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22nd IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2025

作者： Nasir, Ali Yahaya, Jamilu Umar Abubakar, Abdulrazaq Nafiu King Fahd University of Petroleum & Minerals Control & Instrumentation Engineering Department Dhahran Saudi Arabia King Fahd University of Petroleum & Minerals Interdisciplinary Research Centre for Intelligent Manufacturing and Robotics Dhahran Saudi Arabia

ISBN: (纸本)9798331542726

With a goal to encourage task compliance and improve well-being, this research proposes a Markov Decision Process (MDP) model for socially assistive robots (SARs) to enable emotionally meaningful interactions with human users. The model considers the emotional states of the robot as well as the emotional and attentional states of the human user together with the effect of other people in the surroundings, therefore affecting the efficacy of the interaction. An adaptive decisionmaking method is provided by using human attention dynamics and emotional transitions to let the robot dynamically change its emotional state and tactics in real-time. This study focuses primarily on the emotional behavior of the human, the future study will entail the detailed set of actions to be executed by the human. The study incorporates an online learning system to dynamically update transition probabilities, therefore adjusting to fluctuations in human emotional reactions. The model was verified using a simulation-based case study to show its capacity to produce an optimum strategy for persuasive encounters under different environmental settings. © 2025 IEEE.

关键词： Human Emotions Human-robot interaction (HRI) Markov decision process (MDP) Socially assistive robot (SAR)

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Confidence-Aware Safe and Stable control of control-Affine Systems

Confidence-Aware Safe and Stable Control of Control-Affine S...

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American control Conference (ACC)

作者： Shiqing Wei Prashanth Krishnamurthy Farshad Khorrami Department of Electrical and Computer Engineering NYU Tandon Control/Robotics Research Laboratory School of Engineering 5 Metrotech Center Brooklyn NY USA

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

Designing control inputs that satisfy safety requirements is crucial in safety-critical nonlinear control, and this task becomes particularly challenging when full-state measurements are unavailable. In this work, we address the problem of synthesizing safe and stable control for control-affine systems via output feedback (using an observer) while reducing the estimation error of the observer. To achieve this, we adapt control Lyapunov function (CLF) and control barrier function (CBF) techniques to the output feedback setting. Building upon the existing CLF-CBF-QP (Quadratic Program) and CBF-QP frameworks, we formulate two confidence-aware optimization problems and establish the Lipschitz continuity of the obtained solutions. To validate our approach, we conduct simulation studies on two illustrative examples. The simulation studies indicate both improvements in the observer's estimation accuracy and the fulfillment of safety and control requirements.

关键词： Accuracy Observers control systems Eigenvalues and eigenfunctions Safety Trajectory Task analysis

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A Comprehensive Review on Challenges and Possible Solutions of Battery Management Systems in Electric Vehicles

A Comprehensive Review on Challenges and Possible Solutions ...

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Progress in Applied Electrical engineering (PAEE)

作者： Joddumahanthi Vijaychandra Łukasz Knypiński Department of Electrical & Electronics Engineering Lendi Institute of Engineering and Technology Srikakulam India Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan Poland

ISBN: (数字)9798331527563

ISBN: (纸本)9798331527570

Electric vehicle (EV) technology has come up with showing many alternative solutions to the issues mainly caused due to the carbon emissions by the conventional vehicles and hence grabbed a massive attention of the entire world. Furthermore, while electric vehicles (EVs) have their own advantages, they also have a number of drawbacks, such as concerns with heat management, battery management, health degradation, integration of power electronic conversions, charging and discharging issues, etc. The estimation of SOC and RUL is quiet difficult task as these are highly dependent of temperature measurements. Hence, thermal management is the key challenging task that to be considered in EVs. A comprehensive discussion of battery management systems, including their significant attributes has been addressed in this article.

关键词： Thermal management of electronics Temperature measurement Lithium-ion batteries Reviews Battery management systems Estimation Electric vehicles Power electronics State of charge Resistance heating

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Video Stabilization using RAFT-based Optical Flow

Video Stabilization using RAFT-based Optical Flow

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Rana Ashar Burhan Sadiq Hira Mohiuddin Saniya Ashraf Muhammad Imran Anayat Ullah Control Automotive and Robotics Lab National Centre of Robotics and Automation Rawalpindi Pakistan Department of Electronic Engineering Balochistan University of IT Engineering and Management Sciences Quetta Pakistan

Video Stabilization is the basic need for modern-day video capture. Many methods have been proposed throughout the years including 2D and 3D-based models as well as models that use optimization and deep neural networks. This work describes the implementation of cutting-edge Recurrent All-Pairs Field Transforms (RAFT) for optical flow estimation in video stabilization. we use a pipeline that accommodates the large motion. It then passes the results to the optical flow for better accuracy. After that, it satisfies the inaccuracies of the optical flow and makes it robust to occlusion, Parallax, and moving objects. Our approach yields better results (visually and quantitatively) compared to other optimization and deep learning-based visual stabilization techniques.

