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作者： Häusler, Andreas J. Ghabcheloo, Reza Pascoal, António M. Aguiar, A. Pedro Institute for Systems and Robotics Dept. of Electrical Engineering Instituto Superior Técnico Av. Rovisco Pais No. 1 1049-001 Lisboa Portugal Department of Intelligent Hydraulics and Automation Tampere Univ. of Technology P.O. Box 589 33101 Tampere Finland

ISBN: (纸本)9783902661876

Recent research in multiple autonomous marine vehicle (AMV) applications shows that versatile path planning algorithms are of crucial importance to cooperative control scenarios. These algorithms need to be lightweight in terms of running time and capable of incorporating different factors inuencing a given mission, like AMV dynamic constraints and environmental conditions. In addition, the path planner needs to take into account requirements imposed by multiple vehicle scenarios (of which collision avoidance is an important issue), and inter-vehicle communication constraints. Mission-related measures have to be incorporated additionally, such as minimization of energy usage over all participating AMVs, and simultaneous arrival of the AMVs at their designated target destinations, to name but a few. These aspects pose considerable challenges both from a theoretical and practical implementation standpoint. This paper presents a versatile path planning algorithm for deconicted multiple AMV missions at sea, incorporating single vehicle dynamical constraints as well as an inter-vehicle communication constraint. Additionally, it takes into account unknown constant ocean currents, and gives an overview on time-coordinated path following, a a closed-loop methodology to execute the planned mission, reducing the need for replanning in the presence of disturbances. The paper finishes with an outlook on important future directions to advance the algorithm.

关键词： Motion planning

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Multiple Marine Vehicle Deconflicted Path Planning with Currents and Communication Constraints

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IFAC Proceedings Volumes 2010年第16期43卷 491-496页

作者： Andreas J. Häusler Reza Ghabcheloo António M. Pascoal A. Pedro Aguiar Institute for Systems and Robotics Dept. of Electrical Engineering Instituto Superior Técnico Av. Rovisco Pais No. 1 1049-001 Lisboa Portugal Department of Intelligent Hydraulics and Automation Tampere Univ. of Technology P.O. Box 589 33101 Tampere Finland

Recent research in multiple autonomous marine vehicle (AMV) applications shows that versatile path planning algorithms are of crucial importance to cooperative control scenarios. These algorithms need to be lightweight in terms of running time and capable of incorporating different factors influencing a given mission, like AMV dynamic constraints and environmental conditions. In addition, the path planner needs to take into account requirements imposed by multiple vehicle scenarios (of which collision avoidance is an important issue), and inter-vehicle communication constraints. Mission-related measures have to be incorporated additionally, such as minimization of energy usage over all participating AMVs, and simultaneous arrival of the AMVs at their designated target destinations, to name but a few. These aspects pose considerable challenges both from a theoretical and practical implementation standpoint. This paper presents a versatile path planning algorithm for deconflicted multiple AMV missions at sea, incorporating single vehicle dynamical constraints as well as an inter-vehicle communication constraint. Additionally, it takes into account unknown constant ocean currents, and gives an overview on time-coordinated path following, a a closed-loop methodology to execute the planned mission, reducing the need for replanning in the presence of disturbances. The paper finishes with an outlook on important future directions to advance the algorithm.

关键词： Deconflicted Path Planning Multiple Autonomous Marine Vehicles Time-Coordinated Path Following

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Novelty detection and 3D shape retrieval using superquadrics and multi-scale sampling for autonomous mobile robots

Novelty detection and 3D shape retrieval using superquadrics...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Drews P. Núñez R. Rocha M. Campos J. Dias Dept. Computer Science Federal University of Minas Gerais Brazil ISIS Group Universidad de Málaga Spain Department Tecnología de los Computadores y las Comunicaciones Universidad de Extremadura Spain Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal Dept. Tecnología de los Computadores y las Comunicaciones Universidad de Extremadura Spain Dept. Electrical and Computer Engineering University of Coimbra Portugal

