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American Control Conference (ACC)

作者： Anna Clarke Per Olof Gutman Technion Autonomous Systems Program (TASP) Technion - Israel Institute of Technology Haifa Israel Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology Haifa Israel

The Unscented Transform which is the basis of the Unscented Kalman Filter, UKF, is used here to develop a novel predictive controller for non-linear plants, called the Unscented Transform Controller, UTC. The UTC can be seen as the dual of the UKF, the same way as the LQG regulator and the Kalman Filter are related. The UTC is demonstrated on the control of complex maneuvers in free fall of a virtual skydiver the model of which was verified in wind tunnel and free fall experiments.

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A Dynamic Model of a Skydiver With Validation in Wind Tunnel and Free Fall

arXiv

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arXiv 2022年

作者： Clarke, Anna Gutman, Per-Olof Technion Autonomous Systems Program Technion - Israel Institute of Technology Haifa32000 Israel Faculty of Civil and Environmental Engineering Technion - Israel Institute of Technology Haifa32000 Israel

An innovative approach of gaining insight into motor skills involved in human body flight is proposed. The key idea is the creation of a model autonomous system capable of virtually performing skydiving maneuvers. A dynamic skydiver model and simulator is developed, comprising biomechanical, aerodynamic, and kinematic models, dynamic equations of motion, and a virtual reality environment. Limb relative orientations, and resulting inertial body angular position and velocity are measured in skydiving experiments in a vertical wind tunnel and in free fall. These experimental data are compared with corresponding simulation data to tune and verify the model for basic skydiving maneuvers. The model is further extended to reconstruct advanced aerial maneuvers, such as transitions between stable equilibria. The experimental data are used to estimate skydiver’s conscious inputs as a function of time, via an Unscented Kalman Filter modified for this purpose. © 2022, CC BY.

关键词： Biomechanics

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An Automatic Control System with Human-in-the-Loop for Training Skydiving Maneuvers: Proof-of-Concept Experiment

arXiv

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arXiv 2022年

A real-time motion training system for skydiving is proposed. Aerial maneuvers are performed by changing the body posture and thus deflecting the surrounding airflow. The natural learning process is extremely slow due to unfamiliar free-fall dynamics, stress induced blocking of kinesthetic feedback, and complexity of the required movements. The key idea is to augment the learner with an automatic control system that would be able to perform the trained activity if it had direct access to the learner’s body as an actuator. The aiding system will supply the following visual cues to the learner: 1. Feedback of the current body posture;2. The body posture that would bring the body to perform the desired maneuver;3. Prediction of the future inertial position and orientation if the body retains its present posture. The system will enable novices to maintain stability in free-fall and perceive the unfamiliar environmental dynamics, thus accelerating the initial stages of skill acquisition. This paper presents results of a Proof-of-Concept experiment, whereby humans controlled a virtual skydiver free-falling in a computer simulation, by the means of their bodies. This task was impossible without the aiding system, enabling all participants to complete the task at the first attempt. © 2022, CC BY.

关键词： Learning systems

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Time Optimal Control for a Non-Linear Planar Vehicle Subject to Disturbances ⁎

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IFAC-PapersOnLine 2021年第20期54卷 611-616页

作者： Ayal Taitler Ilya Ioslovich Erez Karpas Per-Olof Gutman Technion Autonomous Systems Program Technion Israel Institute of Technology Haifa Israel Faculty of Civil and Environmental Engineering Technion Israel Institute of Technology Haifa Israel Faculty of Industrial Engineering and Management Technion Israel Institute of Technology Haifa Israel

The problem of an autonomous agent moving on a planar surface, such as an aerial drone or a small naval vessel can be treated as navigation between a series of points. While nominally the movement between each pair of points can be treated as a 1D projection of the movement on the vector connecting the two points, in the presence of arbitrary constant disturbance the full problem on a plane must be considered. The minimum-time optimal solution is now dependent on the value and direction of the disturbance, which naturally affects the completion of the movement task. In this work, we address the problem of minimum time movement on a 2D plane with quadratic drag, under norm state (velocity), and norm control (acceleration) constraints. The structure and properties of the optimal solution of this nonlinear problem are found and analyzed. The Pontryagin Maximum Principle (PMP) with control and state constraints is utilized. Simulations encouraging the results are presented and compared with those of the academic open-source optimal control solver Falcon.m.

