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arXiv 2020年

作者： Petković, Tomislav Hvězda, Jakub Rybecký, Tomáš Marković, Ivan Kulich, Miroslav Přeučil, Libor Petrović, Ivan 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 Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague160 00 Czech Republic

With the substantial growth of logistics businesses the need for larger and more automated warehouses increases, thus giving rise to fully robotized shop-floors with mobile robots in charge of transporting and distributing goods. However, even in fully automatized warehouse systems the need for human intervention frequently arises, whether because of maintenance or because of fulfilling specific orders, thus bringing mobile robots and humans ever closer in an integrated warehouse environment. In order to ensure smooth and efficient operation of such a warehouse, paths of both robots and humans need to be carefully planned;however, due to the possibility of humans deviating from the assigned path, this becomes an even more challenging task. Given that, the supervising system should be able to recognize human intentions and its alternative paths in real-time. In this paper, we propose a framework for human deviation detection and intention recognition which outputs the most probable paths of the humans workers and the planner that acts accordingly by replanning for robots to move out of the human's path. Experimental results demonstrate that the proposed framework increases total number of deliveries, especially human deliveries, and reduces human-robot encounters. Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

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A task allocation approach for human-robot collaboration in product defects inspection scenarios

arXiv

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arXiv 2020年

作者： Karami, Hossein Darvish, Kourosh Mastrogiovanni, Fulvio Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Via Opera Pia 13 Genoa16145 Italy Dynamic Interaction Control Istituto Italiano di Tecnologia Genova Italy

The presence and coexistence of human operators and collaborative robots in shop-floor environments raises the need for assigning tasks to either operators or robots, or both. Depending on task characteristics, operator capabilities and the involved robot functionalities, it is of the utmost importance to design strategies allowing for the concurrent and/or sequential allocation of tasks related to object manipulation and assembly. In this paper, we extend the FLEXHRC framework presented in [1] to allow a human operator to interact with multiple, heterogeneous robots at the same time in order to jointly carry out a given task. The extended FLEXHRC framework leverages a concurrent and sequential task representation framework to allocate tasks to either operators or robots as part of a dynamic collaboration process. In particular, we focus on a use case related to the inspection of product defects, which involves a human operator, a dual-arm Baxter manipulator from Rethink robotics and a Kuka youBot mobile manipulator. Copyright © 2020, The Authors. All rights reserved.

关键词： Manipulators

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An Observer-Based Composite Identifier for Online Estimation of the Thévenin Equivalent Parameters of a Power System

arXiv

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arXiv 2022年

作者： Zonetti, Daniele Ortega, Romeo Cisneros, Rafael Bobtsov, Alexey Mancilla-David, Fernando Gomis-Bellmunt, Oriol The Centre d'Innovació Tecnològica En Convertidors Estàtics I Accionaments Departament d'Enginyeria Elèctrica Universitat Politècnica De Catalunya Barcelona08028 Spain The Departamento Académico De Sistemas Digitales ITAM Rio Hondo 1 Col. Progreso Tizapan Ciudad de México01080 Mexico The Department Of Control Systems And Robotics ITMO University Kronverkskiy av. 49 Saint-Petersburg197101 Russia The Department Of Electrical Engineering University Of Colorado Denver DenverCO80204 United States

We consider a Thévenin equivalent circuit capturing the dynamics of a power grid as seen from the point of common coupling with a power electronic converter, and provide a solution to the problem of online identification of the corresponding circuit parameters. For this purpose, we first derive a linear regression model in the conventional abc coordinates and next design a bounded observer-based composite identifier that requires local measurements and knowledge of the grid frequency only. An extension that guarantees exponential convergence of the estimates, under the additional assumption of knowledge of the grid X/R ratio, is further provided. The performance of the proposed identifier, which subsumes a conventional gradient descent algorithm, is illustrated via detailed computer simulations. © 2022, CC BY.

