of the impaired leg. The control strategies of the orthosis that we have implemented are based on the kinematics of the healthy leg, by replicating the movement of the healthy one, or by using this movement to synchronize the application of a normalized healthy pattern over the impaired leg. Our main aim is to understand how stroke patient's gait evolve to adapt to the assistance provided, as a preliminary study, in this paper we describe the effects of the assistance provided in twelve (12) healthy subjects who wore the robotic exoskeleton while they performed overground walking trials. Results indicated that the robot improved the gait symmetry of the users, reducing the spatial and temporal differences between the movements of both legs, without significantly disturbing the stance/swing ratio of the users. In addition, results showed that users tended to respond to this assistance by generating torque in the same direction of the robot action instead of taking advantage of the assistance provided by the exoskeleton. Muscular response of the assisted leg also shows variations according to this torque response, increasing the muscular activity in the 22.7% of cases against the 4% of cases where it was decreased. Finally, we detected changes not only in the assisted leg, but also in the unassisted one, whose muscular activity increased in the 28% of cases against the 1% of cases where it was decreased, showing the effect that the assistance on one leg have over the whole gait dynamics.

关键词： Legged locomotion Torque Knee Exoskeletons Electromyography Kinematics Trajectory

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Speed-Adaptive Model-Free Lateral Control for Automated Cars

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IFAC-PapersOnLine 2022年第34期55卷 84-89页

作者： Marcos Moreno-Gonzalez Antonio Artuñedo Jorge Villagra Cédric Join Michel Fliess Centre for Automation and Robotics (CSIC-UPM) ctra. de Campo Real km 0200 28500 Arganda del Rey Spain CRAN (CNRS UMR 7039) Universitée de Lorraine BP 239 54506 Vandoeuvre-lès-Nancy France LIX (CNRS UMR 7161) École Polytechnique 91128 Palaiseau France A.L.I.E.N. 7 rue Maurice Barrès 54330 Vézelise France

In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the longitudinal speed. Some studies address this problem by tuning a controller for low and high speeds and including an output adaptation law. In this paper, a strategy framed in the Model-Free Control paradigm is presented to laterally control the vehicle over a wide speed range. Tracking quality, system stability and passenger comfort are thoroughly analyzed and compared to similar control structures. The results obtained both in simulation and with a real vehicle show that the developed strategy tracks a large number of trajectories with high degree of accuracy, safety and comfort.

关键词： Autonomous vehicles Model-free control Adaptive control applications

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A Comparison Between Humidity and Temperature of Vegetables and Fruits in a Supermarket and a Prototype Plant in Ecuador

A Comparison Between Humidity and Temperature of Vegetables ...

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IEEE Ecuador Technical Chapters Meeting (ETCM)

作者： Elsy Del Rocío Villamar Garcés Miriam Lucero-Tenorio Luis Miguel Amaya Fariño Monica Karina Infante Jaramillo Fernando Matía Centre for Automation and Robotics (UPM-CSIC) Universidad Politécnica de Madrid Madrid Spain Departamento de Ingeniería Electrónica Grupo de Sistemas Electrónicos Industriales Universitat Politécnica de Valéncia Valencia Spain Facultad de Ingeniería Sistemas y Telecomunicaciones Universidad Estatal Península de Santa Elena La Libertad Ecuador Facultad de Ingeniería en Sistemas y Telecomunicaciones Universidad Estatal Península de Santa Elena La Libertad Ecuador

This study compares humidity and temperature for storing food products between a prototype and a natural plant in Ecuador. This is to further the implementation of different control strategies and achieve optimization of both variables in commercial-industrial refrigeration *** and temperature are critical factors that affect these products’ quality and shelf life, as well as their susceptibility to the proliferation of microorganisms and nutrient loss. Ecuador has a tropical climate that experiences high ranges of these monitored variables throughout the year. Therefore, samples of various edible agricultural products (vegetables and fruits) were collected for 12 hours in real and prototype environments [1], [2].Differences in humidity and temperature signals were observed between the prototype and real plants, such as frequencies, minimum and maximum values, and trends in the graphs. Measures of dispersion were applied in these comparisons. Finally, to leverage this study’s results for the implementation of humidity and temperature control, we will discuss the possibility of extrapolating the results from the prototype plant to the real plant.

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A decision-making architecture for automated driving without detailed prior maps

A decision-making architecture for automated driving without...

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IEEE Symposium on Intelligent Vehicle

作者： Antonio Artuñedo Jorge Godoy Jorge Villagra Centre for Automation and Robotics (CSIC-UPM) Madrid Spain

Autonomous driving requires general methods to generalize unpredictable situations and reason in complex scenarios where safety is critical and the vehicle must react in a reliable manner. In this sense, digital maps are a crucial component for relating the location of the vehicle and identifying the different road features. In this work, we present a decision-making architecture which does not require detailed prior maps. Instead, OSM is used to plan a global route and an automatically generate driving corridors, which are adapted using a proposed vision-based algorithm. Moreover, a grid-based approach is also applied to consider the localization uncertainty. Those self-generated driving corridors are used by the local planner to plan the trajectories the vehicle will follow. Our approach integrates global, local and HMI components to provide the required functionalities for autonomous driving in a general manner.

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