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arXiv 2024年

作者： Santina, Cosimo Della Corbato, Carlos Hernandez Sisman, Burak Leiva, Luis A. Arapakis, Ioannis Vakalellis, Michalis Vanderdonckt, Jean D’Haro, LuisFernando Manzi, Guido Becchio, Cristina Elamrani, Aïda Alirezaei, Mohsen Castellano, Ginevra Dimarogonas, Dimos V. Ghosh, Arabinda Haesaert, Sofie Soudjani, Sadegh Stroeve, Sybert Verschure, Paul Bacciu, Davide Deroy, Ophelia Bahrami, Bahador Gallicchio, Claudio Hauert, Sabine Sanz, Ricardo Lanillos, Pablo Iacca, Giovanni Sigg, Stephan Gasulla, Manel Steels, Luc Sierra, Carles Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen Germany Department of Computer Science University of Luxembourg Luxembourg 4 Telefónica I+D Spain AEGIS IT Research GmbH Germany Université catholique de Louvain Belgium Speech Technology and Machine Learning Group ETSI de Telecomunicación Universidad Politécnica de Madrid Madrid Spain Alien Venture Studio Alien Technology Transfer Rome Italy Hamburg Germany Institut Jean Nicod École Normale Supérieure Paris France Research Technology and Development Department Digital Industry Software Helmond Netherlands Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Max Planck Institute for Software Systems Kaiserslautern Germany Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Amsterdam Netherlands Donders Centre for Neuroscience Radboud University Nijmegen Netherlands Computer Science Department University of Pisa Pisa Italy Faculty of Philosophy Philosophy of Science The Study of Religion Ludwig Maximilian University of Munich Munich Germany School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Autonomous Systems Laboratory Universidad Politécnica de Madrid Spain Madrid Spain Department of Information Engineering and Computer Science University of Trento Trento Italy Department of Information and Communications Engineering Aalto University Espoo Finland Department of Electronic Engineering Universitat Politècnica de Catalunya Barcelona Spain Studio Stelluti Brussels Belgium Barcelona Spain

Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researchers are getting interested in answering questions concerning what awareness is and how it can be artificially generated. The landscape is rapidly evolving, with multiple voices and interpretations of the concept being conceived and techniques being developed. The goal of this paper is to summarize and discuss the ones among these voices that are connected with projects funded by the EIC Pathfinder Challenge called "Awareness Inside", a nonrecurring call for proposals within Horizon Europe that was designed specifically for fostering research on natural and synthetic awareness. In this perspective, we dedicate special attention to challenges and promises of applying synthetic awareness in robotics, as the development of mature techniques in this new field is expected to have a special impact on generating more capable and trustworthy embodied systems. © 2024, CC BY.

关键词： robotics

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Applying the Results of Hydrodynamic and Heat Transfer Processes Research in 3D Nasal Cavity Models for Revealing Predisposing towards Respiratory Diseases at Extreme Conditions of the Arctic

Applying the Results of Hydrodynamic and Heat Transfer Proce...

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2020 International Multi-Conference on Industrial Engineering and Modern Technologies, FarEastCon 2020

作者： Lukyanov, G. Rassadina, A. Neronov, R. Stepanov, A.A. Alexeev, R.Z. The Faculty of Control Systems and Robotics Itmo University Saint-Petersburg Russia 'Modern Medical Technologies' Clinic Department of Otorhinolaryngology Saint-Petersburg Russia Larionov Institute of Physical and Technical Problems of the North Sb Ras Department of Heat and Mass Transfer Yakutsk Russia Laboratory of Immunological Researches Yakut Science Centre of Complex Medical Problems Medical Institute M. K. Ammosov North-Eastern Federal University Yakutsk Russia

It has been found that the shape of nasal cavity influences to the hydrodynamics and heat transfer in the respiratory system which at the extreme environmental conditions of the Arctic can be a reason of predispositio... 详细信息

ISBN: (纸本)9781728169514

关键词： Computerized tomography

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A grasping CNN with image segmentation for mobile manipulating robot

A grasping CNN with image segmentation for mobile manipulati...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yu, Yingying Cao, Zhiqiang Liang, Shuang Liu, Zhicheng Yu, Junzhi Chen, Xuechao Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Intelligent Robotics Institute BIT Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

ISBN: (纸本)9781728163215

This paper presents a grasping convolutional neural network with image segmentation for mobile manipulating robot. The proposed method is cascaded by a feature pyramid network FPN and a grasping network DrGNet. The FPN network combined with point cloud clustering is used to obtain the mask of the target object. Then, the grayscale map and the depth map corresponding to the target object are combined and sent to the DrGNet network for providing multi-scale images. On this basis, depthwise separable convolution is used for encoding. The results of encoders are refined according to the light-weight RefineNet as well as sSE, which can achieve a better grasp detection. The proposed method is verified by the experiments on mobile manipulating robot. © 2019 IEEE.

