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IEEE Intelligent Vehicles Symposium

作者： Jianliang Zhu Yunfeng Ai Bin Tian Dongpu Cao Sebastian Scherer School of Artificial Intelligence University of Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Department of Mechanical & Mechatronics Engineering University of Waterloo Robotics Institute Carnegie Mellon University

ISBN: (纸本)9781538644539

With the universal application of camera in intelligent vehicles, visual place recognition has become a major problem in intelligent vehicle localization. The traditional solution is to make visual description of place images using hand-crafted feature for matching places, but this description method is not very good for extreme variability, especially for seasonal transformation. In this paper, we propose a new method based on convolutional neural network (CNN), by putting images into the pre-trained network model to get automatically learned image descriptors, and through some operations of pooling, fusion and binarization to optimize them, then the similarity result of place recognition is presented with the Hamming distance of the place sequence. In the experimental part, we compare our method with some state-of-the-art algorithms, FABMAP, ABLE-M and SeqSLAM, to illustrate its advantages. The experimental results show that our method based on CNN achieves better performance than other methods on the representative public datasets.

关键词： Hamming distance Intelligent vehicles binarization Recognition (Psychology) Visualization network model Cameras images

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Results from the robocademy ITN: Autonomy, disturbance rejection and perception for advanced marine robotics

arXiv

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arXiv 2019年

作者： Valdenegro-Toro, Matias de Lucas Alvarez, Mariela Dmitrieva, Mariia Wehbe, Bilal Salavasidis, Georgios Heshmati-Alamdari, Shahab Fuentes-Pérez, Juan F. Yordanova, Veronika Istenič, Klemen Guerneve, Thomas Ocean Systems Lab Heriot-Watt University EdinburghEH14 4AS United Kingdom DFKI - Robotic Innovation Center Bremen Germany Marine Autonomous and Robotics Systems National Oceanography Centre SouthamptonSO14 1NJ United Kingdom Control Systems Lab Department of Mechanical Engineering National Technical University of Athens 9 Heroon Polytechniou Street Zografou15780 Greece Centre for Biorobotics Tallin University of Technology Tallinn Estonia Atlas Elektronik GmbH Sebaldsbruecker Heerstrasse 235 Bremen Germany University of Girona C\Pic de Peguera 13 Girona17003 Spain SeeByte Orchard Brae House 30 Queensferry Rd EdinburghEH4 2HS United Kingdom

Marine and Underwater resources are important part of the economy of many countries. This requires significant financial resources into their construction and maintentance. robotics is expected to fill this void, by automating and/or removing humans from hostile environments in order to easily perform maintenance tasks. The Robocademy Marie SklodowskaCurie Initial Training Network was funded by the European Union's FP7 research program in order to train 13 Fellows into world-leading researchers in Marine and Underwater robotics. The fellows developed guided research into three areas of key importance: Autonomy, Disturbance Rejection, and Perception. This paper presents a summary of the fellows' research in the three action lines. 71 scientific publications were the primary result of this project, with many other publications currently in the pipeline. Most of the fellows have found employment in Europe, which shows the high demand for this kind of experts. We believe the results from this project are already having an impact in the marine robotics industry, as key technologies are being adopted already. Copyright © 2019, The Authors. All rights reserved.

关键词： Disturbance rejection

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Visual Place Recognition in Long-term and Large-scale Environment based on CNN Feature

Visual Place Recognition in Long-term and Large-scale Enviro...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Zhu, Jianliang Ai, Yunfeng Tian, Bin Cao, Dongpu Scherer, Sebastian School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100190 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Cloud Computing Center Chinese Academy of Sciences Dongguan523808 China Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

ISBN: (纸本)9781538644522

关键词： Hamming distance

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Two Lyapunov methods in nonlinear state estimation via finite capacity communication channels

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IFAC-PapersOnLine 2017年第1期50卷 4132-4137页

作者： Matveev A. Pogromsky A. Department of Mathematics and Mechanics Saint Petersburg University St. Petersburg Russian Federation Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Department of Control Systems and Industrial Robotics National Research University of Information Technologies Mechanics and Optics (ITMO) Saint-Petersburg Russian Federation