There are several applications for which it is important to both detect and communicate changes in data models. For instance, in some mobile robotics applications (e.g. surveillance) a robot needs to detect significant changes in the environment (e.g. a layout change) which it may achieve by comparing current data provided by its sensors with previously acquired data (e.g. map) of the environment. This often constitutes an extremely challenging task due to the large amounts of data that must be compared in real-time. This paper proposes a framework to detect, and represent changes through a compact model. The main steps of the procedure are: multi-scale sampling to reduce the computation burden; change detection based on Gaussian mixture models; fitting superquadrics to detected changes; and refinement and optimization using the split and merge paradigm. Experimental results in various real and simulated scenarios demonstrate the approach's feasibility and robustness with large datasets.

关键词： Shape Sampling methods Mobile robots Robot sensing systems Navigation robotics and automation Information retrieval Data models Surveillance Simultaneous localization and mapping

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Single beacon acoustic navigation for an AUV in the presence of unknown ocean currents

Single beacon acoustic navigation for an AUV in the presence...

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作者： Saúde, João Aguiar, Antonio Pedro Institute for Systems and Robotics Dept. Electrical Engineering Instituto Superior Técnico Lisbon Portugal

ISBN: (纸本)9783902661517

This paper addresses the problem of underwater navigation, using a single beacon (or a transponder). We propose a solution to estimate the underwater vehicle position in the presence of unknown ocean currents. The main idea is to combine the dead-reckoning information with multiple range measurements taken at different instants of time from the vehicle to a single beacon. Then, applying a multilateration based algorithm and using a Kalman filter, the unknown velocity of ocean current and a more accurate estimation of vehicle's position is estimated. The stability and convergence of the position estimation error are analysed taken explicitly into account the presence of ocean currents, disturbances, measurement noise and discretization errors. Simulation results are presented and discussed. In particular, we show that the implementation of the Kalman filter to estimate the ocean current is crucial to achieve convergence of the estimated position. © 2009 IFAC.

关键词： Kalman filters

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ZMP trajectory reference for the sagittal plane control of a biped robot based on a human CoP and gait

ZMP trajectory reference for the sagittal plane control of a...

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 2009

作者： Ferreira, João P. Crisóstomo, Manuel Coimbra, A. Paulo Inst. of Systems and Robotics Dept. of Electrical and Computer Eng. Univ. of Coimbra Portugal Dept. of Electrical Engineering Superior Institute of Engineering of Coimbra Coimbra Portugal

ISBN: (纸本)9781424438044

This paper introduces two new important issues to be considered in the design of the zero moment point (ZMP) trajectory reference for the sagittal plane balance control of an autonomous walking biped robot with an human-like gait. ZMP trajectory reference generation is very important in the design and balance control of the walking of a biped robot. ZMP reference generation algorithms based on the Linear Inverted Pendulum Model (LIPM) and moving ZMP references in the swing phase have already been proposed with the ZMP trajectory during the swing phase being designed moving along a symmetric trajectory relative to the center of the foot. It was verified experimentally that in the human gait the ZMP trajectory moves along the foot in a way that it is shifted forward relative to its center. To take this into account a shift parameter is then proposed to move forward the XZMP trajectory reference during the swing phase. It was also verified experimentally that in the human gait the ZMP trajectory amplitude depends on the swing time. Its variation law has been determined experimentally and it was verified that this range decreases as the swing time increases, reducing to zero for a static gait. It is then proposed a parameter H to take into account this variation with the swing time of the gait. Six experiments were carried out for three different XZMP trajectory references. In order to evaluate and compare the performance of the biped robot using the three XZMP trajectory references two performance indexes are proposed. © 2009 IEEE.

关键词： Trajectories

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Artificial intelligence in diagnostics of electric machines

Artificial intelligence in diagnostics of electric machines

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8th International Conference on Mechatronics 2009

作者： Hammer, M. Šimková, M. Ministr, M. Dept. of Electrical Engineering Institute of Production Machines Systems and Robotics Brno University of Technology Technicka 2896/2 Brno Czech Republic

ISBN: (纸本)9783642050213

The article is focused on the applied artificial intelligence in the diagnostics of electric machines. Attention is paid to some developmental trends of artificial intelligence, for example, neural networks, fuzzy systems, genetic algorithms and expert systems. Having in mind the intended future usage in electric machine diagnostics the accent is placed on the analysis of topology and behaviour of an artificial intelligence method - fuzzy systems. The obtained results are evaluated in detail.

