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Manipulation Tasks in Robotics Education

IFAC-PapersOnLine 2016年第6期49卷 22-27页

作者： Borisov, Oleg I Gromov, Vladislav S Pyrkin, Anton A Vedyakov, Alexey A Petranevsky, Igor V Bobtsov, Alexey A Salikhov, Vladimir I Department of Control Systems and Informatics ITMO University Kronverkskiy pr. 49 St. Petersburg197101 Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering Bolshoy pr. 61 St. Petersburg199178 Russia

In this paper a series of practical tasks on control for manipulators is presented. This series represents a laboratory part of the course “control Methods for Robotic Applications” included in the curriculum of the master's degree program at the Department of control systems and Informatics of ITMO University. The exercises are aimed to attract and motivate students, improve their practical competency and simplify their understanding of theoretical background. The tasks are focused on such problems as path and trajectory planning, automatic code generation and design of a tracking system for moving target. © 2016

关键词： Manipulators Application programs Automatic programming Robotics Automatic code generations control applications control education Manipulation task Robotic applications Robotic manipulators Robotics education Trajectory Planning

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Arc Approximation Algorithm of Spatial Movements for Industrial Robots

Arc Approximation Algorithm of Spatial Movements for Industr...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Oleg I. Borisov Vladislav S. Gromov Anton A. Pyrkin Igor V. Petranevsky Alexcy O. Klyunin Alexcy A. Bobtsov Department of Control Systems and Informatics ITMO University St. Petersburg Russia Institute of Automation Hangzhou Dianzi University Hangzhou Zhejiang Province P. R. China Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering St. Petersburg Russia

A new path planning algorithm for industrial robots is proposed in this paper. The algorithm is based on arc approximation of the given reference path. Such solution allows to reduce amount of the reference points, decrease code size and computational costs, increase performance of operations and simplify programming complex movements. The study represents extension of the previous work to the case of planning spatial movements in three-dimensional space. Experiments using a 6-DOF (degrees of freedom) articulated robot simulating typical industrial operations (e.g. welding, engraving, polishing) were carried out and corresponding experimental results are reported in the paper.

关键词： Service robots Planning Approximation algorithms Robot kinematics Welding Software

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On Frequency Sensitivity and Mode Orthogonality of Flexible Robotic Manipulators

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IEEE/CAA Journal of Automatica Sinica 2016年第4期3卷 394-397页

作者： Fei-Yue Wang Yanqing Gao IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center of Computational Experiments and Parallel Systems the National University of Defense Technology Department of Manufacturing & Mechanical Engineering & Technology Oregon Institute of Technology

This paper presents sensitivity analysis of vibration frequencies of flexible manipulators with respect to variations of systems parameters such as rotational inertia of hub, and mass, moment, and side of tip load. Both Euler-Bernoulli and Timoshenko dynamical models of flexible manipulators are discussed. By using variational method, sensitivity indices are obtained with explicit expressions for measuring the sensitivity of frequencies. Based on variational formulations, a novel method for deriving the orthogonal relations among vibration modal shape functions of flexible manipulators is introduced. With this method, the orthogonal relations can be derived easily without invoking the tedious process of differentiation and integration by part, as commonly used in their derivation. © 2014 Chinese Association of Automation.

关键词： Dielectric waveguides Flexible manipulators Manipulators Orthogonal functions Vibration analysis

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Towards quality advancement of underwater machine vision with generative adversarial networks

arXiv

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arXiv 2017年

作者： Chen, Xingyu Yu, Junzhi Kong, Shihan Wu, Zhengxing Fang, Xi Wen, Li University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Mechanical Engineering and Automation Beihang University Beijing100191 China

