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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Algorithm for Robustness Estimation of Large Deviations in Linear Discrete-Time systems 17th

Algorithm for Robustness Estimation of Large Deviations in...

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17th International Conference on Informatics in control, Automation and robotics, ICINCO 2020

作者： Vunder, Nina Dudarenko, Natalia Institute of Control Engineering TU Braunschweig Hans-Sommer-Str. 66 Braunschweig Germany Department of Control Systems and Industrial Robotics ITMO University 49 Kronverksky Pr. Saint-Petersburg Russia

ISBN: (纸本)9783030924416

The paper presents the algorithm for robustness estimation of large deviations in free motion of linear discrete-time systems. A tracking discrete-time systems with the modal control law are discussed, where the modal control law is designed taking into account the value of delay and the deviation. Two cases of discrete-time systems with control signal delay are considered in the paper. The first case relates to predictable delay of control signal, and the second one relates to unpredictable delay of control signal. It is assumed that parameters of the system are linearly dependent on the uncertainties. The problem is solved with the state space approach and the sensitivity theory methods. An upper bound estimation of trajectory deviations for discrete-time systems is obtained. The estimation contains the condition number of the eigenvectors matrix of the system state matrix. Therefore, sensitivity functions of singular values of the eigenvectors matrix are used to calculate the robustness estimation of the deviations. Based on the obtained equations, an algorithm for the robustness estimation of large deviations in linear discrete-time systems with parametric uncertainties is proposed. The proposed method is compared with an alternative LMI based approach for the peak estimation problem. Advantages and disadvantages of both approaches are illustrated with examples. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Sensitivity analysis

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Fault Detection in Electric Drives Based on LSTM Autoencoder Model Machine Learning Approach 25

Fault Detection in Electric Drives Based on LSTM Autoencoder...

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25th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2024

作者： Demidova, Galina Privalov, Daniil Semenov, Denis Lukichev, Dmitry Liu, Zhitao Anuchin, Alecksey Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Electric Drives Moscow Power Engineering Institute Moscow Russia

ISBN: (纸本)9798350389234

Fault detection in electric drives is crucial for ensuring operational reliability and minimizing downtime. This paper provides a brief overview of the methods based on machine learning used for fault detection in electric drives. Additional this research presents a machine learning approach that utilizes the Long Short-Term Memory Autoencoder model for fault detection deal with bearing faults. A flowchart illustrating the implementation steps of the Long Short-Term Memory Autoencoder algorithm is included. Additionally, a case study on bearing faults in an electric drive system is presented to demonstrate the advantage of the proposed approach. By training the Long Short-Term Memory Autoencoder on operational data, accurate prediction of bearing faults is achieved, enabling timely maintenance interventions. It is shown that in the 7th epoch of training, the model achieved a notably high accuracy more than 99%. The results highlight the potential of Long Short-Term Memory Autoencoder models as a valuable tool for fault detection in electric drives, thereby improving system reliability and performance. © 2024 IEEE.

关键词： Machine learning

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MATERIAL, TORQUE, AND STRUCTURAL STUDY OF A FOLDABLE ROBOTIC ARM FOR AERIAL DRONES

MATERIAL, TORQUE, AND STRUCTURAL STUDY OF A FOLDABLE ROBOTIC...

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ASME 2024 International Mechanical Engineering Congress and Exposition, IMECE 2024

作者： Bingham, Kyler Zakrevski, Christopher Deemyad, Taher Department of Mechanical and Measurement & Control Engineering Idaho State University PocatelloID United States Department of Robotics and Communication Systems Idaho State University PocatelloID United States

ISBN: (纸本)9780791888681

The paper discusses the integration of foldable robotic arms into unmanned aerial vehicles (UAVs), particularly focusing on their application in precision agriculture for fruit picking. The design process, from conceptualization to 3D modeling, ensures the arm's functionality while minimizing interference with the drone's flight dynamics. Material selection, emphasizing the balance between strength and weight, favors Onyx, a nylon blend reinforced with carbon fiber, and the honeycomb infill pattern for its exceptional mechanical properties. Torque analysis confirms the arm's manageable impact on UAV stability. The research underscores the potential of foldable robotic arms to enhance UAV capabilities in various tasks, offering insights into their broader applicability beyond agriculture. It contributes to UAV design and robotics by addressing challenges in integrating functional accessories, emphasizing the importance of material selection and structural design in optimizing UAV performance. © 2024 by ASME.

