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Design of a Flexible Robot Arm for Safe Aerial Physical Interaction

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arXiv 2024年

作者： Mellet, Julien Berra, Andrea Seisa, Achilleas Santi Sankaranarayanan, Viswa Gamage, Udayanga G.W.K.N. Soto, Miguel Ángel Trujillo Heredia, Guillermo Nikolakopoulos, George Lippiello, Vincenzo Ruggiero, Fabio PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain Robotics and AI Team Department of Computer Electrical and Space Engineering LuleåUniversity of Technology Luleå Sweden Automation and Control Group Department of Electrical Engineering and Photonics Technical University of Denmark Denmark Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors’ integrity. Notably, the arm’s damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction. © 2024, CC BY.

关键词： End effectors

A Multiple Ant Colony System for the Electric Vehicle Routing Problem with Time Windows

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A Multiple Ant Colony System for the Electric Vehicle Routin...

IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Michalis Mavrovouniotis Georgios Ellinas Changhe Li Marios Polycarpou Department of Electrical and Computer Engineering KIOS Research and Innovation Center of Excellence University of Cyprus Nicosia Cyprus School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (纸本)9781665487696

Ant colony optimization (ACO) has been found to be useful on several vehicle routing problem variations. In this work, ACO is applied to the electric vehicle routing problem with time windows (E-VRPTW). The E-VRPTW has a hierarchical multiple objective function, which is to minimize the number of electric vehicles and the total distance traveled. A multiple ACO is applied to E-VRPTW in which two colonies cooperate to minimize the objectives in parallel. A local search is embedded in ACO to improve the quality of the output. The experimental results on a set of benchmark instances show that the multiple ACO is competitive with existing methods.

关键词： Ant colony optimization Vehicle routing Benchmark testing Electric vehicles Routing Search problems Linear programming

Design of Face Recognition Access Entrance Guard System with Mask Based on Embedded Development 2

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Design of Face Recognition Access Entrance Guard System with...

2021 2nd International Conference on computer Information and Big Data Applications, CIBDA 2021

作者： Ruiqin, Lin Wenan, Tan Zhenyu, Chen Qinqin Faculty of Environmental and Materials Engineering Shanghai Polytechnic University Shanghai201209 China Computer Engineering Shanghai Polytechnic University Shanghai201209 China Department of Measurement and Control and Automation Shanghai Polytechnic University Shanghai201209 China

This paper investigates all kinds of access entrance guard control systems at home and abroad and analyzes their advantages and disadvantages. COVID-19 epidemic has a serious impact on life, travel must wear a mask, so that the access entrance guard control system can not carry out face recognition under the mask. In view of this kind of situation, an embedded face recognition access entrance guard control system with mask based on EAIDK-310 development board is designed. The system can complete face recognition and body temperature measurement without contact, and drive the motor to open the gate. After testing, the system is suitable for deployment in companies, communities, campuses and other small application scenarios. It is convenient to travel and can reduce the impact of the epidemic. © Published under licence by IOP Publishing Ltd.

关键词： Face recognition

Improvement of the Predictive control Method for the High-Level controller

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Improvement of the Predictive Control Method for the High-Le...

International Conference on Modern Problems of Radio Engineering, Telecommunications and computer Science

作者： Vitalii Budashko Albert Sandler Oksana Glazeva Educational and Scientific Institute of Automation and Electrical Engineering National University “Odessa Maritime Academy” NUOMA Odesa Ukraine Department of the theory of automatic control and computer technology National University “Odessa Maritime Academy” NUOMA Odesa Ukraine Department of electrical engineering and electronics National University “Odessa Maritime Academy” NUOMA Odesa Ukraine

