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arXiv 2018年

作者： Bucci, Silvia Caputo, Barbara Loghmani, Mohammad Reza Facoltà di Ingegneria dell'Informazione Informatica e Statistica Department of Computer Control and Management Engineering Master of Science in Artificial Intelligence and Robotics Sapienza University of Rome

Typically a classifier trained on a given dataset (source domain) does not performs well if it is tested on data acquired in a different setting (target domain). This is the problem that domain adaptation (DA) tries to overcome and, while it is a well explored topic in computer vision, it is largely ignored in robotic vision where usually visual classification methods are trained and tested in the same domain. Robots should be able to deal with unknown environments, recognize objects and use them in the correct way, so it is important to explore the domain adaptation scenario also in this context. The goal of the project is to define a benchmark and a protocol for multimodal domain adaptation that is valuable for the robot vision community. With this purpose some of the state-of-the-art DA methods are selected: Deep Adaptation Network (DAN), Domain Adversarial Training of Neural Network (DANN), Automatic Domain Alignment Layers (AutoDIAL) and Adversarial Discriminative Domain Adaptation (ADDA). Evaluations have been done using different data types: RGB only, depth only and RGB-D over the following datasets, designed for the robotic community: RGB-D Object Dataset (ROD), Web Object Dataset (WOD), Autonomous Robot Indoor Dataset (ARID), Big Berkeley Instance Recognition Dataset (BigBIRD) and Active Vision Dataset. Although progresses have been made on the formulation of effective adaptation algorithms and more realistic object datasets are available, the results obtained show that, training a sufficiently good object classifier, especially in the domain adaptation scenario, is still an unsolved problem. Also the best way to combine depth with RGB informations to improve the performance is a point that needs to be investigated more. Copyright © 2018, The Authors. All rights reserved.

关键词： Robots

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The design of 1553b relay circuit based on FPGA

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IOP Conference Series: Materials Science and engineering 2020年第1期740卷

作者： Zhonghua Han Chengcheng Huang Jiayu Peng Shuai Wang Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China Department of Digital Factory Shenyang Institute of Automation the Chinese Academy of Sciences (CAS) Shenyang 110016 China Key Laboratory of Network Control System Chinese Academy of Sciences Shenyang 110016 Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110016 Liaoning China

On the basis of increasing the transmission distance of the 1553B bus, in order to maintain the simplicity and stability of the bus and improve its anti-jamming ability, the 1553B signal relay circuit based on FPGA is designed in this paper. The signal transmission part is consists of the software and the hardware, and the chip of ZYNQ series is used in the FPGA. Firstly, the transmitted signal oscillation is transformed into a group of positive and negative differential signals, which are realized by transformer (pmdb25). Secondly, the signal is sent to the main control chip of ZYNQ series through signal acquisition chip and level conversion chip. Finally, the data is processed by software program and forwarded to the receiver. The specific experiments have been done on the 1553B signal transmission platform, which significantly show that the proposed scheme is reasonable and reliable.

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Sparse Kernel Regression with Coefficient-based `q−regularization

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Journal of Machine Learning Research 2019年 20卷

作者： Shi, Lei Huang, Xiaolin Feng, Yunlong Suykens, Johan A.K. Shanghai Key Laboratory for Contemporary Applied Mathematics School of Mathematical Sciences Fudan University Shanghai China Institute of Image Processing and Pattern Recognition Institute of Medical Robotics Shanghai Jiao Tong University MOE Key Laboratory of System Control and Information Processing Shanghai China Department of Mathematics and Statistics State University of New York at Albany New York United States Department of Electrical Engineering ESAT-STADIUS KU Leuven Kasteelpark Arenberg 10 LeuvenB-3001 Belgium

In this paper, we consider the `q−regularized kernel regression with 0 q−penalty term over a linear span of features generated by a kernel function. We study the asymptotic behavior of the algorithm under the framework of learning theory. The contribution of this paper is two-fold. First, we derive a tight bound on the `2−empirical covering numbers of the related function space involved in the error analysis. Based on this result, we obtain the convergence rates for the `1−regularized kernel regression which is the best so far. Second, for the case 0 ©c 2019 Lei Shi, Xiaolin Huang, Yunlong Feng, and Johan A.K. Suykens.

