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arXiv 2020年

作者： Zywanowski, Kamil Banaszczyk, Adam Nowicki, Michal R. Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan Poland

Loop closure based on camera images provides excellent results on benchmarking datasets, but might struggle in real-world adverse weather conditions like direct sun, rain, fog, or just darkness at night. In automotive applications, the sensory setups include 3D LiDARs that provide information complementary to cameras. The presented article focuses on the evaluation of camera-based, LiDAR-based, and joint camera-LiDAR-based loop closures applying a similar processing pipeline consisting of a neural network under varying weather conditions using the newly available USyd dataset. The experiments performed on the same trajectories in diverse weather conditions over 50 weeks prove that a 16-line 3D LiDAR can be used to supplement image-based loop closure to increase loop closure performance. This proves that there is a need for more research into loop closures performed with multi-sensory setups. Copyright © 2020, The Authors. All rights reserved.

关键词： Meteorology

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Toward improving tracking precision in motion capture systems

Toward improving tracking precision in motion capture system...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Marek Retinger Jacek Michalski Piotr Kozierski Wojciech Giernacki Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan Poland

Motion capture systems are a must-have part of a modern research laboratory. The system has a wide area of applications such as movie, sport, medicine or experiments validations. The system provides accurate pose (both position and orientation) data and allows tracking several objects at the same time. The calibration process is a crucial part of using the system, which determines the further accuracy of tracking. This paper presents research struggling with this problem and describes a new approach to the camera placement process for the OptiTrack system, using the dedicated application programming interface and its features. The document discusses the general concept, shows the benefits of using it and confirms its usefulness. It helps to improve camera placement to ensure detection and reduction or elimination of "low tracking zones". The working tool is also presented.

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Comparison of camera-based and 3D LiDAR-based place recognition across weather conditions

Comparison of camera-based and 3D LiDAR-based place recognit...

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International Conference on control, Automation, robotics and Vision (ICARCV)

作者： Kamil Żywanowski Adam Banaszczyk Michał R. Nowicki Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan Poland

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Place recognition based on camera images provides excellent results on benchmarking datasets but might struggle in real-world adverse weather conditions like direct sun, rain, fog, or just darkness at night. In automotive applications, the sensory setups include 3D LiDARs that provide information complementary to cameras. The presented article focuses on the evaluation of camera-based, LiDAR-based, and joint camera-LiDAR-based place recognition. The processing for all data inputs is performed using a similar architecture of a neural network and is evaluated under varying weather conditions using the newly available USyd dataset. The experiments performed on the same trajectories in diverse weather conditions over 50 weeks prove that a 16-line 3D LiDAR can be used to supplement image-based place recognition to increase its performance. This proves that there is a need for more research into place recognition performed with multi-sensory setups.

关键词： Laser radar Three-dimensional displays Cameras Meteorology Training Pipelines Image recognition

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Position control of Crazyflie 2.1 Quadrotor UAV Based on Active Disturbance Rejection control

Position Control of Crazyflie 2.1 Quadrotor UAV Based on Act...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Jacek Michalski Marek Retinger Piotr Kozierski Wojciech Giernacki Faculty of Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Division of Control and Optimization Poznan University of Technology Poznan Poland

This paper presents the active disturbance rejection control (ADRC) algorithm applied to control the position of the small flying robot Crazyflie 2.1 in two degrees of freedom (movement in x and y axis). The platform and its functionalities, such as physical attributes and a communication system, were presented. Discrete proportional-integral-derivative (PID) and ADRC controllers were implemented and tuned. Furthermore, comparative tests were performed. Sensory data from the OptiTrack motion capture system was used in real flight experiments, ensuring high precision of measurements and high sampling frequency. Selected time plots and numerical quality indices were compared, especially for different ADRC controller gains. Based on the obtained results, one can conclude about some advantages of the ADRC method for nonlinear system, such as a drone. The presented approach additionally, once tuned, theoretically works fine for any object model.

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LMI-Based Luenberger Observer Design for Uncertain Nonlinear Systems with External Disturbances and Time-Delays

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IEEE Access 2023年 11卷 71823-71839页

作者： Karami, Hamede Nguyen, Ngoc Phi Ghadiri, Hamid Mobayen, Saleh Bayat, Farhad Skruch, Pawel Mostafavi, Fatemeh University of Zanjan Faculty of Engineering Department of Electrical Engineering Zanjan45371-38791 Iran Sejong University Department of Aerospace Engineering Seoul05006 Korea Republic of Islamic Azad University Qazvin Branch Department of Electrical Engineering Qazvin34199-15195 Iran National Yunlin University of Science and Technology Graduate School of Intelligent Data Science Douliou640301 Taiwan AGH University of Science and Technology Department of Automatic Control and Robotics Kraków30-059 Poland

This paper investigates the simultaneous design of a controller and Luenberger state observer for systems with time-delays, external disturbances, uncertainties, modeling errors, and unknown nonlinear perturbations. The state-feedback control approach and state-observer existence conditions are formulated using the Linear Matrix Inequalities (LMIs). By defining the estimation error, the equations of the closed-loop system are rewritten. External disturbances, uncertainties, unknown nonlinear perturbations, and constant time-delays are considered in system modeling. By using LMI techniques, the estimation error is converged to zero. Therefore, the time-delays, uncertainties, and external disturbance effects on the system output, which have not been considered simultaneously before, are minimized, and the closed-loop system is stabilized. The performance of the proposed approach is verified by simulation of two examples, Flexible-Link Manipulator (FLM) dynamics, and Continuous Stirred Tank Reactor (CSTR) system. These examples illustrate the reliability of the suggested method. © 2013 IEEE.

