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International Workshop on Robot Motion and control (RoMoCo)

作者： Gerardo Martínez-Terán Eduardo Bayro-Corrochano Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico Institute of Automatic Control and Robotics Poznan University of Technology

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

Robotics and haptic systems have allowed new and diverse applications in the field of medicine, such as assisted surgery and teleoperation which have increasingly stringent requirements for accuracy, convergence, and low computational consumption. In this paper an adaptive PID control law (Proportional Integral Derivative controller, PID), of indirect architecture is presented for movement paths in a haptic system of open chain, where the identification of the plant is through a quaternionic wavelet neural network (Quaternion Wavelet Neural Network, QWNN) for tune the PID values, this allows the optimal movement into the regions of the workspace.

关键词： Uncertainty Quaternions Neural networks Surgery Robustness Haptic interfaces Topology

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Contribution to the Sensors Faults Diagnosis of a Variable Speed Wind Turbine: Multimodel Approach

Contribution to the Sensors Faults Diagnosis of a Variable S...

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International Conference on Systems and control (ICSC)

作者： Yosra Sayahi Moez Allouche Mariem Ghamgui Sandrine Moreau Driss Mehdi Laboratory of Sciences and Techniques of Automatic Control & Computer Engineering (Lab-STA) National Engineering School of Sfax University of Sfax Sfax Tunisia Laboratory of Computer Science and Automatic Control for Systems University of Poitiers France

This paper highlights the importance of using a Doubly-Fed Induction Generators (DFIG) in the wind industry due to their ability to adapting for all variations in wind speed, thus providing increased efficiency and reliability. However, like any machine, DFIG are not immune to dysfunctional problems and faults (sensor faults, actuator faults and system faults) which affect energy production. To remedy this problem, we develop a Fault Detection and Insolation (FDI) system for sensors fault diagnosis in wind turbine. This work specifically addresses the use of observer's bench to detect and locate faults, such as intermittent sensor faults, inter-coil short circuits, emphasizing a multi-model approach. We use the Dedicated Observer Structure (DOS) and the Generalized Observer Structure (GOS) to solve the complex challenge of multiple and simultaneous sensor fault. Simulation results are presented to assess the effectiveness of the proposed diagnostic methods.

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On heterogeneity or sub-classes aspect in construction of stylometric input datasets 26

On heterogeneity or sub-classes aspect in construction of st...

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26th International Conference on Knowledge-Based and Intelligent Information and engineering Systems, KES 2022

作者： Stanczyk, Urszula Baron, Grzegorz Department of Graphics Computer Vision and Digital Systems Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 2A Gliwice44-100 Poland

Stylometric analysis of texts relies on learning characteristic traits of writing styles for authors. Once these patterns are discovered, they can be compared to the ones present in other text samples, to recognise their authorship. This recognition can be compromised if input datasets are prepared without taking into consideration possible stratification of the input space, leading to specific grouping of datapoints, or sub-classes within distinguished classes. The paper shows research dedicated to construction of various structures of input datasets, and combinations of such structures between train and test sets. In the research the influence of different stratification forms on the performance of selected popular classification systems was observed. To minimise the number of influencing factors, a task of authorship attribution was performed as binary classification with balanced classes. Stylometric descriptors exploited belonged to lexical and syntactic group, giving frequencies of occurrence for chosen style-markers. It resulted in real-valued attributes and these values were explored without applying discretisation, in order to avoid the possible bias of this procedure on observations. © 2022 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0) Peer-review under responsibility of the scientific committee of the 26th International Conference on Knowledge-Based and Intelligent Information & engineering Systems (KES 2022)

关键词： Knowledge based systems

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Multi-talker Verbal Interaction for Humanoid Robots

Multi-talker Verbal Interaction for Humanoid Robots

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Bartlomiej Klin Ryszard Beniak Michal Podpora Arkadiusz Gardecki Joanna Rut Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Department of Computer Science Opole University of Technology Faculty of Production Engineering and Logistics Opole University of Technology

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

Working in multi-talker mode is viable under certain conditions, such as the fusion of audio and video stimuli along with smart adaptive beamforming of received audio signals. In this article, the authors verify part of the researched novel framework, which focuses on adapting to dynamic interlocutor’s location changes in the engagement zone of humanoid robots during the multi-talker conversation. After evaluating the framework, the authors confirm the necessity of a complementary and independent method of increasing the interlocutor’s signal isolation accuracy. It is necessary when video analysis performance plummets. The authors described the leading cause as insufficient performance during dynamic conversations. The video analysis cannot derive a new configuration when the interlocutor’s speech apparatus moves beyond the expected margin and the video frame rate drops.

