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2004 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Amat, J. Frigola, M. Casals, A. Res. Ctr. in Biomedical Engineering UPC- CSIC Barcelona Spain Dep. Automatic Control Res. Ctr. in Biomedical Engineering Technical University of Catalonia Barcelona Spain

ISBN: (纸本)0780384636

As robotics evolves towards application fields in which humans cooperate with robots, working closer and closer, the requirements for human robot interactions increase. This paper presents new advances in gesture based guidance and control of a robot in assistant tasks. The work described includes the integration of force and vision for the quantitative and qualitative appreciation of human intention and the robot behaviors to respond in real time to these human orders.

关键词： Robots

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Towards autonomous reconfiguration in distribution networks: An approach based on finite state automaton models

Towards autonomous reconfiguration in distribution networks:...

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2017 Energy and Sustainability in Small Developing Economies, ES2DE 2017

作者： Košt'álová, Alena Carvalho, Pedro M. S. Kubalčík, Marek Dep. of Computer and Communication Systems Tomas Bata University in Zlin Czech Republic Electrical Engineering and Computer Dep. Instituto Superior Tecnico Lisbon Portugal Department of Process Control Tomas Bata University in Zlin Czech Republic

ISBN: (纸本)9781538620663

The demand on distribution network reconfiguration abilities is increasing. This paper proposes a Finite State Automaton model of a distribution network that deals with topologically safe reconfiguration. Autonomous operation of distribution networks can be designed, analysed and implemented in day-to-day operation with the aid of these automata: through supervisory control. Two approaches to supervisor design are proposed. One for the normal operating mode and the other for the contingency mode. Simple and comprehensive examples illustrate the approaches. © 2017 IEEE.

关键词： Topology

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Indirect solution for optimal control problems with a pure state constraint

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IFAC Proceedings Volumes 2014年第3期47卷 2456-2461页

作者： Thijs van Keulen Eindhoven University of Technology Dep. of Mechanical Engineering Control Systems Technology group

This paper presents an algorithm that provides a regularization for the costate dynamics of state constrained optimal control problems with a scalar constraint under the assumption that the Hamiltonian is convex in the control and the state dynamics equation of the constrained state is monotonically increasing in the control variable. The algorithm is demonstrated with a classical optimal control problem.

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Ubiquitous anotation and a collaborative open mobile augmented reality

Ubiquitous anotation and a collaborative open mobile augment...

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IEEE Education engineering (EDUCON)

作者： Sergio Martín Emilio Julio Lorenzo Miguel Rodriguez-Artacho Salvador Ros Roberto Hernández Manuel Castro Electrical & Computer Engineering Dep. UNED Control and Communications Systems Dep. UNED

Mobile learning is impacting education using different technologies and methodologies. This article introduces two relevant learning experiences at UNED where new mobile technologies and pedagogical methodologies were applied. The first experience was based on a ubiquitous annotation system, while the second one used augmented reality to create an engaging mobile collaborative and open environment where students were learners and teachers at the same time, publishing content and learning from the content published by other peers.

关键词： Mobile communication Augmented reality Mobile handsets Computers Collaboration Context Education

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Amidst centralized and distributed frequency control in power systems

Amidst centralized and distributed frequency control in powe...

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American control Conference

作者： Florian Dorfler Sergio Grammatico Automatic Control Laboratory ETH Zurich Switzerland Control Systems group Dep. of Electrical Engineering Eindhoven University of Technology The Netherlands

ISBN: (纸本)9781467386838

We propose a novel frequency control approach in between centralized and distributed architectures, that is a generalized continuous-time feedback control version of the dual decomposition optimization method. Specifically, a convex combination of the frequency measurements is centrally aggregated and followed by an integral control, which is broadcast as the control signal, and then by the optimal local allocations. We show that our controller comprises many previously proposed strategies for specific parameter sets. Under mild parametric assumptions, we prove local asymptotic stability of the closed-loop equilibria of the power system, which is modeled as a nonlinear, differential-algebraic, dynamical system that includes traditional generators, frequency-responsive as well as passive loads, where the sources are already equipped with primary droop control. Our feedback control is designed such that the closed-loop equilibria of the power system solve the optimal economic dispatch problem.

