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Lidar-Visual-Inertial Odometry with Online Extrinsic Calibration

Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 70-76页

作者：茅天阳赵文韬王景川陈卫东 Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile *** is a time-consuming process,and mechanical distortion will cause extrinsic calibration ***,we propose a lidar-visual-inertial odometry,which is combined with an adapted sliding window mechanism and allows for online nonlinear optimization and extrinsic *** the adapted sliding window mechanism,spatial-temporal alignment is performed to manage measurements arriving at different *** nonlinear optimization with online calibration,visual features,cloud features,and inertial measurement unit(IMU)measurements are used to estimate the ego-motion and perform extrinsic *** experiments were carried out on both public datasets and real-world *** indicate that the proposed system outperforms state-of-the-art open-source methods when facing challenging sensor-degenerating conditions.

关键词： autonomous vehicles multi-sensor fusion online calibration

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Influence of Histogram Equalization on Multi-Classification of Retinal Diseases in OCT B-scans

Influence of Histogram Equalization on Multi-Classification ...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Tomasz Marciniak Agnieszka Stankiewicz Department of Automatic Control Robotics and Electrical Engineering Institue of Automatic Control and Robotics Poznan University of Technology Poznan Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

The aim of this article is to analyze the impact of adaptive histogram equalization of the human eye OCT B-scans on the effectiveness of the classification of pathological changes. Tests were performed on two datasets. The first dataset contains 4 class B-scans (CNV, DME, DRUSEN, and NORMAL) taken with the use of Spectralis Heidelberg device, while the second dataset contains images from two devices (Spectralis Heidelberg OCT and Avanti Optovue OCT) and additionally contains the VMT (i.e., vitreomacular traction) class. The images were subjected to standard histogram equalization and contrast limited adaptive histogram equalization (CLAHE) with various parameters. The classification process was carried out using VGG16 artificial neural network. It can be observed that histogram equalization has no significant impact on improving classification performance.

关键词： Performance evaluation Histograms Pathology Optical coherence tomography Signal processing algorithms Artificial neural networks Adaptive equalizers Retina Standards Diseases

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The Development of a Lithium-Ion Battery Analyzer for Data-Driven Analysis of Battery Performance

The Development of a Lithium-Ion Battery Analyzer for Data-D...

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2024 IEEE Region 10 Conference, TENCON 2024

作者： Jaitrong, Kunanon Seetisarn, Puvit Numsomran, Arjin Tipsuwanporn, Vittaya Chaoraingern, Jutarut School of Engineering King Mongkut's Institute of Technology Ladkrabang Department of Instrumentation and Control Engineering Bangkok Thailand Ruamrudee International School Bangkok Thailand School of Engineering King Mongkut's Institute of Technology Ladkrabang Department of Robotics and Ai Engineering Bangkok Thailand

ISBN: (纸本)9798350350821

As demand for higher energy density, faster charging, and longer lifespan increases, so too does the need for sophisticated analysis of battery performance. This study focuses on the development of a lithium-ion battery analyzer for data-driven battery performance analysis. The system comprises a hardware platform and a cloud-connected software infrastructure. The hardware utilizes an STM32 microcontroller integrated with an LTC6803 for precise battery parameter measurements, including voltage, current, and temperature. The charging circuit is an LTC-4162, allowing for controlled charging profiles. A Raspberry Pi, running Raspbian OS, acts as the central processing unit, collecting data from the microcontroller and displaying it on a user-friendly human machine interface developed using Node-RED. Crucially, the system leverages cloud connectivity for data storage, analysis, and remote monitoring. The system transmits measured data to a cloud platform, which offers scalable storage and facilitates the development of sophisticated data analysis algorithms. This cloud integration allows for real-time battery performance monitoring and visualization through a dedicated application. Additionally, the system incorporates a local data backup mechanism, ensuring data accessibility even during internet disruptions. The developed system provides a comprehensive platform for data-driven insights into battery health, enabling informed decisions regarding battery operation and maintenance. © 2024 IEEE.

关键词： Microcontrollers

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Adaptive observer for a LTV system with partially unknown state matrix and delayed measurements 14

Adaptive observer for a LTV system with partially unknown st...