关键词： Automation Accuracy Array signal processing Humanoid robots Oral communication Human factors

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Proposal of high attenuating external magnetic field chamber for biological experiments

Proposal of high attenuating external magnetic field chamber...

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International Conference on Computational Problems of Electrical engineering (CPEE)

作者： Marek Bajtoš Robert Cichorowski Roman Radil Ladislav Janoušek Department of Electromagnetic and Biomedical Engineering Faculty of Electrical Engineering and Informational Technology Žilina Slovakia Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice Poland

ISBN: (数字)9798331506643

ISBN: (纸本)9798331506650

This work presents the design, construction, and validation of a chamber for magnetic field attenuation. Needs of magnetic background controlling during experiments focused on behavior of biological samples exposed to various levels of the low frequency time-varying magnetic field set the motivation for this work. The solution is proposed with regard to the correct cultivation conditions of microbiological samples. The chosen methodology is established on the means of numerical modeling and simulations, as well as 3D printing techniques. The design process incorporates computer-aided design (CAD) software for the chamber proposal, subsequent printing via a 3D printer, followed by the construction of an attenuating chamber using mu-metal foil. The validation process involves measurements of magnetic flux density within the chamber, and comparison thereof with numerical simulations performed via CST Design Studio. All the solution steps resulted in a valid and effective magnetic field attenuation chamber, suitable for use in laboratory conditions.

关键词： Solid modeling Time-frequency analysis Design automation Three-dimensional displays Computational modeling Attenuation Three-dimensional printing Numerical models Magnetic fields Proposals

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Path Planning Algorithm for Multiple UAVs Based on Artificial Potential Field 11

Path Planning Algorithm for Multiple UAVs Based on Artificia...

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11th Joint International Information Technology and Artificial Intelligence Conference, ITAIC 2023

作者： Ren, Chongde Chen, Jinchao Du, Chenglie Yu, Wenquan School of Software Northwestern Polytechnical University Xi'an China Northwestern Polytechnical University Department of Computer Science Xi'an China North Automatic Control Technology Research Institute Department of Land Unmanned System Research and Development Taiyuan China

ISBN: (纸本)9798350333664

Due to the lower cost and higher maneuverability, unmanned aerial vehicles (UAVs) have found extensive use in both the civilian and military worlds. Path planning, as a crucial problem in the process of UAVs flight, aims to determine the optimal routes for multiple UAVs from various starting points to a single destination. However, because of the involvement of complex conditional constraints, path planning becomes a highly challenging problem. The path planning problem involving numerous UAVs is examined in this research, and a SAAPF-MADDPG algorithm based on Artificial Potential Field (APF) is suggested as a solution. First, a SA-greedy algorithm that can change the probability of random exploration by agents based on the number of steps and successful rounds to prevent UAVs from getting trapped in a local optimum. Then, we design complex reward functions based on APF to guide UAVs to destination faster. Finally, SAAPF-MADDPG is evaluated against the MADDPG, DDPG, and MATD3 methods in simulation scenarios to confirm its efficacy. © 2023 IEEE.

关键词： autonomous navigation deep reinforcement learning multi-agent systems path planning

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Prototype of Turbine Propulsion System with controllable Thrust Vector for Long-Range Unmanned VTOL Aircraft 21st

Prototype of Turbine Propulsion System with Controllable Thr...

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21st Polish control Conference, PCC 2023

作者： Czyba, Roman Lemanowicz, Marcin Domin, Jaroslaw Grzybowski, Jacek Stępień, Izabela Ungier, Lukasz Rosiek, Radoslaw Bialas, Piotr Niemiec, Michal Department of Automatic Control and Robotics Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology ul. Akademicka 16 Gliwice44-100 Poland Department of Chemical Engineering and Process Design Faculty of Chemistry Silesian University of Technology ul. Ks. M. Strzody 7 Gliwice44-100 Poland Department of Mechatronics Faculty of Electrical Engineering Silesian University of Technology ul. Akademicka 10a Gliwice44-100 Poland

