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International Conference on Unmanned Aircraft Systems (ICUAS)

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

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

In this paper, we propose a model for the thrust coefficient of propellers that can take into account cross-influence between adjacent propellers. The aerodynamic interaction between propellers in multirotor aerial vehicles reduces the thrust they can produce. The influence between propellers depends on their relative positioning and orientation, which are taken into account by the proposed model. It is validated on measurements collected by a force sensor mounted on a propeller for different configurations of the adjacent propellers in a support structure. In this work, we focus on configurations with small relative orientations. Results show that the proposed model outperforms the traditional constant model in terms of thrust prediction on the data we collected, and it performs better than other models with fewer parameters, being the only one with less than 10% maximum percentage error.

关键词： Training Adaptation models Torque Propellers Atmospheric modeling Force Velocity control

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Active Disturbance Rejection control (ADRC) Toolbox for MATLAB/Simulink

arXiv

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arXiv 2021年

作者： Lakomy, Krzysztof Giernacki, Wojciech Michalski, Jacek Madonski, Rafal Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Energy and Electricity Research Center Jinan University Zhuhai519070 China

In this study, an active disturbance rejection control (ADRC) toolbox for MATLAB/Simulink is introduced. Although ADRC has already been established as a powerful robust control framework with successful industrial implementations and strong theoretical foundations, a comprehensive tool for computer-aided design of ADRC has not been developed until now. The proposed open-source ADRC Toolbox is a response to the growing need in the scientific community and the control industry for a straightforward software application of the ADRC methodology. Its main purpose is to fill the gap between the current theories and applications of ADRC and to provide an easy-to-use solution for users in various control fields who want to employ the ADRC scheme in their applications. The ADRC Toolbox contains a single, general-purpose, drag-and-drop function block that allows the synthesis of a predefined ADRC-based strategy with minimal design effort. Additionally, its open structure allows creation of custom control solutions. The efficacy of the ADRC Toolbox is validated through both simulations and hardware experiments, which were conducted using a variety of problems known in the motion, process, and power control areas1 Copyright © 2021, The Authors. All rights reserved.

关键词： Robust control

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Step and Timing Adaptation during Online DCM Trajectory Generation for Robust Humanoid Walking with Double Support Phases

Step and Timing Adaptation during Online DCM Trajectory Gene...

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IEEE-RAS International Conference on Humanoid Robots

作者： Tobias Egle Johannes Englsberger Christian Ott Faculty of Electrical Engineering and Information Technology Automation and Control Institute TU Wien Vienna Austria Institute of Robotics and Mecha-tronics German Aerospace Center (DLR) Wessling Germany

In this paper, we present a robust DCM-based online trajectory generator with step timing adaptation using MPC in addition to manipulating the ground reaction forces by the DCM tracking controller. The proposed control framework utilizes three strategies to react to disturbances: timing adaptation, footstep position adjustment, and CoP modulation. Most state-of-the-art walking controllers only address some of these aspects, and especially the timing adaptation is often neglected in the presence of double support phases as the resulting optimization problem generally becomes nonlinear. We show that we can keep the fast disturbance rejection from the DCM tracking controller while adjusting the timing and location of the footsteps via MPC if the CoP-based ankle strategy is insufficient to maintain balance. This framework is particularly relevant for robots with active control of the CoP inside the support polygon by utilizing a combination of ankle and step strategy to take full advantage of the robot's capabilities in response to external disturbances. The method is validated in simulation on the robot kangaroo. It has lightweight, fully actuated legs and a sufficiently large contact area, making it highly suitable for a combined step time adaptation and contact force modulation approach.

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Extensions of the open-source framework Aerostack 3.0 for the development of more interactive flights between UAVs

Extensions of the open-source framework Aerostack 3.0 for th...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Wojciech Giernacki Jacek Cieślak Martin Molina Pascual Campoy Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznań Poland Department of Artificial Intelligence Technical University of Madrid (UPM) Madrid Spain Computer Vision and Aerial Robotics (CVAR) Centre for Automation and Robotics Technical University of Madrid (UPM) Madrid Spain

ISBN: (数字)9781728142784

ISBN: (纸本)9781728142791

The basis for properly verified R&D works is to provide reliable prototyping tools at three most important stages: computer simulation, laboratory tests and real-world experiments. In the laboratory-limited conditions, particular importance is attributed to the first two stages, especially in the context of the safety development of autonomous flights of unmanned aerial vehicle (UAV) groups in various missions. The open-source framework Aerostack support those needs and its effectiveness has been proven in the International Micro Air Vehicle Indoor Competitions (IMAV 2013, 2016, 2017) and Mohammed Bin Zayed International robotics Challenge (MBZIRC 2020). In the paper, the exemplary functionalities for the new version of Aerostack Version 3.0 Distribution Sirocco (Aerial robotics framework for the industry), extended additionally with a library of new behaviors, are presented. The mission of UAVs can be developed fast and effectively in order to conduct test flights with real drones in lab, before one will decide to fly autonomously outdoor. The representative results obtained for low-cost *** 2.0 UAV models in two missions, are presented. The first mission is autonomous patrolling the area by a pair of UAVs, the second - intercepting the intruder in guarded area by the guard UAV.

关键词： Robots Trajectory Drones Libraries Software Computer architecture

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A new method for mobile robot navigation in dynamic environment: Escaping algorithm

A new method for mobile robot navigation in dynamic environm...

