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15th World Congress of the International Federation of automatic control, 2002

作者： Amat, J. Casals, A. Muñoz, L. Las Heras, M. UPC / CSIC Llorens Artigas 4-6 2a pt. Barcelona08028 Spain Dep. Automatic Control and Computer Engineering Universitat Politècnica de Catalunya Spain

ISBN: (纸本)9783902661746

Robot manipulation through teleoperation requires some ability from a human operator. This requirement is stronger when the tridimensional scene is observed through a 2D monitor. This paper describes a telemanipulation aiding system based on the superposition of a position correction component to the manual orders given by the human operator, through his gestures. This correction will enable the slave arm to move quicker when it is far from the target, while moving slower and more precisely when it operates close to the target, thus, the system behaves as if an external attraction force appear around the possible objects to be manipulated. Copyright © 2002 IFAC.

关键词： computer vision

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A novel neural network structure for control

A novel neural network structure for control

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IEEE International Conference on Systems, Man, and Cybernetics, SMC 1992

作者： Codina, Joan Morcego, Bernardo Fuertes, Josep M. Català, Andreu Automatic Control and Computer Engineering Department FIB - Universitat Politècnica de Catalunya 5 Pau Gargallo Barcelona08071 Spain

ISBN: (纸本)0780307208

A new dynamic neural network structure is developed for simulating and controlling dynamic systems. Using this kind of neural network a controller for a hovering platform wants to be experimented. The network description and the attempts already done to simulate the hovering platform behaviour are presented. A study of the problems we got to achieve those results is used at the end to explain the next strategies. © 1992 IEEE.

关键词： Neural networks

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Ante-Hoc Generation of Task-Agnostic Interpretation Maps

Ante-Hoc Generation of Task-Agnostic Interpretation Maps

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2023 IEEE/CVF Conference on computer Vision and Pattern Recognition Workshops, CVPRW 2023

作者： Akash Guna, R.T. Benitez, Raul Sikha, O.K. Amrita School of Engineering Department of Computer Science and Engineering Coimbatore India Universitat Politècnica de Catalunya BarcelonaTech Departament of Automatic Control Spain

ISBN: (纸本)9798350302493

Existing explainability approaches for convolutional neural networks (CNNs) are mainly applied after training (post-hoc) which is generally unreliable. Ante-hoc explainers trained simultaneously with the CNN are more reliable. However, current ante-hoc explanation methods mainly generate inexplicit concept-based explanations tailored to specific tasks. To address these limitations, we propose a task-agnostic ante-hoc framework that can generate interpretation maps to visually explain any CNN. Our framework simultaneously trains the CNN and a weighting network - an explanation generation module. The generated maps are self-explanatory, eliminating the need for manual identification of concepts. We demonstrate that our method can interpret classification, facial landmark detection, and image captioning tasks. We show that our framework is explicit, faithful, and stable through experiments. To the best of our knowledge, this is the first ante-hoc CNN explanation strategy that produces visual explanations generic to CNNs for different tasks. © 2023 IEEE.

关键词： computer vision

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One-cycle control for the parallel operation of synchronous buck converters

One-cycle control for the parallel operation of synchronous ...

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IEEE International Symposium on Industrial Electronics 2005, ISIE 2005

作者： Berbel, Néstor Guerrero, Josep M. Cruz, Juan Miret, Jaime Castilla, Miguel Dept. Electronics Engineering Universitat Politècnica de Catalunya Spain Dept. Automatic Control and Computer Eng. CEIB Spain

Thispaperpresentsanovelcontrolforamultiphasedc-dcconverter, whichprovidestightoutputvoltageregulation,fasttransientresponse, androbustnessagainstlarge-signaldisturbancesintheinput-voltageandtheload- current. © 20... 详细信息

ISBN: (纸本)0780387384

关键词： Electric converters

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Droop control method for the parallel operation of online uninterruptible power systems using resistive output impedance

Droop control method for the parallel operation of online un...

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21st Annual IEEE Applied Power Electronics Conference and Exposition, APEC '06

作者： Guerrero, Josep M. Berbel, Nestor de Vicuña, Luis García Matas, José Miret, Jaume Castilla, Miguel Sustainable Distributed Generation and Renewable Energy Escola Universitària d'Enginyeria Tècnica Industrial de Barcelona C/Comte d'Urgell 187 08036 - Barcelona Department of Automatic Control Systems and Computer Engineering Universitat Politècnica de Catalunya Spain Department of Electronic Engineering Universitat Politècnica de Catalunya Spain

ISBN: (纸本)0780395476

In this paper, a novel wireless load sharing controller for parallel connected online UPS inverters is proposed. As opposed to the conventional droop method, the proposed method achieves stable steady-state frequency and phase and an good dynamic response is obtained. A virtual output impedance is proposed in order to reduce its line impedance impact and to properly share nonlinear loads. Experimental results are presented from two 6-kVA UPS inverters controlled by DSP boards, showing the feasibility of the proposed approach. © 2006 IEEE.

关键词： Uninterruptible power systems

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On real-time control tasks schedulability 6

On real-time control tasks schedulability

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6th European control Conference, ECC 2001

作者： Marti, P. Villa, R. Fuertes, J.M. Fohle, G. Dep. of Automatic Control Universitat Politècnica de Catalunya Pau Gargallo 5 Barcelona08028 Spain Dept. of Computer Engineering Mälardalen Högskola PO Box 883 VästeråsSE-721 23 Sweden

ISBN: (纸本)9783952417362

In general, characteristics of classical control theory and properties of real-time scheduling algorithms may cause unexpected control system responses in the implementation of real-time computer-controlled systems. Revising realtime scheduling properties, we analyse which are the main timing problems that current scheduling algorithms may introduce in the execution of control loops. Next, we categorise those timing problems, that is, jitters on task-instances executions, in a control context. Afterwards, we show, by simulations, different types of control system performance degradation that these jitters may cause. Finally, we propose possible solutions that solves this degradation, based on irregular sampling discrete-time system models with varying time delays. © 2001 EUCA.

