We generalize the principle of extension and controller design using this principle for nonlinear systems. We first define principles of inclusion and extension for nonlinear time-invariant (NLTI) systems. Thereafter,...
We generalize the principle of extension and controller design using this principle for nonlinear systems. We first define principles of inclusion and extension for nonlinear time-invariant (NLTI) systems. Thereafter, we present the necessary and sufficient conditions for a system to be an extension of another and show that when the expanded system is an extension of the original system, any controller designed for the expanded system can be contracted for implementation on the original system. Subsequently, we demonstrate how an overlappingly decomposed NLTI system can be expanded so that the expanded system is an extension of the original system, how decentralized controllers can be designed for the expanded system, and how these controllers can be contracted for implementation on the original system. An example is also provided to illustrate the extension and contraction concepts and show controller design using the proposed principles.
This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied *** proposed method...
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This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied *** proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target.A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is *** depth model ensures image feature accuracy and image trajectory smoothness in rotating target *** relative velocities of the UAV and the dynamic target are estimated using the proposed velocity *** to the velocity observer,translational velocity measurements are not required,and the control chatter caused by noise-containing measurements is *** integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the antidisturbance *** stability of the velocity observer and IBVS controller is analyzed using the Lyapunov *** simulations and multistage experiments are conducted to illustrate the tracking stability,anti-disturbance ability,and tracking robustness of the proposed method with a dynamic rotating target.
Flight is an energetically expensive task. While aerial insects can effortlessly fly through natural environments, achieving power autonomous flights in insect-scale robots remains a major challenge. In prior works, w...
Flight is an energetically expensive task. While aerial insects can effortlessly fly through natural environments, achieving power autonomous flights in insect-scale robots remains a major challenge. In prior works, we developed soft-actuated insect-scale aerial robots that demonstrated unique capabilities such as in-flight collision recovery and somersaults. However, the soft dielectric elastomer actuators (DEAs) have low efficiency (< 20%) and require a high driving voltage (>600 V). These properties represent formidable obstacles for soft aerial robots to achieve power autonomous flights. In this work, we developed a 127 mg boost circuit that can convert a 7.7 V DC input into a 600 V and 400 Hz output for driving a 120 mg DEA. It has an equivalent capacitance and resistance of 20 nF and 5 $\mathbf{k}\Omega$ , respectively. The DEA is assembled into a 158 mg aerial robot, which can demonstrate liftoff while carrying the boost circuit as a payload. Although the robot remains tethered to an off-board power supply, this result represents a first step towards achieving power autonomy in soft aerial robots.
This paper presents the creation of an innovative autonomous security robot designed to perform security functions with efficiency and reliability. The robot boasts mapping capabilities, which it utilizes to facilitat...
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ISBN:
(数字)9798350330649
ISBN:
(纸本)9798350330656
This paper presents the creation of an innovative autonomous security robot designed to perform security functions with efficiency and reliability. The robot boasts mapping capabilities, which it utilizes to facilitate autonomous patrol in designated areas. Its primary operations involve the use of computervision to detect violence, identify weapons and dangerous items, and recognize individuals. Critical incidents are met with an immediate alarm and the subsequent transmission of data to a central security server, which then generates comprehensive reports displayed through a web application for security personnel. The application itself features remote control of the robot, incident report management, status updates, and incident analytics. The robot demonstrates substantial real-world application potential, particularly in crowded environments where it could outperform conventional surveillance. The project combines concepts of engineering, computer science, and cybersecurity, functioning per design but with considerable potential for future refinement and expansion, embodying the concept of an evolving technological solution.
This paper presents a multifunctional quadruped robot, specifically engineered for comprehensive air quality monitoring and emergency assistance. Designed to navigate through urban environments, the robot autonomously...
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ISBN:
(数字)9798350330649
ISBN:
(纸本)9798350330656
This paper presents a multifunctional quadruped robot, specifically engineered for comprehensive air quality monitoring and emergency assistance. Designed to navigate through urban environments, the robot autonomously collects and transmits real-time air quality data to a centralized database. This interdisciplinary paper integrates robotics, environmental science, and emergency response protocols to propose novel solutions for smart city infrastructure, public health, and disaster management. Specifically, this research highlights the critical role that autonomous systems play in monitoring environmental conditions and advancing safety protocols. This research leverages a comprehensive array of sensors including CO2 (MH-Z19), particle (SDS 011), GPS (ADA 746), DHT 22, MQ 9, and ADS 1115 converter, each meticulously implemented to ensure precise environmental data collection and analysis. Furthermore, the integration of cutting-edge technologies such as Robot Operating System (ROS), .NET MAUI, Python, and MariaDB establishes a robust framework for seamless operation, data processing, and secure storage within the quadruped robot system.
Aerial insects demonstrate fast and precise heading control when they perform body saccades and rapid escape maneuvers. While insect-scale micro-aerial-vehicles (IMAVs) have demonstrated early results on heading contr...
Aerial insects demonstrate fast and precise heading control when they perform body saccades and rapid escape maneuvers. While insect-scale micro-aerial-vehicles (IMAVs) have demonstrated early results on heading control, their flight endurance and heading angle tracking accuracy remain far inferior to that of natural fliers. In this work, we present a long endurance sub-gram aerial robot that can demonstrate effective heading control during hovering flight. Through using a tilted wing stroke-plane design, our robot demonstrates a 10-second flight where it tracks a desired yaw trajectory with maximum and root-mean-square (RMS) error of $\boldsymbol{14.2^{\circ}}$ and $\boldsymbol{5.8}^{\mathrm{o}}$ . The new robot design requires 7% higher lift forces for enabling heading angle control, which creates higher stress on wing hinges and adversely influences robot endurance. To address this challenge, we developed novel 3-layered wing hinges that exhibit 1.82 times improvement of lifetime. With the new wing hinges, our robot demonstrates a 40-second hovering flight - the longest among existing sub-gram IMAVs. These results represent substantial improvement of flight capabilities in soft-actuated IMAVs, showing the potential of operating these insect-like fliers in cluttered natural environments.
Safety-critical intelligent cyber-physical systems, such as quadrotor unmanned aerial vehicles (UAVs), are vulnerable to different types of cyber attacks, and the absence of timely and accurate attack detection can le...
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Perspiration is a physiological response in high-stress situations, that also plays a key role in thermoregulation and stress management. Understanding perspiration patterns is used for assessing physiological respons...
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Control barrier functions (CBFs) have been widely applied to safety-critical robotic applications. However, the construction of control barrier functions for robotic systems remains a challenging task. Recently, colli...
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This paper investigates the optimal landing trajectory and control procedure when a helicopter undergoes autorotation due to tail rotor drive failure (TRDF), in which an optimal control methodology is proposed. First,...
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