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IEEE-RAS International Conference on Humanoid Robots

作者： Konrad Fründ Anton Leonhard Shu Florian Christoph Loeffl Christian Ott German Aerospace Center (DLR) Institute of Robotics and Mechatronics Wessling Germany Faculty of Electrical Engineering and Information Technology TU Wien Automation and Control Institute Vienna Austria

ISBN: (纸本)9798350309805

The kinematics of humanoid robots are strongly inspired by the human archetype. A close analysis of the kinematics of the human musculoskeletal system reveals that the human joint axes are oriented within certain inclinations. This is in contrast to the most popular humanoid design with a configuration based on perpendicular joint axes. This paper reviews the oblique joint axes of the mainly involved joints for locomotion of the human musculoskeletal system. We elaborate on how the oblique axes affect the performance of walking and running. The mechanisms are put into perspective for the locomotion types of walking and running. In particular, walking robots can highly benefit from using oblique joint axes. For running, the primary goal is to align the axis of motion to the mainly active sagittal plane. The results of this analysis can serve as a guideline for the kinematic design of a humanoid robot and a prior for optimization-based approaches.

关键词： Legged locomotion Musculoskeletal system Actuators Torque Robot kinematics Humanoid robots Kinematics

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Heat Transfer Optimization of end Winding Rotor Generator by the Use of Modified Axial Spacer: A Case Study 1

Heat Transfer Optimization of end Winding Rotor Generator by...

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1st International Conference on Industrial Automation, Smart Grid and its Application, ICIASGA 2020

作者： Baskoro, Y. Jaya, I. Glowacz, A. Sulowicz, M. Caesarendra, W. PT Indonesia Power Indonesia Department of Automatic Control and Robotics AGH University of Science and Technology Kraków30-059 Poland Institute of Electromechanical Energy Conversion Faculty of Electrical and Computer Engineering Cracow University of Technology Warszawska 24 Cracow31-155 Poland Faculty of Integrated Technologies Universiti Brunei Darussalam Jalan Tungku Link Gadong Brunei Darussalam BE1410 Brunei

This paper presents a case study of a rotor fault occurring in the rotor generator of a steam power plant located in Lontar, Banten Province, Indonesia. The steam power plant has 3 x 315 MV capacity and uses hydrogen in the cooling system. The issue arising during the operation was caused by heat transfer exceeding the normal level. The grounding of the rotor occurred through rising vibration and temperature, tripping the generator unit. During repairs, the axial spacer was replaced with a new model, where it is longer than the original, adding a bar spacer at a previously unavailable position and creating a cooling track profile. This is a case study on the replacement of the axial spacer model aimed at preventing the expansion of the winding, so as not to touch with each other, through the installation of a longer axial spacer and the addition of the spacer bar, and lastly adding the track profile to the cooling hydrogen gas flow thereby maximizing the cooling process from the end winding rotor generator. Heat transfer is an analysed parameter related to the model change of the axial spacer. The addition of a track cooling gas flow has been able to maximize the heat transfer process, which is simulated in this paper. The performance of the rotor generator increased through several parameters after the replacement of the axial spacer model. © Published under licence by IOP Publishing Ltd.

关键词： Cooling

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Robust Impedance control for Dual User Haptic Training System

Robust Impedance Control for Dual User Haptic Training Syste...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： R. Heidari M. Motaharifar H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

In this paper, an impedance controller with switching parameters for a dual-user haptic training system is introduced. The trainer and the trainee are connected through their haptic consoles, and the trainee performs the surgical procedure on the environment. The trainer can intervene in the procedure by pressing a mechanical pedal; thus, the control parameters are switched to transfer the authority over the task from the trainee to the trainer. The stability of each subsystem and the closed-loop stability of the overall system are investigated. The simulation results verify the performance of the proposed controller.

关键词： Haptic interfaces Impedance Surgery Training Mathematical model Stability analysis Force

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Parameter Adjustments in POMDP-Based Trajectory Planning for Unsignalized Intersections

arXiv

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arXiv 2024年

作者： Kollarčík, Adam Hanzálek, Zdeněk Dept. of Control Engineering Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University Prague Czech Republic

This paper investigates the problem of trajectory planning for autonomous vehicles at unsignalized intersections, specifically focusing on scenarios where the vehicle lacks the right of way and yet must cross safely. To address this issue, we have employed a method based on the Partially Observable Markov Decision Processes (POMDPs) framework designed for planning under uncertainty. The method utilizes the Adaptive Belief Tree (ABT) algorithm as an approximate solver for the POMDPs. We outline the POMDP formulation, beginning with discretizing the intersection’s topology. Additionally, we present a dynamics model for the prediction of the evolving states of vehicles, such as their position and velocity. Using an observation model, we also describe the connection of those states with the imperfect (noisy) available measurements. Our results confirmed that the method is able to plan collision-free trajectories in a series of simulations utilizing real-world traffic data from aerial footage of two distinct intersections. Furthermore, we studied the impact of parameter adjustments of the ABT algorithm on the method’s performance. This provides guidance in determining reasonable parameter settings, which is valuable for future method applications. © 2024, CC BY-NC-ND.

关键词： Markov processes

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Modelling, Analysis and control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV

arXiv

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arXiv 2023年

作者： Aboudorra, Youssef Gabellieri, Chiara Brantjes, Ralph Sablé, Quentin Franchi, Antonio Robotics and Mechatronics group Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy

This paper introduces for the first time the design, modelling, and control of a novel morphing multirotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that optimizes energy consumption while ensuring the needed maneuverability for the required task. The most energy-efficient uni-directional thrust (UDT) configuration can be used, e.g., during standard point-to-point displacements. Fully-actuated (FA) and omnidirectional (OD) configurations can be instead used for full pose tracking, such as, e.g., constant attitude horizontal motions and full rotations on the spot, and for full wrench 6D interaction control and 6D disturbance rejection. Morphing is obtained using a single servomotor, allowing possible minimization of weight, costs, and maintenance complexity. The actuation properties are studied, and an optimal controller that compromises between performance and control effort is proposed and validated in realistic simulations. Preliminary tests on the prototype are presented to assess the propellers' mutual aerodynamic interference. © 2023, CC BY.

