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arXiv 2024年

作者： Tong, Xin Ding, Qingpeng Fang, Haiyang Cheng, Shing Shin Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong CUHK T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Multi-Scale Medical Robotics Center The Chinese University of Hong Kong Hong Kong Shun Hing Institute of Advanced Engineering The Chinese University of Hong Kong Hong Kong

This paper investigates the robust global attitude stabilization problem for a rigid-body system using quaternion-based feedback. We propose a novel synergistic hybrid feedback with the following notable features: (1) It demonstrates central synergism by utilizing a minimal number of potential functions;(2) It ensures consistency with respect to the unit quaternion representation of rigid-body attitude;(3) Its state-feedback laws incorporate a shared action term that steers the system toward the desired attitude. We demonstrate that the proposed hybrid feedback method effectively solves the problem at hand and guarantees robust uniform global asymptotic stability. © 2024, CC BY-NC-ND.

关键词： Attitude control

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Energy Management Using Smart Inverter

Energy Management Using Smart Inverter

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Intelligent Systems and Advanced Applications (ICISAA), International Conference on

作者： Digvijay B Kanase Sachin P Jadhav Dushyant P Patil Shashikant Prasad Swaraj Kadam Digambar P. Patil Department of Electrical Engineering Dr. D. Y. Patil Institute of Technology Pune Maharashtra India Department of Automation and Robotics Dr. D. Y. Patil Institute of Technology Pune Maharashtra India

ISBN: (数字)9798331539948

ISBN: (纸本)9798331539955

In the digital age, nearly all activities require a consistent power supply to function. Homes may experience prolonged power outages due to major disruptions in the local or regional electrical grid, often caused by severe weather, car accidents, or fallen trees. Inverters are commonly used as backup power sources in homes and are frequently employed as secondary power sources in both residential and commercial settings. The primary function of a solar inverter is to convert the direct current (DC) electricity generated by photovoltaic cells into alternating current (AC) power. Smart inverters further enhance this by utilizing batteries to store excess energy. These inverters optimize power management and ensure efficient operation. Maximum Power Point Tracking (MPPT) technology is implemented to maximize energy extraction from solar panels, thereby improving overall system efficiency. The system also supports remote monitoring and management, allowing for optimized battery storage and improved performance.

关键词： Maximum power point trackers Renewable energy sources Power system management Production Inverters Power system reliability Batteries Solar panels Reliability Remote monitoring

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A Multipurpose Interface for Close- and Far-Proximity Control of Mobile Collaborative Robots

arXiv

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arXiv 2024年

作者： Raei, Hamidreza Gandarias, Juan M. De Momi, Elena Balatti, Pietro Ajoudani, Arash HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy Robotics and Mechatronics lab Systems Engineering and Automation Department University of Malaga Malaga Spain

This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local control (attached) and teleoperation (detached). These modes are integrated with a robot whole-body controller and presented in a unified close- and far-proximity control framework for MCR. The earlier introduction of the haptic component in this interface enabled users to execute intricate loco-manipulation tasks via admittance-type control, effectively decoupling task dynamics and enhancing human capabilities. In contrast, this ongoing work proposes a novel design that integrates a visual component. This design utilizes Visual-Inertial Odometry (VIO) for teleoperation, estimating the interface’s pose through stereo cameras and an Inertial Measurement Unit (IMU). The estimated pose serves as the reference for the robot’s end-effector in teleoperation mode. Hence, the interface offers complete flexibility and adaptability, enabling any user to operate an MCR seamlessly without needing expert knowledge. In this letter, we primarily focus on the new visual feature, and first present a performance evaluation of different VIO-based methods for teleoperation. Next, the interface’s usability is analyzed in a home-care application and compared to an alternative designed by a commercial MoCap system. Results show comparable performance in terms of accuracy, completion time, and usability. Nevertheless, the proposed interface is low-cost, poses minimal wearability constraints, and can be used anywhere and anytime without needing external devices or additional equipment, offering a versatile and accessible solution for teleoperation. © 2024, CC BY-NC-ND.

关键词： Remote control

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Predicting Salinity Resistance of Rice at the Seedling Stage: An Evaluation of Transfer Learning Methods 1st

Predicting Salinity Resistance of Rice at the Seedling Stage...