关键词： Image segmentation

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Robust alignment of multi-exposed images with saturated regions

arXiv

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arXiv 2020年

作者： Jiang, Jun Li, Zhengguo Xie, Shoulie Wu, Shiqian Zeng, Liangcai Key Laboratory of Metallurgical Equipment and Control Technology Wuhan University of Science and Technology Wuhan China Institute for Infocomm Research Singapore Institute of Robotics and Intelligent Systems School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China

It is challenging to align multi-exposed images due to large illumination variations, especially in presence of saturated regions. In this paper, a novel image alignment algorithm is proposed to cope with the multi-exposed images with saturated regions. Specifically, the multi-exposed images are first normalized by using intensity mapping functions (IMFs) in consideration of saturated pixels. Then, the normalized images are coded by using the local binary pattern (LBP). Finally, the coded images are aligned by formulating an optimization problem by using a differentiable Hamming distance. Experimental results show that the proposed algorithm outperforms state-of-the-art alignment methods for multi-exposed images in terms of alignment accuracy and robustness to exposure *** Codes CS © 2020, CC0.

关键词： Hamming distance

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Measurement-Induced Boolean Dynamics from Open Quantum Networks ⁎

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IFAC-PapersOnLine 2020年第2期53卷 275-280页

作者： Hongsheng Qi Biqiang Mu Ian R. Petersen Guodong Shi Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing 100049 China Research School of Electrical Energy and Materials Engineering The Australian National University Canberra 0200 Australia Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW 2008 Australia

In this paper, we study the induced probabilistic Boolean dynamics for dynamical quantum networks subject to sequential quantum measurements. In this part of the paper, we focus on closed networks of quits whose states evolutions are described by a continuous Lindblad master equation. When measurements are performed sequentially along such continuous dynamics, the quantum network states undergo random jumps and the corresponding measurement outcomes can be described by a probabilistic Boolean network. First of all, we show that the state transition of the induced Boolean networks can be explicitly represented through realification of the master equation. Next, when the open quantum dynamics is relaxing in the sense that it possesses a unique equilibrium as a global attractor, structural properties including absorbing states, reducibility, and periodicity for the induced Boolean network are direct consequences of the relaxing property. Finally, we show that for quantum consensus networks as a type of non-relaxing open quantum network dynamics, the communication classes of the measurement-induced Boolean networks are encoded in the quantum Laplacian of the underlying interaction graph.

关键词： quantum networks open quantum systems quantum measurements Boolean networks

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Dynamic Balance and Trajectory Tracking control of Quadruped Robots Based on Virtual Model control

Dynamic Balance and Trajectory Tracking Control of Quadruped...

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第三十九届中国控制会议

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the virtual components interact between robots and environments. In this paper, a virtual model control is proposed to do the dynamic balance control of quadruped robots in trot gait. In each leg, virtual model control includes swing phase control of robots and stance phase counterparts. In whole body, based on the forces/torques distribution method between two stance legs, virtual model control is mainly about the attitude control containing roll, pitch and yaw. Then, an intuitive approach of velocity control is employed for the locomotion of quadruped robots. Based on the velocity planning and control, a trajectory tracking control approach is investigated by considering four factors: terrain complexity index, curvature radius of given trajectory, distance to terminal, and maximum velocity of quadruped robots. Finally, the effectiveness of proposed controllers is validated by co-simulations.

关键词： Virtual model control Dynamic balance control Trajectory tracking control Quadruped robots

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A Guide for Human Walking Model and control——Insights from Mechanical Property Analysis of Human Walking

A Guide for Human Walking Model and Control——Insights from...

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第32届中国控制与决策会议

This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative subject was ***,one of the simplest human walking model was set *** mechanical property analysis of human walking was done based on the established walking model via ***,the feasibility and effectiveness of proposed walking model were validated by numerical ***,the intrinsical relationships among human walking,biped walking model and control were discussed to provide a guide and insight for controlling biped robots.

关键词： Human Walking Model Biped Robots Leg Stiffness Legged Locomotion Model and control

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Vision-based Leader-Follower Mobile Robots for Cooperative Object Handling

Vision-based Leader-Follower Mobile Robots for Cooperative O...

