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Stability Analysis of a Multirotor UAV with Robust Backstepping Controller

Stability Analysis of a Multirotor UAV with Robust Backstepp...

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IEEE Latin American Robotics Symposium, LARS

作者： Armando S. Sanca Pablo J. Alsina Jés J.F. Cerqueira Department of Technology State University of Feira de Santana Bahia Brazil Department of Computing Engineering and Automation - UFRN Natal-RN Brazil Department of Electrical Engineering Federal University of Bahia Salvador BA Brazil

In this paper, the stability analysis of an hexarotor micro-aerial vehicle for outdoor applications using IMU sensors is presented. The dynamic model of the hexarotor was expressed using the Newton-Euler laws jointly with a full state robust backstepping controller, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The experimental hexarotor is equipped with an IMU/sonar sensors, which appropriately provides measurements of attitude and altitude. For the performance of the robust controller, sensors were modeled as real measurements with unknown bias and white noise. The bounded attitude/altitude controller were derived on the robust practical stability that deals with convergence and stability into a ball of the state space with non-null radius, under some assumptions. The Lyapunov analysis technique was used to prove the stability of the closed-loop system, compute bounds on control gains and guaranteeing desired bounds on attitude dynamics tracking errors in the presence of measurement disturbances.

关键词： Stability analysis Backstepping Robustness Lyapunov methods Rotors Equations Asymptotic stability

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Cooperative and Geometric Learning Algorithm (CGLA) for path planning of UAVs with limited information

Cooperative and Geometric Learning Algorithm (CGLA) for path...

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作者： Zhang, Baochang Liu, Wanquan Mao, Zhili Liu, Jianzhuang Shen, Linlin Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical Engineering BeiHang University Beijing 100191 China Department of Computing Curtin University Perth WA 6102 Australia Shenzhen Key Laboratory of Spatial Smart Sensing and Services School of Computer Science and Software Engineering Shenzhen University China Media Laboratory Huawei Technologies Co.Ltd. Shenzhen 518129 China

In this paper, we propose a new learning algorithm, named as the Cooperative and Geometric Learning Algorithm (CGLA), to solve problems of maneuverability, collision avoidance and information sharing in path planning for Unmanned Aerial Vehicles (UAVs). The contributions of CGLA are three folds: (1) CGLA is designed for path planning based on cooperation of multiple UAVs. Technically, CGLA exploits a new defined individual cost matrix, which leads to an efficient path planning algorithm for multiple UAVs. (2) The convergence of the proposed algorithm for calculating the cost matrix is proven theoretically, and the optimal path in terms of path length and risk measure from a starting point to a target point can be calculated in polynomial time. (3) In CGLA, the proposed individual weight matrix can be efficiently calculated and adaptively updated based on the geometric distance and risk information shared among UAVs. Finally, risk evaluation is introduced first time in this paper for UAV navigation and extensive computer simulation results validate the effectiveness and feasibility of CGLA for safe navigation of multiple UAVs. © 2014 Elsevier Ltd. All rights reserved.

关键词： Motion planning

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Graph cut and image segmentation using mean cut by means of an agglomerative algorithm

Graph cut and image segmentation using mean cut by means of ...

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International Conference on Computer Vision Theory and Applications (VISAPP)

作者： Elaine Ayumi Chiba Marco Antonio Garcia de Carvalho André Luís da Costa Computing Visual Lab UNICAMP Limeira SP Brazil Computing Visual Lab School of Technology - FT University of Campinas - UNICAMP Limeira - SP Brazil Department of Computer Engineering and Industrial Automation UNICAMP Campinas SP Brazil

ISBN: (纸本)9781479976867

Graph partitioning, or graph cut, has been studied by several authors as a tool for image segmentation. It refers to partitioning a graph into several subgraphs such that each of them represents a meaningful object of interest in the image. In this work we propose a hierarchical agglomerative clustering algorithm driven by the cut and mean cut criteria. Some preliminary experiments were performed using the benchmark of Berkeley BSDS500 with promising results.

