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Development of Unmanned Cargo VTOL Aircraft 1

59th Symposium on engineering Modelling in Mechanics, 2020

作者： Czyba, Roman Gorol, Zbigniew Lemanowicz, Marcin Pawlak, Mariusz Sikora, Adam Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology Akademicka Street 2A Gliwice44-100 Poland Faculty of Mechanical Engineering Department of Theoretical and Applied Mechanics Silesian University of Technology Akademicka Street 2A Gliwice44-100 Poland Faculty of Chemistry Department of Chemical Engineering and Process Design Silesian University of Technology Akademicka Street 2A Gliwice44-100 Poland

ISBN: (数字)9783030684556

ISBN: (纸本)9783030684549

The aim of the paper is to present a design cycle regarding to the construction of an unmanned cargo aircraft with own weight up to 25 kg, operating range of up to 100 km and AGL operating ceiling of up to 1 km. The task of the project team was to plan the design cycle, perform analytical calculations and CFD simulations, and finally to build an unmanned aircraft capable of lifting cargo. At the same time, a number of assumptions and technical regulations regarding constructions had to be met, which are specified in legal regulations regarding the given class of unmanned aerial vehicles. In order to achieve optimal UAV aerodynamic properties, including maximization of the payload while minimizing the own weight, aerodynamic calculations and CFD simulations were performed. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Unmanned aerial vehicles (UAV)

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Subterranean MAV Navigation based on Nonlinear MPC with Collision Avoidance Constraints ⁎

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IFAC-PapersOnLine 2020年第2期53卷 9650-9657页

作者： Sina Sharif Mansouri Christoforos Kanellakis Emil Fresk Björn Lindqvist Dariusz Kominiak Anton Koval Pantelis Sopasakis George Nikolakopoulos Robotics Team Department of Computer Electrical and Space Engineering Luleå University of Technology Luleå SE-97187 Sweden WideFind AB Aurorum 1C Luleå SE-97775 Sweden School of Electronics Electrical Engineering and Computer Science (EEECS) Queen’s University Belfast and Centre for Intelligent Autonomous Manufacturing Systems (i-AMS) United Kingdom

Micro Aerial Vehicles (MAVs) navigation in subterranean environments is gaining attention in the field of aerial robotics, however there are still multiple challenges for collision free navigation in such harsh environments. This article proposes a novel baseline solution for collision free navigation with Nonlinear Model Predictive Control (NMPC). In the proposed method, the MAV is considered as a floating object, where the velocities on the x, y axes and the position on altitude are the references for the NMPC to navigate along the tunnel, while the NMPC avoids the collision by considering kinematics of the obstacles based on measurements from a 2D lidar. Moreover, a novel approach for correcting the heading of the MAV towards the center of the mine tunnel is proposed, while the efficacy of the suggested framework has been evaluated in multiple field trials in an underground mine in Sweden.

关键词： NMPC Collision Avoidance Subterranean MAV Autonomous Tunnel Inspection Mining Aerial robotics

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Fast Spatial Reasoning of Implicit 3D Maps through Explicit Near-Far Sampling Range Prediction

Fast Spatial Reasoning of Implicit 3D Maps through Explicit ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Chaerin Min Sehyun Cha Changhee Won Jongwoo Lim Department of Computer Science Brown University Advanced Robotics Lab. CTO Division LG Electronics MultiplEYE Co. Ltd Department of Mechanical Engineering Seoul National University

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

3D mapping is critical for many robotics applications, such as autonomous navigation and object manipulation. Recently, deep implicit mapping approaches have received much attention for their compactness and ability to represent fine-grained details. However, without explicit guidance, such implicit representations are often cumbersome for searching the full range on the rays to find the object surfaces. As a result, several approaches, including hierarchical sampling, occupancy grids, and zero-level set baking, have been proposed to improve sampling where costly forward passes of the neural network should be performed. However, hierarchical sampling is still suboptimal in that it requires uniform coarse samples. Discrete occupancy grids of Instant NGP and zero-level sets of various baking methods are less suitable for large and noisy real *** this paper, we present a novel framework for adaptively predicting the near-far range for sampling the query positions of the deep implicit map. For this purpose, the truncated signed distance grid for the map is pre-constructed and used to provide hints for near-far prediction during rendering. In addition, our recovery algorithm automatically detects failed near-far predictions and recovers only those rays by directly using the implicit map. We conduct extensive experiments on a synthetic dataset, a public real dataset, and a real dataset captured by our multi-camera robot system. The experimental results show that our algorithm achieves the same rendering quality with surprisingly fewer samples compared to the existing methods, which means that the robot can reason about the image and depth properties of the scene much faster. Finally, a thorough analysis of the sample distribution along the rays is provided to give a better understanding of our method’s strong efficiency, adaptability, and robustness. https://***/TSDF-sampling/

关键词： Three-dimensional displays Neural networks Rendering (computer graphics) Prediction algorithms Search problems Robustness Cognition Noise measurement Intelligent robots Synthetic data

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Analyzing the Impacts of High Voltage Insulators on Equivalent Parameters of Wireless Power Transfer: Simulation and Experimental Studies

Analyzing the Impacts of High Voltage Insulators on Equivale...

