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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Usman A. Fiaz M. Abdelkader Jeff S. Shamma Department of Electrical & Computer Engineering University of Maryland(UMD) College Park. MD USA KAUST The Robotics Intelligent Systems & Control (RISC) Laboratory Thuwal KSA

We present a novel gripper design for autonomous aerial transport of ferrous objects with unmanned aerial vehicles (UAVs). The proposed design uses permanent magnets for grasping, and a novel dual-impulsive release mechanism, for achieving drop. The gripper can simultaneously lift up to four objects of arbitrary shape, in fully autonomous mode, with a 100% rate of successful drops. We optimize the system subject to realistic constraints, such as the simplicity of design and its sturdiness to aerial maneuvers, payload limits for multi-rotor UAVs, reliability of autonomous grasping irrespective of the environment of operation, active power consumption of the gripper, and its comparison with the existing technologies. We describe the design concepts, and the hardware, and perform extensive experiments in both indoor and outdoor environments, with two multi-rotor configurations. Several results, showcasing superior performance of the proposed system are provided as well.

关键词： Grasping Force Servomotors Grippers Payloads Torque Magnetic separation

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Mixed-sensitivity design of a dynamic controller for systems pre-compensated by input shapers

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IFAC-PapersOnLine 2017年第1期50卷 1304-1309页

作者： Pilbauer D. Michiels W. Vyhlídal T. Hromčík M. Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A Heverlee B-3001 Belgium CIIRC - Czech Institute of Informatics Robotics and Cybernetics Dept. of Instrumentation and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic M. Hromčík is with Deptartment of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 4 166 07 Praha 6 Czech Republic

We employ recent control design algorithms for delay systems to address the mixed sensitivity design of a dynamic controller for multiple degree of freedom systems interconnected with an inverse signal shaper. A delay based inverse shaper is included within a feedback loop in order to eliminate oscillatory modes due to an attached flexible substructure, which has been shown to be advantageous to inducing directly the filtering property by an appropriate controller design. Due to the presence of the inverse shaper, the closed loop dynamics become infinite dimensional. Furthermore we design fixed-order controllers, aiming at an easy implementation. As a consequence of these two features standard techniques from H-infinity control can no longer be used. We present a two-stage method, which firstly makes the closed-loop system asymptotically stable and, secondly, computes a low-order controller that minimizes the H-infinity norm of the weighted closed-loop transfer functions. The approach is grounded in recent methods for fixed-order H-infinity control of delay systems, and the delay-differential algebraic equations (DDAE) modelling and control framework. © 2017

关键词： H-infinity control inverse shapers spectral optimization time-delay

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Consensus Problem in General Linear Multiagent Systems Under Stochastic Topologies

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IFAC-PapersOnLine 2016年第13期49卷 13-18页

作者： Rezaee, Hamed Abdollahi, Farzaneh The Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran Iran Department of Electrical and Computer Engineering Concordia University MontrealQuebec Canada

Consensus control of a class of multiagent systems with general linear dynamics is studied. Based on solution of some linear matrix inequalities, a protocol is obtained which guarantees achieving consensus among agents in the presences of stochastically switching topologies. By invoking the concept super-martingales, it is shown that if the probability of the network connectivity is not zero, the agents reach almost sure consensus upon their state vectors. Despite existing results in the literature for consensus control of general linear multiagent systems under stochastic networks, the proposed consensus protocol in this paper requires no knowledge on the set of feasible topologies, and this issue significantly decreases the design computational costs. Simulation results for a diving consensus problem among a team of autonomous underwater vehicles validate the proposed consensus protocol. © 2016

关键词： Multi agent systems Autonomous underwater vehicles Linear matrix inequalities Stochastic systems Topology Almost sure consensus Computational costs Consensus problems Consensus protocols Linear dynamics Network connectivity Of autonomous underwater vehicles Stochastic networks

