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2022 International Conference on Control, automation and Diagnosis, ICCAD 2022

作者： Kabanov, Aleksey A. Zuev, Aleksandr V. Zhirabok, Aleksey N. Filaretov, Vladimir F. Department of Informatics and Control in Technical Systems Sevastopol State University Russia Laboratory of Intelligent Information Systems for Marine Robots Institute of Marine Technology Problems FEB RAS Russia Department of Automation and Robotics Far Eastern Federal University Russia Robotics Laboratory Institute of Automation and Control Processes FEB RAS Russia

ISBN: (数字)9781665497947

ISBN: (纸本)9781665497947

The paper considers the problem of fault identification in dynamic systems described by linear differential equations. To solve this problem, diagnostic observers constructed on the basis of optimal control methods are used. The proposed new method for the synthesis of such observers is based on the idea of introducing a new system with some auxiliary control which plays a role of an unknown vector function describing emerging faults. This control is proposed to be formed in such a way that it provides a minimum for the residual functional. Unlike popular approaches to solving the problem of fault identification based on observers operating in a sliding mode, the proposed method allows us to expand the class of systems for which the identification problem can be solved. It is known that the methods of sliding mode observers design impose certain restrictions on the systems under consideration. The suggested theory is illustrated by an example. The simulation results confirmed the operability of the diagnostic observers synthesized using the method proposed in the work. © 2022 IEEE.

关键词： Linear systems

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Static Characteristics of Zero-Current-Switching Quasi-Resonant Buck Converter under Variation of Resonant Circuit and Load Parameters 41

Static Characteristics of Zero-Current-Switching Quasi-Reson...

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41st IEEE International Conference on Electronics and Nanotechnology, ELNANO 2022

作者： Dymerets, Andrii V. Yershov, Roman D. Gorodny, Alexey N. Revko, Anatoliy S. Savchenko, Danyil Lytvyn, Svitlana V. Chernihiv Polytechnic National University Department of Electronics Automation Robotics and Mechatronics Chernihiv Ukraine Chernihiv Polytechnic National University Department of Foreign Philology Chernihiv Ukraine

ISBN: (数字)9781665469227

ISBN: (纸本)9781665469234

The influence of resonant circuit parameters on static characteristics of a half-wave buck zero-current-switching quasi-resonant converter is investigated. The dependences of the maximum voltage conversion ratio under variation of resonant circuit time constant and characteristic impedance with different load impedance values are obtained by dint of multi-factor numeric simulation. The dependences of the ratio between the transistor current peak value and load impedance rms value under variation of resonant circuit time constant and characteristic impedance with different load impedance values are also obtained. Approximated equations for above dependencies are fitted. The research results allow determining the allowable limits of resonant inductance and capacitance values, as well as the load impedance to maintain the zero-current-switching mode. © 2022 IEEE.

关键词： Resonant circuits

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Mixed Reality Application in Robot Navigation and Control

Mixed Reality Application in Robot Navigation and Control

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International Conference on Applied and Theoretical Electricity (ICATE)

作者： Stefan-Irinel Cismaru Florina-Luminita Petcu Ionut-Cristian Resceanu Horatiu Roibu Andrei-Costin Trasculescu Cristina-Floriana Pana Nicu-George Bizdoaca Mechatronics and Robotics Department Faculty of Automation Computers and Electronics University of Craiova Craiova Romania Computer Science Department Faculty of Automation Computers and Electronics University of Craiova Craiova Romania

ISBN: (数字)9798350388107

ISBN: (纸本)9798350388114

Among the emerging technologies, Mixed Reality (MR) has provided the means to interact with holograms. A very distant future is now near and accessible, which allows for the replacement of classic controllers for robots and is driven by MR. Holograms involve dynamic 3D elements that are integrated into the environment, enhancing control means for the user. These elements may be visually attended to and interacted with via eye concentration or hand gestures, and they have the capability to execute a variety of activities. This emerging technology enables interactions that are otherwise unattainable in alternative settings or contexts, such as the presence of an avatar inside the program. Furthermore, it has the potential to be expanded to govern other mechatronic devices, including robots. The purpose of this work is to offer an improved and interactive method of controlling a mechatronic platform by using holograms, such that the adaptability of this technology may be shown in the context of operating real systems. Important for the authors of this paper is the broadening of the spectrum in which the application lies, thus contributing to the process followed for the development and applicability of the solution in key areas such as industry, training, and medicine.

