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arXiv 2019年

作者： Pretto, Alberto Aravecchia, Stéphanie Burgard, Wolfram Chebrolu, Nived Dornhege, Christian Falck, Tillmann Fleckenstein, Freya Fontenla, Alessandra Imperoli, Marco Khanna, Raghav Liebisch, Frank Lottes, Philipp Milioto, Andres Nardi, Daniele Nardi, Sandro Pfeifer, Johannes Popović, Marija Potena, Ciro Pradalier, Cédric Rothacker-Feder, Elisa Sa, Inkyu Schaefer, Alexander Siegwart, Roland Stachniss, Cyrill Walter, Achim Winterhalter, Wera Wu, Xiaolong Nieto, Juan Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy International Research Lab 2958 Georgia Tech-CNRS Metz France Department of Computer Science University of Freiburg Germany Toyota Research Institute Los Altos United States Photogrammetry & Robotics Lab University of Bonn Germany Robert Bosch GmbH Corporate Research Renningen Germany Osimo Italy Autonomous Systems Lab. Department of Mechanical and Process Engineering ETH Zurich Zürich Switzerland Department of Environmental Systems Science Institute of Agricultural Sciences ETH Zurich Zürich Switzerland IT+Robotics Srl Padova Italy Smart Robotics Lab. Department of Computing Imperial College London London United Kingdom CSIRO Data61 Australia

The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of human effort and yield. With this vision, the Flourish research project aimed to develop an adaptable robotic solution for precision farming that combines the aerial survey capabilities of small autonomous unmanned aerial vehicles (UAVs) with targeted intervention performed by multi-purpose unmanned ground vehicles (UGVs). This paper presents an overview of the scientific and technological advances and outcomes obtained in the project. We introduce multi-spectral perception algorithms and aerial and ground-based systems developed for monitoring crop density, weed pressure, crop nitrogen nutrition status, and to accurately classify and locate weeds. We then introduce the navigation and mapping systems tailored to our robots in the agricultural environment, as well as the modules for collaborative mapping. We finally present the ground intervention hardware, software solutions, and interfaces we implemented and tested in different field conditions and with different crops. We describe a real use case in which a UAV collaborates with a UGV to monitor the field and to perform selective spraying without human intervention. Copyright © 2019, The Authors. All rights reserved.

关键词： Mapping

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Design of Output Feedback Nonlinear Model Predictive control for Inverted Pendulum on Cart

Design of Output Feedback Nonlinear Model Predictive Control...

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International Conference on control, Automation and systems

作者： Petchakrit Pinyopawasutthi David Banjerdpongchai Yasuaki Oishi Intelligent Control Automation of Process Systems (iCAPS) Research Unit Department of Electrical Engineering Chulalongkorn University 254 Phayathai Road Pathumwan Bangkok Thailand Department of Mechatronics Nazan University Yamazatocho 18 Showa-ku Nagoya Japan

ISBN: (纸本)9781538670804;9788993215168

This paper presents designing of output feedback nonlinear model predictive control (NMPC) for nonlinear systems. NMPC employs the state feedback and updates the control input at each sampling step. The control design of NMPC is formulated as optimal control which requires the information of states of the process. However, in practice, we can measure only some states of the process. This paper aims to use the state observer to estimate the unknown states and use them as feedback for NMPC. We apply output feedback NMPC to inverted pendulum on cart. Numerical results show the response of output feedback NMPC asymptotically converges to that of state feedback NMPC.

关键词： Optimal control Nonlinear systems Nonlinear model predictive control State observer Inverted pendulum on cart

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Performance behavior of prediction filters for respiratory motion compensation in radiotherapy

Performance behavior of prediction filters for respiratory m...