关键词： Equivalent circuits

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Methods for Measuring the Just Noticeable Difference for Variable Stimuli: Implications for Perception of Metabolic Rate with Exoskeleton Assistance

Methods for Measuring the Just Noticeable Difference for Var...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Roberto L. Medrano Gray C. Thomas Elliott Rouse Department of Mechanical Engineering Robotics Institute University of Michigan Ann Arbor MI USA Neurobionics Lab University of Michigan Ann Arbor MI USA Neurobionics and Locomotor Control Systems Labs University of Michigan

ISBN: (数字)9781728159072

ISBN: (纸本)9781728159089

The reduction of metabolic rate has become a pillar for quantifying the success of exoskeletons for performance augmentation, but how well can humans perceive these metabolic benefits? Measuring human perceptual ability in this context presents a unique challenge, since the stimulus of metabolic rate is not directly controllable. In this paper we introduce and compare two methods for addressing indirect stimuli: conventional method of constant stimuli (MOCS) with binning, and single presentation (SP). Both methods are based on a maximum likelihood estimation for a sigmoidal psychometric curve, under the assumption of a constant Weber fraction. Using Monte Carlo simulations, we conclude that while conventional MOCS with binning performs better for low actuation noise levels, single presentation strategies are better otherwise. We additionally present a pilot result for one subject using the single presentation strategy, which quantified the Just Noticeable Difference (JND) of changes to metabolic rate of 25.2 ± 23.2%.

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Data rate limits for the remote state estimation problem ⁎

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IFAC-PapersOnLine 2020年第2期53卷 4955-4960页

作者： C. Kawan A. Matveev A. Pogromsky Institute of Informatics Ludwig-Maximilians-Universität München Germany Department of Mathematics and Mechanics Saint Petersburg University St. Petersburg Russia Department of Mechanical Engineering Eindhoven University of Technology Eindhoven The Netherlands Department of Control Systems and Industrial Robotics Saint-Petersburg National Research University of Information Technologies Mechanics and Optics (ITMO) Russia

In the context of control and estimation under information constraints, restoration entropy measures the minimal required data rate above which a system can be regularly observed. The observer here is assumed to receive its state information through a communication channel of a finite bit-rate capacity. In this paper, we provide a new characterization of restoration entropy which does not require to compute any temporal limit, i.e., an asymptotic quantity. Our new formula is based on the idea of finding an adapted Riemannian metric on the state space that allows to ‘see’ the decisive quantity that determines the restoration entropy - a certain type of Lyapunov exponent - in only one step of time.

关键词： Entropy Nonlinear systems First second Lyapunov methods

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Preface

Lecture Notes in Networks and Systems

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Lecture Notes in Networks and systems 2024年 1076 LNNS卷 v-vii页

作者： Biele, Cezary Kacprzyk, Janusz Kopeć, Wieslaw Możaryn, Jakub Owsiński, Jan W. Romanowski, Andrzej Sikorski, Marcin National Information Processing Institute Warszaw Poland Polish Academy of Sciences Systems Research Institute Warsaw Poland Polish-Japanese Academy of Information Technology Warsaw Poland Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland Institute of Applied Computer Science Faculty of Electrical Electronic Computer and Control Engineering Lódż University of Technology LODZ Poland Department of Applied Informatics in Management Faculty of Management and Economics Gdańsk University of Technology Gdańsk Poland

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Generation of New Exciting Regressors for Consistent On-line Estimation of Unknown Constant Parameters

arXiv

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arXiv 2021年

作者： Bobtsov, Alexey Yi, Bowen Ortega, Romeo Astolfi, Alessandro Hangzhou310018 China The Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia Australian Centre for Field Robotics The University of Sydney SydneyNSW2006 Australia Departamento Académico de Sistemas Digitales ITAM Ciudad de México Mexico The Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom The DICII Universita di Roma "Tor Vergata" Via del Politecnico 1 Roma00133 Italy

The problem of estimating constant parameters from a standard vector linear regression equation in the absence of sufficient excitation in the regressor is addressed. The first step to solve the problem consists in transforming this equation into a set of scalar ones using the well-known dynamic regressor extension and mixing technique. Then a novel procedure to generate new scalar exciting regressors is proposed. The superior performance of a classical gradient estimator using this new regressor, instead of the original one, is illustrated with comprehensive simulations. © 2021, CC BY.