关键词： Atmospheric measurements Particle measurements Particle measurements power systems atmospheric monitoring Frequency control frequency measurement feedback control integral control asymptotic stability region

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A dynamic programming approach to solving constrained linear-quadratic optimal control problems

arXiv

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arXiv 2019年

作者： Mitze, Ruth Mönnigmann, Martin Automatic Control and Systems Theory Dep. of Mechanical Engineering Ruhr-Universität Bochum Bochum44801 Germany

The solution of a constrained linear-quadratic regulator problem is determined by the set of its optimal active sets. We propose an algorithm that constructs this set of active sets for a desired horizon N from that for horizon N − 1. While it is not obvious how to extend the optimal feedback law itself for horizon N − 1 to horizon N, a simple relation between the optimal active sets for two successive horizon lengths exists. Specifically, every optimal active set for horizon N is a superset of an optimal active set for horizon N − 1 if the constraints are ordered stage by stage. The stagewise treatment results in a favorable computational effort. In addition, it is easy to detect the solution of the current horizon is equal to the infinite-horizon solution, if such a finite horizon exists, with the proposed algorithm. Copyright © 2019, The Authors. All rights reserved.

关键词： Quadratic programming

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Accelerated nonlinear model predictive control by exploiting saturation

arXiv

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arXiv 2020年

作者： Dyrska, Raphael Mitze, Ruth Mönnigmann, Martin Automatic Control and Systems Theory Dep. of Mechanical Engineering Ruhr-Universität Bochum Bochum44801 Germany

We present an approach for accelerating nonlinear model predictive control. If the current optimal input signal is saturated, also the optimal signals in subsequent time steps often are. We propose to use the open-loop optimal input signals whenever the first and some subsequent input signals are saturated. We only solve the next optimal control problem, when a non-saturated signal is encountered, or the end of the horizon is reached. In this way, we can save a significant number of NLPs to be solved while on the other hand keep the performance loss small. Furthermore, the NMPC is reactivated in time when it comes to controlling the system safely to its reference. Copyright © 2020, The Authors. All rights reserved.

关键词： Optimal control systems

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State space sets with common optimal feedback laws for nonlinear MPC

arXiv

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arXiv 2020年

作者： Mitze, Ruth Dyrska, Raphael König, Kai Mönnigmann, Martin Automatic Control and Systems Theory Dep. of Mechanical Engineering Ruhr-Universität Bochum Bochum44801 Germany

In model predictive control (MPC), an optimal control problem (OCP) is solved for the current state and the first input of the solution, the optimal feedback law, is applied to the system. This procedure requires to solve the OCP in every time step. Recently, a new approach was suggested for linear MPC. The parametric solution of a linear quadratic OCP is a piecewise-affine feedback law. The solution at a point in state space provides an optimal feedback law and a domain on which this law is the optimal solution. As long as the system remains in the domain, the law can be reused and the calculation of an OCP is avoided. In some domains the optimal feedback laws are identical. By uniting the corresponding domains, bigger domains are achieved and the optimal feedback law can be reused more often. In the present paper, we investigate in how far this approach can be extended from linear to nonlinear MPC, we propose an algorithm and we illustrate the achieved savings with an example. Copyright © 2020, The Authors. All rights reserved.

关键词： Model predictive control

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Dexterity improvement in teleoperation through computer vision based automatic correction 15th

Dexterity improvement in teleoperation through computer visi...

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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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Adaptive reaching model for visual-motor mapping applied to redundant robotic arms

Adaptive reaching model for visual-motor mapping applied to ...

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International Workshop on Robot Motion and control (RoMoCo)

作者： J.L. Pedreno-Molina A. Guerrero-Gonzalez J. Lopez-Coronado Dep. Systems Engineering and Automatic Technical University of Cartagena Cartagena Spain

Most of the control algorithms for robotic reaching and grasping tasks, from visual and motor perception systems, are based on feedback systems. They assume a limitation for the performance of remote reaching applications and for the robustness of the system. In this paper, a very robust learning-based model for visual-motor coordination is presented. This architecture is based on how the human system projects the sensorial stimulus onto motor joints and how it sends motor commands to each arm in open-loop mode, starting from the initial, visual and proprioceptive information. The self-organization characteristics of this model allow one to obtain good results on robustness, flexibility and adaptability in both simulation and real robotic platforms. Coordination of the information from different spatial representations is based on the vector associative maps algorithms, developed in CNS (Boston University). Indeed, compatibility requirements and system adaptation capability give a solution for the control of redundant systems.

关键词： Arm Robot kinematics Robot sensing systems Robustness control systems Humans Robotics and automation Animals Biological system modeling Orbital robotics

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