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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Buss K.P. Kleinmann Department of Automatic Control Engineering Technical University Munich Munchen Germany Department of Control Systems Theory & Robotics Darmstadt University of Technology Darmstadt Germany

A common approach to control multi-fingered grippers during stable grasping is the stiffness control scheme. "Internal" stiffness parameters and suitable references for internal grasping forces-often determined heuristically-ensure a stable grasp. In this paper, optimal internal forces are obtained in real-time by linearly constrained gradient flows on the smooth manifold of positive definite matrices. This optimization approach is a generic one for any number of fingers in contact with the object. Experiments with the 3-fingered Darmstadt hand show the simplicity and efficiency of the approach.

关键词： Force control Grasping Friction Fingers Automatic control control systems Ear Linear programming Robot programming System performance

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On local analysis of distributed optimization

On local analysis of distributed optimization

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American control Conference

作者： Tatiana Tatarenko Behrouz Touri Department of Control Theory and Robotics TU Darmstadt Germany Department of Electrical Computer and Energy Engineering University of Colorado Boulder USA

ISBN: (纸本)9781467386838

We study distributed non-convex optimization on a time-varying multiagent network. Each node has access to its own smooth local cost function, and the collective goal is to minimize the sum of these functions. The perturbed push-sum algorithm used for convex distributed optimization in [17] is considered and further studied in [8]. We generalize the result obtained in [8] to the case of non-convex functions. Under some additional assumptions on the gradients we prove the convergence of the distributed push-sum algorithm to the set of critical points of the objective function. Moreover, by utilizing perturbations on the update process, we show the almost sure convergence of the perturbed dynamics to a local minimum of the global objective function.

关键词： Optimization Convergence Linear programming Approximation algorithms Algorithm design and analysis Signal processing algorithms Markov processes

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Analysis of Time Zero Reset method for Virtual Slope Walking

Analysis of Time Zero Reset method for Virtual Slope Walking

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IEEE International Conference on robotics and Biomimetics

作者： Youbin Qiu Mingguo Zhao State Key Laboratory of Robotics and System (HIT) Institute of Control Theory and Technology Department of Automation Tsinghua University Beijing China Institute of Control Theory and Technology Department of Automation Tsinghua University Beijing China

ISBN: (纸本)9781457721366

In our previous work, we proposed a novel method Virtual Slope Walking(VSW) for biped locomotion. Mechanical energy is restored by actively extending stance leg in this method. VSW has two kinds of implementations, termed self-excited mode and parametric excited mode, respectively. In self-excited mode, stance leg extension is controlled according to its angle, but the measure of leg's angle is difficult in practical implementation; while in parametric excited mode stance leg extension is controlled according to time. In this paper, we investigate a method for VSW using parametric excited mode named Time Zero Reset method, which controlling stance leg extension with relative time, time zero is reset at each heelstrike. The method generates stable period-1 and multi-period walking cycles which not seen in VSW before. The results of stability analysis show the method has strong tolerance to disturbances. Compared to previous parametric excited mode with open-loop control, it has wider speed range and is more robust to disturbances with low cost as only touchdown sensors are needed.

关键词： Legged locomotion Angular velocity Limit-cycles Eigenvalues and eigenfunctions Mathematical model Stability analysis

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Generation of structured process models using genetic programming 3rd

Generation of structured process models using genetic progra...

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3rd Workshop on Artificial Intelligence and Simulation of Behaviour, AISB 1996

作者： Pohlheim, Hartmut Marenbaeh, Peter Daimler Benz AG Systems Technology Research Alt-Moabit 96a BerlinD-10559 Germany Darmstadt University of Technology Institute of Control Engineering Department of Systems Theory and Robotics Landgraf-Georg-Strare 4 DarmstadtD-64283 Germany

ISBN: (纸本)3540617493

The design of structured mathematical models of processes in a certain level of abstraction defined by the given task appears to be difficult and time consuming even for experienced experts. This paper reports on a new method for the design of structured process models based on the metaphor of Genetic Programming. This new methodology allows the automatic generation of non-linear process models in a self-organizing way. © Springer-Verlag Berlin Heidelberg 1996.

关键词： Genetic algorithms

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Output Synchronization of Systems in Chained Form

Output Synchronization of Systems in Chained Form

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Kim D.Listmann Craig A.Woolsey Control Theory and Robotics Lab Technische Universitt Darmstadt Department of Aerospace and Oceanic Engineering Virginia Polytechnic University

In this article we extend previous results for backstepping and passivity-based design of cooperative control laws to a class of chained form systems that includes certain driftfree nonholonomic *** exploit the cascaded structure and feedback equivalence to passive systems to derive suitable control laws using a modified backstepping methodology.A virtual output is obtained and shared within the group in such a way that full state synchronization for the group is *** a static,strongly connected and balanced communication network we prove stability of the proposed ***,an extension to higher order chained forms is shown,providing a methodology to coordinate general nonholonomic *** effectiveness of the method is demonstrated by synchronizing a collective of unicycles.

