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arXiv 2021年

作者： Zhang, Xinglong Pan, Wei Scattolini, Riccardo Yu, Shuyou Xu, Xin College of Intelligence Science and Technology National University of Defense Technology Changsha410073 China Department of Cognitive Robotics Delft University of Technology Netherlands Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano Milan20133 Italy Department of Control Science and Engineering Jilin University at NanLing Changchun130025 China

Koopman operators are of infinite dimension and capture the characteristics of nonlinear dynamics in a lifted global linear manner. The finite data-driven approximation of Koopman operators results in a class of linear predictors, useful for formulating linear model predictive control (MPC) of nonlinear dynamical systems with reduced computational complexity. However, the robustness of the closed-loop Koopman MPC under modeling approximation errors and possible exogenous disturbances is still a crucial issue to be resolved. Aiming at the above problem, this paper presents a robust tube-based MPC solution with Koopman operators, i.e., r-KMPC, for nonlinear discrete-time dynamical systems with additive disturbances. The proposed controller is composed of a nominal MPC using a lifted Koopman model and an off-line nonlinear feedback policy. The proposed approach does not assume the convergence of the approximated Koopman operator, which allows using a Koopman model with a limited order for controller design. Fundamental properties, e.g., stabilizability, observability, of the Koopman model are derived under standard assumptions with which, the closed-loop robustness and nominal point-wise convergence are proven. Simulated examples are illustrated to verify the effectiveness of the proposed approach. Copyright © 2021, The Authors. All rights reserved.

关键词： Model predictive control

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Modem Mechatronics and robotics Education Program: Border Cooperation between Estonia and Russia

Modem Mechatronics and Robotics Education Program: Border Co...

引用

IEEE Education engineering (EDUCON)

作者： Anton Rassõlkin Toomas Vaimann Karolina Kudelina Galina L. Demidova Dmitry V. Lukichev Svetlana Yu.Perepelkina Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9781728109305

ISBN: (纸本)9781728109312

The paper describes the interaction between Tallinn University of Technology (TalTech, Tallinn, Estonia) and ITMO University (St. Petersburg, Russia) based on recently signed agreement. The purpose of the agreement is to record the intention of TalTech and ITMO University to cooperate on implementing a double master's degree program, which involves confirmation of the master's educational level absorption and the award of master's degree and obtention of two diplomas, and to outline the organizational form, principles and terms of the implementation. The double degree Program is a two-year Master's program of 120 ECTS credit points. Its structure and content meets the requirements that both TalTech and ITMO University have established for their master's programs, in accordance with the government standards. Development and approval of the double degree Program is held by the Parties in accordance with the procedures established by them. This paper describes the procedure of implementation of a double-degree master program in mechatronics engineering.

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Virtual control Contraction Metrics: Convex Nonlinear Feedback Design via Behavioral Embedding

arXiv

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arXiv 2020年

作者： Wang, Ruigang Tóth, Roland Koelwijn, Patrick J.W. Manchester, Ian R. Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW2006 Australia Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Systems and Control Lab Institute for Computer Science and Control Budapest Hungary

This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and L2-gain performance with respect to a user-defined set of reference trajectories, and (ii) it provides constructive conditions based on convex optimization and a path-integral-based control realization, and (iii) it is less restrictive than previous similar approaches. In the proposed approach, first a virtual representation of the nonlinear dynamics is constructed for which a behavioral (parameter-varying) embedding is generated. Then, by introducing a virtual control contraction metric, a convex control synthesis formulation is derived. Finally, a control realization with a virtual reference generator is computed, which is guaranteed to achieve exponential stability and L2-gain performance for all trajectories of the targeted reference behavior. We show that the proposed methodology is a unified generalization of the two distinct categories of linear-parameter-varying (LPV) state-feedback control approaches: global and local methods. Moreover, it provides rigorous stability and performance guarantees as a method for nonlinear tracking control, while such properties are not guaranteed for tracking control using standard LPV approaches. © 2020, CC BY.

关键词： Convex optimization

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Experimental Prototype of High-Efficiency Wind Turbine Based on Magnus Effect

Experimental Prototype of High-Efficiency Wind Turbine Based...

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International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Aleksandr Lukin Galina L. Demidova Dmitry V. Lukichev Anton Rassõlkin Ants Kallaste Toomas Vaimann Anouar Belahcen Faculty of Control System and Robotics ITMO University Saint Petersburg Russia Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallin Estonia Department of Electrical Engineering and Automation Aalto University Helsinki Finland

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

The main feature of Magnus wind turbine is the ability to produce energy at low wind speed. This benefit lets to use such types of turbines in smart homes, which are an important part of the development of distributed energy systems, growth of blockchain electricity technology and needs for duplication of the solar energy system in the private buildings. This paper presents topology of two cylinders Magnus wind turbine in order to ensure the highest values of power coefficient and the Magnus force. The optimal ratio of wind speed and cylinder rotation speed were detected to eliminate the oscillations caused by the Von Karman vortex street phenomenon.

关键词： Wind turbines Force Drag Rotors Mathematical model Wind speed Generators

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Robustcontainment control of heterogeneous multi-agent systems with structured uncertainty and external disturbances

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International Journal of Robust and Nonlinear control 2021年第2期32卷

作者： Hajar Atrianfar Abolghasem Karimi Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran Iran

This article considers the robust containment control problem of heterogeneous linear multi-agent systems subject to structured uncertainties and external disturbances. By introducing a new neighborhood error of follower agents, the containment control problem can be formulated into output regulation problem. By employing a distributed compensator and robust control approach, sufficient conditions in terms of linear matrix inequalities are derived to ensure that all followers asymptotically converge to the convex hull spanned by the leaders with the prescribed performance under fixed topology. A numerical example is provided to verify the effectiveness of the proposed method.