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1st International Conference on Intelligent Systems in Computing and Communications, ISCComm 2023

作者： Shiragudikar, Sharada K. Bharamagoudar, Geeta K., Manohara K. Y., Malathi S. G.Totad, Shashikumar School of Computer Science and Engineering KLE Technological University Karnataka Hubballi India CSE Department KLEIT Karnataka Hubballi India Central Coastal Agricultural Research Institute Old Goa India Department of Automation and Robotics KLE Technological University Hubballi India

ISBN: (纸本)9783031756047

Rice has become one of the largest and most widely cultivated food crops in the world. Nevertheless, there is a significant probability that high amounts of salt, especially at the stage of seedling development, would have a detrimental effect on rice output. As a result, it is critical to quickly discover and develop salinity-tolerant rice crop types, particularly at the stage of seedling development, to prevent a decrease in rice output. Expertise from humans is required for the categorization of visual signals and the conventional way of a standard assessment system for identifying rice crop salinity stress. It's time demanding and prone to mistakes, both of which may lead to inaccurate classification. Recent developments in deep learning and transfer training have opened the road for the automated categorization of a wide range of agricultural jobs, from the detection of plant diseases and pests to the identification of weeds and invasive species. The lack of plant-domain-specific pre-trained models and the limited number of available datasets remain significant obstacles to agricultural automation. We use the AgriNet dataset, a database of 850 image graphs of farms and agricultural settings. The work shows the need for a deep learning developed model over the conventional way of measuring rice crop sensitivity to salt stress throughout the seedling stage to detect and categorize stress caused by salinity in the seedling stage of rice using field images. Thus, we use one of the most advanced deep learning approaches, VGG 16, VGG 19, Resnet 50, Resnet 100, exception, Resnet 50V2, Inception V3, MobileNetV2, DenseNet121, and ResNet101V2 which was built in Python's Jupyter Notebook, to construct the classification model. To further demonstrate the need for a computer-based classification system for salinity estimation that could be used as a tool for automating the classification process for rice development to aid scientists and farmers in the rice crop management

关键词： Deep learning

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Precise LiDAR SLAM in Structured Scene Using Finite Plane and Prior Constraint

Precise LiDAR SLAM in Structured Scene Using Finite Plane an...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Xie, Yuhui Zhao, Wentao Wang, Jiahao Wang, Jingchuan Chen, Weidong Institute of Medical Robotics and Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China School of Mechanical Engineering Shanghai Jiao Tong University Ministry of Education Shanghai200240 China

ISBN: (纸本)9781665481090

In this paper, we propose a precise LiDAR SLAM in optimization framework using plane-like object as landmark. Compared to general methods, finite plane feature is used to represent landmark and a new residual model is designed, making constraint from edge of landmark can be used to limit the parallel position between LiDAR and landmark, leading to a more accurate result. Moreover, floor plan is used to provide global pose for reduction of drift, and additionally feature orientation prior is used to prevent map distortion when updating the inaccurate part of floor plan. Experiments are conducted using data collected in real environment. The result qualitatively shows that proposed method can build a corrected map from floor plan without distortion, and quantitatively verifies that proposed method can outperform other baseline methods in accuracy. © 2022 IEEE.

关键词： Optical radar

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Learning-based Balancing of Model-based and Feedback Control for Second-order Mechanical Systems

Learning-based Balancing of Model-based and Feedback Control...

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IEEE Conference on Decision and Control

作者： Thomas Beckers Leonardo J. Colombo Manfred Morari George J. Pappas Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia USA Centre for Automation and Robotics (CSIC-UPM) Madrid Spain

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

High-performance tracking control of mechanical systems typically requires model-based control as it enables to counteract undesirable dynamics in a timely fashion. The quality of the compensation depends on the accuracy of the underlying model. However, the dynamics are often (partially) infeasible for complex systems in a-priori unknown environments. Due to the favorable properties of model-based control, the goal is to apply feedback control for error compensation only when necessary. In this paper, we present an online learning-based balancing (OLBB) framework to adapt the feedback gains such that the controlled system with state-dependent uncertainties satisfies given performance specifications. For this purpose, an oracle predicts the unknown dynamics and an error model adapts the feedback gains. The framework can be easily applied to existing control approaches to improve the safety and performance of the closed-loop.

关键词： Adaptation models Uncertainty Torque control Training data Predictive models Control systems Feedback control

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Design of magnetorheological brake with adjustable interdigitated comb for lower limb prostheses and exoskeletons

Design of magnetorheological brake with adjustable interdigi...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Shi, Qiuyu Zhao, Xuan Liao, Haisu Lin, Yongji Huang, Ruisen Wu, Xinyu Gao, Fei Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Shatin 999077 Hong Kong

ISBN: (纸本)9798350325706

Magnetorheological (MR) fluids-based devices such as MR dampers and brakes can output a continuously controllable damping force via modulating the magnitude of the applied magnetic field. Owing to low energy consumption and fast response, recently vast MR dampers and brakes are widely studied and explored for lower limb prostheses and exoskeletons. This paper proposed a novel MR brake with adjustable interdigitated comb for lower limb prostheses. Through actively adjusting the area the of the comb engagement, the maximum viscous and field-induced damping torque can be increased or decreased. Because of that, the dynamic adjustment interval of the output damping torque can be increased to meet the function requirements of the prosthetic knee in different walking modes. Magnetic analysis via ANSYS is performed to check the magnetic density of the MR fluid under different excitations. Mathematical models of the damping torque are built. Finally, a prototype of the novel MR brake is fabricated. © 2023 IEEE.

