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arXiv 2020年

作者： de Marina, Hector Garcia Department of Computer Architecture and Automatic Control at the Faculty of Physics Universidad Complutense de Madrid Spain

n this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the consensus Laplacian matrix. In fact, we demonstrate that the displacement-consensus-based formation control is a particular case of our more general method. We then uncover robustness issues with undesired steady-state motions and resultant distorted shapes in undirected displacement-consensus-based formation control. In particular, these issues are triggered when neighboring agents mismeasure their relative positions, e.g., their onboard sensors are misaligned and have different scale factors. We will show that if all the sensing is close to perfect but different among the agents, then the stability of the system is compromised. Explicit expressions for the eventual non-desired velocity and shape’s distortion are given as functions of the scale factors and misalignments for formations based on tree graphs. Copyright © 2020, The Authors. All rights reserved.

关键词： System stability

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A social robotics experimental project

A social robotics experimental project

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Frontiers in Education (FIE) Conference

作者： J.M. Giron-Sierra S. Halawa J.R. Rodriguez-Sanchez S. Alcaide Department of Computer Architecture and Automatic Control Fac. Fisicas Universidad Complutense de Madrid Madrid Spain

We have four small mobile hexapods. Each hexapod has almost no brain, but can communicate via radio with a PC, using a limited set of digital messages. The hexapods know how to move, and can detect obstacles and some kind of objects. We have four PCs, one for each hexapod (so each hexapod has a helping brain). The PCs are interconnected using the parallel port. We can assign a task for the team, for instance to explore a field. The PCs must work in a coordinated way, exchanging messages. The development of this experimental scenario has been the subject of several projects done by students involved in robotics and computer science. One of the aspects covered is the use of real time operating systems for the PCs to work together. Other aspects are related with mobile robotics and the behavior of insectoids. The general set-up has been completed recently, and a new project will start to accomplish a task and study the results. An object oriented simulation is also another new project, which will be validated against the experimental results. Every project must generate documentation for others to use it. In general, the idea is to establish an interesting challenge, with obvious results. The paper presents the main educational objectives, and describes the chief parts of the experimental set-up: robots and PCs, interconnection characteristics. Then, the paper focuses on the projects done and under way, with emphasis on the pedagogical impact.

关键词： Personal communication networks Robot kinematics Object detection computer science Real time systems Operating systems Mobile robots Object oriented modeling Documentation Educational robots

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Virtual and Remote Robotic Laboratory Using EJS, MATLAB and LabVIEW

arXiv

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arXiv 2024年

作者： Chaos, Dictino Chacón, Jesús Lopez-Orozco, Jose Antonio Dormido, Sebastián Department of Computer Science and Automatic Control UNED Juan del Rosal 16 Madrid28040 Spain Department of Computers Architecture and Automatic Control Complutense University Ciudad Universitaria Madrid28040 Spain

This paper describes the design and implementation of a virtual and remote laboratory based on Easy Java Simulations (EJS) and LabVIEW. The main application of this laboratory is to improve the study of sensors in Mobile Robotics, dealing with the problems that arise on the real world experiments. This laboratory allows the user to work from their homes, tele-operating a real robot that takes measurements from its sensors in order to obtain a map of its environment. In addition, the application allows interacting with a robot simulation (virtual laboratory) or with a real robot (remote laboratory), with the same simple and intuitive graphical user interface in EJS. Thus, students can develop signal processing and control algorithms for the robot in simulation and then deploy them on the real robot for testing purposes. Practical examples of application of the laboratory on the inter-University Master of Systems Engineering and automatic control are presented. © 2024, CC BY-NC-ND.

关键词： Laboratories

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Ground and Flight Tests of an Innovative Fuel Management System in a Twin-Engine Helicopter

Ground and Flight Tests of an Innovative Fuel Management Sys...