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14th International Congress on Ultra Modern Telecommunications and control Systems and Workshops, ICUMT 2022

作者： Bobtsov, Alexey Nikolaev, Nikolay Slita, Olga Kozachek, Olga Oskina, Olga Itmo University Institute of Problems of Mechanical Engineering Laboratory 'Control of Complex Systems' Department of Control Systems and Robotics Saint-Petersburg Russia Itmo University Department of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (数字)9798350398663

ISBN: (纸本)9798350398663

Problem of adaptive state observer synthesis for linear time-varying (LTV) system with unknown time-varying parameter and delayed output measurements is considered. State observation problem has attracted the attention of many researchers [1]. In this paper the results proposed in the [2]-[4] are developed. It is supposed that the state matrix can be represented as sum of known and unknown parts. Output vector is measured with known constant delay. An adaptive identification algorithm which reconstructs unknown state and unknown time-varying parameter is proposed. © 2022 IEEE.

关键词： Time varying control systems

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A δ-Persistently-Exciting Formation controller for Non-Holonomic Systems Over Directed Graphs

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IEEE control Systems Letters 2023年 7卷 2587-2592页

作者： Dutta, Maitreyee Loria, Antonio Panteley, Elena Sukumar, Srikant Nuno, Emmanuel Indian Institute of Technology Bombay Systems and Control Engineering Department Mumbai400076 India L2S CNRS Gif-sur-Yvette91192 France ITMO university Faculty of Control Systems and Robotics Saint Petersburg197101 Russia Guadalajara45570 Mexico

We study a formation control problem of nonholonomic vehicles which consists in making a group of them gather around a given rendezvous set-point and acquire a common orientation. This task may be regarded as part of a more complex maneuver, e.g., requiring the robots to advance in a scouting mission on a path composed of straight lines and occasional turns. The control approach relies on addressing separately the problems of stabilization (on the plane) and of orientation consensus. For the former we use individual controllers involving smooth time-varying terms and for the latter we use distributed consensus control, under the assumption that the robots form a directed graph that contains a spanning tree. © 2017 IEEE.

关键词： Directed graphs

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Visual Tracking Nonlinear Model Predictive control Method for Autonomous Wind Turbine Inspection 21

Visual Tracking Nonlinear Model Predictive Control Method fo...

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21st International Conference on Advanced robotics, ICAR 2023

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

ISBN: (纸本)9798350342291

Automated visual inspection of on- and off-shorewind 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 codes11https://***/open-airlab/VTNMPC-Autonomous-Wind-Turbine-Inspection are open-sourced. © 2023 IEEE.

关键词： Inspection

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Event-Based LQR control for Rotary Inverted Pendulum Using Wireless Networked control System 23

Event-Based LQR Control for Rotary Inverted Pendulum Using W...

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23rd International Conference on control, Automation and Systems, ICCAS 2023

作者： Thongsakul, Baitong Numsomran, Arjin Tipsuwanporn, Vittaya Chaoraingern, Jutarut School of Engineering King Mongkut's Institute of Technology Ladkrabang Department of Instrumentation and Control Engineering Bangkok Thailand School of Engineering King Mongkut's Institute of Technology Ladkrabang Department of Robotics and Ai Engineering Bangkok Thailand

ISBN: (纸本)9788993215274

Wireless communication introduces delays, packet losses, and data uncertainties, which can degrade the control's performance. To address these challenges, this paper presents an event-based Linear Quadratic Regulator (LQR) control approach for a rotary inverted pendulum system utilizing a Wireless Networked control System (WNCS). To facilitate the control process, a WNCS is employed to transmit data between the rotary inverted pendulum and the controller via WiFi, a wireless network executing in the CYW43439 wireless chip of the Raspberry Pi Pico W development board. The wireless node consists of a sensor node, actuator node, access point node, and controller node, which transmit and receive data via the TCP/IP communication protocol. The event-triggering mechanism is integrated into the control loop. It allows the control algorithm to adaptively adjust the control update rate based on the system's dynamics and network conditions, ensuring efficient utilization of network resources while maintaining satisfactory control performance. The experimental results of hardware in the loop (HIL) in the MATLAB/Simulink real-time kernel show that the proposed event-based LQR control strategy can achieve balancing and improve resilience to network-induced disturbances, making it suitable for real-world applications where wireless network constraints are prevalent. © 2023 ICROS.