ISBN: (纸本)9783031351723

The aim of the project was to build a prototype of a turbine drive with a controllable thrust vector for a long-range vertical take-off and landing (VTOL) aircraft. The construction of the prototype required the development of a vectoring system for the tail propulsion system and a dedicated VTOL aircraft stabilization and control system. The prototype of the turbine drive system was based on energy-efficient electric motors. Research also involved modeling the turbine propulsion aerodynamics with usage of computational fluid dynamics (CFD) analysis. As a result of the design stage, a prototype of the propulsion system was created, on which flight tests were carried out. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Computational fluid dynamics

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Newton-Euler Modeling of Robot Dynamics Using Geometric Algebra

Newton-Euler Modeling of Robot Dynamics Using Geometric Alge...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Eduardo Bayro-Corrochano Daniel Alvarado-Mejia Institute of Automatic Control and Robotics Poznan University of Technology Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. The modeling of the dynamics of robot manipulators is currently done using the Euler-Lagrange formulation which is a batch type of computation. In contrast, in this paper, we propose a recursive algorithm for the modeling of the dynamics of robot manipulators using the Newton-Euler algorithm in the conformal geometric algebra framework.

关键词： Algebra Heuristic algorithms Computational modeling Optimal control Motors Real-time systems Mathematical models

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Wind disturbance compensated path-following control for fixed-wing UAVs in arbitrarily strong winds

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Chinese Journal of Aeronautics 2024年第2期37卷 431-445页

作者： Hao LU Lan GAO Yunda YAN Mingzhe HOU Chenliang WANG Hangzhou Innovation Institute Beihang UniversityHangzhou 310051China School of Information Science and Technology Hangzhou Normal UniversityHangzhou 311121China Department of Computer Science University College LondonLondon WC1E 6BTUnited Kingdom Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

Wind is the primary challenge for low-speed fixed-wing unmanned aerial vehicles to follow a predefined flight *** cope with various wind conditions,this paper proposes a wind disturbance compensated path following control strategy where the wind disturbance estimate is incorporated with the nominal guiding vector field to provide the desired airspeed direction for the *** the control input vector for the outer-loop kinematic subsystem needs to satisfy a magnitude constraint,a scaling mechanism is introduced to tune the proportions of the compensation and nominal ***,an optimization problem is formulated to pursue a maximum wind compensation in strong winds,which can be solved analytically to yield two scaling factors.A cascaded inner-loop tracking controller is also designed to fulfill the outer-loop wind disturbance compensated guiding vector ***-fidelity simulation results under sensor noises and realistic winds demonstrate that the proposed path following algorithm is less sensitive to sensor noises,achieves promising accuracy in normal winds,and mitigates the deviation from a desired path in wild winds.

关键词： Path following Guiding vector field Wind disturbance Disturbance rejection Fixed wings

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Lyapunov-Inspired Deep Reinforcement Learning for Robot Navigation in Obstacle Environments

SSRN

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SSRN 2024年

作者： Kayacan, Erdal Ugurlu, Halil Ibrahim Redder, Adrian Department of Electrical and Computer Engineering Aarhus University Aarhus C Denmark Department of Automatic Control Paderborn University Paderborn Germany

After its success in games and simulated control tasks, deep reinforcement learning (DRL) has gained prominence in robotics for developing neural network-based planning and control algorithms. However, the inherent black-box nature of neural network controllers poses challenges in ensuring safety, prompting the need for innovative, explainable solutions. This research paper introduces a DRL algorithm design inspired by Lyapunov stability theory to solve safe robot navigation problems in the presence of obstacles. The robot planning problem is formulated as a state-space control problem with obstacle locations integrated into the state representation. To ensure a high probability of obstacle avoidance and, hence, safety, we introduce a reward-shaping strategy utilizing a Lyapunov function tailored for obstacle avoidance. Additionally, an early episode termination is employed to constrain exploration and add more valuable samples to the DRL training replay memory. Simulation results demonstrate the effectiveness of the method in achieving superior exploration and learning with higher mission completion rates while maintaining speeds closer to a desired target speed. Real-world experiments conducted with a quadrotor in a laboratory environment validate the applicability of our method. The findings underscore the potential of incorporating Lyapunov stability theory into DRL approaches for advancing safe and efficient robot navigation. © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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