关键词： Drones

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Tele-healthcare with humanoid robots: A user study on the evaluation of force feedback effects 7

Tele-healthcare with humanoid robots: A user study on the ev...

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7th IEEE World Haptics Conference, WHC 2017

作者： Panzirsch, Michael Weber, Bernhard Rubio, Luis Coloma, Sofia Ferre, Manuel Artigas, Jordi Department for Analysis and Control of Advanced Robotic Systems German Aerospace Center Oberpfaffenhofen Germany Universidad Politcnica de Madrid Centre for Automation and Robotics CSIC Madrid Spain

ISBN: (纸本)9781509014255

The progress of robotic technology in the last years paved the way for its application in the healthcare sector. In the light of demographic change and lack of nursing staff, telerobotic systems are a promising solution e.g. for homecare in rural areas or in quarantine stations to prevent dissemination of pathogens. This paper presents a user study investigating human performance when teleoperating a complex humanoid robot with an underactuated haptic interface. Twelve novices had to complete basic movement and contact tasks as well as more typical healthcare tasks like instrument handling and usage (pulse oximetry). Besides the general performance level we explored the effect of different force feedback architectures (with vs. without sensor-based force information) and of workspace scaling (1:1 vs. 1:2). The test subjects showed in the majority of tasks significantly best performance with the 3-Channel architecture and a scaling of 1:2. © 2017 IEEE.

关键词： Anthropomorphic robots

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High Speed Autonomous Navigation of Unmanned Aerial Vehicles using novel Road Identification, Following Tracking (RIFT) Algorithm∗ 3

High Speed Autonomous Navigation of Unmanned Aerial Vehicles...

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3rd IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and robotics, DISCOVER 2019

作者： Kumaar, Saumya Mannar, Sumedh Navaneethkrishnan, B. Raja, S. Pragadeesh Omkar, S.N. Systems and Control University of Twente Enschede Netherlands Robotics Oregon State University Oregon United States Indian Institute of Science Department of Aerospace Engineering Bangalore India

ISBN: (纸本)9781728137353

Autonomous road navigation in unmanned aerial vehicles flying at very low altitudes paves the way for a multitude of applications such as security surveillance, monitoring of traffic or pollution, package delivery, ground- vehicle tracking etc. Most research in the field of autonomous road vehicles is focused on lane tracking and other marker- dependent techniques. In these lines, a novel, computationally efficient method for (front-view) road identification and tracking based on monocular vision is proposed which is designed to work on roads independent of markings. Road identification is implemented using a combination of spectral component analysis, edge energy-based filtering and morphological processing. Road identification and tracking works at 30 frames/sec for a frame size of 120 x 160 pixels, which is profiled on an Odroid XU4 mini-computer. Results indicating the performance of the proposed method as assessed on Cityscapes and KITTI datasets are presented. © 2019 IEEE.

关键词： Ground vehicles

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Networked PID controller Design for a Heating System

Networked PID Controller Design for a Heating System

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2024 Panhellenic Conference on Electronics and Telecommunications, PACET 2024

作者： Kouvakas, Nikolaos D. Koumboulis, Fotis N. Fragkoulis, Dimitrios G. National and Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies School of Science Euripus CampusEuboea Greece

ISBN: (纸本)9798350318845

This work studies the issue of remotely controlling a single room's temperature using a central heating system. The models of the components of the heating system setup are derived by equivalent electric circuits. The combined nonlinear description of the process is used to produce a linear approximant. A Proportional, Integral plus Derivative (PID) controller, located at a considerable distance from the process and receiving measurements and transmitting actuation signals via a wireless network, is designed based on the linear approximant and towards room temperature control. A metaheuristic approach, satisfying stability, approximate model matching, asymptotic command following, and disturbance attenuation, is used to calculate the controller parameters. The suggested scheme's performance is illustrated through simulations. © 2024 IEEE.