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IEEE Canada Electric Power Conference, EPEC

作者： Sadjad Shafiei Seyed Saeid Heidari Yazdi Tleukhan Mussin Yussuf Shakhin Alireza Namadmalan Mehdi Bagheri Department of Electrical and Computer Engineering Nazarbayev University Astana Kazakhstan Department of Robotics Nazarbayev University Astana Kazakhstan Power Electronics Research Centre National University of Ireland Galway Ireland

ISBN: (纸本)9781665463195

The impacts of high voltage (HV) insulators on equivalent circuit parameters of wireless power transfer (WPT) system is evaluated and analyzed in this study. Flat spiral coils are inserted under the HV insulators and convey power to charge monitoring devices' battery at the top of the power line towers. All the external metal objects over the magnetic flux path are identified, and their material type, relative permeability, and conductivity are explained. An equivalent circuit for the WPT system is specified, and its parameters are calculated with and without the presence of external metal objects. In this sense, 3-D finite element method (FEM) simulations are conducted in ANSYS Maxwell. The variation of the magnetic flux within the airgaps is displayed, the eddy current induction initiation over the external metal objects is shown, and changes in the equivalent circuit parameters of the WPT system are clearly discussed. The results of the simulation study are then validated through experimental studies by means of fabricated flat spiral coils.

关键词： Coils Magnetic flux Spirals Metals Wireless power transfer Insulators Finite element analysis

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Development of Prosthesis Grasp Control Systems on a Robotic Testbed

Development of Prosthesis Grasp Control Systems on a Robotic...

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IEEE RAS & EMBS International Conference on Biomedical robotics and Biomechatronics

作者： Bart Peerdeman Ugo Fabrizi Gianluca Palli Claudio Melchiorri Stefano Stramigioli Sarthak Misra MIRA - Institute for Biomedical Technology and Technical Medicine (Control Engineering Group) University of Twente LAR DEIS - Laboratory of Automation and Robotics Department of Electronics Computer Science and Systems University of Bologna

ISBN: (纸本)9781457711992

Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.

关键词： Grasp control systems Prosthetic hand Prosthesis robotic hand

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Norm optimal iterative learning control with auxiliary optimization: A switching approach

Norm optimal iterative learning control with auxiliary optim...

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11th IFAC International Workshop on Adaptation and Learning in Control and Signal Processing, ALCOSP 2013

作者： Owens, David H. Freeman, Chris T. Chu, Bing Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom Electronics and Computer Science University of Southampton Highfield Southampton SO17 1BJ United Kingdom Advanced Robotics Instituto Italiano di Tecnologia via Morego 30 16163 Genova Italy

ISBN: (纸本)9783902823373

The paper describes a substantial extension of Norm Optimal Iterative Learning Control (NOILC) that permits tracking of a class of finite dimensional reference signals whilst simultaneously minimizing a quadratic cost function. Motivated by practical problems in automation and control, this enables point-to-point motion tasks to be performed whilst reducing effects such as payload spillage, vibration tendencies and actuator wear. Solutions combine feedforward and feedback actions, and are experimentally tested using a robotic arm. © IFAC.

关键词： Optimization

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Gas turbine engine fault isolation based fuzzy inference logic with ECM trend plot report

Gas turbine engine fault isolation based fuzzy inference log...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Eun-Jong Mo Min-Seok Jie Chin-Su Kim Kang-Woong Lee School of Electronics Telecommunication and Computer Engineering Korea Aerospace University Koyang Gyeonggi South Korea Center for Cognitive Robotics Research Korea Institute of Science and Technology Seoul South Korea

A fuzzy inference logic system is proposed for gas turbine engine fault isolation. The gas path measurements used for fault isolation are exhaust gas temperature, low and high rotor speed, and fuel flow. The fuzzy inference logic uses rules developed from a model of performance influence coefficients to isolate engine faults while accounting for uncertainty in gas path measurements. Inputs to the fuzzy inference logic system are measurement deviations of gas path parameters which are transferred directly from the ECM (Engine Control Monitoring) program and outputs are engine module faults. The proposed fuzzy inference logic system is tested using simulated data developed from the ECM trend plot reports and the results show that the proposed fuzzy inference logic system isolates module faults with high accuracy rate in the environment of high level of uncertainty.