关键词： Training Mechatronics Three-dimensional displays Navigation Service robots Mixed reality Virtual reality Resists Control systems Software

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Instruction-Following Long-Horizon Manipulation by LLM-Empowered Symbolic Planner

Instruction-Following Long-Horizon Manipulation by LLM-Empow...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Li, Zhihao Liu, Junjia Li, Zhuo Yu, Minghao Teng, Tao Zhou, Shunbo Li, Miao Lam, Tin Lun Chen, Fei T-Stone Robotics Institute The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Hong Kong Center for Logistics Robotics Hong Kong Computing Technologies Co. Ltd. Shenzhen China Institute of Technological Sciences Wuhan University Wuhan China School of Science and Engineering The Chinese University of Hong Kong Shenzhen China

ISBN: (纸本)9781665481090

One of the grand goals in robotics is to develop a versatile robot capable of executing a wide array of tasks based on language instructions. These tasks often involve long-horizon manipulation due to the complexity of the real-world tasks and the high-dimensional action space of the dual-arm mobile robots. This work proposes a generalizable framework that combines a Large Language Model, a Visual-language Model, and symbolic planning to address long-horizon bimanual mobile manipulation tasks. We use the Large Language Model as the commonsense reasoner to break down the task into a set of subgoals and generate goal-oriented state queries. Subsequently, we fine-tune a Visual-language Model to obtain answers to queries. Finally, we propose a Planning Domain Definition Language translator that translates the subgoal and the goal-oriented states into a symbolic planning problem that can be solved by search-based planners. The experiments show that the proposed method has generalization ability in novel objects and instruction. It outperforms the baseline methods across all the configurations. Moreover, our approach exhibits competence in increasingly complex tasks, encompassing those that demand upward of 10 planning steps. © 2024 IEEE.

关键词： Visual languages

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Parrying perturbations in the systems with complementary control

Parrying perturbations in the systems with complementary con...

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2021 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2021

作者： Kobzev, Alexandеr Department of Automation Mechatronics and Robotics Vladimir State University Vladimir Russia

ISBN: (纸本)9781728145877

The paper consideres complementary control for parrying external and internal perturbations of the system. The directions of parrying perturbations in automatic control systems (ACS) are marked. The basics of complementary control are displayed as the modified fourth form of invariance and its application for task solution. Two cases in the basis of the fourth form of invariance are distinguished. The first is for parrying external perturbations, the second is for parrying internal perturbations. Expressions for obtaining additional components in the control action are defined. The implementation of additional control is possible in the form of an autonomous component and by correcting the control action at the stage of its formation. a block diagram of ACS with complementary and predictive control is proposed, and its features are pointed out. The implementation of the adaptation loop, which forms an additional component in the control action, is possible at the program level and on the basis of a neural network. The results of practical implementation of ACS with complementary control and neural controller are given. © 2021 IEEE.

关键词： automation

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Hand Gesture Classification using sEMG Signals and Ensemble Learning

Hand Gesture Classification using sEMG Signals and Ensemble ...

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IEEE International Conference on Intelligent Techniques in Control, Optimization and Signal Processing (INCOS)

作者： Ranjeesh R Chandran D. Devaraj Saurav Ashok Donfred Shaji Sam K Saju Department of Robotics and Automation Adishankara Institute of Engineering and Technology Kalady Kerala India Department of Electronics and Electrical Technology Kalasalingam Academy of Research and Education Srivilliputhur Tamil Nadu India Department of Robotics and Automation Adishankara Inst. of Eng and Tech. Kalady Kerala India

ISBN: (数字)9798350361186

ISBN: (纸本)9798350361193

Electromyographic signals offer details on a muscle activity of a person. In the case of hand movements various combinations of forearm muscles must be activated in order to carry out each gesture, which results in unique electrical patterns. On the other hand, identifying the motion being executed is made possible by the examination of these patterns of muscle activation, which are captured by EMG signals. This article presents a novel implementation on hand gesture classification utilizing Electromyography (EMG) signals recorded through a MYO Thalmic bracelet. The dataset consists of raw data collected from 36 subjects, each executing a series of static hand gestures. The classification model employed for this study is an ensemble of decision trees, achieving an impressive validation accuracy of 98.0% and a test accuracy of 98.1 %. The article outlines the dataset details, recording methodology, and provides an in-depth analysis of the model architecture, hyperparameters, and training results.

