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IEEE International Conference on Soft robotics (RoboSoft)

作者： Hoang Chu Brandon J. Caasenbrood Mahboubeh Keyvanara Irene A. Kuling Henk Nijmeijer Department of Mechanical Engineering Dynamics and Control Group Eindhoven University of Technology Eindhoven MB The Netherlands 4TU Consortium Dutch Soft Robotics University of Twente Enschede Netherlands

Soft robotics is a branch of robotics that aims to emulate nature by exploring so-called soft materials. By utilizing the embedded softness, various degrees of dexterity in grasping can be achieved without the need for advanced controllers. However, when compared to nature (and modern rigid robots), comparable levels of dexterity and object manipulation are still lacking. For example, when considering the elephant's trunk, whole-body manipulation and sensory feedback are explored to achieve simultaneous, robust, and adaptive grasping. In this work, we incorporate closed-loop control into soft robotic grasping. Using passivity-based control, we achieve whole-body grasping for planar, slender, soft manipulators with torque actuation. Our approach also accounts for the underactuation present in these systems and adapts the grasping strategy accordingly. Furthermore, we explore damping injection without velocity measurements to enhance the attenuation of undesired oscillatory motion. The performance of the closed-loop system is evaluated through simulation and experiments.

关键词： Damping Torque Grasping Soft robotics Robot sensing systems Manipulators Sensors

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Learning a Better control Barrier Function

arXiv

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arXiv 2022年

作者： Dai, Bolun Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Electrical & Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States

control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree systems. Meanwhile, finding a conservative CBF that only recovers a portion of the true safe set is usually possible. In this work, starting from a "conservative" handcrafted CBF (HCBF), we develop a method to find a CBF that recovers a reasonably larger portion of the safe set. Since the learned CBF controller is not guaranteed to be safe during training iterations, we use a model predictive controller (MPC) to ensure safety during training. Using the collected trajectory data containing safe and unsafe interactions, we train a neural network to estimate the difference between the HCBF and a CBF that recovers a closer solution to the true safe set. With our proposed approach, we can generate safe controllers that are less conservative and computationally more efficient. We validate our approach on two systems: a second-order integrator and a ball-on-beam. © 2022, CC BY.

关键词： controllers

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Distributed Event-Triggered Formation control for a Multi-robotic Fish System

Distributed Event-Triggered Formation Control for a Multi-ro...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Dai, Shijie Wu, Zhengxing Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9789811966125

This paper investigates the formation control problem for a multi-robotic fish system and a distributed event-triggered-based formation control framework is proposed. The framework consists of a communication topology, a distributed formation control law, and a dynamic event-triggered communication mechanism. In particular, a position-based formation control law is presented to drive the multi-robotic fish system to an anticipated configuration based on local measurements while keeping pace with a moving target. Meanwhile, a dynamic event-triggered mechanism is utilized to measure importance of the interactive information and decide the communication timing. The proposed formation control method shows its merits to greatly reduce communication consumption with a limited loss of formation control performance. Finally, simulations with quantitative comparisons are presented to verify the effectiveness of the proposed framework. This formation control framework provides a solid foundation for future marine cooperative control of the multi-robotic fish system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Mecanum wheel mobile platform for rapid prototyping of the autonomous control algorithms

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IFAC-PapersOnLine 2024年第9期58卷 183-188页

作者： Kacper Jaroszewicz Wojciech Walendziuk Roman Trochimczuk Adam Wolniakowski Radosław Tomaszewski Zdenek Slanina Doctoral School of Bialystok University of Technology Bialystok Poland Department of Electrotechnics Power Electronics and Electrical Power Engineering Bialystok University of Technology Bialystok Poland Department of Automatic Control and Robotics Bialystok University of Technology Bialystok Poland VSB – Technical University of Ostrava 17. listopadu 2172/15 Ostrava - Poruba Czech Republic

This article describes the author’s design of the Mecanum wheel mobile robots (MWR), which can be used as a test platform for experimental research into the development and implementation of autonomous systems. The paper contains a literature review of the subject matter and describes the mechanical actuator subsystem and electronic and information subsystem of the mobile robot solution. The robot was navigated using a minicomputer equipped with a Jetson Nano chip. The robot’s navigation system was implemented using the ROS environment through high-level software. Software modularity is desirable in circuits intended for research and rapid prototyping. This allows for easier modification and maintenance. The microcontroller has been implemented with a DC drive control system and incremental encoder support to estimate robot position using odometry. The project utilizes the Jetson Nano for processing data from distance sensors and monitoring the robot’s performance. The mobile platform is equipped with a RGB-D camera (Microsoft Kinect 360), the robot can use this to perform 3D mapping of the environment. A LiDAR sensor is used to collect data from a two-dimensional space. Laboratory tests were carried out to test the validity of the solutions adopted in the design of the Mecanum-wheeled mobile robot’s navigation system configuration.

