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IEEE Conference on Decision and control

作者： Andre Coelho Alin Albu-Schaeffer Arne Sachtler Hrishik Mishra Davide Bicego Christian Ott Antonio Franchi Institute of Robotics and Mechatronics of the German Aerospace Center (DLR) Oberpfaffenhofen Germany Dextrous Robotics Inc Memphis TN USA Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Netherlands Department of Informatics Technical University of Munich Germany Automation and Control Institute (ACIN) Technical University of Vienna Austria LAAS-CNRS University of Toulouse France

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper proposes a Nonlinear Model-Predictive control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action to be sustained. The approach builds up on the recently developed Eigenmanifold theory, which defines the sets of line-shaped oscillations of a robot as an invariant two-dimensional submanifold of its state space. By defining the control problem as a nonlinear program (NLP), the controller is able to deal with constraints in the state and control variables and be energy-efficient not only in its final trajectory but also during the convergence phase. An initial implementation of this approach is proposed, analyzed, and tested in simulation.

关键词： Analytical models Aerospace electronics Energy efficiency Trajectory Mechanical systems Oscillators Robots

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Gap Based Novel Approach for Safe and Fast Obstacle Avoidance for Autonomous Platforms

Gap Based Novel Approach for Safe and Fast Obstacle Avoidanc...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Eren Çakmak Serhat Tekin Aykut Özdemir Seta Boǧosyan Control and Automation Engineering Istanbul Technical University Istanbul Turkey Mechatronics Engineering Istanbul Technical University Istanbul Turkey

ISBN: (数字)9781728156354

ISBN: (纸本)9781728156361

Obstacle avoidance methods play a vital role in robotic navigation tasks. In this work, we are proposing a novel obstacle avoidance framework for mobile robots equipped with 2d lidars. This method is inspired by previously proposed methods: FGM, SND and their variants. In this work, FGM-I was used as a base. FGM-I was selected for its easy applicability and adequate performance on moderate problems. However, there are certain drawbacks associated with the use of this algorithm in cluttered environments. This method suffers from narrow openings and not having a collision checking procedure. To increase the navigation safety and control robustness, proposed FGM-I2 method uses extra avoidance functions and control procedures. The results of this study indicate that according to overall results, FGM-I2 outperforms four different FGM and SND variants when evaluated w.r.t safety and speed.

关键词： Robot kinematics Collision avoidance Navigation Safety automation Mobile robots

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Performance Analysis of SVM, ANN and KNN Methods for Acoustic Road-Type Classification

Performance Analysis of SVM, ANN and KNN Methods for Acousti...

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2019 IEEE International Symposium on INnovations in Intelligent SysTems and Applications, INISTA 2019

作者： Dogan, Daghan Bogosyan, Seta Mechatronics Engineering Istanbul Technical University Istanbul Turkey Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9781728118628

In the study, a low-cost acoustic system which classifies different roads using acoustic signal processing tool is proposed (group1 road types: asphalt, gravel, stony and snowy road;group2 road types: asphalt data with car pass noise, asphalt data with rain noise, asphalt data with tire squeal noise). Thus it is aimed to estimate road/tire friction forces using slip ratio/friction curve in the active safety systems of the automobiles. Because friction forces cannot be measured directly and it can be only observed or estimated. In the study, acoustic data features which are linear predictive coding (LPC), power spectrum coefficients (PSC) and mel-frequency cepstrum coefficients (MFCC) are used for the acoustic signal processing methods with minimum variance and maximum distance principle. The features are extracted using time windows 0.1 second as the best representative window of signal properties. The classification process is also executed by support vector machine (SVM), artificial neural network (ANN), K-nearest neighbors (KNN) algorithms and compared to different road types. The most important difference of this study from our previous studies is that it compares performances of these three classification methods for different feature vectors obtained from different road conditions and indicates that the KNN is better method than SVM and ANN methods for the acoustic road type classification. According to the results, the KNN method classifies group1 road data with %90 accuracy rate and group2 road data with % 100 accuracy rate. © 2019 IEEE.

关键词： Support vector machines

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Production Scheduling Application Software for Small Medium Enterprises

Production Scheduling Application Software for Small Medium ...

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International Conference on System Science and engineering (ICSSE)

作者： Xuan-Thuyen Le The-Anh-Tu Nguyen Ngoc-Hieu Pham Ngoc-Huy Tran Innovation Fablab Ho Chi Minh City University of Technology (HCMUT) VNU-HCM Ho Chi Minh City Vietnam Department of Control & Automation Faculty of Electrical & Electronics Engineering Ho Chi Minh City University of Technology (HCMUT) VNU-HCM Ho Chi Minh City Vietnam Department of Mechatronics Cao Thang Technical College Ho Chi Minh City Vietnam

Derived from the current implementation of the production plan as well as the production schedule, Enterprise Resource Planning software with a built-in production scheduling algorithm helps optimize the uses of resources, reduce production time, increase productivity, and increase customer service levels. In this research, the available management platform (Odoo) with Python as the main programming language is proposed to build a system to support suitable schedule production plans helps shorten processing time and reduce order delay. In addition, the results are shown in detail and can be flexibly modified manually on the Gantt chart. The feasibility of the production scheduling application is shown by the Gantt chart before and after the scheduling. Moreover, the order delay rate has been reduced from 15% to 3.33%.