关键词： controllers

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Development and Evaluation of a Wearable Lower Limb Rehabilitation Robot

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Journal of Bionic engineering 2022年第3期19卷 688-699页

作者： Wanting Li Keping Liu Chunxu Li Zhongbo Sun Shui Liu Jian Gu Department of Control Engineering Changchun University of TechnologyChangchun130012China Centre for Robotics and Neural Systems University of PlymouthPlymouthPL48AAUK School of Mechatronical Engineering Changchun University of TechnologyChangchun130012China

This paper introduces a rigid-flexible coupling wearable exoskeleton robot for lower limb,which is designed in light of gait biomechanics and beneficial for low limb movement disorders by implementing gait *** rationality of the proposed mechanism is shown with the implementation of the dynamic simulation through MSC *** the purposes of lightweight,the exoskeleton mechanism is optimized through finite element *** can be concluded from performance evaluation experiment,the mechanism has certain advantages over existing exoskeleton robots,namely,comfortable,lightweight,low cost,which can be utilized for rehabilitation training in medical institutions or as a daily-walking ancillary equipment for patients.

关键词： Wearable rehabilitation robot Biomechanics Robot mechanism design Virtual analysis

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Optimization of Cylindrical Blades for Wind Turbine Based on Magnus Effect

Optimization of Cylindrical Blades for Wind Turbine Based on...

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2023 International Conference on Electromechanical and Energy Systems, SIELMEN 2023

作者： Lukin, Aleksandr Demidova, Galina Lukichev, Dmitry Poliakov, Nikolai Anuchin, Alecksey ITMO University Faculty of Control Systems and Robotics Saint-Petersburg Russia Moscow Power Engineering Institute Electric Drives Department Moscow Russia

ISBN: (纸本)9798350315240

Wind turbines based on the Magnus effect open new prospects in terms of energy generation for areas with low average wind speeds. The main feature of these turbines is rotating cylinders which are used to create lift instead of blades. Due to this unconventional design, different parameters of the cylinder, such as mass and moment of inertia, can greatly affect the dynamic characteristics of such energy systems. The goal of this paper was to present an approach to structural optimization of a cylinder flange of the experimental Magnus effect-based wind turbine. The proposed approach, presented as an algorithm, allows us to determine input data for the preferred structural optimization software and achieve lightweight, low-inertia parts. control simulation has shown that optimized parts ensure a high enough factor of safety while also significantly reducing the moment of inertia. © 2023 IEEE.

关键词： Finite element method

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The PIDmn controller Tuning for Temperature and % RH control in a Chamber Using Simulink Desktop Real-Time 23

The PIDmn Controller Tuning for Temperature and % RH Control...

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23rd International Conference on control, Automation and Systems, ICCAS 2023

作者： Boonseng, Nuengsatree Numsomran, Arjin Tipsuwanporn, Vittaya Chaoraingern, Jutarut School of Engineering King Mongkut's Institute of Technology Ladkrabang Department of Instrumentation and Control Engineering Bangkok Thailand School of Engineering King Mongkut's Institute of Technology Ladkrabang Department of Robotics and Ai Engineering Bangkok Thailand

ISBN: (纸本)9788993215274

This paper presents the development and implementation of a PID-{n}{m} controller tuning technique for temperature and relative humidity (% RH) control in a chamber using Simulink Desktop Real-Time. The proposed controller tuning method aims to achieve precise and robust control of temperature and % RH in environments where accurate environmental conditions are critical, such as laboratories, manufacturing facilities, and storage units. The PID-{n}{m} controller incorporates additional derivative, integral, and filter terms to enhance control performance. The design process involves analyzing the system dynamics, modeling the chamber's temperature and % RH response, and selecting appropriate control parameters. The tuning strategy takes into account the specific requirements of temperature and % RH control, such as fast response, a lower percent of overshoot, and steady-state accuracy. Simulink Desktop Real-Time is utilized for the real-time implementation of the control algorithm, providing a reliable and efficient platform for testing and validation. Experimental results demonstrate the effectiveness of the proposed methodology in achieving precise and stable temperature and % RH control. © 2023 ICROS.

关键词： Simulink

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