关键词： agent Output Synchronization of Systems in Chained Form

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Associative datafields in automotive control

Associative datafields in automotive control

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IEEE Conference on control Technology and Applications (CCTA)

作者： Schmitt Ullrich Tolle Department of Motor Vehicle Safety Systems Robert Boach GmbH Schwieberdingen Germany Institute of Control Engineering Department of Control System Theory and Robotics Technical University of Darmstadt Germany

This work presents an associative datafield structure that has been developed for automotive control applications by the Institute of control Engineering, department of control Systems theory and robotics at the Technical University of Darmstadt and the Robert Bosch GmbH. In contrast to the state-of-the-art lattice-like datafields, the new system permits the modelling of multidimensional nonlinear process and/or controller characteristics with respect to computational performance and storage capacity provided by automotive control units. Furthermore, the associative datafield allows the compensation of wear and tear and manufacturing tolerances by learning, i.e. online adaptation of its contents. The paper describes the principles of the associative datafield and different update algorithms. Results of simulations using realistic data from car engines are discussed.< >

关键词： Road vehicles Interpolation Real time systems Road vehicle control Intelligent control Learning control systems

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HUBER LOSS-BASED PENALTY APPROACH TO PROBLEMS WITH LINEAR CONSTRAINTS∗

arXiv

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arXiv 2023年

作者： Nedić, Angelia Tatarenko, Tatiana The School of Electrical Computer and Energy Engineering Arizona State University United States Department of Control Theory and Robotics TU Darmstadt Germany

We consider an optimization problem with many linear inequalities constraints. To deal with a large number of constraints, we provide a penalty reformulation of the problem, where the penalty is a variant of the one-sided Huber loss function. We study the infeasibility properties of the solutions of penalized problems for nonconvex and convex objective functions, as the penalty parameters vary with time. Then, we propose a random incremental penalty method for solving convex problem, and investigate its convergence properties for convex and strongly convex objective functions. We show that the iterates of the method converge to a solution of the original problem almost surely and in expectation for suitable choices of the penalty parameters and the stepsize. Also, we establish convergence rate of the method for appropriately defined weighted averages of the iterates for the expected function values. We establish O(ln1/2+ǫ k/√k)-convergence rate when the objective function is convex, and O(lnǫ k/k)-convergence rate when the objective function is strongly convex with ǫ being any small positive number. To the best of our knowledge, these are the first results on the convergence rate for the penalty-based incremental subgradient method with time-varying penalty parameters. © 2023, CC BY.

关键词： Iterative methods

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A three fingered, multijointed gripper for experimental use

A three fingered, multijointed gripper for experimental use

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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

作者： W. Paetsch M. Kaneko Department of Control Engeneering Control Systems Theory and Robotics Section Technical University of Darmstadt Germany Computer Science and System Engeneering Kyushu Institute of Technology Iizuka Japan

A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture is designed for this special purpose. The gripper system provides the basic means in terms of position and force control to perform experiments about grasping and object motion in a useful way. The gripper can be used to develop and evaluate different approaches of stable grasping and object manipulation. Results of the control of the gripper on joint level, the Cartesian behaviour of the fingers and some experiences with the grasping and manipulation experiments using the presented system are reported.< >

关键词： Grippers control systems Robot sensing systems Space technology Force control Fingers Orbital robotics Computational modeling Computer simulation Grasping

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Mechanical properties investigation of monolayer h-BN sheet under in-plane shear displacement using molecular dynamics simulations

Mechanical properties investigation of monolayer h-BN sheet ...

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作者： Tian, Y. Li, Z. Gao, W. Cai, K. Wang, F. Zhang, D. Shirinzadeh, B. Fatikow, S. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin University Tianjin 300072 China Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC 3800 Australia Division of Microrobotics and Control Engineering University of Oldenburg 26111 Oldenburg Germany

The mechanical properties, including wrinkling patterns and fracture behavior, of monolayer h-BN sheets have been investigated using classic molecular dynamics simulations and continuum model. The wrinkling pattern formation and evolution have been first explored. The dependences of the wrinkling shape, amplitude, and wavelength, as well as wrinkling number on shear displacement are extensively elucidated. The influences of geometry and shear load direction, as well as temperature, on the fracture behavior have also been studied to obtain further insights into the properties of the monolayer h-BN sheets. © 2014 AIP Publishing LLC.

关键词： Monolayers

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Methods for a Transparent Development and Optimization of Biotechnological Processes

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IFAC Proceedings Volumes 1996年第1期29卷 6768-6773页

作者： Peter Marenbach Kurt Dirk Bettenhausen Henning Tolle Darmstadt University of Technology Institute of Control Engineering Department of Control Systems Theory & Robotics Landgraf-Georg-Strasse 4 D-64283 Darmstadt Germany URL: http //www.rt.e-technik.th-darmstadt.de

The article at hand describes an integrating system for the intelligent control of complex bio technological processes including automatic modelling and model based control strategy generation. Starting with a summary of previously achieved results, some new approaches that provide better transparency to process engineers and operators are discussed. This includes aspects of self-organizing generation of structured dynamic nonlinear process models based upon the ideas of genetic programming as well as the transparent generation of fuzzy rules in a particular NeuroFuzzy approach. The latter is used for the classification of physiological states during batch and fed-batch fermentations and for the long time strategy generation to optimize the achievable product yield.

关键词： Biotechnology Process control Fuzzy systems Learning control Genetic algorithms

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