关键词： Optimal control Minimum time Maximum principle Bounded disturbances

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Time-Energy Optimal Control of a Non-Linear Surface Vehicle Subject to Disturbances ⁎

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IFAC-PapersOnLine 2021年第14期54卷 48-53页

The problem of a planar vehicle moving on a surface, such as an aerial drone or small naval vessel can be treated as series of trajectory planning problems between way-points. While nominally the movement between each two four dimensional points (positions and velocities) can be treated as an 1D projection of the movement on the vector connecting the two points, in the presence of arbitrary disturbance, the full problem on a plane must be considered. The combined minimum-time-energy optimal solution is now dependent on the value and direction of the disturbance, which naturally affects the structure and completion of the movement task. In this work, we address the minimum time-energy problem of a movement on a 2D plane with quadratic drag, under norm state (velocity), and norm control (acceleration) constraints. The structure and properties of the optimal solution are found and analyzed. The Pontryagin Maximum Principle (PMP) with control and state constraints is utilized. Simulations supporting the results are provided and compared with those of the open-source academic optimal control solver Falcon.m .

关键词： Optimal control Minimum time Maximum principle Bounded disturbances

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Construction operation assessment and correction using laser scanning and projection feedback 37

Construction operation assessment and correction using laser...

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37th International Symposium on Automation and Robotics in Construction: From Demonstration to Practical Use - To New Stage of Construction Robot, ISARC 2020

作者： Pevzner, A. Hasan, S. Sacks, R. Degani, A. Technion Autonomous Systems Program Technion-Israel Institute of Technology Haifa Israel National Building Research Institute Faculty of Civil and Environmental Engineering Technion-Israel Institute of Technology Haifa Israel

ISBN: (纸本)9789529436347

Lean construction (LC) and Building Information Modeling (BIM) support an integrated vision for short cycle plan-do-check-act cycles of planning and control in construction. However, operations control tasks, such as delivery of design information to the =field, monitoing, progress evaluation and error detection are still largely manual and thus time consuming, costly and error-prone. Innovations in construction technologies can be applied to reduce cycle time, waste, construction errors and the rework that necessarily follows. In this context, we propose application of a projection and scanning technology to provide workers with real-time information and feedback regarding the quality and accuracy of their handiwork. The goal is to achieve proper quality in the first iteration, with fully automated inspection, and no *** a proof-of-concept, we demonstrate the system using an example of wall plastering. The result of plaster application is difficult to measure in conventional means, and errors are difficult to detect. Our system monitors the progress of the procedure(Field-to-BIM), evaluates the surface flatness and projects corrections onto the surface itself, after optimizing with respect to industry standards and tolerances (BIM-to-Field).We demonstrate the concept in an experimental setup using a Trimble™TX8 laser scanner and an angled adjustable *** results show high precision detection of wall flatness deviations, of up to 2 mm accuracy. © 2020

关键词： Data acquisition

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Steerable Burrowing Robot: Design, Modeling and Experiments

Steerable Burrowing Robot: Design, Modeling and Experiments

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Moran Barenboim Amir Degani Technion Autonomous Systems Program Technion - Israel Institute of Technology Haifa ISRAEL Faculty of Civil and Environmental Engineering and with the Technion Autonomous Systems Program Technion - Israel Institute of Technology Haifa ISRAEL

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

This paper investigates a burrowing robot that can maneuver and steer while being submerged in a granular medium. The robot locomotes using an internal vibro-impact mechanism and steers using a rotating bevel-tip head. We formulate and investigate a non-holonomic model for the steering mechanism and a hybrid dynamics model for the thrusting mechanism. We perform a numerical analysis of the dynamics of the robot's thrusting mechanism using a simplified, orientation and depth dependent model for the drag forces acting on the robot. We first show, in simulation, that by carefully tuning various control input parameters, the thrusting mechanism can drive the robot both forward and backward. We present several experiments designed to evaluate and verify the simulative results using a proof-of-concept robot. We show that different input amplitudes indeed affect the direction of motion, as suggested by the simulation. We further demonstrate the ability of the robot to perform a simple S-shaped trajectory. These experiments demonstrate the feasibility of the robot's design and fidelity of the model.

