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International Conference on Intelligent Transportation

作者： Jiaming Zhong Reza Valiollahi Mehrizi Yash Vardhan Pant Amir Khajepour Department of Mechanical and Mechatronics Engineering Mechatronic Vehicle Systems (MVS) Lab University of Waterloo Waterloo ON Canada Department of Electrical and Computer Engineering Control Learning and Logic (CL2) group University of Waterloo Waterloo ON Canada

ISBN: (数字)9798331505929

ISBN: (纸本)9798331505936

Agent-based model predictive control (AMPC) has recently been proposed for vehicle systems with various controllers, such as differential braking and torque vectoring, where controllers are regarded as distributed agents contributing to the same objective. However, this scheme is challenging in handling multiple conflicting objectives with coupled agents. A common approach for such tasks is the integrated MPC, where all objectives and agents are stacked together in one optimization. Nevertheless, as more agents and objectives are involved, the integrated MPC will face challenges like computational burdens and maintenance difficulties in practice. To this end, this paper proposes a learning multi-objective AMPC that can improve design flexibility and computing efficiency. First, under the assumption of information exchange, a multi-objective AMPC tailored from the alternating direction method of multipliers (ADMM) is proposed to decouple the system and achieve the same performance as the integrated scheme iteratively. Second, a learning-based method for initializing iterations is proposed to accelerate convergence. In addition, a data management method is proposed for real-time efficiency, and an authentication module is designed for learning reliability. We compare the proposed scheme against the integrated scheme via a combined path-tracking simulation for autonomous vehicles with various controllers. The proposed scheme achieves the same control performance as the integrated one while reducing the computational time by 43.5 %. Furthermore, the learning-based method saves 88.6% more computational time than without learning, making it suitable for real-time implementation.

关键词： Learning systems Torque Decentralized control Reliability engineering Real-time systems Convex functions Planning Information exchange Convergence Predictive control

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Feasibility of Utilizing Passive BCI for Assistance Evaluation: A Case Study on a Knee Exoskeleton

Feasibility of Utilizing Passive BCI for Assistance Evaluati...

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

作者： Asghar Mahmoudi Morteza Khosrotabar Jannis Kuhmann Martin Grimmer Stephan Rinderknecht Maziar A. Sharbafi Faculty of Mechanical Engineering Institute for Mechatronic Systems Technical University Darmstadt Germany Lauflabor Locomotion Lab. Institute of Sports Science Technical Uni-versity Darmstadt Darmstadt Germany Department of Electrical En-gineering and Information Technology Control and Cyber-Physical Systems Technical University Darmstadt Darmstadt Germany

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

This study explored the feasibility of incorpo-rating a passive Brain-Computer Interface (BCI) into the individualization process of wearable assistive devices, with a specific focus on lower-limb exoskeletons. These devices can greatly improve mobility and quality of life for those with lower limb impairments. However, their optimal performance relies on personalized adjustments. This study offered a unique approach to user feedback without intentional control. A one-degree-of-freedom knee exoskeleton was utilized, introducing different levels of impedance to create distinct assistance levels. The analysis identified specific brain clusters, notably the right premotor and supplementary motor cortex, exhibiting significant differences in activity between the easiest and the most challenging conditions. This critical proof-of-concept step demonstrated that through decoding the user's brain activity, passive BCI could support the individualization of assistive technology. This approach indicated the potential to enhance the performance and user experience of wearable assistive devices.

关键词： Performance evaluation Brain Exoskeletons Motors User experience Brain-computer interfaces Decoding Assistive devices Impedance Robots

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Towards Efficient Dynamic Uplink Scheduling over Multiple Unknown Channels

arXiv

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arXiv 2022年

作者： Wu, Shuang Ren, Xiaoqiang Jia, Qing-Shan Johansson, Karl Henrik Shi, Ling Huawei Noah’s Ark Lab Hong Kong The School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China The Center for Intelligent and Networked Systems Department of Automation BNRist Tsinghua University Beijing100084 China The Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong

Age-of-Information (AoI) is a critical metric for network applications. Existing works mostly address optimization with homogeneous AoI requirements, which is different from practice. In this work, we optimize uplink scheduling for an access point (AP) over multiple unknown channels with heterogeneous AoI requirements defined by AoI-dependent costs. The AP serves N users by using M channels without the channel state information. Each channel serves only one user in each decision epoch. The optimization objective is to minimize the time-averaged AoI-dependent costs plus additional communication transmission costs over an infinite horizon. This decision-making problem can be formulated as a Markov decision process, but it is computationally intractable because the size of the state space grows exponentially with respect to the number of users. To alleviate the challenge, we reformulate the problem as a variant of the restless multi-armed bandit (RMAB) problem and leverage Whittle’s index theory to design an index-based scheduling policy algorithm. We derive an analytic formula for the indices, which reduces the computational overhead and facilitates online adaptation. Our numerical examples show that our index-based scheduling policy achieves comparable performance to the optimal policy and outperforms several other heuristics. Copyright © 2022, The Authors. All rights reserved.