关键词： Maneuverability

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Fuzzy logic based cycle-to-cycle control of FES-induced swinging motion

Fuzzy logic based cycle-to-cycle control of FES-induced swin...

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International Conference on electrical, control and Computer engineering (INECCE)

作者： B.S. K. K. Ibrahim M.O. Tokhi M.S. Huq S.C. Gharooni Department of Mechatronics and Robotics Faculty of Electrical & Electronic Engineering University of Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield UK

FES induced movement control is a significantly challenging area due to complexity and non-linearity of musculo-skeletal system. The goal of this study is to design a cycle-to-cycle control of FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated by controlling the amount of stimulation pulsewidth. This time dependent behaviour is successfully compensated for using a cycle-to cycle fuzzy controller, which computes the amount of knee extension stimulation on the basis of the achieved flexion angle in previous cycles. The capability of fuzzy control in automatic generation of stimulation burst duration is assessed in computer simulations using a musculo-skeletal model. This paper presents the development of a fuzzy logic control scheme based on discrete-time cycle to cycle control strategies without predefined trajectory. The results show the effectiveness of the approach in controlling FES-induced swinging motion.

关键词： Knee Joints Mathematical model Trajectory Computational modeling Muscles Fuzzy logic

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Natural trajectory based FES-induced swinging motion control

Natural trajectory based FES-induced swinging motion control

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International Conference on Mechatronics (ICOM)

作者： B. S. K. K. Ibrahim M. O. Tokhi M. S. Huq S. C. Gharooni Department of Mechatronics and Robotics Faculty of Electrical & Electronic Engineering University of Tun Hussein Onn Batu Pahat Johor Malaysia Department of Automatic Control and System Engineering University of Sheffield Sheffield UK

The use of electrical signals to restore the function of paralyzed muscles is called functional electrical stimulation (FES). FES is a promising method to restore mobility to individuals paralyzed due to spinal cord injury. FES induced movement control is a significantly challenging area, mainly emanating from various characteristics of the underlying physiological/biomechanical system. An approach of fuzzy trajectory tracking control of swinging motion optimized with genetic algorithm is presented. The results show the effectiveness of the approach in controlling FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated to perform the swinging motion by controlling the amount of stimulation pulsewidth.

关键词： Knee Joints Mathematical model Trajectory Genetic algorithms Muscles Optimization

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POMDP-Based Trajectory Planning for On-Ramp Highway Merging

arXiv

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arXiv 2024年

This paper addresses the trajectory planning problem for automated vehicle on-ramp highway merging. To tackle this challenge, we extend our previous work on trajectory planning at unsignalized intersections using Partially Observable Markov Decision Processes (POMDPs). The method utilizes the Adaptive Belief Tree (ABT) algorithm, an approximate sampling-based approach to solve POMDPs efficiently. We outline the POMDP formulation process, beginning with discretizing the highway topology to reduce problem complexity. Additionally, we describe the dynamics and measurement models used to predict future states and establish the relationship between available noisy measurements and predictions. Building on our previous work, the dynamics model is expanded to account for lateral movements necessary for lane changes during the merging process. We also define the reward function, which serves as the primary mechanism for specifying the desired behavior of the automated vehicle, combining multiple goals such as avoiding collisions or maintaining appropriate velocity. Our simulation results, conducted on three scenarios based on real-life traffic data from German highways, demonstrate the method’s ability to generate safe, collision-free, and efficient merging trajectories. This work shows the versatility of this POMDP-based approach in tackling various automated driving problems. © 2024, CC BY-NC-ND.

关键词： Markov processes

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Analysis of fast prototyping of microcontroller-based ML software for acoustic signal classification

Analysis of fast prototyping of microcontroller-based ML sof...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Filip Marciniak Wojciech Marciniak Tomasz Marciniak Faculty of Computing and Telecommunications Poznan University of Technology Poznań Poland DECYBEL Student Science Club Poznan University of Technology Poznań Poland Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznan University of Technology Poznań Poland

The paper analyzes the preparation of software for acoustic signal classification with machine learning techniques for microcontrollers. The design process was tested for three types of devices: Nordic Thingy:53, *** and Arduino Nano 33 BLE Sense Lite. The classifier training process was carried out using the Edge Impulse platform. Experimental studies were carried out for the process of classifying sound signals generated by the vacuum cleaner motor. The results of the training and the model test were presented for different configurations.

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A control Theoretic Study on Omnidirectional MAVs with Minimum Number of Actuators and No Internal Forces at Any Orientation

A Control Theoretic Study on Omnidirectional MAVs with Minim...

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IEEE Conference on Decision and control

作者： Ahmed Ali Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of which are shown to achieve omnidirectionality while having a minimum number of inputs equal to the main body Degrees of Freedom DoF’s, only uni-directional positive thrust propellers, and no internal forces generated at steady state. After dynamics are derived following the Euler-Lagrange approach, an I/O dynamic feedback linearization strategy is then used to show the controllability of any desired pose with stable zero dynamics. We finally verify the developed controller with closed-loop simulations.

关键词： Three-dimensional displays Propellers Dynamics controllability Regulation Steady-state Feedback linearization control theory Closed loop systems Vehicle dynamics

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