关键词： Electric machinery

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Expert systems in transformer diagnostics

Expert systems in transformer diagnostics

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8th International Conference on Mechatronics 2009

作者： Šimková, M. Ministr, M. Hammer, M. Dept. of Electrical Engineering Institute of Production Machines Systems and Robotics Brno University of Technology Technicka 2896/2 Brno Czech Republic

ISBN: (纸本)9783642050213

The contribution is focused on the diagnostics of transformers in power engineering practice. First, attention is paid to the brief description of the general expert systems. Furthermore, the classification of expert systems and the analysis of the diagnostic expert system without vagueness are presented. In this contribution, emphasis is laid on the description of the rule expert system which is applied in the diagnostics of transformers. The composition of this expert system and the specific example of the results obtained are analysed in detail.

关键词： Expert systems

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Nonlinear adaptive dept. tracking and attitude control of an underwater towed vehicle

Nonlinear adaptive depth tracking and attitude control of an...

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作者： Teixeira, Francisco Curado Aguiar, Antonio Pedro Pascoal, Antonio Centre for Environmental and Marine Studies University of Aveiro Portugal Institute for Systems and Robotics Dept. Electrical Engineering Instituto Superior Técnico Portugal

ISBN: (纸本)9783902661517

This paper addresses the problem of simultaneous dept. tracking and precise attitude control of an underwater towed vehicle integrated in a two-stage towing arrangement. A nonlinear Lyapunov-based output feedback controller is designed to operate in the presence of plant parameter uncertainty and proven to regulate pitch, yaw, and dept. tracking errors to zero. When subjected to bounded external disturbances, the tracking errors converge to a neighborhood of the origin that can be made arbitrarily small. In the implementation proposed, a nonlinear observer is used to estimate the linear velocities used by the controller. The results obtained with computer simulations including sea wave driven disturbances and sensor noise, show that the controlled system exhibits good performance about different operating conditions and holds considerable potential for oceanographic missions that require simultaneous dept. and attitude control. © 2009 IFAC.

关键词： Lyapunov methods

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Single Beacon Acoustic Navigation for an AUV in the presence of unknown ocean currents

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IFAC Proceedings Volumes 2009年第18期42卷 298-303页

作者： JoÃo Saúde Antonio Pedro Aguiar Institute for Systems and Robotics and Dept. Electrical Engineering Instituto Superior Técnico. Lisbon Portugal

关键词： Single beacon underwater navigation Kalman filter trilateration

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Continuous-time consensus with discrete-time communication 10

Continuous-time consensus with discrete-time communication

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2009 10th European Control Conference, ECC 2009

作者： Almeida, Joao Silvestre, Carlos Pascoal, Antonio M. Antsaklis, Panos J. Institute for Systems and Robotics Instituto Superior Técnico Av. Rovisco Pais Lisboa1049-001 Portugal Dept. of Electrical Engineering Univ. of Notre Dame DameIN46556 United States

ISBN: (纸本)9783952417393

This paper describes a solution to a consensus problem whereby a group of agents evolve in continuous-time and exchange information at discrete instants of times. In the setup adopted each agent is viewed as a node in a graph, its evolution is represented by a scalar node variable, and all agents seek to agree on a common value. The agents are allowed to exchange information among each other but only at specified update times. The topology of the communication network can change over time and the information received by one agent from a subset of the other agents may be outdated. The solution proposed relies on the introduction of an extra variable for each agent that is updated instantaneously at update times. In between updates, both the node and the extra variables evolve in a continuous fashion. The proof that consensus is achieved is done by reducing the system under study to a discrete-time equivalent one and resorting to results on consensus for discrete-time systems. © 2009 EUCA.

关键词： Digital control systems

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