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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Maksim O. Surov Stepan S. Pchelkin Anton S. Shiriaev Sergei V. Gusev Leonid B. Freidovich Department of Information Technologies and AI Sirius University of Science and Technology Sochi Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway Department of Applied Physics and Electronics Robotics and Control Group Umeå University Umeå Sweden

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The paper explores the challenging task of performing a non-prehensile manipulation of several balls synchronously rolling on the curved hands of Butterfly robots. Each Butterfly robot represents a standard benchmark hardware setup, comprising a DC motor rotating a butterfly-shaped frame in a vertical plane, with a ball moving freely upon it, equipped with integrated computer vision, communication, programmable control, and computation interfaces. The combined dynamics of the considered system, consisting of N ≥ 2 such robots, is inherently underactuated, characterized by N active and N passive degrees of freedom, as well as N independent unilateral constraints that model the interactions between the frames and the balls, assuming no slipping. We focus on designing a model-based centralized feedback controller to achieve synchronized rotations of the balls. We assume the accuracy of our mathematical model and the feasibility of implementing a discretized version of the proposed continuous-time controller with a sufficiently small sampling time, that, in particular, is necessary for numerical differentiation. Relying on orbital stability of nominal periodic solution of the closed-loop system, we will experimentally check robustness to various inevitable challenges such as noises, disturbances, uncertainties, and communication delays. Hence, our concentration lies in designing an orbitally stabilizing controller for the underactuated models. The primary contribution is proposing one set of transverse coordinates, enabling transverse-linearization-based controller design, accompanied by pertinent closed-loop system analysis tools, thereby enhancing the efficacy of solving the manipulation task. Analytical and model-based arguments are validated through successful simulations and experiments conducted on two Butterfly robots, thereby emphasizing the validity and practicality of the proposed approach.

关键词： Analytical models Uncertainty Robot kinematics Mathematical models Orbits Stability analysis Numerical models Closed loop systems Synchronization Standards

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Optimal Stabilization of Periodic Orbits

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IFAC-PapersOnLine 2023年第2期56卷 7509-7515页

作者： Fabian Beck Noboru Sakamoto Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Department of Mechanical Engineering and System Control Nanzan University Yamzato-cho 18 Showa-ku Nagoya 466-8673 Japan

In this contribution the optimal stabilization problem of periodic orbits is studied in a symplectic geometry setting. For this, the stable manifold theory for the point stabilization case is generalized to the case of periodic orbit stabilization. Sufficient conditions for the existence of a normally hyperbolic invariant manifold (NHIM) of the Hamiltonian system are derived. It is shown that the optimal control problem has a solution if the related periodic Riccati equation has a unique periodic solution. For the analysis of the stable and unstable manifold a coordinate transformation is used which is moving along the orbit. As an example, an optimal control problem is considered for a spring-mass oscillator system, which should be stabilized at a certain energy level.

关键词： Hamiltonian Dynamics Nonlinear control Periodic Orbit Optimal control

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AI-based Restoration Reflection Region Method for 3D Automatic Optical Inspection

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Journal of Institute of control, robotics and Systems 2023年第11期29卷 936-944页

作者： Kim, Chan-Hoe Ha, Min-Ho Yun, Sung-Chul Park, Tae-Hyoung Department of Control and Robot Engineering Chungbuk National University Korea Republic of Industrial AI Research Center Chungbuk National University Korea Republic of Department of Intelligent Systems and Robotics Chungbuk National University Korea Republic of

This study focuses on a three-dimensional measurement system of components on a printed-circuit-board (PCB). Most existing methods for automatic optical inspection face the problem of light reflecting on components. We herein propose a new method to restore the reflection area of components with the aim of measuring their shape accurately. This method use a pattern projection system along with an algorithm for restoring the components’ reflection area. For efficient restoration of the restore reflection area, the reflection regions are first identified through pixel resolution, wherein, saturated pixels represent the reflection regions. Then, the PCB components are tilted slightly using solder. These characteristics are used to, obtain the rotation matrix of a component, and its reflection area is restored. The performance of the proposed method is evaluated through a series of experiments, whose. results demonstrate its effectiveness. © ICROS 2023.

