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

Delayless Controllers for Exact Model Matching and Disturban...

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International Conference on Modern Circuits and systems Technologies (MOCAST)

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

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.

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A ROS Implementation of the Situational Awareness and Maneuvering systems for an Autonomous Marine Vessel

A ROS Implementation of the Situational Awareness and Maneuv...

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OCEANS

作者： Matheus F. Reis Gustavo Andrade Francisco Neves Paulo Silva Rômulo T. Rodrigues A. Pedro Aguiar Cyber-Physical Control Systems and Robotics lab Faculty of Engineering - University of Porto

ISBN: (纸本)9781665427883

This paper describes a study on the development, implementation, and evaluation of situational awareness, and the maneuvering systems for an autonomous ship. The implementation and validation of these modules within the Robot Operating System (ROS) framework are motivated by the participation of the Atlantics team (UPORTO) in the Njord - The Autonomous Ship Challenge, a pilot student-driven competition that involves the participation of several universities and is organized by a team with the Norwegian University of Science and Technology. The competition consists of a set of several tasks that the participating teams are asked to solve. These tasks are indeed current challenges in the marine industry towards autonomy and involve the design and evaluation of motion control and navigation algorithms with situational awareness and collision avoidance capabilities for a standardized vessel and sensor suite. In this paper, we present the modules of object detection, object tracking, and object state estimation that constitute the situational awareness system, and the modules for planning and motion control, including a spline-based motion planner, a nonlinear path-following controller with a safety critical module for obstacle avoidance, and a model reference adaptive controller for the inner-loop (autopilot). Several simulation results using the competition simulator are shown.

关键词： Tracking loops Navigation Object detection Trajectory Safety Vehicle dynamics Task analysis

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Event-Based Supervisors for the Maintenance Process of a Printing Machine

Event-Based Supervisors for the Maintenance Process of a Pri...

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Panhellenic Conference on Electronics and Telecommunications (PACET)

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

A set of event-based supervisors is developed to control the maintenance process of a printing machine. The Discrete Event System descriptions of the distinct tasks of the maintenance process are in the form of Finite State Machines. The desired behavior is expressed as four behavioral rules. The rules are translated to regular languages realized by appropriate supervisor automaton. The supervisor’s physical realizability is proved and the blocking avoidance of the controlled printing machine is satisfied.

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Quantum Annealing for the Mechanics of Robot Inspectors on Electrical Transmission Lines' Conductors

Quantum Annealing for the Mechanics of Robot Inspectors on E...

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control, robotics and Informatics (ICCRI), International Conference on

作者： Hadi Salloum Mohammad Reza Bahrami Artem Matevosian Sofia Gamershmidt Ali Jnadi Manuel Mazzara Faculty of Computer Science and Engineering Innopolis University Innopolis Russia Cyber-physical systems lab Innopolis University Innopolis Russia Institute of Robotics and Computer Vision Innopolis University Innopolis Russia

ISBN: (数字)9798350380309

ISBN: (纸本)9798350380316

This paper explores the integration of quantum computing, specifically quantum annealing, into robotics for inspecting electrical transmission lines. By using quantum annealing's computational power, we address the dynamics of robot inspectors on transmission line conductors, enhancing the computational efficiency of managing the movements of robot inspectors on transmission line conductors. The use of these robots is crucial for performing efficient and safe inspections. We discuss the mathematical foundations of quantum annealing, transforming differential equations governing robot dynamics into Ising model Hamiltonians suitable for quantum annealing devices. Through experiments using D-Wave's ‘Advantage’ quantum annealer, we demonstrate the viability of quantum annealing in solving complex robotics problems, paving the way for advanced applications in the field.

