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检索条件"机构=Department of Control and Robotics Engineering"

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MPPT Algorithms for Wind Turbines: Review and Comparison 29

MPPT Algorithms for Wind Turbines: Review and Comparison

引用

29th International Workshop on Electric Drives: Advances in Power Electronics for Electric Drives, IWED 2022

作者： Aleksandr, Lukin Demidova, Galina Alassaf, Omar Lukichev, Dmitry Rassolkin, Anton Vaimann, Toomas ITMO University Faculty of Control System and Robotics Saint-Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallinn Estonia

ISBN: (纸本)9781665467865

Wind turbines play an important role in energy generation using renewable sources. The wind is very changeable, and such turbines require techniques for finding and tracking maximum power density. The presented work includes an overview of maximum power point tracking techniques applicable to small-size wind turbines based on the Magnus effect. An overview of existing algorithms is presented. Overviewed algorithms are assessed using a simulation in MATLAB with a model of the experimental Magnus effect wind turbine. © 2022 IEEE.

关键词： Wind power

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Real-Time Face-Tracking control of a 4 DOF Manipulator Using Deep Learning Detection

Real-Time Face-Tracking Control of a 4 DOF Manipulator Using...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Ali Asadi Amirreza Hassan Nejad S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

This paper has presented the design, simulation, and real-time implementation of a four-degree-of-freedom (4-DOF) robotic system for face detection and tracking. The system has combined kinematic control with deep learning. It has used the Xception network for high-accuracy facial detection. A Fuzzy PID-MIJ control algorithm has optimized the trajectory planning. This has ensured smooth and precise target tracking. Both simulations and physical experiments have validated the system's real-time performance. The results have shown that the system can reliably track faces with minimal error. This approach has demonstrated significant potential for dynamic, human-interactive applications.

关键词： Deep learning Target tracking Trajectory planning Target recognition Face recognition Kinematics Real-time systems Robustness Planning Face detection

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Autonomous Cost-Effective Robotic Exploration and Mapping for Disaster Reconnaissance 10

Autonomous Cost-Effective Robotic Exploration and Mapping fo...

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10th International Conference on Emerging Trends in engineering and Technology - Signal and Information Processing, ICETET-SIP-22 2022

作者： Seenu, N. Manohar, Lokeshwaran Stephen, Nikhit Mathew Ramanathan, Kuppan Chetty Ramya, M.M. Centre for Automation and Robotics Hindustan Institute of Technology and Science Chennai India Technische Universität Dortmund Department of Electrical Engineering and Information Technology Dortmund Germany École Centrale de Nantes Automatic Control and Robotics Department Nantes France

ISBN: (纸本)9781665467414

Natural calamities like earthquake and tsunami wreak havoc on life of so many people and the infrastructure, thus saving people who are trapped in the affected region has been a very difficult task for rescuers. This work aims to develop a system which will ease this task for the rescuers by using behavior based multiple robots that will explore, map, localize, path plan and navigate in an unknown environment. Various incarnations of pre-existing meta-heuristic algorithms are used to develop a cost-effective solution in this work. A random walk exploration is used to explore the entire environment effectively which reduces the computational cost and time. To reduce the complexities of mapping, binary occupancy grid is used for the map layout, which is not as efficient as compared to its counterparts but better, where time is the crucial factor. To identify the efficient path to navigate from source to destination positions in the environment, Particle Swarm Optimization algorithm is used in this paper. The last and the most crucial step of the system is navigation towards the destination. By integrating INS and GPS algorithms, the robot can get an almost perfect algorithm for navigation which is not prone to errors. Autonomous robot exploration, mapping and navigation are achieved by integrating the proposed algorithms to work simultaneously. The effectiveness of the proposed algorithms is analyzed through simulations in Webots virtual simulator environment, and the results are presented. Adapting the proposed exploration technique for swarm of robots is a prospective future research direction of this paper. © 2022 IEEE.

关键词： Legged locomotion Navigation Robot sensing systems Tsunami Sensors Particle swarm optimization Task analysis

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Assembling Solar Panels by Dual Robot Arms Towards Full Autonomous Lunar Base Construction

Assembling Solar Panels by Dual Robot Arms Towards Full Auto...