关键词： Training Wrist Muscles Sensor phenomena and characterization Predictive models Electromyography Robustness

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Planning for Human-Robot Collaboration Scenarios with Heterogeneous Costs and Durations 27

Planning for Human-Robot Collaboration Scenarios with Hetero...

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27th European Conference on Artificial Intelligence, ECAI 2024

作者： Izquierdo-Badiola, Silvia Canal, Gerard Alenyà, Guillem Rizzo, Carlos Coles, Andrew Institut de Robotica i Informàtica Industrial CSIC-UPC Barcelona Spain Department of Informatics King's College London United Kingdom Eurecat Centre Tecnològic de Catalunya Robotics and Automation Unit Cerdanyola Spain

ISBN: (纸本)9781643685489

This paper looks at human-robot collaboration (HRC) scenarios, in particular where the durations and costs of the actions are heterogeneous between agents, reflecting the agents' capabilities as well as environmental constraints. We explore the use of temporal PDDL planning as a means of finding over-arching task plans for such collaborative scenarios, and apply suitable heuristics and search algorithms to improve the extent to which plans can be found that are sensitive to combined duration and cost metrics. An evaluation in a kitchen scenario shows our approach is effective, finding cost-effective task plans compared to those from existing planners, and a hand-crafted baseline. © 2024 The Authors.

关键词： Costs

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive Control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Yu, Guanfeng Zhang, Han Wang, Zehao Wang, Jingchuan Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities. © 2024 IEEE.

关键词： Iterative methods

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Intuitive Teleoperation Control for Flexible Robotic Endoscopes Under Unkonwn Environmental Interferences

Intuitive Teleoperation Control for Flexible Robotic Endosco...

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International Conference on Control and automation (ICCA)

作者： Wei Chen Yiang Lu Bin Li Jianshu Zhou Hanwen Cao Fei Chen Yun-Hui Liu Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Hong Kong Center for Logistics Robotics Hong Kong

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

Teleoperation control has been taken a pivotal role in robot-assisted surgical interventions. Unlike hand-eye coordination employed in the conventional laparoscopic systems, the eye-head coordination challenge arises with flexible robotic endoscopes, necessitating a distinct intuitive decision-making approach. In this paper, we introduce an intuitive teleoperation control scheme to address the eye-head coordination intricacies inherent in continuum endoscopic robots. The method achieves field of view (FOV) control consistent with surgeons' intuition for the robots based on the modelling of a virtual workspace (VW). By leveraging accurate shape feedback from embedded multi-core fiber Bragg gratings (FBGs), an observer-based anti-interference algorithm is implemented allowing a stable line of sight for robust motion control, even in challenging operational conditions with unknown disturbances. A class of robotic flexible endoscopes commonly used is analyzed specifically and deployed to validate the proposed approach. The efficacy and superiority of the proposed algorithm have been demonstrated through experimental results performed on a urology robotic system, encompassing trajectory tracking and disturbance resistance tasks.

关键词： Resistance Endoscopes Trajectory tracking Shape Robot kinematics Surgery Fiber gratings

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Attitude Tracking Control for Rigid Spacecraft with Arbitrary Convergence Time

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Journal of Systems Science & Complexity 2024年第6期37卷 2579-2594页

作者： XU Yu-Tian WU Ai-Guo Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology(Shenzhen)Shenzhen 518055China Key University Laboratory of Mechanism&Machine Theory and Intelligent Unmanned Systems of Guangdong Harbin Institute of Technology(Shenzhen)Shenzhen 518055China Department of Automation Harbin Institute of Technology(Shenzhen)Shenzhen 518055China HIT Wuhu Robot Technology Research Institute Wuhu 241060China

In this paper,attitude tracking control with arbitrary convergence time for rigid spacecraft is ***,a novel time-varying sliding function is proposed to achieve free-will arbitrary time convergence when the system states reside on the sliding *** such a sliding function,an attitude tracking controller is designed to guarantee that the states of the closed-loop system converge to the sliding surface within a predetermined time in the presence of external *** free-will arbitrary time convergences of the closed-loop system and sliding function are illustrated by numerical simulations.

关键词： Attitude tracking free-will arbitrary time stability rigid spacecraft sliding mode control

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