关键词： Robot kinematics Needles Numerical models Solid modeling Trajectory Springs

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Actuation Strategy of a Virtual Skydiver Derived by Reinforcement Learning

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IFAC-PapersOnLine 2020年第2期53卷 1569-1574页

作者： Anna Clarke Per-Olof Gutman Technion Autonomous Systems Program Technion - Israel Institute of Technology Haifa 32000 Israel Faculty of Civil and Environmental Engineering Technion – Israel Institute of Technology Haifa 32000 Israel

An innovative approach of training motor skills involved in human body flight is proposed. Body flight is the art of maneuvering during the free fall stage of skydiving. The key idea is gradually constructing the movement patterns which are the combinations of body degrees-of-freedom that are activated synchronously and proportionally as a single unit, and turning this process into a coaching strategy. The proposed method is iterative: at each skill level an optimal movement pattern is constructed from the basic elements of the current movement repertoire. The free-fall maneuvers of each learning stage can be executed using any one of the basic elements. The construction has two stages: 1. tracking the desired maneuver while the body is actuated by each one of the basic patterns; 2. finding an optimal combination of these patterns to form a new way of body actuation. This hierarchical design resolves stage 2 by Reinforcement Learning with pure exploration and a minimal number of episodes. The method was tested in a Skydiver Simulator and resulted in deriving a movement pattern that showed a superior performance of the studied maneuver. The states and the reward of the Reinforcement Learning algorithm were converted into motor learning aids.

关键词： autonomous systems simulators multiple degrees-of-freedom reinforcement learning

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ARCSnake: Reconfigurable snake-like robot with Archimedean screw propulsion for multi-domain mobility

arXiv

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arXiv 2021年

作者： Richter, Florian Gavrilov, Peter V. Lam, Hoi Man Degani, Amir Yip, Michael C. The Department of Electrical and Computer Engineering University of California San Diego San DiegoCA92093 United States The Department of Mechanical and Aerospace Engineering University of California San Diego San DiegoCA92093 United States The Faculty of Civil and Environmental Engineering The Technion Autonomous Systems Program Technion - Israel Institute of Technology Haifa3200003 Israel

Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that require traversing a wide range of surface roughnesses and topologies. Previous locomotion strategies, involving wheels or ambulatory motion, such as snake platforms, have success on specific surfaces but fail in others which could be detrimental in exploration and navigation missions. In this paper, we present a novel approach that combines snake-like robots with an Archimedean screw locomotion mechanism to provide multiple, effective mobility strategies in a large range of environments, including those that are difficult to traverse for wheeled and ambulatory robots. This work develops a robotic system called ARCSnake to demonstrate this locomotion principle and tested it in a variety of different terrains and environments in order to prove its controllable, multi-domain, navigation capabilities. These tests show a wide breadth of scenarios that ARCSnake can handle, hence demonstrating its ability to traverse through extreme terrains. Copyright © 2021, The Authors. All rights reserved.

关键词： Screws

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Minimum Time Optimal Control of Second Order System With Quadratic Drag and State Constraints

Minimum Time Optimal Control of Second Order System With Qua...

引用

IEEE Annual Conference on Decision and Control

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

The problem of mixed discrete-continuous task planning for mechanical systems, such as aerial drones or other autonomous units, can often be treated as a sequence of point-to-point trajectories. The minimum time optimal solution between points in the plan is critical not only for the calculation of the trajectory in cases where the goal has to be achieved quickly but also for the feasibility checking of the plan and the planning process itself, especially in the presence of deadlines and temporal constraint. In this work, we address the minimum time problem for a second-order system with quadratic drag, under state (velocity) and control (acceleration) constraints. Closed-form expressions for the trajectory are derived and the optimality is proven using the Pontryagin Maximum Principle. Simulations supporting the results are provided and compared with those of an open source academic optimal control solver.

关键词： Trajectory Optimal control Acceleration Planning Optimization System dynamics Riccati equations

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