Underwater machine vision has attracted significant attention, but its low quality has prevented it from a wide range of applications. Although many different algorithms have been developed to solve this problem, real-time adaptive methods are frequently deficient. In this paper, based on filtering and the use of generative adversarial networks (GANs), two approaches are proposed for the aforementioned issue, i.e., a filteringbased restoration scheme (FRS) and a GAN-based restoration scheme (GAN-RS). Distinct from previous methods, FRS restores underwater images in the Fourier domain, which is composed of a parameter search, filtering, and enhancement. Aiming to further improve the image quality, GAN-RS can adaptively restore underwater machine vision in real time without the need for pretreatment. In particular, information in the Lab color space and the dark channel is developed as loss functions, namely, underwater index loss and dark channel prior loss, respectively. More specifically, learning from the underwater index, the discriminator is equipped with a carefully crafted underwater branch to predict the underwater probability of an image. A multi-stage loss strategy is then developed to guarantee the effective training of GANs. Through extensive comparisons on the image quality and applications, the superiority of the proposed approaches is confirmed. Consequently, the GAN-RS is considerably faster and achieves a state-of-the-art performance in terms of the color correction, contrast stretch, dehazing, and feature restoration of various underwater scenes. The source code will be made available. Copyright © 2017, The Authors. All rights reserved.

关键词： Image reconstruction

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Adaptive Multisinusoidal Signal Tracking System with Input Delay

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IFAC-PapersOnLine 2016年第13期49卷 105-110页

作者： Gromov, Vladislav S. Borisov, Oleg I. Vedyakov, Alexey A. Pyrkin, Anton A. Shavetov, Sergey V. Bobtsov, Alexey A. Salikhov, Vladimir I. Aranovskiy, Stanislav V. Department of Control Systems and Informatics ITMO University Kronverkskiy pr. 49 Saint Petersburg197101 Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 Saint Petersburg199178 Russia NON-A team INRIA-LNE Pare Scientifique de la Haute Borne 40 avenue Halley Bat.A Park Plaza Villeneuve d'Ascq59650 France

In this paper the problem of adaptive tracking of unknown multisinusoidal signal is addressed. The control input is characterized by the known time delay. It is assumed that all the parameters of the plant are known. In order to demonstrate efficiency of the proposed approach it is implemented to the robotic application. Detailed description of the experimental results are presented in the paper. In addition to the latter comparison between the presented algorithm and the proportional controller is performed. © 2016

关键词： Adaptive control systems

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Output robust control with anti-windup compensation for robotic boat

Output robust control with anti-windup compensation for robo...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Oleg I. Borisov Vladislav S. Gromov Anton A. Pyrkin Alexey A. Bobtsov Igor V. Petranevsky Alexey O. Klyunin Department of Control Systems and Informatics ITMO University Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering Petersburg Russia

In this paper a problem of saturated control for a robotic boat with unknown parameters and unmeasurable velocity and acceleration is addressed. The controller design is based on the output robust control approach “consecutive compensator”. It was augmented with an integral loop, which allows to eliminate a static error and implement the anti-windup scheme to reduce overshoot of the output variable. As result, the regulator generating the bounded control signal and avoiding windup for the boat was obtained. The efficiency of the proposed algorithm was illustrated by the experimental approval using the robotic boat setup. The comparison between three types of controllers (regular consecutive compensator, integral modification and one equipped with anti-windup) is presented.

关键词： Boats Robot kinematics Computer vision Windup Lead control systems

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Improved Transients in Multiple Frequencies Estimation via Dynamic Regressor Extension and Mixing

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IFAC-PapersOnLine 2016年第13期49卷 99-104页

作者： Aranovskiy, Stanislav Bobtsov, Alexey Ortega, Romeo Pyrkin, Anton NON-A team INRIA-LNE Parc Scientifique de la Haute Borne 40 avenue Halley Bat.A Park Plaza Villeneuve d'Ascq59650 France Department of Control Systems and Informatics ITMO University St. Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St. Petersburg Russia Laboratoire des Signaux et Systèmes CNRS-CentraleSupélec Plateau du Moulon Gif-sur-Yvette91192 France

The problem of performance enhancement for multiple frequencies estimation is studied. First, we consider a basic gradient-based estimation approach with global exponential convergence. Next, we apply the dynamic regressor extension and mixing technique to improve transient performance of the basic approach and ensure non-strict monotonicity of estimation errors. Simulation results illustrate benefits of the proposed solution. © 2016

关键词： Frequency estimation

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Stabilization of linear plants with unknown delay and sinusoidal disturbance compensation

Stabilization of linear plants with unknown delay and sinuso...