关键词： Image segmentation Clustering algorithms Measurement Partitioning algorithms Image edge detection Benchmark testing Couplings

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Design of RF BAW-based ΣΔ Modulators

Design of RF BAW-based ΣΔ Modulators

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IEEE Latin American Symposium on Circuits and Systems (LASCAS)

作者： Diomadson Belfort Sebastian Y. C. Catunda Hassan Aboushady Automation and Computing Engineering Department Federal University of Rio Grande do Norte University of Pierre and Marie Curie - UPMC Laboratory of Informatics of Paris 6 - LIP6

Analysis of the Bulk Acoustic Wave (BAW) resonator modeled as a two-port device is presented for applications in Sigma Delta Modulator (ΣΔM) based Analog-to-Digital Converter (ADC). The design of BAW-based Continuous Time (CT) ΣΔM starting from a Discrete Time (DT) model, which is designed from scratch, is presented and explained in details. In order to convert a DT ΣΔM into CT BAW-based ΣΔM, Finite Impulse Response (FIR) filters are used in the feedback path increasing the degrees of freedom. We discuss and validate the calculation of the FIR filter coefficients by using a design example of BAW-based ΣΔMs.

关键词： Band-pass filters Bulk acoustic wave devices Modulation Capacitors Radio frequency Signal to noise ratio Mathematical model

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous Robotics Systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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An EMG Enhanced Impedance and Force Control Framework for Telerobot Operation in Space

An EMG Enhanced Impedance and Force Control Framework for Te...

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IEEE Aerospace Conference

作者： Ning Wang Chenguang Yang Michael R. Lyu Zhijun Li Department of Computer Science and Engineering The Chinese University of Hong Kong School of Computing and Mathematics Plymouth University Key Lab of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology

ISBN: (纸本)9781479916191

Tele-operation is a merging point of modern developments in robotics and communications technologies. Both traditional applications (e.g., mining) and emerging domains (e.g., microsurgery) benefit from the advancement of tele-robotic systems. Combining a local human operator and a remote autonomous robot, the tele-robotics systems could optimally exploit both the intelligence of human operator and the automation of robot. In a tele-operation scenario, the exchange of force and position signals, i.e., haptic feedback, can greatly extend human operator's capability of conducting complicated work through the robot in a remote environment. However, long-range communications usually suffer from the time delay problem caused by the inherent characteristics of communication channels. Delayed transmission of haptic signals may lead to instability in the closed-loop telerobot control system. Although much effort has been made in the control community to overcome this difficulty, and many approaches such as wave scattering, passivity, and small gain theorem have been employed as possible solutions, stability in haptic telerobot control remains a challenge. It has been noted that the neural path of human being is also subject to transmission delay as well. We know that in the presence of time delay in sensory feedback pathways, human neural control can easily maintain stability and even to show superior manipulation skills in unstable interaction scenarios. It has been discovered and reported that the operation stability of human beings could be achieved by well adjusting the mechanical impedance, i.e., the resistance to imposed motion, which is largely contributed by the spring-like property of muscles. Being investigated in robotics community for decades, impedance control has shown great advantage in terms of safety and flexibility over conventional position or force control. However, only until very recently our attention has been attracted to transferring a human operator

关键词： impedance Electromyogram Human Robot Force Astronauts Force control muscles robotics

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New multi-axis control algorithm to generate human handwriting traces

New multi-axis control algorithm to generate human handwriti...

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International Conference on Sciences and Techniques of Automatic Control and Computer engineering (STA)

作者： I. Mahmoud I. Chihi A. Abdelkrim M. Benrejeb Laboratory for Automation Research (LA.RA) National Engineering School of Tunis (ENIT) Tunis Belvedere TUNISIA Electrical Engineering Department School of Technology and Computing (ESTI) Tunis TUNISIA National Engineering School of Tunis LARA (ENIT) Tunisia

Using the database of a pen-tip moving on (x, y) plane during the human handwriting motion, this paper presents a novel algorithm to generate handwritten graphic traces, which is inspired from the idea of tracing circles by Bresenham multi-axis control algorithm. The effectiveness of this approach should be observed on predicting different cursive Arabic letters and geometric shapes constituting the recorded experimental basis.

关键词： Prediction algorithms Shape Pattern recognition Chemicals Robots Plastics Magnetic anisotropy

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A novel approach for localization of an indoor autonomous mobile surveillance robot 11

A novel approach for localization of an indoor autonomous mo...