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Gaussian pedestrian proxemics model with social force for service robot navigation in dynamic environment 17th

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17th International Conference on Asia Simulation, AsiaSim 2017

作者： Chik, Sheng Fei Yeong, Che Fai Su, Eileen Lee Ming Lim, Thol Yong Duan, Feng Tan, Jeffrey Too Chuan Tan, Ping Hua Chin, Patrick Jun Hua Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Johor Bahru Malaysia Malaysia Japan Institute of Technolgy Universiti Teknologi Malaysia Johor Bahru Malaysia Department of Automation College of Computer and Control Engineering Nankai University Tianjin China Institute of Industrial Science The University of Tokyo Tokyo Japan DF Automation and Robotics Sdn. Bhd Skudai Malaysia

ISBN: (纸本)9789811064623

Pedestrian motion behaves stochastically, causing difficulties in modelling the appropriate proxemics for effective and efficient service robot navigation. Intruding the pedestrian social space can affect the social acceptance of a service robot. In this paper, a new proxemics model, Social-Force Gaussian Pedestrian Proxemics Model is presented to model the pedestrian social space and to improve the service robot navigation in dynamic human environment. This model was simulated and validated in a pedestrian simulator with both low and high pedestrian density environments. Results showed that the proposed model (i) improved proxemics representation of pedestrians, (ii) enhanced the robot performance in respecting the social norm and (iii) increased the efficiency in achieving a given task. This paper also presents the methods for parameter selections for the model without the requirement of complex tuning. © Springer Nature Singapore Pte Ltd. 2017.

关键词： Mobile robots

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Evolutionary Dynamics and Individual Heterogeneity in Multi-agent networking systems 35

Evolutionary Dynamics and Individual Heterogeneity in Multi-...

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第35届中国控制会议

作者： ZHANG Jianlei CHEN Zengqiang LIU Zhongxin ZHANG Chunyan Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics Computer and Control EngineeringNankai University

ISBN: (纸本)9781509009107

Cooperative behaviors lie at the basis of human societies,yet its evolutionary origin still remains a perplexing *** exists a large evolutionary game literature exploring effects of population structures on evolutionary outcomes,but in most cases structured population models only employ one game alone.A relevant question is covered in this study thus concerns the effect of game diversity occurring along the edges linking two players situated on the *** basic structure of our mechanism provides more than one type of games available for the *** our game setting,the game model is assumed as a fixed property of each edge and will remain unaltered through game *** preliminary initiatives,we only consider two typical games（Prisoner’s dilemma game and Snowdrift game）,and all possible mixtures between them controlled by a *** performed simulations and theoretical analysis help us observe the remarkable improvement on cooperation levels in suitable parameter regions when the population are simultaneously provided with more than one type of ***,network heterogeneity helps to bring into existence of cooperator clusters and thus favors the survival of cooperators.

关键词： Collective Cooperation Evolutionary Game Theory Heterogeneity

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Input shaping solutions for drones with suspended load: First results

Input shaping solutions for drones with suspended load: Firs...

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International Conference on Process control (PC)

作者： Petr Homolka Martin Hromčík Tomáš Vyhlídal Department of Instrumentation and Control Engineering Czech Technical University in Prague Czech Republic Department of Control Engineering University in Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic

In this paper our first achievements are reported on application of input command shapers for control of quadcopters with suspended load. Simulation results are presented for a free 2DoF quadcopter. The flight control system, consisting of two PID controllers and of a static nonlinearity mapping the propellers thrusts to particular degrees of freedom, is augmented by input shapers in the feedforward path. Properties of the resulting control law are presented and further research proposals are elaborated.