关键词： Regression analysis

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Spacecraft heath monitoring using a biomimetic fault diagnosis scheme

Spacecraft heath monitoring using a biomimetic fault diagnos...

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作者： Garcia, Diego F. Perez, Andres E. Moncayo, Hever Rivera, Karina Betancur, Yomary DuPuis, Michael Mueller, Robert P. Department of Aerospace Engineering Flight Dynamics and Control Research Laboratory Embry-Riddle Aeronautical University Daytona BeachFL United States Research Engineer Robotics and Autonomous Systems Testing and Design Branch Swamp Works Laboratory United States Senior Technologist Exploration Research and Technology Programs Science and Technology Projects Division United States

This paper presents the design, development, and implementation of a bioinspired fault diagnosis scheme applied to a cold gas-based spacecraft *** proposed framework relies on the artificialimmune system metaphor with the goal of monitoring the health of the spacecraft by detecting subsystem upset conditions such as actuator *** dynamic inversion baseline controller with adaptation capabilities has been developed and implemented for attitude control of the spacecraft. The performance of the proposed health-monitoring scheme is determined by analyzing the system response under different actuator failures while the spacecraft is operated with and without adaptive augmentation. In both cases, the results show acceptable performance in terms of high detection activity and low false alarms with real-Time capabilities. The application of this artificial intelligence-based scheme to aerospace systems will provide a high impact on space exploration by increasing mission protection and performance. © 2018 by H. Moncayo. Published by the American Institute of Aeronautics and Astronautics.

关键词： Attitude control

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Remaining Useful Battery Life Prediction for UAVs based on Machine Learning

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IFAC-PapersOnLine 2017年第1期50卷 4727-4732页

作者： Mansouri S.S. Karvelis P. Georgoulas G. Nikolakopoulos G. Robotics Group Control Engineering Division of the Department of Computer Electrical and Space Engineering Luleå University of Technology Luleå SE-97187 Sweden Laboratory of Knowledge and Intelligent Computing Department of Computer Engineering Technological Educational Institute of Epirus Arta Greece

Unmanned Aerial Vehicles are becoming part of many industrial applications. The advancements in battery technologies played a crucial part for this trend. However, no matter what the advancements are, all batteries have a fixed capacity and after some time drain out. In order to extend the flying time window, the prediction of the time that the battery will no longer be able to support a flying condition is crucial. This in fact can be cast as a standard Remaining Useful Life prognostic problem, similarly encountered in many fields. In this article, the problem of Remaining Useful Life estimation of a battery, under different flight conditions, is tackled using four machine learning techniques: a linear sparse model, a variant of support vector regression, a multilayer perceptron and an advanced tree based algorithm. The efficiency of the overall proposed machine learning techniques, in the field of batteries prognostics, is evaluated based on multiple experimental data from different flight conditions. © 2017

关键词： Battery Machine Learning Prediction Remaining Useful Life UAVs

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Dominant four-pole placement in filtered PID control loop with delay

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IFAC-PapersOnLine 2017年第1期50卷 6501-6506页

作者： Fišer J. Zítek P. Vyhlídal T. Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Technická. 4 166 07 Praha 6 Czech Republic Czech Inst. of Informatics Robotics and Control Czech Technical University in Prague Czech Republic

The paper proposes a novel approach to the filter design in the delayed PID control loop. The novel approach is based on the dominant four-pole placement providing all five controller parameters including the filter time constant and damping factor. Moreover, the dominant four-pole placement is carried out iteratively as long as an optimum dominant four-pole placement is achieved by means of the constrained IAE optimization. The constraints considered for the optimization are the dominance of the placed poles and the fixed value of the filter damping factor. The achieved optimum dominant four-pole placement then corresponds to the least IAE obtained under these constraints. Then the filtered PID controller results very close to the ideal PID controller up to the filter cut-off frequency. Finally, the constrained IAE optimization of the disturbance rejection is preferred in the paper. © 2017

