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Design of a Task-Based Modular Re-Configurable Agricultural Robot

IFAC-PapersOnLine 2016年第16期49卷 184-189页

作者： Levin, Mark Degani, Amir Technion Autonomous Systems Program Technion Haifa32000 Israel Faculty of Civil and Environmental Engineering Technion Haifa32000 Israel

This paper presents a new method for designing an optimal harvesting agriculture manipulator. The novelty in our approach is the re-configurability of the robot's joints, i.e., the ability to assemble a given set of joints in a variable order to form different manipulators for different harvesting tasks. This way, we provide the farmer with the ability to change the robot's construction before each harvesting period to achieve maximal use of the robot throughout the year. The efficiency of task-based optimization is demonstrated on apple and tangerine harvesting tasks. The method is shown to improve efficiency in terms of success harvest ratio and harvest time compared with non-reconfigurable robots of the same complexity. © 2016

关键词： Manipulators Agriculture Convex optimization Efficiency Harvesting Machine design Robots Agricultural robot Harvest time Harvesting periods Optimal harvesting Re configurability Reconfigurable robot Task based Variable order

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Modelling and Control of a Virtual Skydiver

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IFAC-PapersOnLine 2017年第1期50卷 369-374页

作者： Clarke A. Gutman P.-O. 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 gaining an insight into motor skills involved in human body flight is proposed. Body flight is the art of maneuvering during the free fall stage of skydiving, which is a rapidly developing sport. The key idea is creating an autonomous system capable of performing skydiving maneuvers in a virtual way, and turning it into a powerful tool for improving instruction methods. Towards this goal, the Skydiver Simulator is developed, comprising Biomechanical, Aerodynamic, and Kinematic Models, Dynamic Equations of Motion, and a Virtual Reality Environment. A Two-Input-Two-Output controller is designed to track the desired inertial motion, producing commands in terms of limbs movements. The natural kinematic redundancy of the human body is resolved by introducing movement patterns, constructed according to ergonomic considerations and empirical knowledge of how skydiving maneuvers are performed. The controller is designed with the use of Quantitative Feedback Theory, providing robustness for dealing with plant non-linearities and inaccurate execution of the movement patterns. The skydiver simulator allowed reconstruction of many challenging aspects of body-flight observed by practicing skydivers. The virtual skydiver, comprising a controller and a guidance algorithm, was shown to autonomously perform meaningful body flight missions. © 2017

关键词： autonomous systems dynamic modeling feedback control methods simulators

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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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Improvements on Interpolation Techniques based on Linear programming for Constrained Control

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IFAC-PapersOnLine 2017年第1期50卷 1403-1408页

作者： Rubin D. Mercader P. Nguyen H.-N. Gutman P.-O. Baños A. Autonomous Systems Program Technion – Israel Institute of Technology Haifa Israel Department of Computer and System Engineering University of Murcia Murcia Spain Control Signal and System Department IFP Energies Nouvelles Lyon France Faculty of Civil and Environmental Engineering Technion – Israel Institute of Technology Haifa Israel

We present some improvements on interpolation based control (IC) for linear discrete-time systems with polyhedral constraints on the control and the states variables. The plant may be uncertain, time-varying, and subject to bounded disturbances. Roughly speaking, IC approach is based on the interpolation between an inner and an outer controller. The extension presented here is twofold. On the one hand, the IC approach is extended to deal with higher order inner controllers, making it e.g. possible to incorporate integral action in a vicinity of the origin. On the other hand, this paper presents a modification that better exploits the control signal range. As with previous IC strategies, the presented method demands relatively low online computational resources, and is applicable also to uncertain plants. The benefits of the improved scheme are illustrated in some examples. © 2017

关键词： Constrained control Linear programing Model predictive optimization-based control Robust control Time-varying systems

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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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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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Analytic modeling and experiments of tri-layer, electro-thermal actuators for thin and soft robotics

Analytic modeling and experiments of tri-layer, electro-ther...

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2017 IEEE International Conference on Robotics and Automation, ICRA 2017

作者： Tibi, Gal Sachyani, Ela Layani, Michael Magdassi, Shlomo Degani, Amir Technion's Autonomous Systems Program Technion - Israel Institute of Technology Haifa3200063 Israel Casali Center Institute of Chemistry Hebrew University of Jerusalem Jerusalem91904 Israel Civil and Environmental Engineering Department Israel Institute of Technology Haifa3200063 Israel

ISBN: (纸本)9781509046331

By bonding micron-thin polymer layers with an electrically conductive layer, we can utilize the bi-metal effect to create a soft, thin, electrically-activated thermal actuator (ETA), which can be used in printed soft robots. Using ETAs have shown quite remarkable potential in previous works. However, to reveal their true capabilities, we propose to utilize a multi-layered ETA. In this research, we analytically model the actuator for both the bi-, and more importantly, tri-layer ETAs and analyze their behavior. We develop a simple intuitive model to better explain the benefits of the tri-layer actuation and to estimate the optimal design parameters. We verify the models by conducting an experiment to measure the curvature change for different third layer thicknesses. The experiments show a significant improvement in performance of the tri-layer actuators and display a good fit between the simplified analytic model and the full model. © 2017 IEEE.

关键词： Actuators

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Computation of Polyhedral Positive Invariant Sets via Linear Matrix Inequalities 16

Computation of Polyhedral Positive Invariant Sets via Linear...

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16th European Control Conference, ECC 2018

作者： Rubin, Daniel Nguyen, Hoai-Nam Gutman, Per-Olof Autonomous Systems Program Technion- Israel Institute of Technology Haifa Israel Control Signal and System Department IFP Energies Nouvelles Rond-point de l'Échangeur de Solaize BP3 Solaize69360 Israel Faculty of Civil and Environmental Engineering Technion- Israel Institute of Technology Haifa Israel

ISBN: (纸本)9783952426982

This paper presents a linear matrix inequality based algorithm for computation of polyhedral positive invari- ant sets for linear discrete-time systems subject to bounded state and input constraints. While the main algorithm is suitable for computation of polyhedral invariant sets of a general shape, a second algorithm specialized for symmetric sets is also presented. The results are extended to include polytopic uncertainty. Verification and demonstration of the proposed scheme is done through numerical examples. © 2018 European Control Association (EUCA).

关键词： Linear matrix inequalities

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