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IEEE International Systems Conference

作者： Carlos C. Insaurralde Jose M. Giron-Sierra Santiago Cifuentes Juan F. Jimenez Institute of Sensors Signals and Systems Heriot-Watt University Department of Computer Architecture & Automatic Control Complutense University of Madrid

ISBN: (纸本)9781467331074

The concept, functional aspects, and experiments based on lab prototypes of an innovative approach for aircraft fuel management have been developed in recent years. The main approach innovation is the replacement of the conventional central fuel computer with distributed and interconnected Smart Fuel Components (SFCs). This solution lowers the wiring weight, reduce the chance of a faulty connection, and simplify maintenance. This paper presents the experimental results obtained from ground and flight tests carried out on the implementation the above approach in a twin-engine helicopter. The SFC software is deployed in the helicopter in ground to be tested. Once the results obtained from the ground test are accepted, the same SFC software is tested in flight. The ground-tested and flight-tested functions for the fuel control system are: fuel supply, display of fuel levels, fuel transfer, refueling/defueling, measurement of height, density and flow of fuel, and monitoring/surveillance. The objectives of the ground and flight tests are to prove secure engine fuel supply for engine "two" during flight, reliable fuel gauging during flight, and the above selected functions as basis for system operability. This paper also describes the testing cases and criteria, and the main project achievements for ground and flight tests in a twin-engine helicopter.

关键词： Smart fuel components Avionics system Distributed fuel control Embedded control software Open system architecture

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Automated software design and synthesis for distributed control of aircraft fuel systems

Automated software design and synthesis for distributed cont...

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Conference on Digital Avionics Systems (DASC)

作者： Carlos C. Insaurralde Jose M. Giron-Sierra Santiago Cifuentes Juan F. Jimenez Electrical Electronic and Computer Engineering Heriot-Watt University Edinburgh UK Department of Computer Architecture and Automatic Control Complutense University of Madrid Madrid Spain

ISBN: (纸本)9781479915378

• Automated design and synthesis processes to develop a HDFCShave been presented. • Tests carried out on simulations demonstrate that the results (main focus on the software code automatically generated, i.e. state-machine) obtained from the above processes are according to what has been specified. • The state-machine generated works as expected in the simulator. However, there are some cases (near the limits of the tank capacities) in which the state-machine (software implementation, i.e. code generated automatically) makes some states of valves oscillate.

关键词： Automation decentralised control synthesis computer software software requirements Software design Code generation PROCESS DEVELOPMENT design tools Flowcharts analog processing Shortcuts simulating Precocious Development fuel control system

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Singularity-free guiding vector field for robot navigation

arXiv

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arXiv 2020年

作者： Yao, Weijia de Marina, Héctor Garcia Lin, Bohuan Cao, Ming University of Groningen Netherlands The Department of Computer Architecture and Automatic Control The Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain

In robot navigation tasks, such as UAV highway traffic monitoring, it is important for a mobile robot to follow a specified desired path. However, most of the existing path-following navigation algorithms cannot guarantee global convergence to desired paths or enable following self-intersected desired paths due to the existence of singular points where navigation algorithms return unreliable or even no solutions. One typical example arises in vector-field guided path-following (VF-PF) navigation algorithms. These algorithms are based on a vector field, and the singular points are exactly where the vector field diminishes. Conventional VF-PF algorithms generate a vector field of the same dimensions as those of the space where the desired path lives. In this paper, we show that it is mathematically impossible for conventional VF-PF algorithms to achieve global convergence to desired paths that are self-intersected or even just simple closed (precisely, homeomorphic to the unit circle). Motivated by this new impossibility result, we propose a novel method to transform self-intersected or simple closed desired paths to non-self-intersected and unbounded (precisely, homeomorphic to the real line) counterparts in a higher-dimensional space. Corresponding to this new desired path, we construct a singularity-free guiding vector field on a higher-dimensional space. The integral curves of this new guiding vector field is thus exploited to enable global convergence to the higher-dimensional desired path, and therefore the projection of the integral curves on a lower-dimensional subspace converge to the physical (lower-dimensional) desired path. Rigorous theoretical analysis is carried out for the theoretical results using dynamical systems theory. In addition, we show both by theoretical analysis and numerical simulations that our proposed method is an extension combining conventional VF-PF algorithms and trajectory tracking algorithms. Finally, to show the practical value of

关键词： Mobile robots

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Ground-tested control architecture for distributed aircraft fuel management

Ground-tested control architecture for distributed aircraft ...

