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arXiv 2025年

作者： Lee, Haejoon Rousseas, Panagiotis Panagou, Dimitra Department of Robotics University of Michigan Ann ArborMI United States Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Aerospace Engineering University of Michigan Ann ArborMI United States

Human-machine collaboration often involves constrained optimization problems for decision-making processes. However, when the machine is a dynamical system with a continuously evolving state, infeasibility due to multiple conflicting constraints can lead to dangerous outcomes. In this work, we propose a heuristic-based method that resolves infeasibility at every time step by selectively disregarding a subset of soft constraints based on the past values of the Lagrange multipliers. Compared to existing approaches, our method requires the solution of a smaller optimization problem to determine feasibility, resulting in significantly faster computation. Through a series of simulations, we demonstrate that our algorithm achieves performance comparable to state-of-the-art methods while offering improved computational efficiency. © 2025, CC BY.

关键词： Lagrange multipliers

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Visual Tracking Nonlinear Model Predictive control Method for Autonomous Wind Turbine Inspection

arXiv

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arXiv 2023年

作者： Amer, Abdelhakim Mehndiratta, Mohit le Fevre Sejersen, Jonas Pham, Huy Xuan Kayacan, Erdal The Department of Electrical and Computer Engineering Aarhus University Aarhus C8000 Denmark GIM Robotics Espoo Finland The Automatic Control Group Department of Electrical Engineering and Information Technology Paderborn University Paderborn Germany

Automated visual inspection of on-and offshore wind turbines using aerial robots provides several benefits, namely, a safe working environment by circumventing the need for workers to be suspended high above the ground, reduced inspection time, preventive maintenance, and access to hard-to-reach areas. A novel nonlinear model predictive control (NMPC) framework alongside a global wind turbine path planner is proposed to achieve distance-optimal coverage for wind turbine inspection. Unlike traditional MPC formulations, visual tracking NMPC (VT-NMPC) is designed to track an inspection surface, instead of a position and heading trajectory, thereby circumventing the need to provide an accurate predefined trajectory for the drone. An additional capability of the proposed VT-NMPC method is that by incorporating inspection requirements as visual tracking costs to minimize, it naturally achieves the inspection task successfully while respecting the physical constraints of the drone. Multiple simulation runs and real-world tests demonstrate the efficiency and efficacy of the proposed automated inspection framework, which outperforms the traditional MPC designs, by providing full coverage of the target wind turbine blades as well as its robustness to changing wind conditions. The implementation codes are open-sourced. © 2023, CC BY.

关键词： Inspection

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Estimation of Faults for Some Class of Fractional-Order Systems

Estimation of Faults for Some Class of Fractional-Order Syst...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Stefan Domek Marcin Witczak Marcin Pazera Department of Automatic Control and Robotics West Pomeranian University of Technology in Szczecin ul. Sikorskiego 37 Szczecin Poland Institute of Control and Computation Engineering University of Zielona Góra ul. Szafrana 2 Zielona Góra Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

This paper presents the design of a robust estimator for simultaneous actuator and sensor faults aimed at Fault Diagnosis (FD) in a specific class of fractional-order digital systems. The proposed ${\mathcal{H}}_{\infty}$ estimator design methodology ensures a specified disturbance attenuation level and convergence, making it suitable for both fault diagnosis and fault-tolerant control applications.

关键词： Fault diagnosis Fault tolerance Actuators Digital systems Design methodology Fault tolerant systems Estimation

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Experimental Validation of Functional Iterative Learning control on a One-Link Flexible Arm

Experimental Validation of Functional Iterative Learning Con...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Sjoerd Drost Pietro Pustina Franco Angelini Alessandro De Luca Gerwin Smit Cosimo Della Santina Department of Cognitive Robotics Delft University of Technology Delft Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy Department of Information Engineering Research Center “Enrico Piaggio” University of Pisa Pisa Italy Institute of Robotics and Mechatronics German Aerospace Center (DLR) Oberpfaffenhofen Germany

Performing precise, repetitive motions is essential in many robotic and automation systems. Iterative learning control (ILC) allows determining the necessary control command by using a very rough system model to speed up the process. Functional iterative learning control is a novel technique that promises to solve several limitations of classic ILC. It operates by merging the input space into a large functional space, resulting in an over-determined control task in the iteration domain. In this way, it can deal with systems having more outputs than inputs and accelerate the learning process without resorting to model discretizations. However, the framework lacks so far a validation in experiments. This paper aims to provide such experimental validation in the context of robotics. To this end, we designed and built a one-link flexible arm that is actuated by a stepper motor, which makes the development of an accurate model more challenging and the validation closer to the industrial practice. We provide multiple experimental results across several conditions, proving the feasibility of the method in practice.