关键词： external disturbances controller heterogeneous linear multi-agent system linear fractional transformation robust containment control structured uncertainties

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Magnus Wind Turbine: Finite Element Analysis and control System

Magnus Wind Turbine: Finite Element Analysis and Control Sys...

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International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM

作者： Galina L. Demidova Alecksey Anuchin Aleksandr Lukin Dmitry Lukichev Anton Rassõlkin Anouar Belahcen Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallinn Estonia Department of Electrical Engineering and Automation Aalto University Helsinki Finland

ISBN: (数字)9781728170190

ISBN: (纸本)9781728170206

Due to its special features, the Magnus effect wind turbine allows you to produce energy at a very low speed of the wind. This fact, as well as the growing interest in the of blockchain technology, makes it possible to use this type of wind turbine in private household as part of a distributed energy system in addition to solar panels. The article describes a two blades Magnus wind turbine whose cylinders rotate by means of embedded motors. To avoid a von Karman vortex street effect that occur when the cylinders rotate in the air flow, as well as to ensure maximum power, the optimal ratio between the wind speed and the cylinder rotation speed is determined using finite element analysis. Further, the obtained relations are used in the algorithms of the wind turbine control system.

关键词： Wind turbines Force Wind speed Generators Mathematical model Torque control systems

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Towards to robust and generalized medical image segmentation framework

arXiv

引用

arXiv 2021年

作者： Chen, Yurong Zhang, Hui Wang, Yaonan Liu, Lizhu Wu, Q.M. Jonathan Yang, Yimin National Engineering Laboratory of Robot Visual Perception and Control Technology School of Robotics Hunan University Hunan Changsha410082 China Department of Electrical and Computer Engineering University of Windsor WindsorONN9B3P4 Canada Department of Computer Science Lakehead University Vector Institute TorontoM5G 1M1 Canada

—To mitigate the radiologist’s workload, computer-aided diagnosis with the capability to review and analyze medical images is gradually deployed. Deep learning-based region of interest segmentation is among the most exciting use cases. However, this paradigm is restricted in real-world clinical applications due to the poor robustness and generalization. The issue is more sinister with a lack of training data. In this paper, we address the challenge from the representation learning point of view. We investigate that the collapsed representations, as one of the main reasons which caused poor robustness and generalization, could be avoided through transfer learning. Therefore, we propose a novel two-stage framework for robust generalized segmentation. In particular, an unsupervised Tile-wise AutoEncoder (T-AE) pretraining architecture is coined to learn meaningful representation. Furthermore, this learned prior knowledge is transferred to the segmentation benchmark. Coupled with an image reconstruction network, the representation keeps to be decoded, encouraging the model to capture more semantic features. Experiments of lung segmentation on multi chest X-ray datasets are conducted. Empirically, the comprehensive results demonstrate the superior generalization capability of the proposed framework on unseen domains in terms of high performance and robustness to corruption, especially under the scenario of the limited training data. © 2021, CC BY.

关键词： Computer aided diagnosis

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High Speed Autonomous Navigation of Unmanned Aerial Vehicles using novel Road Identification, Following Tracking (RIFT) Algorithm∗ 3

High Speed Autonomous Navigation of Unmanned Aerial Vehicles...

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3rd IEEE International Conference on Distributed Computing, VLSI, Electrical Circuits and robotics, DISCOVER 2019

作者： Kumaar, Saumya Mannar, Sumedh Navaneethkrishnan, B. Raja, S. Pragadeesh Omkar, S.N. Systems and Control University of Twente Enschede Netherlands Robotics Oregon State University Oregon United States Indian Institute of Science Department of Aerospace Engineering Bangalore India

ISBN: (纸本)9781728137353

Autonomous road navigation in unmanned aerial vehicles flying at very low altitudes paves the way for a multitude of applications such as security surveillance, monitoring of traffic or pollution, package delivery, ground- vehicle tracking etc. Most research in the field of autonomous road vehicles is focused on lane tracking and other marker- dependent techniques. In these lines, a novel, computationally efficient method for (front-view) road identification and tracking based on monocular vision is proposed which is designed to work on roads independent of markings. Road identification is implemented using a combination of spectral component analysis, edge energy-based filtering and morphological processing. Road identification and tracking works at 30 frames/sec for a frame size of 120 x 160 pixels, which is profiled on an Odroid XU4 mini-computer. Results indicating the performance of the proposed method as assessed on Cityscapes and KITTI datasets are presented. © 2019 IEEE.

关键词： Ground vehicles

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Human intention recognition for human aware planning in integrated warehouse systems

arXiv

引用

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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Kinematic analysis of scissor-like elements using dual quaternions

Research Square

引用

Research Square 2020年

作者： Grijalva, Juan Gabriel Guerrero De Pieri, Edson Roberto Federal University of Santa Catarina Control and Automation Laboratory Florianopolis88040-900 Brazil Department of Mechanical Engineering Raul Guenther Robotics Laboratory Florianopolis88040-900 Brazil

This paper presents a standard approach, based on dual quaternions (DQ), to deal with the kinematic analysis of scissor-like elements (SLE). Kinematic relations of homogeneous SLE are simplified by using DQ exponentiation. The steps to identify kinematic singularities are detailed by an algorithm. A second algorithm is introduced to deal with the computation and plotting of reachable and dexterous workspace. In this approach, not just points and vectors, but lines and planes are represented by DQ. The motion of points, lines and planes can be appreciated in practical examples based on domotics. © 2020, CC BY.

关键词： Kinematics

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