关键词： Delays Payloads control systems Mathematical model Load modeling Simulation Propellers

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A multi-class ramp metering and routing control scheme to reduce congestion and traffic emissions in freeway networks

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IFAC-PapersOnLine 2016年第3期49卷 329-334页

作者： Pasquale, C. Sacone, S. Siri, S. De Schutter, B. Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy Delft Center for Systems and Control Delft University of Technology Netherlands

In this paper, a multi-class and multi-objective combined ramp metering and routing control strategy is proposed to improve performance in freeway traffic networks. The control strategy is of the multi-class type, i.e. different classes of vehicles are taken into account, so that specific control policies can be devised for each class. Moreover, ramp metering and route guidance are properly coordinated in order to reduce the total travel time and the total emissions in the freeway system in a balanced way. The controller proposed in the paper is of the predictive feedback type, i.e. the control computed at each time step depends on the measured system state and on the prediction of the system evolution, considering both a traffic and an emission model. Some simulation results are presented showing the effectiveness of the proposed control scheme. © 2016

关键词： Traffic congestion Highway traffic control Network routing Travel time control strategies Different class Freeway networks Improve performance Measured system System evolution Total emissions Traffic emissions

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Bilateral control of nonlinear teleoperation for 2DOF robot manipulators with antagonistic bi-articular muscles

Bilateral control of nonlinear teleoperation for 2DOF robot ...

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Asian control Conference

作者： Toshiyuki Murao Hiroyuki Kawai Kenji Hirata Masayuki Fujita Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Department of Mechanical Engineering Nagaoka University of Technology Nagaoka Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (纸本)9781509015740;9781509015733

This paper investigates bilateral control of nonlinear teleoperation with time varying communication delays for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles. First, a brief summary of dynamics of a 2DOF robot manipulator with antagonistic bi-articular muscles is given. Next, we propose bilateral control of nonlinear teleoperation which consists of a master bi-articular manipulator and a slave one. Stability analysis of the closed-loop system is provided by using a Lyapunov-based analysis. The proposed control law for a bi-articular manipulator tele-operation system does not induce instability of force reflecting teleoperators in the presence of time varying communication delays. Finally, simulation results are presented to confirm the effectiveness of the proposed control law.

关键词： Manipulator dynamics Muscles Delays Torque Stability analysis

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A fuzzy-PD controller for an autonomous aerial robot

A fuzzy-PD controller for an autonomous aerial robot

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Do Khac Tiep Kinam Lee Young-Jae Ryoo Si Jung Kim Department of Control Engineering and Robotics Mokpo National University Muan-goon Jeonnam South Korea College of Engineering University of Nevada Las Vegas Nevada USA

This paper introduces the fuzzy-PD controller, a novel approach of controlling a quadcopter, which is based on the Euler-Newton equations. The proposed fuzzy-PD includes a PD controller and a fuzzy system that adjusts the PD controller gains for stabilizing the quadcopter. It is an approach that applies a fuzzy concept to control a quadcopter. The proposed approach has been simulated and analyzed in terms of performance. The results showed that the fuzzy-PD controller outperforms the classical PD control.

关键词： PD control Trajectory Mathematical model Fuzzy logic Rotors Trajectory tracking

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Omni-directional power-assist-modular(PAM) mobile robot for total nursing service system

Omni-directional power-assist-modular(PAM) mobile robot for ...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Gang-Tae Bae Seung-Won Kim Dongeun Choi Changhyun Cho Woo-Sub Lee Sung-Chul Kang Robotics and Media Institute Korea Institute of Science and Technology Seoul Korea Department of Control and Instrumentation Engineering Chosun University Gwangju Korea

This paper proposes an omni-directional power-assist-modular(PAM) mobile robot for total nursing service system. We focus on verifying a kinematic model of dual-offset active wheel casters for PAM. To control holonomic mobile robotics system, we approached the kinematic model in the aspect of coordinate transformation, and obtained driving velocity and steering velocity from the Cartesian coordinate. Based on the kinematic model, we designed dual-offset active wheel casters with a differential gear mechanism and applied them into PAM. As a result, PAM can move easily at a confined area such as a patient's room of the hospital.

关键词： Ambient intelligence Medical services Mobile robots

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