ISBN: (数字)9798331520564

ISBN: (纸本)9798331520571

automation of ship maneuvering in limited sailing conditions usually requires 100% redundancy of thrusters (THRs) of various modifications and their locations in accordance with the matrix. The hierarchy of the motion control system is branched by levels using high-level motion controllers and THRs control distribution algorithms, which allows for a modular design with software, where the high-level controller (HLC) can be designed without comprehensive information about the thruster motors, and the input signal branching and speed limits are handled by the motion controller. But, for certain THRs configurations, this branching leads to the decrease in control efficiency due to the limitation of data on the physical characteristics of the ships and the operation of the motion controller. This research examines different approaches to improving control efficiency using methods of nonlinear predictive control models as a basis for developing motion controllers with decision optimization based on relevant constraints. The implemented branched system is the result of solving two simple problems of ship's motion, which highlight the related problems. The use of different approaches to eliminate the identified shortcomings made it possible to develop the nonlinear controller that combines the motion controller with distributed control of the THRs and ensuring the certain level of system reliability. The modularity of the control system is provided by the expansion of the closed system, which made it possible to achieve an increase in efficiency during the combined mode of operation. The obtained solution of nonlinear control with time-varying constraints made it possible to increase the accuracy of the control with a decrease in the duration of the pause in response to the change of the disturbance within 10 % .

关键词： Attitude control Software algorithms Redundancy Propulsion Predictive models Software Telecommunications Reliability Marine vehicles Predictive control

HabiCrowd: A High Performance Simulator for Crowd-Aware Visual Navigation

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HabiCrowd: A High Performance Simulator for Crowd-Aware Visu...

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： An Vuong Toan Nguyen Minh Nhat Vu Baoru Huang H.T.T Binh Thieu Vo Anh Nguyen FPT Software AI Center Vietnam Automation & Control Institute TU Wien Austria Austrian Institute of Technology (AIT) Austria Imperial College London UK Hanoi University of Science and Technology Vietnam Faculty of Mathematics and Statistics TDTU Vietnam Department of Computer Science University of Liverpool UK

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Visual navigation, a foundational aspect of Embodied AI (E-AI) and robotics has been extensively studied in the past few years. While many 3D simulators have been introduced for the visual navigation tasks, scarcely works have combined human dynamics, creating the gap between simulation and real-world applications. Furthermore, current 3D simulators incorporating human dynamics have several limitations, particularly in terms of computational efficiency, which is a promise of modern simulators. To overcome these issues, we introduce HabiCrowd, the new standard benchmark for crowd-aware visual navigation that includes a crowd dynamics model with diverse human settings into photorealistic environments. Empirical evaluations demonstrate that our proposed human dynamics model achieves state-of-the-art performance in collision avoidance while exhibiting superior computational efficiency compared to its counterparts. We leverage HabiCrowd to conduct several comprehensive studies on crowd-aware visual navigation tasks and human-robot interactions. The source code and data can be found at https://***/.

关键词： Visualization Three-dimensional displays Navigation Computational modeling Source coding Human-robot interaction Computational efficiency Collision avoidance Standards Intelligent robots

Error Dynamics in Affine Group Systems

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arXiv 2023年

作者： Li, Xinghan Chen, Jianqi Zhang, Han Wei, Jieqiang Wu, Junfeng The College of Control Science and Engineering Zhejiang University Hangzhou China The Department of Electronic and Computer Engineering HKUST Hong Kong Department of Automation Shanghai Jiao Tong University Shanghai China Ericsson Torshamnsgatan 21 16440 Sweden The School of Data Science CUHKShenzhen Shenzhen China

Error dynamics captures the evolution of the state errors between two distinct trajectories that are governed by the same system rule but initiated or perturbed differently. It is essential to analyze the error behaviour of a state observer in a matrix Lie group for precise estimations. This paper concentrates on the examination of the error dynamics in affine group systems when exposed to external disturbances or random noises. To this end, we first discuss the connections between the notions of affine group systems and linear group systems. We characterize linear group systems by homeomorphism of its transition flow and linearity of its Lie algebra. Next, we explore linear group systems that are spread by a Brownian motion in tangent spaces. We discover that the itô stochastic differential equation in the Lie algebra space has a linear drift component and an additional "pinning" term. We apply these findings in analyzing the error dynamics, a specific linear group system, with smooth disturbances and stochastic noise. The error dynamics can be in the form of the Lie group and the Lie algebra. An explicit and accurate derivation of error dynamics is provided for the concrete example SE2(3), which plays a vital role, especially in inertial-based navigation. Copyright © 2023, The Authors. All rights reserved.