关键词： Printed circuit boards

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Learning a Better control Barrier Function

Learning a Better Control Barrier Function

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IEEE Conference on Decision and control

作者： Bolun Dai Prashanth Krishnamurthy Farshad Khorrami Electrical & Computer Engineering Department Control/Robotics Research Laboratory Tandon School of Engineering New York University Brooklyn NY

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding a conservative CBF that only recovers a portion of the true safe set is usually possible. In this work, starting from a "conservative" handcrafted CBF (HCBF), we develop a method to find a CBF that recovers a reasonably larger portion of the safe set. Since the learned CBF controller is not guaranteed to be safe during training iterations, we use a model predictive controller (MPC) to ensure safety during training. Using the collected trajectory data containing safe and unsafe interactions, we train a neural network to estimate the difference between the HCBF and a CBF that recovers a closer solution to the true safe set. With our proposed approach, we can generate safe controllers that are less conservative and computationally more efficient. We validate our approach on two systems: a second-order integrator and a ball-on-beam.

关键词： Training Heuristic algorithms Neural networks Predictive models Data collection Data models Safety

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CAMETA: Conflict-Aware Multi-Agent Estimated Time of Arrival Prediction for Mobile Robots

CAMETA: Conflict-Aware Multi-Agent Estimated Time of Arrival...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jonas le Fevre Sejersen Erdal Kayacan Department of Electrical and Computer Engineering Artificial Intelligence in Robotics Laboratory (AiR Lab) Aarhus University Aarhus C Denmark Department of Electrical Engineering and Information Technology Automatic Control Group Paderborn University Paderborn Germany

This study presents the conflict-aware multi-agent estimated time of arrival (CAMETA) framework, a novel approach for predicting the arrival times of multiple agents in unstructured environments without predefined road infrastructure. The CAMETA framework consists of three components: a path planning layer generating potential path suggestions, a multi-agent ETA prediction layer predicting the arrival times for all agents based on the paths, and lastly, a path selection layer that calculates the accumulated cost and selects the best path. The novelty of the CAMETA framework lies in the heterogeneous map representation and the heterogeneous graph neural network architecture. As a result of the proposed novel structure, CAMETA improves the generalization capability compared to the state-of-the-art methods that rely on structured road infrastructure and historical data. The simulation results demonstrate the efficiency and efficacy of the multi-agent ETA prediction layer, with a mean average percentage error improvement of 29.5% and 44% when compared to a traditional path planning method (A *) which does not consider conflicts. The performance of the CAMETA framework shows significant improvements in terms of robustness to noise and conflicts as well as determining proficient routes compared to state-of-the-art multi-agent path planners.

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Modelling, Analysis and control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV

arXiv

引用

arXiv 2023年

作者： Aboudorra, Youssef Gabellieri, Chiara Brantjes, Ralph Sablé, Quentin Franchi, Antonio Robotics and Mechatronics group Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy

This paper introduces for the first time the design, modelling, and control of a novel morphing multirotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that optimizes energy consumption while ensuring the needed maneuverability for the required task. The most energy-efficient uni-directional thrust (UDT) configuration can be used, e.g., during standard point-to-point displacements. Fully-actuated (FA) and omnidirectional (OD) configurations can be instead used for full pose tracking, such as, e.g., constant attitude horizontal motions and full rotations on the spot, and for full wrench 6D interaction control and 6D disturbance rejection. Morphing is obtained using a single servomotor, allowing possible minimization of weight, costs, and maintenance complexity. The actuation properties are studied, and an optimal controller that compromises between performance and control effort is proposed and validated in realistic simulations. Preliminary tests on the prototype are presented to assess the propellers' mutual aerodynamic interference. © 2023, CC BY.

关键词： Maneuverability

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PredictiveSLAM - Robust Visual SLAM Through Trajectory-Aware Object Masking

PredictiveSLAM - Robust Visual SLAM Through Trajectory-Aware...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Micha Heiß Jakob Grimm Hansen Dengyun Li Michał Kozłowski Erdal Kayacan Department of Electrical and Computer Engineering Artificial Intelligence in Robotics Laboratory (AiR Lab) Aarhus University Aarhus C Denmark Department of Electrical Engineering and Information Technology Automatic Control Group Paderborn University Paderborn Germany

