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arXiv 2024年

作者： Dai, Bolun Khorrambakht, Rooholla Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Electrical & Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States

The capability to navigate safely in an unstructured environment is crucial when deploying robotic systems in real-world scenarios. Recently, control barrier function (CBF) based approaches have been highly effective in synthesizing safety-critical controllers. In this work, we propose a novel CBF-based local planner comprised of two components: Vessel and Mariner. The Vessel is a novel scaling factor based CBF formulation that synthesizes CBFs using only point cloud data. The Mariner is a CBF-based preview control framework that is used to mitigate getting stuck in spurious equilibria during navigation. To demonstrate the efficacy of our proposed approach, we first compare the proposed point cloud based CBF formulation with other point cloud based CBF formulations. Then, we demonstrate the performance of our proposed approach and its integration with global planners using experimental studies on the Unitree B1 and Unitree Go2 quadruped robots in various environments. © 2024, CC BY.

关键词： Robot programming

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An I & I Adaptive Redesign Approach for Asymptotic Stability without PE

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IFAC-PapersOnLine 2023年第1期56卷 264-269页

作者： Lei Wang Bowen Yi Hongye Su State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou 310027 China Australian Centre for Field Robotics The University of Sydney NSW 2006 Australia

This paper proposes an adaptation redesign approach of the immersion and invariance (I&I) adaptive control to achieve asymptotic stability of the controlled plant and the parameter estimator at the desired equilibrium. The key idea is to employ the technique of generalized parameter estimation-based observer on the parameter estimation error dynamics by applying the indirect I & I adaptive control scheme, yielding a linear regression equation, from which the adaptive law can be redesigned. As a result, it is shown that globally exponential parameter convergence can be guaranteed under an interval excitation (IE) condition, which is much weaker than the conventionally required persistent excitation. Under a stabilizability assumption, an adaptation-redesigned feedback control law can be designed to achieve global asymptotic stability at the desired equilibrium point under the IE condition. The proposed adaptive control approach is applied to a class of parameteric strict-feedback systems without overparameterization, which is needed by the standard I & I adaptive control.

关键词： Immersion invariance parameter estimation adaptation redesign

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PS-Loc: Robust LiDAR Localization with Prior Structural Reference

PS-Loc: Robust LiDAR Localization with Prior Structural Refe...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Rui Li Wentao Zhao Tianchen Deng Yanbo Wang Jingchuan Wang Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Ministry of Education Key Laboratory of System Control and Information Processing Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Prior structural reference like floor plan is readily accessible in indoor scene, which exhibits the potential of improving localization quality without the requirements of a previously-built high-precision map. This paper introduces a novel optimal transport-based framework for prior structural reference-based localization, aiming to improve the robustness for the robot localization. Leveraging the spacial relations of structures, a matching method based on optimal transport theory is proposed and it improves the robustness of matching results in dynamic scene and rapid rotation conditions. Additionally, this paper handles metric inaccuracies in the known structural reference by implementing an prior guided plane adjustment-based updating strategy. This strategy combines prior and observational information to jointly optimize the structural information within a sliding window. The performance of the framework is validated through real-world experiments, demonstrating superior accuracy and robustness to disturbances from dynamic occlusion and rapid rotation compared to common state-of-the-art SLAM and localization methods.

关键词： Location awareness Measurement Laser radar Simultaneous localization and mapping Accuracy Robustness Robot localization Intelligent robots Floors

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Wearable multichannel pulse condition monitoring system based on flexible pressure sensor arrays

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Microsystems & Nanoengineering 2022年第1期8卷 249-258页

作者： Jie Wang Yirun Zhu Zhiyong Wu Yunlin Zhang Jian Lin Tao Chen Huicong Liu Fengxia Wang Lining Sun Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric EngineeringSoochow UniversitySuzhou 215123China Micro Nano System Research Center Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education and Shanxi Province&College of Information EngineeringTaiyuan University of TechnologyTaiyuan 030024China Suzhou Institute of Nano-tech and Nanobionics Chinese Academy of SciencesSuzhou 215123China

Pulse diagnosis is an irreplaceable part of traditional Chinese medical ***,application of the traditional pulse monitoring method was restricted in the modernization of Chinese medical science since it was difficult to capture real signals and integrate obscure feelings with a modern data ***,a novel multichannel pulse monitoring platform based on traditional Chinese medical science pulse theory and wearable electronics was *** pulse sensing platform simultaneously detected pulse conditions at three pulse positions(Chi,Cun,and Guan).These signals were fitted to smooth surfaces to enable 3-dimensional pulse mapping,which vividly revealed the shape of the pulse length and width and compensated for the shortcomings of traditional single-point pulse ***,the pulse sensing system could measure the pulse signals from different individuals with different conditions and distinguish the differences in pulse *** addition,this system could provide full information on the temporal and spatial dimensions of a person’s pulse waveform,which is similar to the true feelings of doctors’*** innovative,cost-effective,easily designed pulse monitoring platform based on flexible pressure sensor arrays may provide novel applications in modernization of Chinese medical science or intelligent health care.