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International Conference on control, Automation and systems ( ICCAS)

作者： D.U. Jayarathne H.A.K.R. Vidumal S.M.A. Senevirathne P.G. Jayasekara T.D. Lalitharatne Robotics and Control Systems Laboratory University of Moratuwa Katubadda Sri Lanka University of Moratuwa Katubadda Sri Lanka

This paper has addressed the problem of transporting a long object from a given starting location to an end location using leader-follower robot formation in an environment filled with obstacles. Only the leader robot has the authority to make decisions. It possesses the main controller and is capable of navigating through an unknown environment using the data provided by on-board sensors. In the proposed system, a vision-based feedback method is combined with an explicit control method that oversights the virtual trailer between the leader and the follower. The parameters required to maintain a constant distance between the two robots are computed by the leader and transmitted to the follower directly. A fiducial marker is mounted on the front of the follower robot and is captured by a camera attached to the leader robot. Information exchanging methods based only on impedance control can be expensive because of the need of high-level controllers and force/torque sensors for both robots. Furthermore, the visual response scheme adds robustness to the system by reducing the limitations of sole explicit control methods. The proposed control algorithm is implemented on the developed mobile robots. The experimental results suggest that the vision-based feedback method is more effective in cooperate object carrying tasks.

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Position Sensorless control of Permanent Magnet Synchronous Motor Based on Adaptive Sliding Mode Observer

Position Sensorless Control of Permanent Magnet Synchronous ...

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Chinese Automation Congress (CAC)

作者： Tao Zhang Yingjie Xiong Bolun Wang Hongyu Yan Xiyou Chen School of Electrical Engineering Dalian University of Technology Dalian China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China College Of Information Science and Engineering Northeastern University Shenyang China School of Artificial Intelligence Shenyang University of Technology Shenyang China

ISBN: (纸本)9781665426480

Permanent magnet synchronous motors(PMSM) are popular in AC motor applications due to their small size, high efficiency. They have appeared widely in various areas of life. Due to the high-frequency chattering problem caused by sliding mode observer sensorless control of PMSM, an SMO with piecewise control function is designed in this paper. At the same time, based on the back EMF output of the SMO, the gain of the SMO is adapted to reduce the system bucket vibration problem caused by the conventional SMO. Finally, a simulation experiment was carried out in MATLAB/SIMULINK and compared with the conventional SMO. The results show that the improved SMO has achieved a better control effect.

关键词： Vibrations Adaptation models AC motors Force Sensorless control Observers Permanent magnet motors

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Multibody simulation for tracking error reduction in solar tracking robots

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AIP Conference Proceedings 2023年第1期2872卷

作者： Aldo Hernández-Díaz Diego A. Flores-Hernández Alberto Luviano-Juárez Sergio Isai Palomino-Resendiz Itzamá López-Yáñez National Polytechnic Institute - UPIITA Applied Dynamic Systems Laboratoy Mexico City 07340 Mexico National Polytechnic Institute - UPIITA Advanced Robotics Laboratory Mexico City 07340 Mexico National Polytechnic Institute - ESIME-ZAC Department of Control and Automation Mexico City 07738 Mexico National Polytechnic Institute - CIDETEC Mexico City 07738 Mexico

Currently, the use of renewable energy sources such as solar energy, collected by photovoltaic technology, has gained ground in the energy sector. Its use has been popularised due to the fact that it is considered a clean energy, that is a type of energy is produced without burning fossil fuels which are a cause of global warming, among other environmental damages. In order to optimize the energy harvesting through photovoltaic technology, it is necessary to maintain a perpendicular incidence of the sun rays with the photovoltaic module, leading to the use of solar tracking systems that demand the application of trajectory tracking control strategies that minimize the tracking errors while ensuring the lowest energy consumption of the robotic system. In this work, a comprehensive multibody simulation was carried out to obtain a concrete appreciation of the behavior of the tracking system prior to an experimental implementation. This type of simulations allows us to simulate complete systems formed by solid links and rigid joints that were previously designed, and with a calculated analytical model (Kinematic and Dynamic). Furthermore, the obtained simulator allows us to apply a variety of control strategies that are represented by means of 3D simulations which are very similar to the actual experimental results, so that it would be possible to estimate the ªtracking error results° without the necessity of a physical implementation. From the kinematic and dynamic models of a solar tracker of two degrees of freedom, released in an azimuthal-elevation configuration, a PID controller and a passivity-based controller were implemented in Matlab-Simscape®, obtaining simulations of a solar trajectory tracking minimizing the error between the reference and the solar tracker.

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