关键词： autonomous systems Mecanum wheels robot (MWR) Microsoft Kinect 360 LiDAR sensor

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Nonlinear Model Predictive control Approximation: Applications to Truck-Trailer control System

Nonlinear Model Predictive Control Approximation: Applicatio...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Suyong Park Duc Giap Nguyen Yongsik Jin Jinrak Park Dohee Kim Jeong Soo Eo Kyoungseok Han Department of Automotive Engineering Hanyang University Seoul Republic of Korea Department of Mechanical Engineering Kyungpook National University Daegu Republic of Korea Robotics IT Convergence Research Section Electronics and Telecommunications Research Institute (ETRI) Daegu Republic of Korea Department of Electrified Systems Control Research Lab Hyundai Motor Company Hwaseong Republic of Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

In this work, we demonstrate the effectiveness of nonlinear model predictive control (NMPC) approximation based on deep neural network (DNN). MPC has been widely adopted in autonomous driving control problems to handle multiple objectives and constraints. We first design the implicit NMPC for the forward and backward motions of a truck-trailer (TT) system, which follows the reference path while maintaining safety between the head truck (HT) and the trailer (TR). However, the computational load in implicit MPC makes it a challenge for real-time implementations. To alleviate the computational burden in implicit NMPC online, an NMPC approximation approach based on DNN is adopted in this study to achieve a parametric function approximation. We conduct a comparative study on the proposed approach and a baseline controller for control performance analysis, and the computational load is evaluated on a hardware-in-the-loop (HIL) experimental system.

关键词： Training Tracking Simulation Training data Artificial neural networks Predictive models control systems Real-time systems Safety Predictive control

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Adaptive Learning-Based Mpc Strategy for Drift Vehicles

SSRN

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SSRN 2024年

作者： Zhou, Bei Hu, Cheng Zeng, Jun Shi, Yao Xie, Lei Su, Hongye The State Key Laboratory of Industrial Control Technology Zhejiang University 38 Zheda Road Xihu District Hang zhou Zhejiang310027 China Hybrid Robotics Group the Department of Mechanical Engineering UC Berkeley United States

Drift vehicle control offers valuable insights to support safe autonomous driving in extreme conditions, which hinges on tracking a particular path while maintaining the vehicle states near the drift equilibrium points (DEP). However, conventional tracking methods are not adaptable for drift vehicles due to their opposite steering angle and yaw rate. In this paper, we propose an adaptive path tracking (APT) control method to dynamically adjust drift states to follow the reference path, improving the commonly utilized predictive path tracking methods with released computation burden. Furthermore, existing control strategies necessitate a precise system model to calculate the DEP, which can be more intractable due to the highly nonlinear drift dynamics and sensitive vehicle parameters. To tackle this problem, an adaptive learning-based model predictive control (ALMPC) strategy is proposed based on the APT method, where an upper-level Bayesian optimization is employed to learn the DEP and APT control law to instruct a lower-level MPC drift controller. This hierarchical system architecture can also resolve the inherent control conflict between path tracking and drifting by separating these objectives into different layers. The ALMPC strategy is verified on the Matlab-Carsim platform, and simulation results demonstrate its effectiveness in controlling the drift vehicle to follow a clothoid-based reference path even with the misidentified road friction parameter. © 2024, The Authors. All rights reserved.

关键词： Model predictive control

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Wavefront Characterization of a Gaussian Beam after Propagation through Optical Turbulence Generated by Rayleigh-Bénard Convection

Wavefront Characterization of a Gaussian Beam after Propagat...