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作者： Jöhl, Alexander Berdou, Yannick Guckenberger, Matthias Klöck, Stephan Meboldt, Mirko Zeilinger, Melanie Tanadini-Lang, Stephanie Daners, Marianne Schmid Product Development Group Zurich Department of Mechanical and Process Engineering ETH Zurich Tannenstrasse 3 Zurich8092 Switzerland Institute for Dynamic Systems and Control Department of Mechanical and Process Engineering ETH Zurich Switzerland Department of Radiation Oncology University Hospital Zurich University of Zurich Switzerland

Introduction: In radiotherapy, tumors may move due to the patient’s respiration, which decreases treatment accuracy. Some motion mitigation methods require measuring the tumor position during treatment. Current available sensors often suffer from time delays, which degrade the motion mitigation performance. However, the tumor motion is often periodic and continuous, which allows predicting the motion ahead. Method and Materials: A couch tracking system was simulated in MATLAB and five prediction filters selected from literature were implemented and tested on 51 respiration signals (median length: 103 s). The five filters were the linear filter (LF), the local regression (LOESS), the neural network (NN), the support vector regression (SVR), and the wavelet least mean squares (wLMS). The time delay to compensate was 320 ms. The normalized root mean square error (nRMSE) was calculated for all prediction filters and respiration signals. The correlation coefficients between the nRMSE of the prediction filters were computed. Results: The prediction filters were grouped into a low and a high nRMSE group. The low nRMSE group consisted of the LF, the NN, and the wLMS with a median nRMSE of 0.14, 0.15, and 0.14, respectively. The high nRMSE group consisted of the LOESS and the SVR with both a median nRMSE of 0.34. The correlations between the low nRMSE filters were above 0.87 and between the high nRMSE filters it was 0.64. Conclusion: The low nRMSE prediction filters not only have similar median nRMSEs but also similar nRMSEs for the same respiration signals as the high correlation shows. Therefore, good prediction filters perform similarly for identical respiration patterns, which might indicate a minimally achievable nRMSE for a given respiration pattern. © 2017 Alexander Jöhl et al., published by De Gruyter.

关键词： Time delay

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Reaction flux versus reaction force: easy to stabilize?

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IFAC-PapersOnLine 2017年第1期50卷 558-563页

作者： Hoang N.H. Dochain D. Hudon N. Department of Process Systems Engineering and Control University of Technology VNU-HCM 268 Ly Thuong Kiet Str. Dist. 10 HCM City Viet Nam ICTEAM Université catholique de Louvain Belgium Department of Chemical Engineering Queen's University Kingston ON Canada

Chemical reaction rate, also known as the reaction flux involved in chemical reactors, plays a central role as the source generating the abnormal dynamics characteristics. This paper proposes a structural approach for the stabilization of such systems through the control of the reaction flux by considering the Lyapunov stability theory within a standard thermodynamic framework. More precisely, the reaction flux is structurally considered as a nonlinear function of conjugated reaction force. The thermodynamic constraint of such a relationship is that the inherent non-negative definiteness property of the irreversible entropy production due to chemical reaction has to be fulfilled. Consequently, it allows to reexpress a large class of reaction rates described by the mass-action-law and more interestingly, the operation of the reaction system at a desired set-point consists in controlling the reaction force on the basis of an affinity-related storage function. Numerical simulations for a non isothermal continuous stirred tank reactor (CSTR) involving one reversible reaction operated with multiple steady states illustrate the application of the theoretical developments. © 2017

关键词： affinity CSTR entropy production Lyapunov function thermodynamics

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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

arXiv

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn 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 Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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Towards autonomous reconfiguration in distribution networks: An approach based on finite state automaton models

Towards autonomous reconfiguration in distribution networks:...

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2017 Energy and Sustainability in Small Developing Economies, ES2DE 2017

作者： Košt'álová, Alena Carvalho, Pedro M. S. Kubalčík, Marek Dep. of Computer and Communication Systems Tomas Bata University in Zlin Czech Republic Electrical Engineering and Computer Dep. Instituto Superior Tecnico Lisbon Portugal Department of Process Control Tomas Bata University in Zlin Czech Republic

ISBN: (纸本)9781538620663

The demand on distribution network reconfiguration abilities is increasing. This paper proposes a Finite State Automaton model of a distribution network that deals with topologically safe reconfiguration. Autonomous operation of distribution networks can be designed, analysed and implemented in day-to-day operation with the aid of these automata: through supervisory control. Two approaches to supervisor design are proposed. One for the normal operating mode and the other for the contingency mode. Simple and comprehensive examples illustrate the approaches. © 2017 IEEE.