关键词： Annealing Power transmission lines Computational modeling Quantum mechanics Differential equations Inspection Quantum annealing Conductors Mathematical models Robots

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Event-Based Supervisor control for a Bascule Bridge

Event-Based Supervisor Control for a Bascule Bridge

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South Eastern European Design Automation, Computer Engineering, Computer Networks and Social Media Conference (SEEDA-CECNSM)

作者： Dimitrios G. Fragkoulis Fotis N. Koumboulis Maria P. Tzamtzi Georgios L. Giannaris Department of Digital Industry Technologies School of Science Robotics Automatic Control and Cyber-Physical Systems Laboratory National and Kapodistrian University of Athens Euripus Campus Euboea Greece Core Department National and Kapodistrian University of Athens Euripus Campus Euboea Greece

ISBN: (数字)9798331504489

ISBN: (纸本)9798331504496

The automation of a bascule bridge, located in the Netherlands, is studied. The modeling of the system is worked out in the framework of Ramadge-Wonham and analyzed per automation component of the bridge. The desired performance of the bridge is expressed in the form of rules, that will be translated to five groups of sets of regular languages. Next, new groups of sets of regular languages will be introduced by the injection of appropriate uncontrollable events, in order to guarantee the controllability of the languages. Finally, an event-based supervisor scheme will be developed and the nonblockingness of the controlled automaton is proved.

关键词： Bridges Automation Design automation Event detection Social networking (online) Smart cities Programmable logic devices Automata SCADA systems Europe

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A Robotic Framework for the Robot@Factory 4.0 Competition

A Robotic Framework for the Robot@Factory 4.0 Competition

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Ricardo B. Sousa Cláudia D. Rocha João G. Martins João Pedro Costa João Tomás Padrão José Maria Sarmento José Pedro Carvalho Maria S. Lopes Paulo G. Costa António Paulo Moreira Faculty of Engineering University of Porto (FEUP) Porto Portugal CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal University of Trás-os-Montes and Alto Douro (UTAD) Vila Real Portugal C2SR - Cyber-Physical Control Systems and Robotics SYSTEC - Research Center for Systems and Technologies Porto Portugal

ISBN: (数字)9798350352344

ISBN: (纸本)9798350352351

Robotic competitions stand as platforms to propel the forefront of robotics research while nurturing STEM education, serving as hubs of both applied research and scientific innovation. In Portugal, the Portuguese robotics Open (FNR) is an event with several robotic competitions, including the Robot@Factory 4.0 competition. This competition presents an example of deploying autonomous robots on a factory shop floor. Although the literature has works proposing frameworks for the original version of the Robot@Factory competition, none of them proposes a system framework for the Robot@Factory 4.0 version that presents the hardware, firmware, and software to complete the competition and achieve autonomous navigation. This paper proposes a complete robotic framework for the Robot@Factory 4.0 competition that is modular and open-access, enabling future participants to use and improve it in future editions. This work is the culmination of all the knowledge acquired by winning the 2022 and 2023 editions of the competition.

关键词： Technological innovation Education Propulsion Production facilities Software Hardware Autonomous robots

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A Prototype for Navigation in Signed Directed Graphs of Chemical Processes

A Prototype for Navigation in Signed Directed Graphs of Chem...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Nazanin Hamedi Julia Richter Bernhard Schrank Eric Lischinski Jiaxin Chen Xiaoyu Sun Anselm Klose Leon Urbas DFG RTG Conducive Design of Cyber Physical Systems TU Dresden Dresden Germany Chair of Process Control Systems TU Dresden Dresden Germany Chair of Process Control Systems Process-to-Order Lab TU Dresden Dresden Germany Process Control Systems & Process Systems Engineering TU Dresden Dresden Germany

Signed Directed Graphs (SDGs) are among the very beneficial, and well-known tools for fault diagnosis in chemical process plants. Based on the size of the process plant, their corresponding SDGs can be very large in size; and therefore, significantly difficult to navigate. Besides that, the recent advancement in semantic description of process structures and intelligent Process and Instrumentation Diagrams (P&IDs), has led to the development of several computer tools for navigating in a process plant structure and examining the connectivity of different process equipment to each other. In this study a prototype for an intelligent P&ID, in which the SDG is considered to help the user understand the influence of process parameters on each other is developed. Requirements were derived and implemented as a click prototype, using Axure RP. The evaluation results indicate that despite the high understandability of the prototype, the cognitive efforts for linking the information derived from the SDG with the plant’s P&ID scheme are still too high for achieving a good overall usability.