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Emotional Interaction Between Human and Robot

Emotional Interaction Between Human and Robot

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

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

ISBN: (数字)9798331542726

ISBN: (纸本)9798331542733

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.

关键词： Learning systems Adaptation models Fluctuations Markov decision processes Decision making Human-robot interaction Assistive robots Real-time systems Behavioral sciences Robots

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Motion planning for highly-dynamic unconditioned reflexes based on chained Signed Distance Functions

arXiv

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arXiv 2025年

作者： Lin, Ken Ye, Qi Lam, Tin Lun Li, Zhibin Chen, Jiming Li, Gaofeng College of Control Science and Engineering Zhejiang University Hangzhou China Robotics and Artificial Intelligence Laboratory The Chinese University of Hongkong Shenzhen China Department of Computer Science University College London London United Kingdom

The unconditioned reflex (e.g., protective reflex), which is the innate reaction of the organism and usually performed through the spinal cord rather than the brain, can enable organisms to escape harms from environments. Accordingly, it is essential to endow robots the highly-dynamic unconditioned reflexes to humans and/or environments, such that it can work collaboratively with humans or serve people in daily life. Although various sampling-based and optimization-based motion planning methods have been developed for robots, their limited computational speed is not suitable for rapid motion planning in highly-dynamic environments. In this paper, we propose an online, highly-dynamic motion planning algorithm to enable highly-dynamic unconditioned reflexes for manipulators. Our method is based on a chained version of Signed Distance Functions (SDFs), which can be pre-computed and stored. Our proposed algorithm is divided into two stages. In the offline stage, we create 3 groups of local SDFs to store the geometric information of the manipulator and its working environment. The SDFs in the first group are to describe the geometric information of the static environment. The SDFs in the second group are to describe the geometric information of each link. While the SDFs in the last group are to describe the reachability of each link’s end of the manipulator. In the online stage, the precomputed local SDFs are chained together according the configuration of the manipulator, to provide global geometric information about the environment. While the point clouds of the dynamic objects serve as query points to look up these local SDFs for quickly generating escape velocity. Then we propose a modified geometric Jacobian matrix and use the Jacobian-pseudo-inverse method to generate real-time reflex behaviors to avoid the static and dynamic obstacles in the environment. The benefits of our method are validated in both static and dynamic scenarios. In the static scenario, our meth

关键词： Jacobian matrices

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Design and Characterization of a Flexure-Based Hybrid Mechanism for Precise Micro/Nano Positioning

Design and Characterization of a Flexure-Based Hybrid Mechan...

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International Conference on Mechatronics Technology (ICMT)

作者： Kim Sang Tran Kai Zhong Lai Bijan Shirinzadeh Armin Ehrampoosh Yanling Tian Dawei Zhang Yanding Qin Department of Mechanical and Aerospace Engineering Monash University Robotics and Mechatronics Research Laboratory (RMRL) Melbourne Australia School of Engineering University of Warwick Conventry UK Control and Systems Engineering Tianjin University Tianjin China

This paper presents a hybrid mechanism for micro/nano positioning and manipulation by combining a piezoelectric actuator (PEA) and a voice coil motor (VCM) using a flexure bridge. The research investigates the behavior of the hybrid mechanism, designs the amplification mechanism, and characterizes and compares the dominant parameters through modal and finite element analysis. The models were designed using Solidworks software and optimized using response surface in ANSYS. The hybrid mechanism provides both long-range displacement and precision movement capabilities, making it suitable for micro-assembly, micro-manipulation, and microfluidics applications. The results illustrate that the amplification ratio of the flexure mechanism obtained by modal analysis was 4.38, which was 3.42% larger than that simulated by finite element model. The input stiffness of the flexure mechanism was 2231.81 N/mm, which is slightly lower than the figure calculated by Finite element analysis (FEA) at 2325.58 N/mm. However, the difference between the two output stiffnesses of this mechanism obtained by the two methods is close, standing at 1.60%.

