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Development of ROV Simulator based on Real Oceanographic Data

IFAC-PapersOnLine 2023年第2期56卷 11590-11595页

作者： Ryusei KAMEWARI Yusuke FUJISHIMA Kuniaki KAWABATA Kenta SUZUKI Norimitsu SAKAGAMI Fumiaki TAKEMURA Satoru TAKAHASHI Graduate School of Science for Creative Emergence Kagawa University 2217-20 Hayashi-Machi Takamatsu Kagawa 761-0396 Japan Area of Mechanical Systems Engineering Faculty of Engineering and Design Kagawa University Kagawa Japan Sector of Fukushima Research and Development Japan Atomic Energy Agency Fukushima Japan Mechanical Engineering and Robotics Course Faculty of Advanced Science and Technology Ryukoku University Shiga Japan Department of Mechanical Systems Engineering National Institute of Technology Okinawa College Okinawa Japan

In recent years, demand for efficient oceanographic research for the development of marine resources has been increasing on a global scale. In general, research and operation training on underwater robotics in the ocean is very costly, and the climate and conditions of the ocean may make it impossible to conduct experiments. In this paper, we introduce an ocean simulator using real oceanographic data that can avoid these issues. First, we treat Choreonoid which is an integrated software for robots applied by National Institute of advanced Industrial Science and Technology (AIST), as the basis of the simulator software. Furthermore, to demonstrate its feasibility in a more realistic ocean environment, we introduce the seabed data obtained from oceanographic research and a function to reproduce ocean currents on the simulator. In this paper, self-localization experiment is conducted to demonstrate the effectiveness of the simulator for oceanographic research.

关键词： underwater robot oceanographic research Ocean simulator self-localization estimation

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Target Defense with Multiple Defenders and an Agile Attacker via Residual Policy Learning

arXiv

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arXiv 2025年

作者： Tao, Jiyue Shen, Tongsheng Zhao, Dexin Zhang, Feitian Robotics and Control Laboratory Department of Advanced Manufacturing and Robotics College of Engineering and the State Key Laboratory of Turbulence and Complex Systems Peking University Beijing100871 China National Innovation Institute of Defense Technology Beijing100071 China

The target defense problem involves intercepting an attacker before it reaches a designated target region using one or more defenders. This letter focuses on a particularly challenging scenario in which the attacker is more agile than the defenders, significantly increasing the difficulty of effective interception. To address this challenge, we propose a novel residual policy framework that integrates deep reinforcement learning (DRL) with the force-based Boids model. In this framework, the Boids model serves as a baseline policy, while DRL learns a residual policy to refine and optimize the defenders’ actions. Simulation experiments demonstrate that the proposed method consistently outperforms traditional interception policies, whether learned via vanilla DRL or fine-tuned from force-based methods. Moreover, the learned policy exhibits strong scalability and adaptability, effectively handling scenarios with varying numbers of defenders and attackers with different agility levels. Copyright © 2025, The Authors. All rights reserved.

关键词： Adversarial machine learning

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Mechanism Improvement of RoboWalk Rehabilitation Device to Adjust the Assistive Force Direction

Mechanism Improvement of RoboWalk Rehabilitation Device to A...

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

作者： Shahin Naeemi Omid Mahdizadeh S. Ali A. Moosavian 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

The growing need for assistive and rehabilitative robots requires more understanding of interactions between the human and such robots. RoboWalk is one of such robotic assistive devices to help users in walking. One of the challenges in using RoboWalk is the horizontal component which undesirably appears besides the desirable assistive vertical force for weight compensation. This horizontal component can disrupt the user’s gait and cause discomfort and stability disturbances. This is due to the fact that the current design of RoboWalk does not allow for any displacement due to the singularity of the robot’s inverse kinematics. This paper proposes a few solutions to solve this problem in redesigning the motion mechanism. Analyses using Adams software show the effects of each solution on enhancing RoboWalk’s functionality. Obtained results reveal that the proposed solutions are feasible and have the potential to significantly improve the user experience.

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Improved Aerodynamic Performance of Ornithopter Aerial Robot Using Spatial Mechanism Compared to Planar Design

Improved Aerodynamic Performance of Ornithopter Aerial Robot...

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

作者： Sina Hallajian S. Ali A. Moosavian 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

Ornithopter’s research can be categorized into two parts. First, aerodynamics analysis of the flying robot including designing the body and choosing the robot’s material based on the analysis. Second, design and analysis of the mechanism which makes the wings move. So far, most of the researches has been focused on the first subject, i. e., aerodynamics analysis; even some books were published on this topic. However, there is little research about the mechanisms while most of the previous works are based on the patterns verified before. This paper will propose the design of a new spatial mechanism. Besides, three common planar mechanisms will be modeled and simulated to analyze and compare to the proposed mechanism in terms of aerodynamics forces for one wing beat cycle. These results reveal that the proposed 3D mechanism works more promising than others.

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Stability and Bifurcation control of Fractional BAM Neural Networks with Diffusion and Time Delays

Stability and Bifurcation control of Fractional BAM Neural N...

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第42届中国控制会议

作者： Feng Liu Wei Wang Gang Cai Feifan Zhou Hua O Wang Xiuqin Yang School of Automation China University of Geosciences Engineering Research Center of Ministry of education for intelligent technology of earth exploration Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Department of Mechanical Engineering Boston University

Based on fractional calculus theory and reaction-diffusion equation theory,a fractional-order time-delay reaction-diffusion neural network with Neumann boundary conditions is *** constructing the phase space basis based on the Laplace operator eigenvector,the system equation is linearized to obtain the characteristic ***,the characteristic equation is analyzed,and the local stability of the system at the equilibrium point is *** taking the time delay as the bifurcation parameter,the stability changes of the system at the equilibrium point and the generation conditions of the Hopf bifurcation are studied when the time delay ***,a state feedback controller is designed to control the bifurcation of the ***,the theoretical derivation is verified by numerical simulation.