关键词： controllers

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Computer simulation of signal detection in non-Gaussian noise with the Neyman-Pearson moment quality criterion 9

Computer simulation of signal detection in non-Gaussian nois...

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9th IEEE International Conference on Dependable systems, Services and Technologies, DESSERT 2018

作者： Palahin, Volodymyr Juhar, Jozef Leleko, Serhiy Polozhaenko, Serhiy Palahina, Elena Department of Radio Engineering Telecommunication and Robotics Systems Cherkasy State Technological University Cherkasy Ukraine Department of Electronics and Multimedia Communications Technical University of Kosice Kosice Slovakia Department of Computerized Control Systems Odessa National Polytechnic University Odessa Ukraine

ISBN: (纸本)9781538659038

This paper considers the problem of signal detection in non-Gaussian noise. We propose the novel moment quality criterion decision making, where the moment's description of a random process is used for synthesis of polynomial decision rules. It is shown that the nonlinear processing of samples and taking into account higher order statistics of random process can increase the efficiency of signal detection. It is shown that the proposed models and methods allow us to increase the efficiency of signal processing in comparison with the known results. © 2018 IEEE.

关键词： Stochastic systems

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Delayless controllers for Exact Model Matching and Disturbance Rejection of Time Delay systems with Measurable and Non-measurable Disturbances 12

Delayless Controllers for Exact Model Matching and Disturban...

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12th International Conference on Modern Circuits and systems Technologies, MOCAST 2023

作者： Koumboulis, Fotis N. Kouvakas, Nikolaos D. National and Kapodistrian University of Athens Euripus Campus Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies School of Science Euboea Greece

ISBN: (纸本)9798350321074

Delayless control design for time delay systems is an attractive direction for networked control systems as well as other cyber physical applications. In the present paper, the problem of Exact Model Matching with simultaneous Disturbance Rejection (EMMDR) is studied for the case of left-invertible general neutral multi delay systems with measurable and non-measurable disturbances, via two types of delayless controllers. The first type of controllers is a dynamic delayless controller feeding back the measurement outputs, the measurable disturbances and the external commands. The number of the external commands is equal to the number of the control inputs. The second type of controllers is the static delayless version of the first type. For both types of controllers, the necessary and sufficient conditions for the solvability of the problem are established, and the general solutions of the controller matrices are derived. The results are illustrated through a numerical example. © 2023 IEEE.

关键词： controllers

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Development of Half-bridge IC with On-chip Drivers and Power e-HEMT Based on GaN-on-SOI Platform

Development of Half-bridge IC with On-chip Drivers and Power...

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2022 International Siberian Conference on control and Communications, SIBCON 2022

作者： Polyntsev, Egor S. Prokazina, Irina Y. Bartenev, Aleksandr I. Sogomonyants, Alina A. Kagadey, Valery A. National Research Tomsk State University Engeneering Center of Microwave Equipment and Technologies Tomsk Russia Tomsk University of Control Systems and Radioelectronics Department of Industrial Electronics Tomsk Russia Tomsk University of Control Systems and Radioelectronics Laboratory of Robotics and Artificial Intellegence Tomsk Russia

ISBN: (纸本)9781665476287

This paper presents the results on the development, simulation and optimization of the electrical circuit diagram, as well as the layout of a monolithic GaN half-bridge integrated circuit with on-chip drivers and power e-HEMT transistors based on the GaN-on-SOI technology platform. The presented integrated circuit is an alternative to multi-chip hybrid CMOS-GaN solutions. The power stage, logic control, and high-side and low-side drivers are integrated into one chip. The simulation results demonstrate the high potential of using GaN half-bridge integrated circuits as part of high-performance electrical energy converters. © 2022 IEEE.

关键词： III-V semiconductors

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