关键词： Entropy First Nonlinear systems second Lyapunov methods

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Sensorless nonlinear control of fed-batch Escherichia coli cultivation bioprocess using the state-dependent approach 12th

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12th Portuguese Conference on Automatic control, controlO 2016

作者： Iratni, Abdelhamid Araújo, Rui Rastegar, Saeid Mostefai, Mohammed Faculty of Science and Technology Electrical Engineering Department University of Bordj Bou Arreridj El Anasser Algeria Department of Electrical and Computer Engineering Institute for Systems and Robotics University of Coimbra Coimbra Portugal Automatic Control Laboratory of Setif Electrical Engineering Department Faculty of Technology University of Setif1 Sétif Algeria

ISBN: (纸本)9783319436708

The cultivation of Escherichia coli bacteria is widely used by geneticists and biopharmaceuticals to produce medicines and vaccines. In such industries, Bioprocesses are known by their harsh environment and very expensive physical sensors. This paper deals with nonlinear estimation and control of fed-batch Escherichia coli bioprocess. Enhancing the process performance and maximizing its efficiency by optimizing the control of Escherichia coli cultures depends on the availability of appropriate online sensors for the main culture components. In this study, an innovative method for nonlinear estimation and control of bioprocesses is designed and assessed. The new algorithm for control and estimation of Escherichia coli bioprocess states, based on the State-Dependent Riccati Equation technique, is validated by numerical simulation. The results obtained clearly demonstrate the effectiveness of the proposed technique for Biosystems in measuring, monitoring, and control of their natural nonlinear dynamics. © Springer International Publishing Switzerland 2017.

关键词： Extended Kalman filters

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A multi-class ramp metering and routing control scheme to reduce congestion and traffic emissions in freeway networks

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IFAC-PapersOnLine 2016年第3期49卷 329-334页

作者： Pasquale, C. Sacone, S. Siri, S. De Schutter, B. Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy Delft Center for Systems and Control Delft University of Technology Netherlands

In this paper, a multi-class and multi-objective combined ramp metering and routing control strategy is proposed to improve performance in freeway traffic networks. The control strategy is of the multi-class type, i.e. different classes of vehicles are taken into account, so that specific control policies can be devised for each class. Moreover, ramp metering and route guidance are properly coordinated in order to reduce the total travel time and the total emissions in the freeway system in a balanced way. The controller proposed in the paper is of the predictive feedback type, i.e. the control computed at each time step depends on the measured system state and on the prediction of the system evolution, considering both a traffic and an emission model. Some simulation results are presented showing the effectiveness of the proposed control scheme. © 2016

关键词： Traffic congestion Highway traffic control Network routing Travel time control strategies Different class Freeway networks Improve performance Measured system System evolution Total emissions Traffic emissions

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An Intelligent Gripper Design for Autonomous Aerial Transport with Passive Magnetic Grasping and Dual-Impulsive Release

An Intelligent Gripper Design for Autonomous Aerial Transpor...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Usman A. Fiaz M. Abdelkader Jeff S. Shamma Department of Electrical & Computer Engineering University of Maryland(UMD) College Park. MD USA KAUST The Robotics Intelligent Systems & Control (RISC) Laboratory Thuwal KSA

We present a novel gripper design for autonomous aerial transport of ferrous objects with unmanned aerial vehicles (UAVs). The proposed design uses permanent magnets for grasping, and a novel dual-impulsive release mechanism, for achieving drop. The gripper can simultaneously lift up to four objects of arbitrary shape, in fully autonomous mode, with a 100% rate of successful drops. We optimize the system subject to realistic constraints, such as the simplicity of design and its sturdiness to aerial maneuvers, payload limits for multi-rotor UAVs, reliability of autonomous grasping irrespective of the environment of operation, active power consumption of the gripper, and its comparison with the existing technologies. We describe the design concepts, and the hardware, and perform extensive experiments in both indoor and outdoor environments, with two multi-rotor configurations. Several results, showcasing superior performance of the proposed system are provided as well.

关键词： Grasping Force Servomotors Grippers Payloads Torque Magnetic separation

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Learning a Cost-to-Goal Estimate for Fast Model Predictive Optimization Based on Graph Search

Learning a Cost-to-Goal Estimate for Fast Model Predictive O...