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Trajectory Tracking of Robotic Arms Using Learning Modified Transpose Jacobian

Trajectory Tracking of Robotic Arms Using Learning Modified ...

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

作者： Danial Ansari S Ali A Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory K. N. Toosi University of Technology Tehran Iran

In this research, the issue of trajectory tracking in task space of a robotic arm with rotational joints has been solved. For this purpose, a non-model based controller the modified jacobian-transpose is used which it’s performance has been improved by reinforcement learning. Traditionally, the settings of the error thresholds for this controller will require trial and error, but in this algorithm, reinforcement learning is used to adjust these parameters online and according to the conditions. The simulations for the desired trajectory indicate that the improvement of the trajectory tracking achieved by using proposed algorithm. Also, the superiority of this controller in noisy conditions compared to the reference Jacobian transpose controller has been shown.

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Dynamic analysis and control of fractional order memristor Hopfield neural network

Dynamic analysis and control of fractional order memristor H...

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第42届中国控制会议

作者： Feng Liu Gang Cai Feifan Zhou Wei Wang Hua Wang Xiuqin Yang School of Automation China University of Geosciences Engineering Research Center of Ministry of education for intelligent technology of earth exploration Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Department of Mechanical Engineering Boston University

In this paper, a novel smooth magnetron is introduced to construct a fractional memristor Hopfield neural network(fractional order M-HNN). The local stability of equilibrium point are analyzed theoretically. Taking the memristor coupling strength coefficient and the fractional order as bifurcation parameters, the phase trajectory diagram, the bifurcation diagram of the system are drawn to analyze the influence on the dynamic behavior of the neural network. When the system parameters are fixed, the hyperchaos phenomenon of the fractional order M-HNN model is revealed. Finally, the PD controller is applied to the model to enhance the stability of the system.

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Learning For Predictive control: A Dual Gaussian Process Approach

arXiv

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arXiv 2022年

作者： Liu, Yuhan Wang, Pengyu Tóth, Roland Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Flight Dynamics and Control Laboratory Department of Aerospace Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

An important issue in model-based control design is that an accurate dynamic model of the system is generally nonlinear, complex, and costly to obtain. This limits achievable control performance in practice. Gaussian process (GP) based estimation of system models is an effective tool to learn unknown dynamics directly from input/output data. However, conventional GP-based control methods often ignore the computational cost associated with accumulating data during the operation of the system and how to handle forgetting in continuous adaption. In this paper, we present a novel Dual Gaussian Process (DGP) based model predictive control (MPC) strategy that enables efficient use of online learning based predictive control without the danger of catastrophic forgetting. The bio-inspired DGP structure is a combination of a long-term GP and a short-term GP, where the long-term GP is used to keep the learned knowledge in memory and the short-term GP is employed to rapidly compensate unknown dynamics during online operation. Furthermore, a novel recursive online update strategy for the short-term GP is proposed to successively improve the learnt model during online operation. Effectiveness of the proposed strategy is demonstrated via numerical simulations. © 2022, CC BY-NC-SA.

关键词： Model predictive control

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One Solution to the Cost-Sharing Issue by the Sweden Game Experiment and Educational Effects

One Solution to the Cost-Sharing Issue by the Sweden Game Ex...

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advanced Applied Informatics Winter (IIAI-AAI-Winter), International Congress on

作者： Masashi Kawaguchi Takashi Kusaka Naohiro Ishii Masayoshi Umeno Department of Electrical & Electronic Engineering National Institute of Technology Suzuka College Suzuka Japan Department of General Education National Institute of Technology Suzuka College Suzuka Japan Information Systems Architecture Course Advanced Institute of Industrial Technology Tokyo Japan Department of Electronic Engineering Chubu University Kasugai Japan

The issue of cost-sharing has been familiar since ancient times. Even today, it is used in various situations, such as cost-sharing for infrastructure development and contributions to neighborhood associations. Many methods have been proposed for the cost-sharing problem. One typical solution is the Shapley value. However, there are cases where the best solution cannot be obtained. In addition, if the solution is disadvantageous to the parties, there is a risk of dissatisfaction and failure to reach an agreement. On the other hand, gaming solutions are attracting attention. A mutually satisfactory solution can be obtained by gaming by solving the cost-sharing problem between the parties. Furthermore, better solutions than other methods have been derived. In this paper, we report on the optimal solution derived from the gaming results, its educational effects, and the results of a webinar on gaming in Finland and Japan.

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Nested saturated feedback control of an electro-hydrodynamic jet printer

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e-Prime - Advances in Electrical engineering, Electronics and Energy 2022年 2卷

作者： Mohammadi, Sasan Haeri, Mohammad Advanced Control Systems Lab Electrical Engineering Department Sharif University of Technology Tehran Iran

This paper investigates design of a nested saturated feedback control for an electro-hydrodynamic jet (E-jet) printer. The closed-loop control of this system is vital due to high dependency of product quality on the various system parameters. Typically, this printer is controlled by adjusting the voltage between the nozzle and substrate to regulate the height of the cone-jet to a desired value. This helps to manipulate size of droplets as an indicator of print quality. The proposed controller is simulating along with a widely-used PID controller in order to evaluate its overall performance. Then, this controller is implemented in COMSOL software, which emulates a more realistic model of the system, in order to mimic an experimental set up. Both studies show that the proposed controller could produce desired transient as well as steady-state responses in the presence of external disturbances. © 2022

关键词： Cone-jet Electro-hydrodynamic jet printer Nested saturated feedback control Numerical model

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