关键词： dominant pole placement filtering optimization PID control Time delay systems

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Development of a Tetris Playing Robot controlled by KNR

Development of a Tetris Playing Robot Controlled by KNR

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IEEE International Conference on Mechatronics and Automation

作者： Ming Wang Yanlu Zhang Huifang Dong Xu Li Junzhi Yu Department of Information and Electrical Engineering University of Shandong Jianzhu University Jinan China Department of Intelligent Robotics State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Robot plays an increasingly important role in daily life. This paper presents a vision-based wheeled robot for playing Tetris. How to control the robot is elaborated at length in this paper. The robot adopted a KNR controller as its core controller. With a CCD sensor, it identified colored blocks, lines and the destination. All algorithms are programed with LabVIEW. The experiments and the contest validated the effectiveness of the proposed vision-based wheeled robot system.

关键词： Mobile robots Cameras Robot sensing systems Image color analysis Servomotors Robot kinematics

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A comparison of nonsmooth, nonconvex, constrained optimization solvers for the design of time-delay compensators

arXiv

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arXiv 2018年

作者： Kungurtsev, Vyacheslav Mitchell, Tim Vyhlídal, Tomáš Department of Computer Science Faculty of Electrical Engineering Czech Technical University in Prague Max Planck Institute for Dynamics of Complex Technical Systems Magdeburg Germany Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague

We present a detailed set of performance comparisons of two state-of-the-art solvers for the application of designing time-delay compensators, an important problem in the field of robust control. Formulating such robust control mechanics as constrained optimization problems often involves objective and constraint functions that are both nonconvex and nonsmooth, both of which present significant challenges to many solvers and their end-users hoping to obtain good solutions to these problems. In our particular engineering task, the main difficulty in the optimization arises in a nonsmooth and nonconvex stability constraint, which states that the infinite spectrum of zeros of the so-called shaper should remain in the open left half-plane. To perform our evaluation, we make use β-relative minimization profiles, recently introduced visualization tools that are particularly suited for benchmarking solvers on nonsmooth, nonconvex, constrained optimization problems. Furthermore, we also introduce new visualization tools, called Global-Local Profiles, which for a given problem and a fixed computational budget, assess the tradeoffs of distributing the budget over few or many starting points, with the former getting more budget per point and latter less. Copyright © 2018, The Authors. All rights reserved.

关键词： Robust control

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Variable interface dynamic adjustment (VIDA) technique: A novel approach to adjust lagrangian frame and eulerian frame at flattering interface 8th

Variable interface dynamic adjustment (VIDA) technique: A no...

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8th AIAA Theoretical Fluid Mechanics Conference, 2017

作者： Zanj, Amir He, Fangpo Breedveld, Peter C. College of Science and Engineering Advanced Control Systems Research Group Flinders University Adelaide Australia Department of Mechanical engineering Robotics and Mechatronics Group University of Twente Enschede Netherlands

ISBN: (纸本)9781624104978

In the current study to address the incompatibility issue of the Eulerian and Lagrangian frame at FSI problems, a novel physical approach is proposed. According to this approach, the motion of the Lagrangian frame is physically translated to a virtual volumetric flow for the Eulerian frame. As thus, the shared spatial boundary of the two frame at the interface remains unique in spite of the motion of the interface. This capability provides the possibility of dynamic data transactions between the two frames, which guarantees the continuity of these transformation (e. g., the power interactions of the system on the interface). The obtained capability can be a desirable tool in multiple-field dynamic investigations. Also, the proposed method by elimination of mesh regeneration in FSI transient solutions can open a new window in dynamic mesh techniques which leads to reducing the time cost of the solution. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Lagrange multipliers

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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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2017 American control Conference, ACC 2017

作者： Reese, Brandon M. Collins, Emmanuel G. Center for Intelligent Systems Control and Robotics Department of Mechanical Engineering Florida A and M University Florida State University TallahasseeFL32310 United States

ISBN: (纸本)9781509059928

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. © 2017 American Automatic control Council (AACC).

关键词： Heuristic algorithms

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