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American control Conference

作者： Brandon M. Reese Emmanuel G. Collins, Jr. Center for Intelligent Systems Control and Robotics Department of Mechanical Engineering Florida A&M University - Florida State University Tallahassee 32310 USA

ISBN: (纸本)9781509045839

Model Predictive planning and control algorithms based on A~*-type graph search techniques achieve computationally fast and nearly optimal solutions when they use a cost-to-goal (or "heuristic") function, i.e. an estimate of the cost from the current state to the goal state, that correlates well with the actual optimal cost-to-goal values. Compared to search methods without a cost-to-goal estimate, these algorithms achieve a low computational cost because they exploit structure in the optimization problem. The cost-to-goal estimate is problem-specific and is typically derived analytically from a relaxed version of the problem. There are, however, many planning and control applications for which a proper cost-to-goal is difficult to obtain analytically. The trivial heuristic, H = 0, is often used when a more suitable problem-specific cost-to-goal is unavailable, but this leads to computationally slow searches. This paper presents a graph-based search algorithm coupled with a learned cost-to-goal estimate that leverages experience through extensive offline simulations to provide online computational speed even when a suitable cost-to-goal cannot be derived analytically.

关键词： Fast Model Predictive

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New results on parameter estimation via dynamic regressor extension and mixing: Continuous and discrete-time cases

arXiv

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arXiv 2019年

作者： Ortega, Romeo Aranovskiy, Stanislav Pyrkin, Anton A. Astolfi, Alessandro Bobtsov, Alexey A. Laboratoire des Signaux et Systèmes CNRS-SUPELEC Plateau du Moulon Gif-sur-Yvette91192 France ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia CentraleSupélec - IETR Avenue de la Boulaie Cesson-Sévigné35576 France Hangzhou Dianzi University Hangzhou310018 China Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom DICII Universita di Roma "Tor Vergata" Via del Politecnico 1 Roma00133 Italy

We present some new results on the dynamic regressor extension and mixing parameter estimators for linear regression models recently proposed in the literature. This technique has proven instrumental in the solution of several open problems in system identification and adaptive control. The new results include: (i) a unified treatment of the continuous and the discrete-time cases;(ii) the proposal of two new extended regressor matrices, one which guarantees a quantifiable transient performance improvement, and the other exponential convergence under conditions that are strictly weaker than regressor persistence of excitation;and (iii) an alternative estimator ensuring parameter estimation in finite-time that retains its alertness to track time-varying parameters. Simulations that illustrate our results are also presented. Copyright © 2019, The Authors. All rights reserved.

关键词： Adaptive control systems

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Non-contact transportation and rotation of micro objects by vibrating glass needle circularly under water

Non-contact transportation and rotation of micro objects by ...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Liu, Xiaoming Kojima, Masaru Shi, Qing Wang, Huaping Sun, Tao Mae, Yasushi Huang, Qiang Arai, Tatsuo Fukuda, Toshio Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China Department of Systems Innovation Osaka University 1-3 Machikaneyama Toyonaka Osaka560-8531 Japan Faculty of Science and Engineering Meijo University 1-501 Shiogamaguchi Tenpaku-ku Nagoya468-8502 Japan

ISBN: (纸本)9781509046331

In micromanipulation, lots of methods have been developed to manipulate objects in microscale. However, few of them can be applied in both the transportation and the rotation of the micro objects. In this paper, we present a novel method to realize the non-contact transportation and rotation of the micro objects based on the vibration-induced swirl flow. A piezo actuator is set between the glass needle and a metal rod. The sine wave with controlled frequency and amplitude is input into the piezo actuator to drive the glass needle to move circularly, which is caused by resonance of the actuator and the metal rod. We place the glass needle under water and keep a limited distance to the bottom. The circular vibration of the glass needle can generate a swirl flow and low pressure around it. The low pressure can trap and transport the micro objects vertically to the glass needle, and the swirl flow can rotate the objects continuously. Finally, we realize the trap and rotation of micro object with only one piezo actuator. Experiments of transportation and rotation of microbeads are carried out, and the results demonstrate it is a simple, low-cost, effective micromanipulation method. © 2017 IEEE.

关键词： Needles

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