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IEEE/SICE International Symposium on System Integration

作者： Luca Nunziante Kentaro Uno Gustavo H. Diaz Shreya Santra Alessandro De Luca Kazuya Yoshida Department of Computer Control and Management Engineering Sapienza University of Rome Italy Space Robotics Lab. (SRL) in Department of Aerospace Engineering Graduate School of Engineering Tohoku University Sendai Japan

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

Since the successful Apollo program, humanity is once again aiming to return to the Moon for scientific discovery, resource mining, and inhabitation. Upcoming decades focus on building a lunar outpost, with robotic systems playing a crucial role to safely and efficiently establish essential infrastructure such as solar power generating towers. Similar to the construction of the International Space Station (ISS), shipping necessary components via modules and assembling them in situ should be a practical scenario. In this context, this paper focuses on the integration of vision, control, and hardware systems within an autonomous sequence for a dual-arm robot system. We explore a perception and control pipeline specifically designed for assembling solar panel modules, one of the benchmark tasks. Ad hoc hardware was designed and tested in real-world experiments. A mock-up of modular solar panels and active-passive connectors are employed, with the control of this grappling fixture integrated into the proposed pipeline. The successful implementation of our method demonstrates that the two robot manipulators can effectively connect arbitrarily placed panels, highlighting the seamless integration of vision, control, and hardware systems in complex space applications.

关键词： YOLO Uncertainty Pipelines Moon Manipulators control systems Hardware Solar panels Assembly Visual perception

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Confidence-Aware Safe and Stable control of control-Affine Systems

Confidence-Aware Safe and Stable Control of Control-Affine S...

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American control Conference (ACC)

作者： Shiqing Wei Prashanth Krishnamurthy Farshad Khorrami Department of Electrical and Computer Engineering NYU Tandon Control/Robotics Research Laboratory School of Engineering 5 Metrotech Center Brooklyn NY USA

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

Designing control inputs that satisfy safety requirements is crucial in safety-critical nonlinear control, and this task becomes particularly challenging when full-state measurements are unavailable. In this work, we address the problem of synthesizing safe and stable control for control-affine systems via output feedback (using an observer) while reducing the estimation error of the observer. To achieve this, we adapt control Lyapunov function (CLF) and control barrier function (CBF) techniques to the output feedback setting. Building upon the existing CLF-CBF-QP (Quadratic Program) and CBF-QP frameworks, we formulate two confidence-aware optimization problems and establish the Lipschitz continuity of the obtained solutions. To validate our approach, we conduct simulation studies on two illustrative examples. The simulation studies indicate both improvements in the observer's estimation accuracy and the fulfillment of safety and control requirements.

关键词： Accuracy Observers control systems Eigenvalues and eigenfunctions Safety Trajectory Task analysis

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A Comprehensive Review on Challenges and Possible Solutions of Battery Management Systems in Electric Vehicles

A Comprehensive Review on Challenges and Possible Solutions ...

引用

Progress in Applied Electrical engineering (PAEE)

作者： Joddumahanthi Vijaychandra Łukasz Knypiński Department of Electrical & Electronics Engineering Lendi Institute of Engineering and Technology Srikakulam India Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan Poland

ISBN: (数字)9798331527563

ISBN: (纸本)9798331527570

Electric vehicle (EV) technology has come up with showing many alternative solutions to the issues mainly caused due to the carbon emissions by the conventional vehicles and hence grabbed a massive attention of the entire world. Furthermore, while electric vehicles (EVs) have their own advantages, they also have a number of drawbacks, such as concerns with heat management, battery management, health degradation, integration of power electronic conversions, charging and discharging issues, etc. The estimation of SOC and RUL is quiet difficult task as these are highly dependent of temperature measurements. Hence, thermal management is the key challenging task that to be considered in EVs. A comprehensive discussion of battery management systems, including their significant attributes has been addressed in this article.