关键词： Real time control

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Wireless-control strategy for parallel operation of distributed generation inverters

Wireless-control strategy for parallel operation of distribu...

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IEEE International Symposium on Industrial Electronics 2005, ISIE 2005

作者： Guerrero, Josep M. Matas, José de Vicuña, Luis García Berbel, Néstor Sosa, Jorge Sustainable Distributed Generation Systems and Renewable Energy Group Escola Universitària d'Enginyeria Tècnica Industrial de Barcelona Comte d'Urgell 187 08036 - Barcelona Spain Department of Automatic Control and Computer Engineering Universitat Politècnica de Catalunya Department of Electronic Engineering Universitat Politècnica de Catalunya Spain Laboratorio de Instrumentación Científica Universidad de Los Andes Mérida Venezuela

ISBN: (纸本)0780387384

In this paper, a method for the parallel operation of inverters in an ac-distributed system is proposed. The paper explores the control of active and reactive power flow through the analysis of the output impedance of the inverters and its impact on the power sharing. As a result, adaptive virtual output impedance is proposed in order to achieve a proper reactive power sharing regardless of the line impedance unbalances. A soft-start operation is also included, avoiding the initial current peak, which results in a seamless hot-swap operation. Active power sharing is achieved by adjusting the frequency in load transient situations only, thanks to which the proposed method obtains constant steady-state frequency and amplitude. As opposed to the conventional droop method, the transient response can be modified by acting on the main control parameters. Linear and nonlinear loads can be properly shared due to the addition of a current harmonic loop in the control strategy. Experimental results are presented from a two 6-kVA parallel-connected inverters system, showing the feasibility of the proposed approach. © 2005 IEEE.

关键词： Electric inverters

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Workspace deformation based teleoperation for the increase of movement precision

Workspace deformation based teleoperation for the increase o...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Casals L. Munoz J. Amat Dep. Automatic Control and Computer Engineering Robotics Institute UPC-Universitat Politicnica de Catalunya Spain Robotics Institute. (IRI) UPC / CSIC UPC-Universitat Politècnica de Catalunya Spain

Teleoperation makes possible the execution of many tasks, that otherwise are not feasible when a human operator can not access to the working area due to dangerousness or environmental conditions, and it is not possible as well, to program the task so as to be performed autonomously, due to its complexity. Nevertheless, manipulation tasks require certain ability from the human operator due to the difficulties that produce the need to operate through control devices that does not fit with the structure of the slave arms. With the aim of increasing the precision capabilities provided by such control interfaces, a vision based procedure designed to deform the space around the working point has been developed. The vision system operates from the detection of the relevant scene elements. This space deformation produces automatically a progressive increase in precision when the robot arm approaches the relevant detected elements.

关键词： Robot kinematics Humans Orbital robotics automatic control Service robots Medical robotics Intelligent robots Arm Robotics and automation Force feedback

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deXTERITY IMPROVEMENT IN TELEOPERATION THROUGH computer VISION BASED automatic CORRECTION

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IFAC Proceedings Volumes 2002年第1期35卷 473-478页

作者： J. Amat A. Casals L. Muñoz M. las Heras Robotics Institute. (IRI) UPC / CSIC Llorens Artigas 4-6 2a pt. 08028 Barcelona SPAIN Dep. Automatic Control and Computer Engineering Universitat Politècnica de Catalunya

关键词： Telerobotics Telemanipulation computer Vision Man-Machine Interface Stereo Vision

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Learning from demonstrations for autonomous soft-tissue retraction

arXiv

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arXiv 2021年

作者： Pore, Ameya Tagliabue, Eleonora Piccinelli, Marco Dall’Alba, Diego Casals, Alicia Fiorini, Paolo Department of Computer Science University of Verona Italy Automatic Control and Computer Engineering Department Universitat Politècnica de Catalunya Barcelona Spain

The current research focus in Robot-Assisted Minimally Invasive Surgery (RAMIS) is directed towards increasing the level of robot autonomy, to place surgeons in a supervisory position. Although Learning from demonstrations (LfD) approaches are among the preferred ways for an autonomous surgical system to learn expert gestures, they require a high number of demonstrations and show poor generalization to the variable conditions of the surgical environment. In this work, we propose an LfD methodology based on Generative Adversarial Imitation Learning (GAIL) that is built on a deep Reinforcement Learning (DRL) setting. GAIL combines generative adversarial networks to learn the distribution of expert trajectories with a DRL setting to ensure generalisation of trajectories providing human-like behaviour. We consider automation of tissue retraction, a common RAMIS task that involves soft tissues manipulation to expose a region of interest. In our proposed methodology, a small set of expert trajectories can be acquired through the da Vinci Research Kit (dVRK) and used to train the proposed LfD method inside a simulated environment. Results indicate that our methodology can accomplish the tissue retraction task with human-like behaviour while being more sample-efficient than the baseline DRL method. Towards the end, we show that the learnt policies can be successfully transferred to the real robotic platform and dep.oyed for soft tissue retraction on a synthetic phantom. © 2021, CC BY.

关键词： deep learning

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