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Mediterranean Conference on control and Automation (MED)

作者： Oleg I. Borisov Vladislav S. Gromov Anton A. Pyrkin Alexey A. Bobtsov Department of Control Systems and Informatics ITMO University Petersburg Russia Control of Complex Systems Institute for Problems of mechanical Engineering Petersburg Russia

A stabilization problem for linear plants under conditions of the unavailable state vector, external sinusoidal disturbance and unknown constant delay is addressed in this paper. Plant parameters, lower bound on the disturbance frequency, upper bound on the delay are assumed to be known, while all parameters of the sinusoidal disturbance (a bias, amplitude, frequency and phase) are unknown. The task is carried out in several steps. First, a delay-free disturbance observer based on the frequency estimation scheme is constructed. Second, a delay identifier based on the gradient approach and regression model is designed and used to estimate the exact value. Third, stabilization of the plant state to zero is conducted using a predictor-based feedback with the estimated time delay. An example confirming the relevance of the proposed approach is presented.

关键词： Delays Observers Frequency estimation Delay effects Convergence Upper bound Surface waves

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Identification of the Current—Voltage Characteristic of Photovoltaic Arrays

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IFAC-PapersOnLine 2016年第13期49卷 223-228页

作者： Pyrkin, Anton A. Mancilla-David, Fernando Ortega, Romeo Bobtsov, Alexey A. Aranovskiy, Stanislav V. Department of Control Systems and Informatics ITMO University St. Petersburg Russia Department of Electrical Engineering University of Colorado DenverColorado80217 United States Laboratoire des Signaux et Systèmes CNRS-CentraleSupélec Plateau du Moulon Gif-sur-Yvette91192 France Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St. Petersburg Russia NON-A team INRIA-LNE Pare Scientifique de la Haute Borne 40 avenue Halley Bat. A Park Plaza Villeneuve d'Ascq59650 France

This paper deals with the problem of identification of the current-voltage characteristic equation of photovoltaic arrays. We propose a new parameterisation of the classical five parameter model of this function that, combined with the recently introduced identification technique of dynamic regressor extension and mixing, ensures a fast and accurate estimation of all unknown parameters. Realistic numerical examples via computer simulations are presented to assess the performance of the proposed approach. © 2016

关键词： Photovoltaic cells Current voltage characteristics Identification (control systems) Accurate estimation Five parameter model Identification techniques Nonlinear parametrization On line estimation Photovoltaic arrays Voltage characteristics

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Coupling-modulated multi-stability and coherent dynamics in directed networks of heterogeneous nonlinear oscillators with modular topology

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IFAC-PapersOnLine 2016年第14期49卷 62-67页

作者： Steur, E. Tyukin, I. Gorban, A.N. Jarman, N. Nijmeijer, H. van Leeuwen, C. Eindhoven University of Technology Institute for Complex Molecular Systems Netherlands University of Leicester Department of Mathematics Saint-Petersburg State Electrotechnical University Department of Automation and Control Processes Russia University of Leicester Department of Mathematics United Kingdom KU Leuven Department of Psychology Laboratory for Perceptual Dynamics Belgium Eindhoven University of Technology Department of Mechanical Engineering Netherlands

We discuss the dynamics of modular networks of coupled nonlinear systems. Networks of this class can be viewed as locally connected clusters or modules of nodes with directed links from one cluster to another. Let these connections form an oriented cycle. Here we show that if connectivity within isolated clusters is diffusive with relatively strong coupling, then spectral properties of the corresponding network coupling matrix promote emergence and co-existence of multiple coherent and orderly dynamic regimes. We hypothesise that, similar to our previous work on the dynamics of cycles, in addition to a nearly fully synchronous state, an attracting rotating wave solution may occur. Furthermore, prevalence of one solution type over the other could be determined by the combination of the cycle length, inter- and intra-cluster coupling strengths, and the number of elements in each module. Our preliminary numerical experiments support these hypotheses. © 2016

关键词： Dynamics Eigenvalues and eigenfunctions Heterogeneous networks Synchronization Coupled systems Diffusive coupling Eigen value Modular network Wave solution

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