This paper proposes PredictiveSLAM, a novel extension to ORB-SLAM2, which extracts features from specific regions of interest (ROI). The proposed method was designed with the risk posed both to humans and robotic systems in large-scale industrial sites in mind. The ROI are determined through an object detection network trained to detect moving human beings. The method detects and removes humans from feature extraction, predicting their potential future trajectory. This is done by omitting a specific ROI from extraction, deemed to be occluded in consecutive time steps. Two masking methods -static object and moving object trajectories - are proposed. This approach improves tracking accuracy and the performance of SLAM by removing the dynamic features from the reference for tracking and loop closures. The method is tested on data collected in a laboratory environment and compared against a state-of-the-art ground truth system. The validation data was collected from real-time experiments which aimed at simulating the typical human worker behaviours in industrial environments using an unmanned aerial vehicle (UAV). This study illustrates the advantages of the proposed method over earlier approaches, even with a highly dynamic camera setup on a UAV working in challenging environments.

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Non-collocated Vibration Suppression using Delay-Based controllers with Multiple Fixed Delays*

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IFAC-PapersOnLine 2023年第2期56卷 180-185页

作者： Adrian Saldanha Wim Michiels Tomáš Vyhlídal Department of Computer Science KU Leuven Celestijnenlaan 200A 3001 Leuven Belgium Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6 Czechia

The problem of non-collocated vibration absorption is targeted utilizing a multiparameter delay-based controller. The combined objective is to achieve closed-loop stability and vibration suppression at a target location, which is different from the position of the absorber. This problem can be translated into an optimization problem of shaping the poles of a closed-loop system with delays subject to zero-location constraints. The solution approach involves remodelling the closed-loop system as a system of delay-differential algebraic equations (DDAEs) which allows to systematically account for delays in the control law, thereby enabling a straightforward technique for computation of controller parameters. Finally, the proposed design method is validated by simulation on a lumped parameter model of a mass-spring-damper system.

关键词： vibration suppression time-delay systems DDAE optimization

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A Variable Power Surface Error Function backstepping based Dynamic Surface control of Non-Lower Triangular Nonlinear Systems

arXiv

引用

arXiv 2024年

作者： Abubakar, Abdulrazaq Nafiu Nasir, Ali Quamar, Md Muzakkir Control and Instrumentation Engineering Department KFUPM Dhahran31261 Saudi Arabia Interdisciplinary Research Center for Intelligent Manufacturing and Robotics KFUPM Dhahran31261 Saudi Arabia KFUPM Dhahran31261 Saudi Arabia

A control design for error reduction in the tracking control for a class of nonlower triangular nonlinear systems is presented by combining techniques of Variable Power Surface Error Function (VPSEF), backstepping, and dynamic surface control. At each step of design, a surface error is obtained, and based on its magnitude, the VPSEF technique decides the surface error to be used. Thus, the backstepping-based virtual and actual control law is designed to stabilize the corresponding subsystem. To address the issue of circular structure, a first-order low-pass filter is used to handle the virtual control signal at each intermediate stage of the recursive design. The stability analysis of the closed-loop system demonstrates that all signals indicate semi-global uniform ultimate boundedness. Moreover, by using the switching strategy of the control input using the VPSEF technique suitably, it is possible to ensure that the steady-state tracking error converges to a neighborhood of zero with an arbitrarily very small size. The effectiveness of the proposed concept has been verified using two different simulated demonstrations. © 2024, CC BY.

关键词： Backstepping

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Impact Intensity Estimation of a Quadruped Robot without Using a Force Sensor

arXiv

引用

arXiv 2022年

作者： Huynh, Ba-Phuc Bae, Joonbum Bio-Robotics and Control Laboratory Department of Mechanical Engineering Ulsan National Institute of Science and Technology Korea Republic of

Estimating the impact intensity is one of the significant tasks of the legged robot. Accurate feedback of the impact may support the robot to plan a suitable and efficient trajectory to adapt to unknown complex terrains. Ordinarily, this task is performed by a force sensor in the robot's foot. In this letter, an impact intensity estimation without using a force sensor is proposed. An artificial neural network model is designed to predict the motor torques of the legs in an instantaneous position in the trajectory without utilizing the complex kinematic and dynamic models of motion. An unscented Kalman filter is used during the trajectory to smooth and stabilize the measurement. Based on the difference between the predicted information and the filtered value, the state and intensity of the robot foot's impact with the obstacles are estimated. The simulation and experiment on a quadruped robot are carried to verify the effectiveness of the proposed method1. © 2022, CC BY.

关键词： Neural networks

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