关键词： Thermal management of electronics Temperature measurement Lithium-ion batteries Reviews Battery management systems Estimation Electric vehicles Power electronics State of charge Resistance heating

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Video Stabilization using RAFT-based Optical Flow

Video Stabilization using RAFT-based Optical Flow

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Rana Ashar Burhan Sadiq Hira Mohiuddin Saniya Ashraf Muhammad Imran Anayat Ullah Control Automotive and Robotics Lab National Centre of Robotics and Automation Rawalpindi Pakistan Department of Electronic Engineering Balochistan University of IT Engineering and Management Sciences Quetta Pakistan

Video Stabilization is the basic need for modern-day video capture. Many methods have been proposed throughout the years including 2D and 3D-based models as well as models that use optimization and deep neural networks. This work describes the implementation of cutting-edge Recurrent All-Pairs Field Transforms (RAFT) for optical flow estimation in video stabilization. we use a pipeline that accommodates the large motion. It then passes the results to the optical flow for better accuracy. After that, it satisfies the inaccuracies of the optical flow and makes it robust to occlusion, Parallax, and moving objects. Our approach yields better results (visually and quantitatively) compared to other optimization and deep learning-based visual stabilization techniques.

关键词： Industries Deep learning Visualization Pipelines Neural networks Estimation Transforms

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An Adaptive Critic Learning Approach for Nonlinear Optimal control Subject to Excitation and Weight Constraints

An Adaptive Critic Learning Approach for Nonlinear Optimal C...

引用

IEEE Conference on Decision and control

作者： Anthony Siming Chen Guido Herrmann Department of Electrical and Electronic Engineering Control and Robotics Group University of Manchester Manchester United Kingdom

We propose a novel adaptive critic learning algorithm for a continuous-time nonlinear system subject to excitation and weight constraints. The algorithm is able to learn the optimal control in real-time under only finite excitation without requiring the a priori knowledge of the system model, i.e. the Hamilton-Jacobi-Bellman (HJB) equation is approximately solved online by the adaptive critic learning of a nonlinear Q-function. The main contribution of this paper is twofold: First, we present an optimisation-based approach to the derivation of a weight-error-driven adaptive law that guarantees exponential convergence of the critic weight. Such formulation enables a new $\mathcal{P}$ -projection operator to enhance the convergence property, i.e. the weight estimate always stays in a bounded convex set that contains the true weight. Second, we adopt a new measure to build the information matrix that stores its richness over incoming data such that the standard persistent excitation (PE) condition is relaxed to a finite excitation (FE) condition. In this way, the convergence of the critic weight is guaranteed without persistently injecting exploration noise. We show that the method is model-free and can achieve semi-global stability. A numerical example demonstrates the effectiveness of the theoretical result.

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Odometry and Inertial Sensor-based Localization of a Snake Robot

Odometry and Inertial Sensor-based Localization of a Snake R...

引用

International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Ramsha Shahid Anam Baloch Humayun Tahir Anayat Ullah Control Automotive and Robotics Lab National Centre of Robotics and Automation Rawalpindi Pakistan Department of Electronic Engineering Balochistan University of IT Engineering and Management Sciences Quetta Pakistan

Terrain adaptability gives snake robots an edge over wheeled mobile robots. Snake robot's applications expansion to disaster management is due to its limbless and modular design. Replicating the navigation and locomotion of a biological snake have been in the spotlight for many researchers. In this study, a robust localization algorithm of a snake robot is developed. A sensor fusion-based algorithm using probabilistic approaches: UKF (Unscented Kalman Filter) and EKF (Extended Kalman Filter) has been proposed. Odometry is fused with one and two IMUs (Inertial Measurement Units) with both probabilistic approaches. Evaluation of results in a simulation environment showed that the fusion of two IMUs and odometry using EKF outer performs in terms of accuracy when odometry is fused with one IMU using EKF. Furthermore, the fusion of two IMUs and odometry with UKF is computationally expensive resulting in a large convergence time which is not the best suitable approach that can be utilized for the snake robot.

关键词： Location awareness Industries Measurement units Snake robots Inertial navigation Disaster management Robot sensing systems

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Model Identification of an Unmanned Surface Vessel without Actuator Calibration

Model Identification of an Unmanned Surface Vessel without A...

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American control Conference (ACC)

作者： Richard T. O’Brien Weapons Robotics and Control Engineering Department United States Naval Academy Annapolis MD USA

Linear and nonlinear models of a modified commercially available unmanned surface vessel are identified without actuator calibration. The unknown actuator calibration is represented by a piecewise linear function of the normalized force, the actuator force divided by the unknown maximum force. The drag coefficients are estimated in terms of the normalized force using the experimental steady-state response and the maximum force is estimated using the experimental transient response. The models are validated via simulation and by comparison with a previously-developed model for an unmodified version of the unmanned surface vessel.

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