关键词： Linear matrix inequalities

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An Electro-Hydraulic Servo with Intelligent control Strategy

An Electro-Hydraulic Servo with Intelligent Control Strategy

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2017 Malaysian Technical Universities Conference on engineering and Technology, MUCET 2017

作者： Mohammed, Saeed Chee Soon, Chong Ghazali, Rozaimi Yusof, Ahmad Anas Md Sam, Yahaya Mau Shern, Chai Centre for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya Durian Tunggal Melaka76100 Malaysia Faculty of Mechanical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya Durian Tunggal Melaka76100 Malaysia Department of Control and Mechatronic Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor81310 Malaysia

Versatile engineering applications have been developed to assist, reduce, and avoid human being from any heavy or harmful manufacturing processes. The gradually increased demand in force and position controls have simultaneously increased the usage of Electro-Hydraulic Servo (EHS) system. However, the time varying characteristics such as high-speed, outburst starting and stopping dynamic have led the EHS system to suffer from uncertainties and nonlinearities effects. Therefore, in order to enhance the performance of an EHS to surmount the uncertain and nonlinear effects, a hybrid Fuzzy-PID control strategy is developed which particularly improve the accuracy of the system by enhancing the control performance during the positioning tracking. By measuring the performance of the proposed control approach, the transient response and steady-state analysis will be performed which taking linear and intelligent control strategies as the references in the assessment process. The finding indicates the capability of a hybrid Fuzzy-PID controller in reducing the control effort applied to the EHS system. © The Authors, published by EDP Sciences, 2018.

关键词： Position control

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Combined actuator sensor unit for interaction with honeybees

Combined actuator sensor unit for interaction with honeybees

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IEEE Sensors Applications Symposium, SAS

作者： Karlo Griparic Tomislav Haus Damjan Miklic Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia

Interacting with a specific animal society by integrating autonomous robot/s into the society, has become a powerful method to influence the behaviour of animals and investigate collective behaviour of both, animal and robot societies. In order to interact with animals, artificial unit/s should be well integrated into their society. In the European project ASSISIbf, a network of static autonomous robots called CASUs (Combined Actuator Sensor Units) for interaction with young honeybees has been designed. In the proposed approach CASUs can affect honeybees using three types of physical stimuli: heat, vibration and light. To provide feedback signals necessary for controlling CASU interaction with honeybees, accurate and reliable measurements of the stimuli are necessary. This paper describes the mechanical and electronic design of CASUs, capable of emitting controllable heat, vibration and light stimulations. Each CASU is equipped with temperature sensors, 3-axis accelerometers, infrared proximity sensors and microcontroller for data processing. Preliminary experimental results with honeybee groups are presented.

关键词： Robot sensing systems Vibrations Temperature measurement Temperature sensors Animals Heating

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On applying a generalized Padé approximation to stability analysis - experimental results

On applying a generalized Padé approximation to stability a...

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MECHATRONIKA International Symposium

作者： Dariusz Horla Faculty of Electrical Engineering Institute of Control Robotics and Information Engineering Poznan University of Technology Poznan Poland

ISBN: (纸本)9781538643648;9788021455429

The paper verifies by means of experiments the applicability of the generalized Padé approximation of the dead time to stability analysis (estimation of stability margins of the closed-loop system). Initial research carried on the topic revealed that there is a range of fractional orders of the generalized approximators, where the results obtained from fractional-order analysis give conservative results, and the approach is comparable to standard Padé approximation. In the paper, author aims at verifying this on the basis of experiments conducted with the use of FOMCON toolbox to implement fractional-order operators, and the Inteco Modular Servo System, comparing the identified model of the servo drive with added artificial open-loop delay, and the behaviour of the real closed-loop system. The analysis of the use of the generalized approximation, as well as application to a hardware-in-the-loop control problem, is the main novelty of the paper, since all prior approaches of various authors concentrated on time-domain analysis of the generalized approximator, not on stability issues.

关键词： Delays Closed loop systems Standards Servomotors Optimization Stability criteria

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Robust Output Regulation with Exact Unmatched Uncertainties Compensation Based on HOSM Observation

Robust Output Regulation with Exact Unmatched Uncertainties ...

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Alejandra Ferreira de Loza Francisco Bejarano Leonid Fridman the Department of Control and Robotics Division of Electrical EngineeringEngineering FacultyNational Autonomous University of Mexico （UNAM）

This manuscript tackles the regulation problem of linear time invariant systems with unmatched perturbations. A high order sliding mode observer is used allowing theoretically exact state and perturbation estimation. A compensation control approach based on the identified perturbation values is proposed ensuring exact regulation of the unmatched states. A simulation example shows the feasibility of this approach.

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New Grid for Particle Filtering of Multivariable Nonlinear Objects

New Grid for Particle Filtering of Multivariable Nonlinear O...

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Federated Conference on Computer Science and Information Systems

作者： Piotr Kozierski Jacek Michalski Talar Sadalla Wojciech Giernacki Joanna Zietkiewicz Szymon Drgas Faculty of Computing Institute of Automation and Robotics Division of Signal Processing and Electronic Systems Poznan University of Technology Faculty of Electrical Engineering Institute of Control Robotics and Information Engineering Division of Control and Robotics Poznan University of Technology

ISBN: (纸本)9781538623718

In the paper a new grid (potentially linear, nonlinear and even semi-Markovian jump system) was presented. All transition and measurement functions were proposed. Moreover, the transition functions of two types were considered - dependent on one and many different state variables. Also 10 types of measurements were proposed for both nodal and branch cases. Based on the obtained results one can see, which measurement functions are "easy", and which are "hard" for state estimation task.

关键词： Measuring Function Particle filters grids Grid State variable Multivariable nonlinearity

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