关键词： Brownian movement

Two-Step Online Trajectory Planning of a Quadcopter in Indoor Environments with Obstacles

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arXiv 2022年

作者： Zimmermann, Martin Vu, Minh Nhat Beck, Florian Nguyen, Anh Kugi, Andreas TU Wien Vienna Austria Center for Vision Automation and Control AIT Austrian Institute of Technology Vienna Austria Department of Computer Science University of Liverpool Liverpool United Kingdom

This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques such as the optimal Rapidly exploring Random Tree (RRT*) algorithm and the Line-of-Sight (LOS) algorithm are employed to generate a collision-free path consisting of multiple waypoints. Then, in the second step, constrained quadratic programming is utilized to compute a smooth trajectory that passes through all computed waypoints. The main contribution of this work is the development of a flexible trajectory planning framework that can detect changes in the environment, such as new obstacles, and compute alternative trajectories in real time. The proposed algorithm actively considers all changes in the environment and performs the replanning process only on waypoints that are occupied by new obstacles. This helps to reduce the computation time and realize the proposed approach in real time. The feasibility of the proposed algorithm is evaluated using the Intel Aero Ready-to-Fly (RTF) quadcopter in simulation and in a real-world experiment. © 2022, CC BY-NC-ND.

关键词： Motion planning

Skeleton-Based Multi-Stream Adaptive Graph Convolutional Network for Indoor Scene Action Recognition

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Skeleton-Based Multi-Stream Adaptive Graph Convolutional Net...

Chinese automation Congress (CAC)

作者： Jiazhuo Li Luefeng Chen Min Li Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems and the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation China University of Geosciences Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada Polish Academy of Sciences Systems Research Institute Warsaw Poland Department of Computer Engineering Istinye University Sariyer/Istanbul Turkey Tokyo Institute of Technology Yokohama Japan Tokyo Institute of Technology Tokyo Japan

With the rapid advances in computer vision, human action recognition has gradually received attention, but the current methods still exhibit some problems in indoor environments. The human skeleton, as the framework of human motion, contains high-quality actional feature information, and the skeleton-based action recognition method effectively avoid the interference of interior background noise and has advantages in indoor action recognition. The outstanding effect of graph convolutional networks on graph structure data processing has led to its rapid development and wide application in skeleton-based action recognition. Second-order skeletal information also contains a large number of actional features but is not effectively utilized. The artificial predefined topology of the human skeleton map has limitations, and cannot reflect the interaction between limbs. To solve the above problems, this article designs an adaptive weighted multi-stream graph convolutional network (AM-GCN) based on skeletal information, using an attention mechanism to enhance the network's ability to extract actional features, and an adaptive layer to make the construction graph more flexible, incorporating second-order skeletal features through a dual-stream architecture. In this article, the NTU-RGB+D dataset has been used for the experiments, the results show that the method in this article has good results.

关键词：

Reinforcement Learning with Prior Policy Guidance for Motion Planning of Dual-Arm Free-Floating Space Robot

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arXiv 2022年

作者： Cao, Yuxue Wang, Shengjie Zheng, Xiang Ma, Wenke Xie, Xinru Liu, Lei Beijing Institute of Control Engineering China Department of Automation Tsinghua University China Department of Computer Science City University of Hong Kong Hong Kong Qian Xuesen Laboratory of Space Technology China

Reinforcement learning methods as a promising technique have achieved superior results in the motion planning of free-floating space robots. However, due to the increase in planning dimension and the intensification of system dynamics coupling, the motion planning of dual-arm free-floating space robots remains an open challenge. In particular, the current study cannot handle the task of capturing a non-cooperative object due to the lack of the pose constraint of the end-effectors. To address the problem, we propose a novel algorithm, EfficientLPT, to facilitate RL-based methods to improve planning accuracy efficiently. Our core contributions are constructing a mixed policy with prior knowledge guidance and introducing k·k∞ to build a more reasonable reward function. Furthermore, our method successfully captures a rotating object with different spinning speeds. Copyright © 2022, The Authors. All rights reserved.

关键词： Motion planning