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A Review on Collaborative Robots in Industrial and Service Sectors

A Review on Collaborative Robots in Industrial and Service S...

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2022 International Siberian Conference on control and Communications, SIBCON 2022

作者： Sultanov, Ramir Sulaiman, Shifa Li, Hongbing Meshcheryakov, Roman Magid, Evgeni Kazan Federal University Intelligent Robotics Department Kazan Russia Shanghai Jiao Tong University Department of Instrument Science and Engineering Shanghai China V. A. Trapeznikov Institute of Control Sciences Russian Academy of Sciences Cyber-physical Lab Moscow Russia HSE University Moscow Russia

ISBN: (纸本)9781665476287

Today, a collaborative robotics is a rapidly developing area due to its applications in a broad variety of sectors. Collaborative robots (cobots) are robots, which are designed specifically to work along with humans in a common workspace. This article discusses modern cobots employed in industrial and service sectors. Research activities associated with cobots used in virtual environments and real world experiments are described. The ISO/TS 15066:2016 technical specifications followed by cobots for ensuring safety to human operators are emphasized. © 2022 IEEE.

关键词： ISO Standards

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Modelling and control of a Parametric Wafer Manufacturing Process

Modelling and Control of a Parametric Wafer Manufacturing Pr...

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IEEE/IAS International Conference on Industry Applications (INDUSCON)

作者： Fotis N. Koumboulis Dimitrios G. Fragkoulis Dimitrios Mparkas Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National and Kapodistrian University of Athens Euripus Campus Greece Core Department National and Kapodistrian University of Athens Euripus Campus Greece

In the present paper the mathematical model of a wafer manufacturing process is presented using Discrete Event systems. The novelty of the proposed mathematical description is the parametric number of vacuum chambers and robotic manipulators, as well as that three vacuum chambers and the respective buffers are served by each robotic manipulator. The last robotic manipulator serves a parametric number of champers depending on the total number of vacuum chambers modulo 3. The desired behavior of the process is expressed in the form of a set of regular languages. The realization of each regular language in the form of a supervisor automaton is developed. The satisfactory performance of the controlled automaton is derived. The present result can be considered as the first attempt towards the study of wafer manufacturing processes, where each robotic manipulator serves a parametric number of vacuum chambers and buffers.

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Modelling mobile robot navigation in 3D environments: Camera-based stairs recognition in Gazebo 3

Modelling mobile robot navigation in 3D environments: Camera...

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3rd Moscow Workshop on Electronic and Networking Technologies, MWENT 2022

作者： Mustafin, Maksim Tsoy, Tatyana Martinez-Garcia, Edgar A. Meshcheryakov, Roman Magid, Evgeni Kazan Federal University Intelligent Robotics Department Kazan Russia Autonomous University of Ciudad Juarez Industrial Engineering and Manufacturing Dept. Chihuahua Mexico V. A. Trapeznikov Institute of Control Sciences Russian Academy of Sciences Cyber-physical Lab Moscow Russia HSE University Moscow Russia

ISBN: (纸本)9781665496650

The task of sensory-based autonomous navigation of mobile robots requires data fusion from multiple sources in order to properly detect and recognize environmental obstacles. One of important issues mobile robots deal in a typical multi-level indoor environment is a stair well detection and negotiation. This paper presents ROS-based stairs detection implementation using onboard cameras of the Russian mobile crawler robot Servosila Engineer. Virtual experiments were performed in Gazebo environment with a single camera and a stereo camera. © 2022 IEEE.

关键词： Computer vision

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