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Design and Validation of Tunable Stiffness Actuator using Soft-Rigid Combined Layer Jamming Mechanism

Design and Validation of Tunable Stiffness Actuator using So...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Seoyeon Ham Brian Byunghyun Kang Kevin Abishek Hyunglae Lee Wansoo Kim Department of Interdisciplinary Robot Engineering Systems Hanyang University Gyeonggi-do Republic of Korea Neuromuscular Control and Human Robotics Lab. Arizona States University AZ USA Department of Intelligent Mechatronics Engineering Sejong University Seoul Republic of Korea Robotics Department Ansan-si Gyeonggi-do Republic of Korea

This paper presents a tunable stiffness actuator with a soft-rigid combined layer jamming mechanism. The tunable stiffness actuator is aimed to be integrated into an exosuit to prevent ankle sprain and avoid or mitigate the development of chronic ankle instability. The main purpose of the soft-rigid layer jamming mechanism is to produce large stiffness with a small volume and achieve a linear stiffness characteristic. To this end, the actuator is designed to include rigid retainer pieces within the soft silicone layers, and each soft-rigid layer is jammed to induce stiffness changes. To validate the stiffness characteristics of the proposed soft-rigid actuator, a series of experiments were performed and stiffness changes were investigated for varying jamming states from unjammed to fully jammed states. Increasing the number of jamming layer effectively increased the actuator stiffness, which was consistent with expected results from the analytical model. Soft-rigid actuator's stiffness at the fully jammed state was 212.1% and 123.1% higher than the unjammed state for one-side and both sides anchored conditions, respectively. Compared to the soft actuator without the rigid retainer, the soft-rigid actuator exhibited a more linear characteristic (Pearson correlation coefficient = 0.990 and 0.997 for one-side and both sides anchored conditions, respectively). Moreover, the soft-rigid actuator achieved significantly higher stiffness than the soft actuator in all jamming states (at least 41.3% increase in each jamming state). The results suggest a potential use of the tunable stiffness actuator to develop a soft ankle exosuit with highly variable but linear stiffness characteristics.

关键词： Correlation coefficient Actuators Analytical models Composite materials Mechanical cables Soft robotics Jamming

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Combined Filters Design, Using the Principle of Internal Models

Combined Filters Design, Using the Principle of Internal Mod...

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International Russian Automation Conference (RusAutoCon)

作者： Anatoly Gaiduk Darya Denisenko Nikolay Prokopenko Department of Automatic Control Systems Southern Federal University Scientific Design Office Robotics and Control Systems Taganrog Rostov-on-Don Russia Department of scientific research Department of Automatic Control Systems Don State Technical University Southern Federal University Rostov-on-Don Russia Department of Information Systems and Radio Engineering Don State Technical University Rostov-on-Don Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

To design active analog, discrete-analog and digital filters a new method is suggested, taking into account the conditions of selective invariance and using the internal models principle of the dynamic systems. For this purpose, the structure of each basic filter ensures the presence of an explicit spectral model of the filtered signal. Such a filter is selectively invariant, and this property depend only on the spectrum-setting parameters and do not depend on other parameters. It is suggest-ed to carry out the design of the combined selective filters by integration of the suggested basic second-order filters, focusing on the log magnitude plot of the latter. This makes possible to minimize the order of the combined both analog and digital filters. The combined selective filters are distinguished by high stability of selective properties and can be used in the systems for measurement, signal processing, data transmission, as well as automatic and automated control of various social, production and special facilities.

关键词： Automation Filtering Focusing Production Signal processing Stability analysis Data communication Digital filters Dynamical systems

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Simulated Scattering of a Beam Carrying Orbital Angular Momentum from a Microparticle

Simulated Scattering of a Beam Carrying Orbital Angular Mome...

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Conference on Lasers and Electro-Optics (CLEO)

作者： John E. McCarthy Svetlana Avramov-Zamurovic Matthew B. Hart Vasanthi Sivaprakasam Weapons Robotics and Control Engineering Department United States Naval Academy Optical Sciences Division United States Naval Research Laboratory Annapolis Maryland USA

We use multiphysics software COMSOL to simulate and evaluate interactions between structured light carrying orbital angular momentum and a single microparticles. We investigate the impact of particle location with res... 详细信息

ISBN: (纸本)9781957171258

关键词： Beam scattering In field scattering Light beams Light intensity Structured light Vortex beams

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