关键词： Parameter estimation

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Application of Enhanced Extended Observer in Station-Keeping of a Quadrotor with Unmeasurable Pitch and Roll Angles ⁎

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IFAC-PapersOnLine 2019年第16期52卷 837-842页

作者： Oleg I. Borisov Anton A. Pyrkin Alberto Isidori ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia University of Rome “La Sapienza” Department of Computer Control and Management Engineering “A. Ruberti” Rome Italy

In this paper we provide an example of application of the design of a control law that makes use of an enhanced version of the so-called extended observer. The enhancement in question reposes on the extension of a classical Lemma due to Dayawansa to the case of nonlinear systems whose normal form includes time-varying (and measurable) gains. The presented example concerns a station-keeping problem of a quadrotor with unmeasurable pitch and roll angles.

关键词： Dayawansa’s lemma Robust observers Nonlinear systems High-gain observers Quadrotors

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Stability of a planetary climate system with the biosphere species competing for resources

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Physical Review E 2021年第2期103卷 022202-022202页

作者： Sergey A. Vakulenko Ivan Sudakov Sergei V. Petrovskii Dmitry Lukichev Institute for Problems in Mechanical Engineering Russian Academy of Sciences St. Petersburg 199178 Russia Faculty of Control Systems and Robotics ITMO University Saint Petersburg 197101 Russia Department of Physics University of Dayton 300 College Park SC 111 Dayton Ohio 45469-2314 USA School of Mathematics and Actuarial Science University of Leicester Leicester LE1 7RH United Kingdom S. M. Nikol'skii Mathematical Institute Peoples' Friendship University of Russia (RUDN University) Moscow 117198 Russia

With the growing number of discovered exoplanets, the Gaia concept finds its second wind. The Gaia concept defines that the biosphere of an inhabited planet regulates a planetary climate through feedback loops such that the planet remains habitable. Crunching the “Gaia” puzzle has been a focus of intense empirical research. Much less attention has been paid to the mathematical realization of this concept. In this paper, we consider the stability of a planetary climate system with the dynamic biosphere by linking a conceptual climate model to a generic population dynamics model with random parameters. We first show that the dynamics of the corresponding coupled system possesses multiple timescales and hence falls into the class of slow-fast dynamics. We then investigate the properties of a general dynamical system to which our model belongs and prove that the feedbacks from the biosphere dynamics cannot break the system's stability as long as the biodiversity is sufficiently high. That may explain why the climate is apparently stable over long time intervals. Interestingly, our coupled climate-biosphere system can lose its stability if biodiversity decreases; in this case, the evolution of the biosphere under the effect of random factors can lead to a global climate change.

关键词： Climate research Ecology & evolution Planets & planetary systems

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Flight control design for a highly flexible flutter demonstrator

Flight control design for a highly flexible flutter demonstr...

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AIAA Scitech Forum, 2019

作者： Luspay, Tamás Baár, Tamás Teubl, Dániel Vanek, Bálint Ossmann, Daniel Wüstenhagen, Matthias Pusch, Manuel Kier, Thiemo Waitman, Sérgio Iannelli, Andrea Marcos, Andres Lowenberg, Mark Systems and Control Lab Institute for Computer Science and Control Kende u 13-17 Budapest Hungary DLR German Aerospace Center Institute of Robotics and Mechatronics Wessling82234 Germany Aerospace Engineering Department University of Bristol University Walk BristolBS8 1TR United Kingdom

ISBN: (数字)9781624105784

ISBN: (纸本)9781624105784

The paper presents the control design approaches for the European research project FLEXOP. The ultimate goal is to develop and apply active flutter suppression and load alleviation techniques on an unmanned flying aircraft demonstrator. Due to the flexible wing of the aircraft new challenges rise for the control design: the traditional rigid body (baseline) control loops have to be augmented with flutter control laws. In our approach, the controllers are designed based on a dynamical model, which is briefly discussed first. Details of the baseline control design, as well as the two different flutter suppression algorithms are discussed in the paper. Hardware-in-the-Loop testing of the controllers are reported before the first test flights of the aircraft. © 2019, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： controllers

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