关键词： Industries Deep learning Visualization Pipelines Neural networks Estimation Transforms

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An Adaptive Critic Learning Approach for Nonlinear Optimal control Subject to Excitation and Weight Constraints

An Adaptive Critic Learning Approach for Nonlinear Optimal C...

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IEEE Conference on Decision and control

作者： Anthony Siming Chen Guido Herrmann Department of Electrical and Electronic Engineering Control and Robotics Group University of Manchester Manchester United Kingdom

We propose a novel adaptive critic learning algorithm for a continuous-time nonlinear system subject to excitation and weight constraints. The algorithm is able to learn the optimal control in real-time under only finite excitation without requiring the a priori knowledge of the system model, i.e. the Hamilton-Jacobi-Bellman (HJB) equation is approximately solved online by the adaptive critic learning of a nonlinear Q-function. The main contribution of this paper is twofold: First, we present an optimisation-based approach to the derivation of a weight-error-driven adaptive law that guarantees exponential convergence of the critic weight. Such formulation enables a new $\mathcal{P}$ -projection operator to enhance the convergence property, i.e. the weight estimate always stays in a bounded convex set that contains the true weight. Second, we adopt a new measure to build the information matrix that stores its richness over incoming data such that the standard persistent excitation (PE) condition is relaxed to a finite excitation (FE) condition. In this way, the convergence of the critic weight is guaranteed without persistently injecting exploration noise. We show that the method is model-free and can achieve semi-global stability. A numerical example demonstrates the effectiveness of the theoretical result.

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Model Identification of an Unmanned Surface Vessel without Actuator Calibration

Model Identification of an Unmanned Surface Vessel without A...

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American control Conference (ACC)

作者： Richard T. O’Brien Weapons Robotics and Control Engineering Department United States Naval Academy Annapolis MD USA

Linear and nonlinear models of a modified commercially available unmanned surface vessel are identified without actuator calibration. The unknown actuator calibration is represented by a piecewise linear function of the normalized force, the actuator force divided by the unknown maximum force. The drag coefficients are estimated in terms of the normalized force using the experimental steady-state response and the maximum force is estimated using the experimental transient response. The models are validated via simulation and by comparison with a previously-developed model for an unmodified version of the unmanned surface vessel.

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Odometry and Inertial Sensor-based Localization of a Snake Robot

Odometry and Inertial Sensor-based Localization of a Snake R...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Ramsha Shahid Anam Baloch Humayun Tahir Anayat Ullah Control Automotive and Robotics Lab National Centre of Robotics and Automation Rawalpindi Pakistan Department of Electronic Engineering Balochistan University of IT Engineering and Management Sciences Quetta Pakistan

Terrain adaptability gives snake robots an edge over wheeled mobile robots. Snake robot's applications expansion to disaster management is due to its limbless and modular design. Replicating the navigation and locomotion of a biological snake have been in the spotlight for many researchers. In this study, a robust localization algorithm of a snake robot is developed. A sensor fusion-based algorithm using probabilistic approaches: UKF (Unscented Kalman Filter) and EKF (Extended Kalman Filter) has been proposed. Odometry is fused with one and two IMUs (Inertial Measurement Units) with both probabilistic approaches. Evaluation of results in a simulation environment showed that the fusion of two IMUs and odometry using EKF outer performs in terms of accuracy when odometry is fused with one IMU using EKF. Furthermore, the fusion of two IMUs and odometry with UKF is computationally expensive resulting in a large convergence time which is not the best suitable approach that can be utilized for the snake robot.

关键词： Location awareness Industries Measurement units Snake robots Inertial navigation Disaster management Robot sensing systems

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Safety-Aware Trajectory Tracking using High-Order control Barrier Functions

Safety-Aware Trajectory Tracking using High-Order Control Ba...