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Decision-Making in Driver-automation Shared control:A Review and Perspectives

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IEEE/CAA Journal of Automatica Sinica 2020年第5期7卷 1289-1307页

作者： Wenshuo Wang Xiaoxiang Na Dongpu Cao Jianwei Gong Junqiang Xi Yang Xing Fei-Yue Wang IEEE California PATH University of CaliforniaBerkeleyCA 94720 USA Department of Engineering University of CambridgeCambridge CB21PZU.K. Mechanical and Mechatronics Engineering University of WaterlooWaterloo N2L3G1Canada Department of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190and also with the Research Center for Military Computational Experiments and Parallel Systems TechnologyNational University of Defense TechnologyChangsha 410073China

Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver’s abilities to *** human driver,as an essential agent in the driver-vehicle shared control systems,should be precisely modeled regarding their cognitive processes,control strategies,and decision-making *** interactive strategy design between drivers and automated driving agents brings an excellent challenge for human-centric driver assistance systems due to the inherent characteristics of *** open-ended questions arise,such as what proper role of human drivers should act in a shared control scheme?How to make an intelligent decision capable of balancing the benefits of agents in shared control systems?Due to the advent of these attentions and questions,it is desirable to present a survey on the decision making between human drivers and highly automated vehicles,to understand their architectures,human driver modeling,and interaction strategies under the driver-vehicle shared ***,we give a further discussion on the key future challenges and *** are likely to shape new potential research directions.

关键词： Automated vehicle decision-making human driver human-vehicle interaction shared control

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Parallel Distance: A New Paradigm of Measurement for Parallel Driving

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IEEE/CAA Journal of Automatica Sinica 2020年第4期7卷 1169-1178页

作者： Teng Liu Hong Wang Bin Tian Yunfeng Ai Long Chen the Vehicle Intelligence Pioneers Inc. Qingdao 266109 the Department of Automotive Engineering Chongqing UniversityChongqing 400044China the Mechanical and Mechatronics Engineering Department Waterloo UniversityN2L 3G1Canada the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China the School of Data and Computer Science Sun Yat-sen UniversityGuangzhou 510006China

In this paper, a new paradigm named parallel distance is presented to measure the data information in parallel driving system. As an example, the core variables in the parallel driving system are measured and evaluated in the parallel distance framework. First, the parallel driving 3.0 system included control and management platform, intelligent vehicle platform and remote-control platform is introduced. Then,Markov chain(MC) is utilized to model the transition probability matrix of control commands in these systems. Furthermore, to distinguish the control variables in artificial and physical driving conditions, different distance calculation methods are enumerated to specify the differences between the virtual and real signals. By doing this, the real system can be guided and the virtual system can be im-proved. Finally, simulation results exhibit the merits and multiple applications of the proposed parallel distance framework.

关键词： Artificial and physical system parallel distance parallel driving 3.0 parallel system rotational and accelerator signal

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A novel point inclusion test for convex polygons based on voronoi tessellations

arXiv

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arXiv 2020年

作者： Zengin, Rahman Salim Sezer, Volkan Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

The point inclusion tests for polygons, in other words the point-in-polygon (PIP) algorithms, are fundamental tools for many scientific fields related to computational geometry, and they have been studied for a long time. The PIP algorithms get direct or indirect geometric definition of a polygonal entity, and validate its containment of a given point. The PIP algorithms, which are working directly on the geometric entities, derive linear boundary definitions for the edges of the polygons. Moreover, almost all direct test methods rely on the two-point form of the line equation to partition the space into half-spaces. Voronoi tessellations use an alternate approach for half-space partitioning. Instead of line equation, distance comparison between generator points is used to accomplish the same task. Voronoi tessellations consist of convex polygons, which are defined between generator points. Therefore, Voronoi tessellations have become an inspiration for us to develop a new approach of the PIP testing, specialized for convex polygons. The equations, essential to the conversion of a convex polygon to a Voronoi polygon, are derived. As a reference, a very standard convex PIP testing algorithm, the sign of offset, is selected for comparison. For generalization of the comparisons, the ray crossing algorithm is used as another reference. All algorithms are implemented as vector and matrix operations without any branching. This enabled us to benefit from the CPU optimizations of the underlying linear algebra libraries. Experimentation showed that, our proposed algorithm can have comparable performance characteristics with the reference algorithms. Moreover, it has simplicity, both from a geometric representation and the mental model. Copyright © 2020, The Authors. All rights reserved.

关键词： Computational geometry

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Adaptive neural network output-feedback tracking control for switched nonlinear ship maneuvering systems with time delays under arbitrary switching

Adaptive neural network output-feedback tracking control for...