关键词： multichannel system replace

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Pedestrian detection with high-resolution event camera

arXiv

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arXiv 2023年

作者： Wzorek, Piotr Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Krakow Poland

Despite the dynamic development of computer vision algorithms, the implementation of perception and control systems for autonomous vehicles such as drones and self-driving cars still poses many challenges. A video stream captured by traditional cameras is often prone to problems such as motion blur or degraded image quality due to challenging lighting conditions. In addition, the frame rate – typically 30 or 60 frames per second – can be a limiting factor in certain scenarios. Event cameras (DVS – Dynamic Vision Sensor) are a potentially interesting technology to address the above mentioned problems. In this paper, we compare two methods of processing event data by means of deep learning for the task of pedestrian detection. We used a representation in the form of video frames, convolutional neural networks and asynchronous sparse convolutional neural networks. The results obtained illustrate the potential of event cameras and allow the evaluation of the accuracy and efficiency of the methods used for high-resolution (1280 x 720 pixels) footage. © 2023, CC BY.

关键词： Cameras

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Pedestrian detection with high-resolution event camera

TechRxiv

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TechRxiv 2023年

作者： Wzorek, Piotr Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Krakow Poland

关键词： Cameras

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Robust Triangular Decoupling Velocity Varying controllers for Four Wheel Steering Autonomous Vehicles

Robust Triangular Decoupling Velocity Varying Controllers fo...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Michael G. Skarpetis Fotis N. Koumboulis Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National and Kapodistrian University of Athens Euboea Greece

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

This study explores the challenges of achieving triangular decoupling in a specific group of linear parameter-dependent systems that have uncertain structures, with a particular emphasis on its relevance to four-wheel steering (4WS) vehicles. A new method is presented, combining a state feedback controller that includes static and time-varying elements. The main goal of this controller design is to guarantee triangular decoupling properties and Hurwitz invariability in the face of system uncertainties. The proposed method involves developing the controller and setting solvability criteria to transform the original Parameter Dependent Uncertain System into an uncertain Linear Time-Invariant (LTI) system and subsequently meeting LTI triangular decoupling characteristics. The practical significance of the results is shown by their effective use in controlling the motion of a velocity varying four-wheel steering (4WS) car model with uncertain virtual mass and cornering stiffnesses.

关键词： Linear systems Uncertain systems State feedback Uncertainty Wheels Transforms Reliability Automobiles Time-varying systems Manufacturing automation

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A Two-Step Design for Robust Input-Output Decoupling of a Class of Uncertain and Linear Parameter Dependent Systems

A Two-Step Design for Robust Input-Output Decoupling of a Cl...

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Mediterranean Conference on control and Automation (MED)

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

This research delves into the intricacies of achieving input-output decoupling for a class of uncertain linear parameter dependent systems. A combined approach is introduced, involving the utilization of a state feedback controller that incorporates both static and time-varying elements. The design of this controller aims to maintain insensitivity to uncertainties. The investigation establishes criteria for determining the feasibility of solving the robust input-output decoupling problem. Under these established conditions, a specific class of state feedback controllers is systematically identified as proficient in effectively addressing the stated problem. The proposed methodology entails deriving the controller and formulating solvability conditions to convert the original Parameter Dependent System (PDS) into an uncertain Linear Time-Invariant (L TI) system. Then an analytical presentation of a static state feedback controller is provided as a mean to resolve the input-output robust decoupling for the uncertain L TI system. The practical applicability of these findings is exemplified through successful implementation in a two-mass translation system, appropriately linked with a hydraulic actuator.

关键词： State feedback Uncertain systems Sufficient conditions Uncertainty Automation Hydraulic actuators control systems

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Supervisory control for Smart Manufacturing Using FIWARE

Supervisory Control for Smart Manufacturing Using FIWARE

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On-Line Conference (ONCON), Industrial Electronics Society Annual

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

ISBN: (数字)9798331540319

ISBN: (纸本)9798331540326

The problem of providing smart manufacturing units, via supervisor control implemented in FIWARE, is studied. In order to investigate the problem at hand, an indicative manufacturing unit is considered, and the desired safe performance of the unit is achieved via a supervisory control architecture, being implemented in cloud computing environment. The model of the manufacturing unit is developed on the basis of the models of its sensors and actuators, in Discrete Event System (DES) form. The safe behavior of the unit is expressed in the form of nine rules. The rules are translated into nine regular languages that are realized as a set of proper supervisors. The supervisors are analytically determined and conducted in the open platform FIWARE, using all necessary smart data models and platform tools.

关键词： Cloud computing Actuators Web services Computational modeling Supervisory control Data models Sensor systems Intelligent sensors Smart manufacturing Milling machines

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A FIWARE based Input-Output Supervisor control Implementation

A FIWARE based Input-Output Supervisor Control Implementatio...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Antonios N. Menexis Dimitrios G. Fragkoulis Fotis N. Koumboulis Michael G. Skarpetis Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National & Kapodistrian University of Athens Euboea Greece

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

In this paper, a FIWARE based control implementation framework for supervisory control of inputoutput models, in Discrete Event System (DES) form, will be introduced, through the case study of an industrial product transfer system having a parametric number of conveyor belts. Each conveyor belt has an actuator (motor) for the belt's clockwise move and a sensor for the detection of the presence of a product. The model of each actuator and the model of each sensor of the belt are expressed in DES form. The input-output relation between consecutive conveyor belts is formally expressed. The satisfactory cooperation between consecutive conveyor belts has been guaranteed by developing a set of two types of supervisors for each cooperative pair. The actuators and the sensors of each belt have been described as smart data models. Finally, an implementation of the proposed supervisor scheme in FIWARE has been proposed.

关键词： Actuators Supervisory control Belts Motors Data models Discrete-event systems Manufacturing automation

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