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IEEE Conference on Decision and control

作者： Panagiotis Rousseas Dimitra Panagou Kostas Kyriakopoulos Control Systems Laboratory School of Mechanical Engineering National Technical University of Athens Greece Department of Robotics and the Department of Aerospace Engineering University of Michigan MI USA Center of AI & Robotics (CAIR) New York University Abu Dhabi

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

A novel method on safety-aware trajectory tracking is presented in this work. The proposed scheme employs control Barrier Functions (CBFs) along with a latent-space representation over the barrier and its derivatives. While such representations have also been employed in the literature, the innovation of the proposed method lies in formulating a novel tracking problem on the latent space, enabling for the shape of linear class $-\mathcal{K}$ functions that are included in the safety condition induced by the control barrier function to be chosen constructively. Additionally, the aforementioned safety condition is modified based on the latent-space tracking through the addition of an extra term. This enables maintaining safety guarantees and is demonstrated to provide decreased tracking errors compared to the nominal control barrier function scheme. Numerical simulations validate the efficacy of the proposed scheme, as well as its ability for online implementation.

关键词： Technological innovation Trajectory tracking Shape Aerospace electronics Numerical simulation Safety

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Privacy in Cloud Computing through Immersion-based Coding

arXiv

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arXiv 2024年

作者： Hayati, Haleh van de Wouw, Nathan Murguia, Carlos The Department of Mechanical Engineering Dynamics and Control Group Eindhoven University of Technology Netherlands The Department of Mechanical Engineering Dynamics and Control Group Eindhoven University of Technology Netherlands The School of Electrical Engineering and Robotics Queensland University of Technology Brisbane Australia

Cloud computing enables users to process and store data remotely on high-performance computers and servers by sharing data over the Internet. However, transferring data to clouds causes unavoidable privacy concerns. Here, we present a synthesis framework for designing coding mechanisms that allow sharing and processing data in a privacy-preserving manner without sacrificing data utility and algorithmic performance. We consider the setup in which the user aims to run an algorithm in the cloud using private data. The cloud then returns some data utility back to the user (utility refers to the service that the algorithm provides, e.g., classification, prediction, AI models, etc.). To avoid privacy concerns, the proposed scheme provides tools to co-design: 1) coding mechanisms to distort the original data and guarantee a prescribed differential privacy level;2) an equivalent-but-different algorithm (referred here to as the target algorithm) that runs on distorted data and produces distorted utility;and 3) a decoding function that extracts the true utility from the distorted one with a negligible error. Then, instead of sharing the original data and algorithm with the cloud, only the distorted data and target algorithm are disclosed, thereby avoiding privacy concerns. The proposed scheme is built on the synergy of differential privacy and system immersion tools from control theory. The key underlying idea is to design a higher-dimensional target algorithm that embeds all trajectories of the original algorithm and works on randomly encoded data to produce randomly encoded utility. We show that the proposed scheme can be designed to offer any level of differential privacy without degrading the algorithm’s utility. We present two use cases to illustrate the performance of the developed tools: privacy in optimization/learning algorithms and a nonlinear networked control system. © 2024, CC BY.

关键词： Data assimilation

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Dynamic Modeling and Sliding Mode control of an Over-Actuated Quadrotor with Variable Hedral Angle of Propeller Axes

Dynamic Modeling and Sliding Mode Control of an Over-Actuate...

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International Conference on Unmanned Vehicle Systems-Oman (UVS)

作者： Ali Kafili Gavgani Amin Talaeizadeh Siamak Heidarzadeh Aria Alasty Hossein Nejat Pishkenari Department of Mechanical Engineering Advanced Research Lab for Control and Agricultural Robotics (Sharif AgRoLab) Sharif University of Technology Tehran Iran

The conventional quadrotor, characterized by four control inputs to control six degrees of freedom, is inherently under-actuated, resulting in limited independent control over pitch and roll angles. In this study, we present a configuration that incorporates four additional control inputs for manipulating the angles of the propeller axes. This addresses the previously mentioned limitations and offers additional advantages. Also, it can exhibit enhanced stability during altitude reduction by mitigating the vortex ring state. We derive the dynamic model for this system using Newthon-Euler's method. To address unmodeled dynamics, uncertainties, disturbances, and the inherent complexity of these systems, we utilize a nonlinear robust sliding mode controller. An affining process is performed to account for the non-affine nature of the dynamic equations. We introduce an optimization criteria aimed at maximizing battery life, leveraging the over-actuation of the system. This controller is applied to a dynamic system, infused with various uncertainties, such as inaccurate actuators, high-delayed servo motors, uncertain physical parameters, and wind disturbances. These factors collectively challenge the robustness of the control strategy. Additionally, the controller is implemented on a MATLAB Simscape Multibody model. Given that the controller is model-based, the consistency of the obtained results validates the accuracy of the derived dynamic equations. This research aligns with the project SAC-1, one of the objectives of our lab, Sharif AgRoLab.

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