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Chinese Control and Decision Conference, CCDC

作者： Hooman A. Samani C. Fua T. Chai S. S. Ge C. C. Hang Social Robotics Laboratory Interactive Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore Singapore Key Laboratory of Process Industry Automation Ministry of Education and Research Center of Automation Northeastern University China

The problem of task apportionment for dynamic multi-factor systems is categorized in three different scenarios in this paper: admin, crew and factor based. The system is discussed based on the realistic manufacturing environments as an application platform in order to consider the robust Task Apportionment system for such a case but the proposed system can be generalized to any similar system. Both centralized and decentralized systems are considered and task allocation, re-allocation, exchange and execution as layers of task apportionment methods are designed and described in each system. The system may switch between modes according the feedback information of communication capabilities or uses different modes for each part of the platform.

关键词： Switches Resource management Manufacturing systems Manufacturing Dynamic scheduling Servers Robustness

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Semi-parametric adaptive control of discrete-time nonlinear systems

Semi-parametric adaptive control of discrete-time nonlinear ...

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IEEE International Conference on automation and Logistics

作者： Chenguang Yang Tianyou Chai Lianfei Zhai Shuzhi Sam Ge Tong Heng Lee Social Robotics Lab Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Key Laboratory of Process Industry Automation Ministry of Education Research Center of Automation Northeastern University Shenyang China

In this paper, we investigate a novel adaptive design approach for nonlinear systems as an exploration of the new challenging topic on dealing with both parametric and nonparametric internal uncertainties in adaptive control of discrete-time nonlinear systems. The existence of both two kinds of uncertainties makes it very difficult or even impossible to apply the traditional recursive identification algorithms which are designed for parametric systems. To best utilize the existing adaptive control technique, a novel deadzone with threshold converging to zero has been proposed to modify the traditional gradient update law for parameters estimation, while an auxiliary output including both uncertainties is introduced to facilitate the nonparametric uncertainties compensation. It is rigorously proved that the designed adaptive control guarantees the boundedness of all the closed-loop signals and achieves asymptotic tracking performance.

关键词： Adaptive control Nonlinear systems Sampling methods Path planning Testing automation Road accidents Genetic algorithms Unmanned aerial vehicles Ant colony optimization

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OptTopo: Automated set-point optimization for coupled systems using topology information

OptTopo: Automated set-point optimization for coupled system...

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Gregor Thiele Theresa Johanni David Sommer Martin Eigel Jö rg Krü ger Department for Process Automation and Robotics Fraunhofer IPK Institute for Production Systems and Design Technology Berlin Germany Weierstrass Institute for Applied Analysis and Stochastics Berlin Germany Department for Industrial Automation at the Institute for Machine Tools and Factory Management Technical University of Berlin Germany

The manufacturing sector has witnessed a rapid rise in the importance of energy-efficient operation. For finding optimal set-points for industrial facilities, optimization problems of increasing complexity occur. Key challenges are the leak of derivative information and the curse of dimensionality. For systematic reduction of the search-space by decomposition of the model, a methodology for the inclusion of topology knowledge in the optimization procedure is developed. An implementation of OptTopo (Optimization based on Topology), embedded in a testbed, demonstrates its advantages compared to popular out-of-the-box-optimization. OptTopo could be integrated in energy management software offering advanced set-point control for complex facilities.

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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

arXiv

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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Capacitive Proximity Sensor for Non-Contact Endoscope Localization

Capacitive Proximity Sensor for Non-Contact Endoscope Locali...

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IEEE International Conference on robotics and automation (ICRA)

作者： Christian Marzi Hosam Alagi Olivia Rau Jochen Hampe Jan Gerrit Korvink Bjö rn Hein Franziska Mathis-Ullrich Health Robotics and Automation Laboratory Institute for Anthropo-matics and Robotics Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Intelligent Process Automation and Robotics Laboratory Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Institute of Microstructure Technology Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Department of Medicine I University Hospital Dresden Technical University (TU) Dresden Dresden Germany Karlsruhe University of Applied Sciences Karlsruhe Germany

The promising automation of flexible surgical instruments and robots is impeded by the lack of sensory means, which allow for sensing of an instrument's position to the surrounding tissue. This work presents a novel sensory method utilizing capacitive proximity sensing to derive a relative localization of a flexible instrument inside a hollow organ. The method is evaluated by exemplary integration of a sensor in a commercial gastroendoscope and accuracy analysis using a high precision robot. The results show an accuracy of distance sensing from a medical phantom's center of 2%. The method is also evaluated for the irregularly shaped surrounding of ex-vivo tissue in a dynamic scenario. This promising approach holds potential for transfer to clinical scenarios and for further development towards pose estimation of flexible surgical robots and shape sensing of a minimally invasive environment.

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Automated Control and Software Development for Precision Vacuum Casting of Reactoplasts in Small-Batch Production

Automated Control and Software Development for Precision Vac...

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International Conference on Control Systems, Mathematical Modelling, automation and Energy Efficiency (SUMMA)

作者： German Prokudin Sergey Kondratyev Vladimir Pikalov Vladislav Znamenskii Pavel Ponomarev Fang Taotao Department of Production Process Automation Volgograd State Technical University Volgograd Russia Department of Automated Electric Drive and Robotics Lipetsk State Technical University Lipetsk Russia Chinese Medicine Major Henan University Of Chinese Medicine Zhengzhou China

ISBN: (数字)9798331532178

ISBN: (纸本)9798331532185

This paper presents the development of an automated control system and software package for a vacuum casting unit designed for use with reactoplasts. The system addresses challenges associated with small-batch production, such as high mold costs and stringent quality requirements in industries like medical equipment and automotive manufacturing. Key components of the system include an STM32 microcontroller for real-time process management, servomotors for precise dosing and mixing, and a vacuum system to eliminate defects such as air bubbles in the final product. The developed software, implemented in Delphi, enables the operator to configure process parameters and monitor performance in real time, thus optimizing the production cycle. The system was tested with various polymer materials, showing significant improvements in efficiency, quality control, and reduction of production costs. The paper also includes detailed calculations for process stages such as vacuuming, mixing, and casting, demonstrating a reduction in overall cycle time to 13.5 minutes. These advancements position the system as an effective solution for enhancing productivity in small-batch manufacturing.