关键词： Fuzzy logic Turbines Engines Electrochemical machining Fuzzy systems Logic testing Fluid flow measurement Velocity measurement Temperature Fuels

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Sparse-then-Dense Alignment based 3D Map Reconstruction Method for Endoscopic Capsule Robots

arXiv

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arXiv 2017年

作者： Turan, Mehmet Pilavci, Yusuf Yigit Ganiyusufoglu, Ipek Araujo, Helder Konukoglu, Ender Sitti, Metin Max Planck Institute for Intelligent Systems Stuttgart Germany Computer Vision Laboratory ETH Zurich Switzerland Robotics Laboratory University of Coimbra Portugal Electrical and Electronics Engineering Middle East Technical University Turkey Computer Science Faculty of Engineering and Natural Sciences Sabanci University Turkey

In the gastrointestinal (GI) tract endoscopy field, ingestible wireless capsule endoscopy is emerging as a novel, minimally invasive diagnostic technology for inspection of the GI tract and diagnosis of a wide range of diseases and pathologies. Since the development of this technology, medical device companies and many research groups have made substantial progress in converting passive capsule endoscopes to robotic active capsule endoscopes which can be controlled by the doctor. However, robotic capsule endoscopy still has some challenges. In particular, the use of such devices to generate a precise and globally consistent three-dimensional (3D) map of the entire inner organ remains an unsolved problem. Such global 3D maps of inner organs would help doctors to detect the location and size of diseased areas more accurately, precisely, and intuitively, thus permitting more accurate and intuitive diagnoses. The proposed 3D reconstruction system is built in a modular fashion including preprocessing, frame stitching, and shading-based 3D reconstruction modules. We propose an efficient scheme to automatically select the key frames out of the huge quantity of raw endoscopic images. Together with a bundle fusion approach that aligns Copyright © 2017, The Authors. All rights reserved.

关键词： Endoscopy

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Gnss-Onboard Inertial Sensor Integration for Accurate Autonomous Vehicle Localization in Gnss-Denied Scenarios

SSRN

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SSRN 2023年

作者： Yusefi, Abdullah Toy, İbrahim Sungur, Cemil Durdu, Akif Computer Engineering Konya Technical University Konya Turkey Inc. Co. Konya Turkey Electrical and Electronics Engineering Konya Technical University Konya Turkey Robotics Automation Control Laboratory Konya Technical University Konya Turkey

This letter proposes a global navigation satellite system (GNSS) and inertial navigation system (INS)-based, pose estimation method for autonomous vehicles. We focus on the issue of localization in situations where GNSS signals are blocked, where localization must proceed using alternate sensors such as INS. Our methodology uses two filtering mechanisms to filter out the noise and obtain velocity and attitude of the vehicle from inertial sensor measurements. The two mechanism are the sigmoid filtering for angular velocity, and the sliding window filtering for linear acceleration measurements. The filtered velocity and attitude are then loosely coupled with GNSS data to produce a highly accurate pose estimation. Our techniques are deployed and tested on a real-world autonomous vehicle. When determining the pose solely from inertial dead-reckoning measurements during GNSS outages, the highest translational and rotational RPE drifts are less than 0.3 meters and 5.0 degrees of the entire 5500 meters’ distance traveled. © 2023, The Authors. All rights reserved.

关键词： Inertial navigation systems

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Taming time-varying information asymmetry in fresh status acquisition

arXiv

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arXiv 2021年

作者： Wang, Zhiyuan Gao, Lin Huang, Jianwei Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong School of Electronics and Information Engineering Harbin Institute of Technology Shenzhen China School of Science and Engineering Chinese University of Hong Kong Shenzhen Hong Kong Shenzhen Institute of Artificial Intelligence and Robotics for Society

Many online platforms are providing valuable real-time contents (e.g., traffic) by continuously acquiring the status of different Points of Interest (PoIs). In status acquisition, it is challenging to determine how frequently a PoI should upload its status to a platform, since they are self-interested with private and possibly time-varying preferences. This paper considers a general multi-period status acquisition system, aiming to maximize the aggregate social welfare and ensure the platform freshness. The freshness is measured by a metric termed age of information. For this goal, we devise a long-term decomposition (LtD) mechanism to resolve the time-varying information asymmetry. The key idea is to construct a virtual social welfare that only depends on the current private information, and then decompose the per-period operation into multiple distributed bidding problems for the PoIs and platforms. The LtD mechanism enables the platforms to achieve a tunable trade-off between payoff maximization and freshness conditions. Moreover, the LtD mechanism retains the same social performance compared to the benchmark with symmetric information and asymptotically ensures the platform freshness conditions. Numerical results based on real-world data show that when the platforms pay more attention to payoff maximization, each PoI still obtains a non-negative payoff in the long-term. © 2021, CC BY.

关键词： Economic and social effects

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