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2014 11th World Congress on Intelligent Control and automation, WCICA 2014

作者： Jiang, Guolai Syed, Muhammad Umer Liu, Letian Ou, Yongsheng Xu, Yangsheng Malik, Muhammad Sarfaraz Chandio, Aftab Ahmed Center for Intelligent and Biomimetic Systems Institute of Advanced Integration Technology Chinese Academy of Sciences Guangdong China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Lab of Simulation and Intelligent Control University of Science and Technology of China Heife China Center for Cloud Computing Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China

ISBN: (纸本)9781479958252

Localization of an autonomous mobile robot has always been a topic of interest in Robotics community. The constraints of working under different environments are constantly a challenge in designing an efficient localization system. We propose a localization algorithm for a mobile robot, which will be used for home security. The objective is to perform indoor localization efficiently and keeping the cost as low as possible so as to make it commercializable. Here, we introduce an approach based on recognizing a pattern generated by laser pointers on the wall, which is captured by an infrared camera. The image of this pattern is used to locate the position of a robot in the room. The problem of working under black ceiling has been overcomed because the projection is on the wall and is moving which also increases the range of operation. As the pattern is unique, the interference of strong sunlight has also been fixed to some extent. Experimental results show that the proposed approach is effective in real environment and opens new doors for future research. © 2014 IEEE.

关键词： Indoor positioning systems

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Security risk analysis for smart grid automation

Security risk analysis for smart grid automation

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Seppo Sierla Marcin Hurkala Konstantinia Charitoudi Chen-Wei Yang Valeriy Vyatkin Dept. of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland Faculty of Computing Engineering and Science (FCES) University of South Wales Pontypridd RCT UK Department of Computer Science Electrical and Space Engineering Lulea University of Technology Lulea Sweden

ISBN: (纸本)9781479924004

The reliability theory used in the design of complex systems including electric grids assumes random component failures and is thus unsuited to analyzing security risks due to attackers that intentionally damage several components of the system. In this paper, a security risk analysis methodology is proposed consisting of vulnerability analysis and impact analysis. Vulnerability analysis is a method developed by security engineers to identify the attacks that are relevant for the system under study, and in this paper, the analysis is applied on the communications network topology of the electric grid automation system. Impact analysis is then performed through co-simulation of automation and the electric grid to assess the potential damage from the attacks. This paper makes an extensive review of vulnerability and impact analysis methods and relevant system modeling techniques from the fields of security and industrial automation engineering, with a focus on smart grid automation, and then applies and combines approaches to obtain a security risk analysis methodology. The methodology is demonstrated with a case study of fault location, isolation and supply restoration smart grid automation.

关键词： IEC standards Security Smart grids automation Substations Software Fault location

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An Automated Thermographic Image Segmentation Method for Induction Motor Fault Diagnosis

An Automated Thermographic Image Segmentation Method for Ind...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Petros Karvelis George Georgoulas Chsysostomos D. Stylios Ioannis P. Tsoumas Jose Alfonso Antonino-Daviu Maria Jose Picazo Rodenas Vicente Climente-Alarcon Laboratory of Knowledge and Intelligent Computing Technological Educational Institute of Epirus Department of Computer Engineering Larges Drives Products R&D Department Siemens Industry Sector - Drive Technologies Instituto de Ingenieria Energetica Universitat Politecnica de Valencia Department of Electrical Engineering and Automation Aalto University

ISBN: (纸本)9781479940318

Eventual failures in induction machines may lead to catastrophic consequences in terms of economic costs for the companies. The development of reliable systems for fault detection that enable to diagnose a wide range of faults is a motivation of many researchers worldwide. In this context, non-invasive condition monitoring strategies have drawn special attention since they do not require interfering with the operation process of the machine. Though the analysis of the motor currents has proven to be a reliable, non-invasive methodology to detect some of the faults (especially when assessing the rotor condition), it lacks reliability for the diagnosis of other faults (e.g. bearing faults). The infrared thermography has proven to be an excellent, non-invasive tool that can complement the diagnosis reached with the motor current analysis, especially for some specific faults. However, there are still some pending issues regarding its application to induction motor faults diagnosis, such as the lack of automation or the extraction of reliable fault indicators based on the infrared data. This paper proposes a methodology that intends to provide a solution to the first issue: a method based on image segmentation is employed to detect several failures in an automated way. Four specific faults are analyzed: bearing faults, fan failures, rotor bar breakages and stator unbalance. The results show the potential of the technique to automatically identify the fault present in the machine.

关键词： Induction motor Fault diagnosis SIFT Image segmentation Object matching

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