关键词： Optimization

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Virtual control Contraction Metrics: Convex Nonlinear Feedback Design via Behavioral Embedding

arXiv

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arXiv 2020年

作者： Wang, Ruigang Tóth, Roland Koelwijn, Patrick J.W. Manchester, Ian R. Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW2006 Australia Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Systems and Control Lab Institute for Computer Science and Control Budapest Hungary

This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and L2-gain performance with respect to a user-defined set of reference trajectories, and (ii) it provides constructive conditions based on convex optimization and a path-integral-based control realization, and (iii) it is less restrictive than previous similar approaches. In the proposed approach, first a virtual representation of the nonlinear dynamics is constructed for which a behavioral (parameter-varying) embedding is generated. Then, by introducing a virtual control contraction metric, a convex control synthesis formulation is derived. Finally, a control realization with a virtual reference generator is computed, which is guaranteed to achieve exponential stability and L2-gain performance for all trajectories of the targeted reference behavior. We show that the proposed methodology is a unified generalization of the two distinct categories of linear-parameter-varying (LPV) state-feedback control approaches: global and local methods. Moreover, it provides rigorous stability and performance guarantees as a method for nonlinear tracking control, while such properties are not guaranteed for tracking control using standard LPV approaches. © 2020, CC BY.

关键词： Convex optimization

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A beam flexure-based nanopositioning stage supporting laser direct-write nanofabrication

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Science China(Physics,Mechanics & Astronomy) 2016年第8期59卷 50-55页

作者： Zhen Zhang Peng Wang Peng Yan YingChun Guan State Key Laboratory of Tribology and Institute of Manufacturing Engineering Department of Mechanical EngineeringTsinghua University Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Key Laboratory of High-efficiency and Clean Mechanical Manufacture Ministry of Education School of Mechanical EngineeringShandong University School of Automation Science and Electrical Engineering Beihang University School of Mechanical Engineering and Automation Beihang University

A nanopositioning system of both millimetric stroke and nanometric tracking accuracy is a key component for nanofabrication in many applications. In this paper, a novel bi-axial beam-flexure nano servo stage is proposed to support a direct writing system for femtosecond laser nanofabrication. The important features of the stage lie in: a mirror symmetric instead of rotational symmetric configuration is adopted to restrict cross axis coupling, and a novel Z-shaped guidance module is proposed to achieve relative large linear stiffness range, in addition a redundant constraints module is introduced to increase off-axis stiffness of the stage. Mechanical analysis and system identification are provided, with which a feedback control algorithm demonstrates the tracking capability for laser fabrication purposes. Based on the fabricated XY nano-stage, real time control and measurements are deployed, demonstrating the millimetric operating workspace and 77.8 nm(RMS) error of tracking a circular trajectory.

关键词： laser nanofabrication direct writing servo and control system

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Sensorless BCM control for a bidirectional flyback-converter

Sensorless BCM control for a bidirectional flyback-converter

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Annual Conference of Industrial Electronics Society

作者： Thorben Hoffstadt Jürgen Maas Control Engineering and Mechatronic Systems Lab Ostwestfalen-Lippe University of Applied Sciences Germany Control Engineering and Mechatronic Systems Ostwestfalen-Lippe University of Applied Sciences Lemgo Germany

Transducers based on dielectric elastomers (DE) represent capacitive loads from an electrical point of view. Thus, for an efficient operation of these transducers tailored power electronics are required, preferable with bidirectional energy flow to improve the energy efficiency. Therefore, in this contribution a bidirectional flyback-converter is modeled in order to design the control. Since the superimposed application-oriented control of the DE transducer requires an accurate inner control of the utilized converter, a model of the flyback-converter feeding capacitive loads is carried out under consideration of losses. Based on this a sensor-less current control is developed that operates the converter in boundary conduction mode enabling the highest possible dynamics. This control can be superimposed e.g. by a voltage control. Finally, the obtained control approaches are experimentally validated by measurements with a realized prototype of the bidirectional flyback-converter.