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Towards Safe Landing of Falling Quadruped Robots Using a 3-DoF Morphable Inertial Tail

Towards Safe Landing of Falling Quadruped Robots Using a 3-D...

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IEEE International Conference on robotics and automation (ICRA)

作者： Yunxi Tang Jiajun An Xiangyu Chu Shengzhi Wang Ching Yan Wong K. W. Samuel Au Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong SAR Republic of China Multiscale Medical Robotics Centre Hong Kong SAR Republic of China

Falling cat problem is well-known where cats show their super aerial reorientation capability and can land safely. For their robotic counterparts, a similar falling quadruped robot problem, has not been fully addressed, although achieving safe landing as the cats has been increasingly investigated. Unlike imposing the burden on landing control, we approach to safe landing of falling quadruped robots by effective flight phase control. Different from existing work like swinging legs and attaching reaction wheels or simple tails, we propose to deploy a 3-DoF morphable inertial tail on a medium-size quadruped robot. In the flight phase, the tail with its maximum length can self-right the body orientation in 3D effectively; before touch-down, the tail length can be retracted to about 1/4 of its maximum for impressing the tail's side-effect on landing. To enable aerial reorientation for safe landing in the quadruped robots, we design a control architecture, which is verified in a high-fidelity physics simulation environment with different initial conditions. Experimental results on a customized flight-phase test platform with comparable inertial properties are provided and show the tail's effectiveness on 3D body reorientation and its fast retractability before touch-down. An initial falling quadruped robot experiment is shown, where the robot Unitree A1 with the 3-DoF tail can land safely subject to non-negligible initial body angles.

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Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control

Differentiable Compliant Contact Primitives for Estimation a...

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IEEE International Conference on robotics and automation (ICRA)

作者： Kevin Haninger Kangwagye Samuel Filippo Rozzi Sehoon Oh Loris Roveda Department of Automation Fraunhofer IPK Berlin Germany Chair of Robotics and Systems Intelligence and Munich Institute of Robotics and Machine Intelligence Technical University Munich (TUM) Munich Germany Department of Mechanical Engineering Politecnico di Milano Milano Italy Department of Robotics and Mechatronics Engineering DGIST Daegu Korea Istituto Dalle Molle di Studi Sull’Intelligenza Artificiale (IDSIA) Scuola Universitaria Professionale Della Svizzera Italiana (SUPSI) Università Della Svizzera Italiana (USI) IDSIA-SUPSI Lugano Switzerland

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry and dynamics are required to be known. This information is often extracted from CAD, limiting scalability and the ability to handle tasks with varying geometry. To reduce the need for a priori models, we propose a framework for estimating contact models online based on torque and position measurements. To do this, compliant contact models are used, connected in parallel to model multi-point contact and constraints such as a hinge. They are parameterized to be differentiable with respect to all of their parameters (rest position, stiffness, contact location), allowing the coupled robot/environment dynamics to be linearized or efficiently used in gradient-based optimization. These models are then applied for: offline gradient-based parameter fitting, online estimation via an extended Kalman filter, and online gradient-based MPC. The proposed approach is validated on two robots, showing the efficacy of sensorless contact estimation and the effects of online estimation on MPC performance. Video results can be seen at https://***/CuCTcmn3H-o.

关键词： Geometry Solid modeling Torque Uncertainty Scalability Fitting Estimation

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SurroundOcc: Multi-Camera 3D Occupancy Prediction for Autonomous Driving

arXiv

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arXiv 2023年

作者： Wei, Yi Zhao, Linqing Zheng, Wenzhao Zhu, Zheng Zhou, Jie Lu, Jiwen Beijing National Research Center for Information Science and Technology China Department of Automation Tsinghua University China School of Electrical and Information Engineering Tianjin University China PhiGent Robotics

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a more comprehensive perception of a 3D scene, in this paper, we propose a SurroundOcc method to predict the 3D occupancy with multi-camera images. We first extract multi-scale features for each image and adopt spatial 2D-3D attention to lift them to the 3D volume space. Then we apply 3D convolutions to progressively upsample the volume features and impose supervision on multiple levels. To obtain dense occupancy prediction, we design a pipeline to generate dense occupancy ground truth without expansive occupancy annotations. Specifically, we fuse multi-frame LiDAR scans of dynamic objects and static scenes separately. Then we adopt Poisson Reconstruction to fill the holes and voxelize the mesh to get dense occupancy labels. Extensive experiments on nuScenes and SemanticKITTI datasets demonstrate the superiority of our method. Code and dataset are available at https://***/weiyithu/SurroundOcc. Copyright © 2023, The Authors. All rights reserved.

关键词： Autonomous vehicles

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