关键词： Productivity Casting Vacuum systems process control Control systems Real-time systems Polymers Servomotors Optimization Monitoring

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A Switched System Approach to Scheduling of Networked Control Systems with Communication Constraints

A Switched System Approach to Scheduling of Networked Contro...

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Shi-Lu Dai Hai Lin Shuzhi Sam Ge the Key Laboratory of Integrated Automation of Process Industry Ministry of Education of ChinaNortheastern University the Department of Electrical and Computer Engineering National University of Singapore the Social Robotics Lab Interactive Digital Media Institute and the Department of Electrical and Computer EngineeringNational University of Singapore

This paper presents a scheduling strategy for a collection of discrete-time networked control systems（NCSs）subjected to communication constraints. Communication constraints under consideration include medium access constraint,network-induced delays and packet-dropouts. A feedback control system with the communication constraints is modelled as a switched delay system which switches on the open-loop and closed-loop models according to whether the feedback control loop gains access to the network or not. Delay-dependent sufficient conditions for exponential stability with L2 gain performance are developed for the switched system. Based on the stability conditions, sufficient conditions are presented on the existence of scheduling policy that simultaneously stabilizes the collection of NCSs. Simulation on network-based control of unstable batch reactor systems is performed to demonstrated the effectiveness of the proposed scheduling strategy.

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Study of adhesion force between cellulose micro-sphere and cellulose membrane

Study of adhesion force between cellulose micro-sphere and c...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Yuli Lai Pasi Kallio Hao Zhang Hui Xie Yasuhito Sugano Johan Bobacka Department of Automation Science and Engineering Tampere University of Technology Tampere Finland The State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Department of Chemistry University of Helsinki Helsinki Finland Johan Gadolin Process Chemistry Centre Åbo Akademi University Turku Finland

ISBN: (纸本)9781509029464

Development of novel high added value cellulose products requires improved understanding of interaction forces, which includes also the adhesion force, between cellulose surfaces. However, the interaction forces between cellulose surfaces have not been adequately studied. In this paper, cellulose-cellulose adhesion force is studied by using a customized dual-probe atomic force microscope (AFM) with a cellulose colloidal probe. Two different types of cellulose membranes (CM) with cellulose concentration of 1.5% and 2% are used as test samples, and about ten thousand tests are repeated on each CM sample type. Adhesion force histograms are provided and they show a large difference between the two types of CM. The average adhesion force on CM 1.5% is approximately 10 times higher than that on CM 2%. On CM 1.5%, the adhesion forces concentrate on the range from 450nN to 650nN, whereas on CM 2% the force distribute from 50 to 75nN. The difference in the adhesion force on these two types of CM can be attributed to their difference in surface roughness and surface energy.

关键词： Probes Adhesives Force Surface topography Force measurement Rough surfaces Surface roughness

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Technical note Hybrid fuzzy P+ID control of manipulators under uncertainty

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Mechatronics 1999年第3期9卷 301-315页

作者： W. Li X.G. Chang F.M. Wahl S.K. Tso Department of Computer Science and Technology Tsinghua University Beijing 100084 Peoples Republic of China Institute for Robotics and Process Control Technical University of Braunschweig Hamburger Str. 267 D-38114 Braunschweig Germany Center for Intelligent Design Manufacturing and Automation Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong KongPeoples Republic ofChina

Currently, most commercial robot manipulators are equipped with conventional PID controllers due to their simplicity in structure and ease of design. Using such a controller, however, it is difficult to achieve a desired control performance since the dynamic equations of a mechanical manipulator are tightly coupled. In addition, they are highly nonlinear and uncertain. This paper uses a new hybrid control scheme to control a direct drive two-link manipulator under inertial parameters changes. The proposed hybrid control scheme consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). In comparison with a conventional PID controller, only one additional parameter has to be adjusted to tune the FUZZY P+ID controller. The outlined experimental results demonstrate the effectiveness and the robustness of the new FUZZY P+ID controller.

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Prediction-Based Reachability Analysis for Collision Risk Assessment on Highways

arXiv

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arXiv 2022年

作者： Wang, Xinwei Li, Zirui Alonso-Mora, Javier Wang, Meng Department of Transport and Planning Delft University of Technology Delft2628 CD Netherlands School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China Department of Cognitive Robotics Delft University of Technology Delft2628 CD Netherlands Traffic Process Automation Technische Universität Dresden Dresden Germany

Real-time safety systems are crucial components of intelligent vehicles. This paper introduces a prediction-based collision risk assessment approach on highways. Given a point mass vehicle dynamics system, a stochastic forward reachable set considering two-dimensional motion with vehicle state probability distributions is firstly established. We then develop an acceleration prediction model, which provides multi-modal probabilistic acceleration distributions to propagate vehicle states. The collision probability is calculated by summing up the probabilities of the states where two vehicles spatially overlap. Simulation results show that the prediction model has superior performance in terms of vehicle motion position errors, and the proposed collision detection approach is agile and effective to identify the collision in cut-in crash events. © 2022, CC BY.

关键词： Probability distributions

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