关键词： Electrostatics Modulation Table lookup

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Design of an additive manufactured XY compliant manipulator with spatial redundant constraints 35

Design of an additive manufactured XY compliant manipulator ...

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第35届中国控制会议

作者： ZHANG Zhen LIU Binbin WANG Peng YAN Peng State Key Laboratory of Tribology & Institute of Manufacturing Engineering Department of Mechanical EngineeringTsinghua University Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University School of Automation Science and Electrical Engineering Beihang University School of Mechanical Engineering Shandong University

ISBN: (纸本)9781509009107

This paper presents an additive manufactured beam flexure-based XY positioning stage with spatial redundant *** order to restrict rotational error motions of the guidance module,a spatial redundant constraint is *** additive manufacturing technique is adopted to monolithically fabricate the proposed positioning *** simulation results show that the proposed XY positioning stage is capable to achieve ±2 x 2 mm2 working *** fabricated prototyping stage shows that the advanced manufactured flexure mechanism can achieve good geometric effect and could be a good alternative to a metal-based flexure mechanism.

关键词： Nanopositioning Beam flexure mechanism Additive manufacturing

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Design of a flexure-based XY positioning stage with balanced axial forces on decoupling modules

Design of a flexure-based XY positioning stage with balanced...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Zhen Zhang Zhiqing Liu Peng Yan Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University Beijing China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Department of Mechanical Engineering Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China School of Mechanical Engineering Shandong University Jinan China

ISBN: (纸本)9781509029464

This paper presents a novel beam flexure-based XY positioning stage with an axial force balanced design of double parallelogram decoupling modules. By mean of connecting two decoupling modules along the same actuation axis, the axial forces are evenly applied to each side of the motion stage. Therefore the in-plane rotation can be significantly restricted. Also a redundant constraint is proposed to the guidance module to restrict its rotational motions. The monolithical fabrication of the spatial configuration of the proposed mechanism can be resorted to additive manufactured technology. Numerical simulation results validate the effectiveness of the proposed XY positioning stage.

关键词： Force Actuators Joining processes Numerical simulation Nanopositioning Kinematics Stress

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Haptic intelligent interfaces for NAO robot hand control

Haptic intelligent interfaces for NAO robot hand control

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International Conference on Advanced mechatronic systems (ICAMechS)

作者： Octavian Melinte Luige Vladareanu Ligia Munteanu Hongnian Yu Shuang Cang Zeng-Guang Hou Gui-Bin Bian Hongbo Wang Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy Bucharest Romania Engineering and Computing Bournemouth University Dorset UK State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Parallel Robot and Mechatronic Sys. Lab. Yanshan University Qinhuangdao China

The paper presents a new approach on haptic interface control for NAO robotic hand. The haptic teleoperation of NAO robot hand raises some issues, mapping the haptic device dynamic being the most important. The mapping was achieved through Neural Network by determining a dynamic gain of robot haptic feedback. The results lead to the achievement of the haptic intelligent interfaces for the NAO robot hand control which can be integrated into an innovative haptic robot control system.

关键词： Decision support systems Humanoid robots Haptic interfaces Economic indicators Joints mechatronics

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Model-based control of a dual active bridge for bidirectional feeding of DEAP transducers

Model-based control of a dual active bridge for bidirectiona...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Jürgen Maas Thorben Hoffstadt Department of Electrical Engineering and Computer Science Ostwestfalen-Lippe University of Applied Sciences Lemgo Germany Control Engineering and Mechatronic Systems Lab Ostwestfalen-Lippe University of Applied Sciences Germany

Transducers based on dielectric electroactive polymers (DEAP) use the electrostatic pressure to convert electrical into mechanical energy or vice versa. Since the achieved actuation or energy gain depends on the applied electric field, the authors present a model-based voltage control of a DEAP transducer driven by a Dual Active Bridge (DAB) with bidirectional energy flow. Therefore, first of all a model of the electric behavior of the DEAP is derived. Afterwards the DAB is described as an appropriate high voltage DC-DC converter topology to feed DEAPs. Based on the models of these two components, a discrete voltage controller is presented that ensures an operation with high dynamic and accuracy. Finally, the developed controller is validated by measurements feeding the DEAP transducer with the proposed DAB.

关键词： Voltage control Transducers Voltage measurement Polymers Transfer functions Bridge circuits Actuators

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