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CLEO: Science and Innovations, CLEO:S and I 2023 - Part of Conference on Lasers and Electro-Optics 2023

作者： O’Malley, Owen M. Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. Mullen, Linda J. Peter Judd, K. Weapons Robotics and Control Engineering Department United States Naval Academy Hopper Hall 597 McNair Rd AnnapolisMD21402 United States 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

A Gaussian beam is propagated through a water tank containing Rayleigh-Bénard convection. The beam wavefront is measured using a Shack-Hartmann sensor to obtain optical wavefront statistics for characterization o... 详细信息

ISBN: (纸本)9781957171258

关键词： Gaussian beams

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Analysis of YouTube Video Comments with NLP Methods

Analysis of YouTube Video Comments with NLP Methods

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International Conference on Electronics, Computers and Artificial Intelligence (ECAI)

作者： Pirnau Mironela Priescu Iustin Priescu Catalina Mihaela Pirnau Claudiu Ghiculescu Liviu Daniel Department of Informatics Faculty of Informatics “Titu Maiorescu” University Bucharest Romania Faculty of Automatic Control and Computer Science National University of Science and Technology POLITEHNICA Bucharest Bucharest Romania Manufacturing Engineering Department Faculty of Industrial Engineering and Robotics National University of Science and Technology POLITEHNICA Bucharest Bucharest Romania

ISBN: (数字)9798350371154

ISBN: (纸本)9798350371161

This study proposes methods that can be used to examine and interpret comments that users have made after watching videos on YouTube on a particular topic. YouTube tutorials are very popular among young people. They have become an important pillar in informal education, thus contributing to the rapid acquisition of skills and knowledge. Under these circumstances, we were interested in analysing the YouTube videos comments, knowing that the platform has a continuous increase in popularity, which is also due to the opportunities of sharing them. Since ChatGPT-themed YouTube videos have seen a significant surge in popularity since 2022, we were interested to analyse some videos that approach the topics of “ChatGPT, AI clone, AI robot and Deep Learning.”

关键词： Video on demand Social networking (online) Education Tutorials Chatbots Web sites Artificial intelligence

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Invisible Servoing: a Visual Servoing Approach with Return-Conditioned Latent Diffusion

arXiv

引用

arXiv 2024年

作者： Gerges, Bishoy Bazzana, Barbara Botteghi, Nicolò Aboudorra, Youssef Franchi, Antonio Robotics and Mechatronics group Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Enschede7500AE Netherlands Department of Applied Mathematics University of Twente Enschede7500AE Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial Vehicles). Opposite to classical VS methods, the proposed approach allows reaching the desired target view, even when the target is initially not visible. This is possible thanks to the learning of a latent representation that the DDPM uses for planning and a dataset of trajectories encompassing target-invisible initial views. A compact representation is learned from raw images using a Cross-Modal Variational Autoencoder. Given the current image, the DDPM generates trajectories in the latent space driving the robotic platform to the desired visual target. The approach has been validated in simulation using two generic multi-rotor UAVs (a quadrotor and a hexarotor). The results show that we can successfully reach the visual target, even if not visible in the initial view. A video summary with simulations can be found in: https://***/2Hb3nkkcszE. Copyright © 2024, The Authors. All rights reserved.

关键词： Visual servoing

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Forward Kinematics Development of a 3-RRS Parallel Manipulator for Real-Time control

Forward Kinematics Development of a 3-RRS Parallel Manipulat...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian Omid Mahdizadeh Sina Hallajian Sara Ashrafi Mohammad Jamali Vahid Akbari Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781665454537

In control of parallel robots, forward kinematics calculation is mainly required. In some studies, obtained equations are solved numerically with massive calculations that is not acceptable for control implementations. This paper introduces a new method to extract forward kinematics for a 3- RRS robot. This method calculates the kinematics of passive joints with two separated equations, which can be solved to decrease the total computation demands. Also, a new weight compensation mechanism is proposed to improve the dynamic response by a linear pneumatic actuator placed between the ground and the end-effector. On the other hand, to use various control algorithms, the position of the rolling ball on the end- effector (moving platform) must be measured. This is performed using Convolutional Neural Networks (CNNs) as image processing algorithms. Since the system must work quickly for a high-frequency task, the proposed image processing algorithm can provide the desired fast feedback. Experimental results reveal the merits of the above-described proposed modules.

关键词： Pneumatic actuators Image processing Heuristic algorithms Kinematics Position measurement Pneumatic systems Mathematical models

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