关键词： Topology

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Principles of functioning of the autonomous device for weed control for precision agriculture

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IOP Conference Series: Materials Science and engineering 2020年第1期747卷

作者： A I Dyshekov I G Smirnov M A Mirzaev M A Shereuzhev Laboratory of intelligent digital systems of monitoring diagnostics and process control in agricultural production Federal Scientific Agroengineering Center VIM Moscow 367032 Russia Department of intellectualization automatization and robotic of rural production Federal Scientific Agroengineering Center VIM Moscow 109428 Russia Laboratory of innovative structural polymer composite and biocomposite parts of agricultural machinery Federal Scientific Agroengineering Center VIM Moscow 109428 Russia Special mechanical engineering Bauman Moscow State Technical University Moscow 105005 Russia

The article shows the results of creation of a system aimed at reducing the negative impact on the ecological situation and biological systems while eliminating weeds in beetroot production. Methods of controlling weeds using machine vision technology are examined. For machine vision algorithms a library of images has been prepared. An algorithm and technical device have been developed for cultivating the soil on the early stages of beet growth.

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Aspect orientation as a new approach for context dependent hmi adaptation

Aspect orientation as a new approach for context dependent h...

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2016 International Conference on Interfaces and Human Computer Interaction, IHCI 2016, Game and Entertainment Technologies, GET 2016 and Computer Graphics, Visualization, Computer Vision and Image processing, CGVCVIP 2016

作者： Heinze, Sebastian Ziegler, Jens Graube, Markus Urbas, Leon Department of Process Control Systems Engineering TU Dresden Germany

ISBN: (纸本)9789898533524

This article presents a concept to improve the collaborative, task-centered work in all phases of the lifecycle of a production site. Key feature of this concept is a shared access to an integrated, semantically connected information space for all users. The interaction with the information space is facilitated by means of an adaptive HMI which reconfigures itself at runtime to fit the users' needs in their current context of use. The HMI is implemented with readily available concepts and technologies of concurrent responsive web design that make it possible to also accommodate the properties of different device classes and sizes.

关键词： Semantic Web

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Design of the solar panel frame of the spacecraft by 3D printing with composite materials

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IOP Conference Series: Materials Science and engineering 2020年第1期747卷

作者： M A Mirzaev I G Smirnov A I Dyshekov V E Slavkina M A Shereuzhev S A Aliev Laboratory of innovative structural polymer composite and biocomposite parts of agricultural machinery Federal Scientific Agroengineering Center VIM Moscow 109428 Russia Department of intellectualization automatization and robotic of rural production Federal Scientific Agroengineering Center VIM Moscow 109428 Russia Laboratory of intelligent digital systems of monitoring diagnostics and process control in agricultural production Federal Scientific Agroengineering Center VIM Moscow 109428 Russia Special mechanical engineering Bauman Moscow State Technical University Moscow 105005 Russia Department of road transport Dzhambulatov Dagestan State Agrarian University Moscow 367032 Russia

The optimal design of the skeleton panel of the solar panels of the spacecraft was designed taking into account the increased physical and mechanical characteristics through the use of composite materials and the meth...

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Distributed Least Squares Solver for Network Linear Equations

arXiv

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arXiv 2018年

作者： Yang, Tao George, Jemin Qin, Jiahu Yi, Xinlei Wu, Junfeng State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China U.S. Army Research Laboratory AdelphiMD20783 United States Department of Automation University of Science and Technology of China Hefei230027 China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden College of Control Science and Engineering Zhejiang University Hangzhou310027 China

In this paper, we study the problem of finding the least square solutions of over-determined linear algebraic equations over networks in a distributed manner. Each node has access to one of the linear equations and holds a dynamic state. We first propose a distributed least square solver over connected undirected interaction graphs and establish a necessary and sufficient on the step-size under which the algorithm exponentially converges to the least square solution. Next, we develop a distributed least square solver over strongly connected directed graphs and show that the proposed algorithm exponentially converges to the least square solution provided the step-size is sufficiently small. Moreover, we develop a finite-time least square solver by equipping the proposed algorithms with a finite-time decentralized computation mechanism. The theoretical findings are validated and illustrated by numerical simulation examples. Copyright © 2018, The Authors. All rights reserved.

关键词： Linear equations

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