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Conference on Digital Avionics Systems (DASC)

作者： Carlos C. Insaurralde Jose M. Giron-Sierra School of Science and Engineering Teesside University Middlesbrough United Kingdom Department of Computer Architecture & Automatic Control Complutense Universidad of Madrid Madrid Spain

ISBN: (纸本)9781509025244

The SmarFuel project aims to develop a new generation of AFMS (Aircraft Fuel Management System). It proposes a Distributed Avionics control architecture (DACA) based on networked Smart Fuel Components (SFCs). This decentralized solution (opposite to conventionally-centralized approaches) reduces avionics wiring whilst the AFMS is fault tolerant. The DACA is realized by distributing the control system through microcontrollers embedded in SFCs and across a fieldbus. Thus, SFCs are able to implement advanced functions such as auto-calibration. The AFMS operation modes considered are three: pressure refueling, engine supply, and fuel transfer. The operation sequence of AFMS events is not fixed which makes the SFC decision-making process critical. The above DACA for AFMS was already realized and evaluated successfully in laboratory prototypes. This paper presents experimental results from verification and validation tests of the DACA realization carried out in a real-scaled helicopter rig. These ground experiments are based on the above fuel system operations. This paper also presents a verification tool for the SFC state machines. Conclusions and future research directions are also discussed.

关键词： Fuels Software Valves Cascading style sheets Aerospace electronics Helicopters Testing

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Using MILP for UAVs Trajectory Optimization under Radar Detection Risk

Using MILP for UAVs Trajectory Optimization under Radar Dete...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Jose J. Ruz Orlando Arevalo Jesus M. de la Cruz Gonzalo Pajares Department of Computer Architecture and Automatic Control Universidad Complutense de Madrid Spain Department of Software Engineering and Artificial Intelligence Universidad Complutense de Madrid Spain

This paper presents an approach to trajectories optimization for unmanned aerial vehicle (UAV) in presence of obstacles, waypoints, and threat zones such as radar detection regions, using mixed integer linear programming (MILP). The main result is the linear approximation of a nonlinear radar detection risk function with integer constraints and indicator 0-1 variables. Several results are presented to show that the approach can yields trajectories depending on the acceptable risk of detection.

关键词： Radar detection Unmanned aerial vehicles Radar cross section Mixed integer linear programming Constraint optimization Humans Missiles Turning computer architecture automatic control

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Decision Making among Alternative Routes for UAVs in Dynamic Environments

Decision Making among Alternative Routes for UAVs in Dynamic...

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12th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2007), vol.2

作者： Jose J. Ruz Orlando Arevalo Gonzalo Pajares Jesus M. de la Cruz Department of Computer Architecture and Automatic Control Universidad Complutense de Madrid Spain Department of Software Engineering and Artificial Intelligence Universidad Complutense de Madrid Spain

This paper presents an approach to trajectory generation for Unmanned Aerial Vehicles (UAV) by using Mixed Integer Linear Programming (MILP) and a modification of the A{sup}* algorithm to optimize paths in dynamic environments, particularly having pop-ups with a known future probability of appearance. Each pop-up leads to one or several possible evasion maneuvers, characterized with a set of values used as decision making parameters in an Integer Linear Programming (ILP) model that optimizes the final route by choosing the most suitable alternative trajectories, according to the imposed constrains such as maximum fuel consumption and spent time. The model of the system in MILP and A{sup}* algorithms is presented, as well as the ILP formulation for decision making. Results and discussions are given to promote future real time implementations.

关键词： Decision making Unmanned aerial vehicles Vehicle dynamics Path planning Dynamic programming Mixed integer linear programming Integer linear programming Radar tracking Military aircraft computer architecture

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Design and implementation of a neuro-fuzzy system for longitudinal control of autonomous vehicles

Design and implementation of a neuro-fuzzy system for longit...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Joshué Pérez Agustín Gajate Vicente Milanés Enrique Onieva Matilde Santos CSIC Instituto de Automática Industrial Arganda del Rey Madrid Spain Department of Computer Architecture and Automatic Control Universidad Complutense de Madrid Madrid Spain

The control of nonlinear systems has been putting especial attention in the use of Artificial Intelligent techniques, where fuzzy logic presents one of the best alternatives due to the exploit of human knowledge. However, several fuzzy logic real-world applications use manual tuning (human expertise) to adjust control systems. On the other hand, in the Intelligent Transport Systems (ITS) field, the longitudinal control (throttle and brake management) is an important topic because external perturbations can generate uncomfortable accelerations as well as unnecessary fuel consumption. In this work, we utilize a neuro-fuzzy system to use human driving knowledge to tune and adjust the input-output parameters of a fuzzy if-then system. The neuro-fuzzy system considered in this work is ANFIS (Adaptive-Network-based Fuzzy Inference System). Results show several improvements in the control system adjusted by neuro-fuzzy techniques in comparison to the previous manual tuned controller, mainly in comfort and efficient use of actuators.

关键词： Vehicles Acceleration Driver circuits Actuators Mobile robots Artificial neural networks

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