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Chinese automation Congress (CAC)

作者： Zhenhua Li Xiangxuan Ren Botao Dong Hong Chen Weidong Zhang SJTU Sanya Yazhou Bay Institute of Deepsea Science and Technology Sanya P. R. China Department of Automation Shanghai Jiao Tong University Shanghai P. R. China College of Mechatronics and Control Engineering Shenzhen University Shenzhen P. R. China School of Information and Communication Engineering Hainan University Haikou P. R. China

This paper focuses on the tracking control problem for switched nonlinear ship maneuvering time-delay systems with only a heading angle available by adaptive neural network (NN) output feedback. Using the backstepping method, an adaptive NN control mechanism is designed to solve the problem cooperated with the state observer. The uncertain terms of the system are approximated by NNs, and the state observer is designed to estimate the yaw rate and rudder angle. The unknown time delays are overcome by exploiting the common Lyapunov-Krasovskii functionals (CLKFs). Combined with error transformation, the proposed control method guarantees that i) all of the signals for the system are semi-global uniformly ultimately boundedness (SGUUB) under arbitrary switching; and, ii) the tracking error of system output keeps within a small neighborhood around the origin. The results of simulation results are shown to demonstrate the feasibility of the control strategy.

关键词： Adaptive systems Backstepping Delay effects Simulation Switches Artificial neural networks Observers

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Textile-Based Thermally Driven Actuators for Soft Robotic Mechanotherapy Applications

Textile-Based Thermally Driven Actuators for Soft Robotic Me...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Mehmet Fatih Ç elebi Zeynep Beler Elif Dede Emine Dilara Koç ak Ö zgü r Atalay Aslı Tunç ay Atalay Veysel Gazi Department of Electrical and Electronics Engineering Department of Mechatronics Engineering Faculty of Technology Institute of Pure and Applied Sciences Marmara University Istanbul Turkey Department of Polymer Science and Technology Institute of Pure and Applied Sciences Marmara University Istanbul Turkey Department of Metallurgy and Materials The University of Birmingham Birmingham United Kingdom Department of Textile Engineering Faculty of Technology Marmara University Istanbul Turkey Faculty of Textile Technology and Design Istanbul TechnicalDepartment of Textile EngineeringIstanbulTurkey Veysel Gazi is with the Department of Control and Automation Engi-neering Faculty of Electrical and Electronics Engineering Yildiz Technical University Istanbul Turkey

Rigid-body industrial robotic manipulators and pneumatic compression systems are widely used in mechano-therapeutic applications. However, rigid and bulky components reduce the wearability of the system in mobile environments. The current trend in wearable robotics tends to build such devices using textiles/silicone materials thanks to their lightness, compliancy, and comfort properties. In this study, thermally powered soft fluidic actuators that utilize liquid/gas phase transition property of low boiling point liquids are investigated. Proposed actuators generate desired pressure level and have great potential to free mechano-therapy devices from such bulky components. The developed structure incorporates textile-based heaters, thin film actuator shells, and low boiling point liquids. Here, two low boiling liquids with different boiling temperature are mixed successfully in order to obtain desired boiling point. Results a revealed that actuators constructed with PE/PA membrane did not show any deterioration even after 500 cycle actuation. In order to control the system, instantaneous temperature of the textile-based heater on the actuator device is used as feedback for the on-off controller.

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Energy Management System for Sustainable Operation of Robot in Disaster Response

Energy Management System for Sustainable Operation of Robot ...

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2020 International Conference on Sustainable Energy engineering and Application, ICSEEA 2020

作者： Lee, Min-Fan Ricky Nugroho, Asep Bahrudin Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taipei Taiwan Research Center for Electrical Power and Mechatronics Indonesian Institute of Sciences Bandung Indonesia National Taiwan University of Science and Technology Department of Mechanical Engineering Taipei Taiwan

ISBN: (纸本)9781728188492

The search and rescue (SAR) robot needs a long-endurance energy source to extend the mission. It needs the energy harvesting and management system. One of the options to harvest energy from the environment is to use photovoltaic (PV). However, the energy which is generated by the PV fluctuates. Putting a supercapacitor to the system will solve this shortcoming. Moreover, it also supports the battery to handle abrupt load variations. The proportional-integral and fuzzy logic control (PI-FLC) is adopted to determine the powersharing between the battery and the supercapacitor. The low pass filter (LPF) is added to separate a high and low frequency of the load. The supercapacitor error voltage and the high frequency are employed as the input of FLC and the output of FLC is reference power which will be taken from the supercapacitor. The PI controller will regulate the supercapacitor current approaching reference power that is given by the FLC. The simulation using Simpower toolbox MATLAB is conducted to evaluate comprehensively and it proves that the proposed method can maintain the state of charge (SoC) of supercapacitor in that the desired level i.e 38%. © 2020 IEEE.

关键词： DC-DC power converters Energy management fuzzy logic robot solar energy supercapacitor

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