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

作者： F. Adib Yaghmaie A. Mobarhani H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of ExceUence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Iran

This paper addresses a new method for navigation in dynamic environment. The proposed method is based on force field method and it is supposed that the robot performs SLAM and autonomous navigation in dynamic environment without any predefined information about dynamic obstacles. The movement of dynamic obstacles is predicted by Kalman filter and is used for collision detection purpose. In the time of collision detection, a modifying force is added to repulsive and attractive forces corresponding to the static environment and leads robot to avoid collision. Moreover, a safe turning angle is defined to assure safe navigation of the robot. The performance of proposed method, named Escaping Algorithm, is verified through different simulation and experimental tests. The results show the proper performance of Escaping Algorithm in term of dynamic obstacle avoidance as a practical method for autonomous navigation.

关键词： Navigation Noise Robots

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A Dual-User Teleoperated Surgery Training Scheme Based on Virtual Fixture

A Dual-User Teleoperated Surgery Training Scheme Based on Vi...

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

作者： A. Iranfar 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: (纸本)9781728101286;9781728101279

The widespread use of minimally invasive surgery (MIS) demands an appropriate framework to train novice surgeons (trainees) to perform MIS. One of the effective ways to establish a cooperative training system is to use virtual fixtures. In this paper, a guiding virtual fixture is proposed to correct the movements of the trainee according to trainer hand motion performing a real MIS surgery. The proposed training framework utilizes the position signals of trainer to modify incorrect movements of the trainee which leads to shaping the trainee's muscle memory. Thus, after enough training sessions the trainee gains sufficient experience to perform the surgical task without any further help from the trainer. The passivity approach is utilized to analyze the stability of system. Simulation results are also presented to demonstrate the effectiveness of the proposed method.

关键词： Training Surgery Haptic interfaces Task analysis Stability analysis Force Trajectory

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Loop Closure Detection by Compressed Sensing for Exploration of Mobile Robots in Outdoor Environments

Loop Closure Detection by Compressed Sensing for Exploration...

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RSI/ISM International Conference on robotics and Mechatronics

作者： Alireza Norouzzadeh Ravari Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

In the problem of simultaneously localization and mapping (SLAM) for a mobile robot, it is required to detect previously visited locations so the estimation error shall be reduced. Sensor observations are compared by a similarity metric to detect loops. In long term navigation or exploration, the number of observations increases and so the complexity of the loop closure detection. Several techniques are proposed in order to reduce the complexity of loop closure detection. Few algorithms have considered the loop closure detection from a subset of sensor observations. In this paper, the compressed sensing approach is exploited to detect loops from few sensor measurements. In the basic compressed sensing it is assumed that a signal has a sparse representation is a basis which means that only a few elements of the signal are non-zero. Based on the compressed sensing approach a sparse signal can be recovered from few linear noisy projections by l_1 minimization. The difference matrix which is widely used for loop detection has a sparse structure, where similar observations are shown by zero distance and different locations are indicated by ones. Based on the multiple measurement vector technique which is an extension of the basic compressed sensing, the loop closure detection is performed by comparison of few sensor observations. The applicability of the proposed algorithm is investigated in some outdoor environments through some publicly available data sets. It has been shown by some experiments that the proposed method can detect loops effectively.

关键词： Loop Closure Detection Compressed Sensing Mobile Robots

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Frequency Domain Analysis of HOSM Systems

Frequency Domain Analysis of HOSM Systems

引用

IEEE Annual Conference on Decision and control

作者： Antonio Rosales Yuri Shtessel Leonid Fridman Chandrasekhara Bharath Panathula Electrical and Computer Engineering Dept. The University of Alabama in Huntsville Huntsville AL 35899 USA Deparment of Control and Robotics Faculty of Engineering National Autonomus University of Mexico 4510 Mexico City Mexico

ISBN: (纸本)9781479978878

The frequency domain analysis of dynamically perturbed Higher Order Sliding Mode (HOSM) systems is tackled using Describing Function (DF) and Harmonic Balance (HB) techniques. The goal of this analysis is to study possible limit cycles in such systems. DFs of Nested 3rd and 4th order algorithms are obtained for the first time. Then, HB equation is used to analyze the real sliding motion in the HOSM system, where the sliding set converges to a limit cycle. Chattering (limit cycle) in the HOSM systems is studied, and the chattering parameters (amplitude and frequency) are computed. A definition of Tolerance Limits, which characterizes the acceptable performance in the real HOSM system, is applied to verify if the chattering parameters fit the amplitude and frequency limits. Next, Performance Phase Margin and Performance Gain Margin definitions, which give the metrics for robustness of real HOSM to unmodeled dynamics, are applied to assess the robustness of the limit cycle emerged in the real HOSM system. Examples and simulations that validate the obtained results are presented.

关键词： Sliding Mode control Frequency Domain Analysis Performance Margins Variable structure systems limit cycles CHATTER unmodeled dynamics

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Path Planning for a UAV by Considering Motion Model Uncertainty

Path Planning for a UAV by Considering Motion Model Uncertai...

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

作者： Hossein Sheikhi Darani Ali Noormohammadi-Asl Hamid D. Taghirad Advanced Robotics and Automated System (ARAS) Industrial Control Center of Excellence (ICEE) Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

The primary purpose of path planning for unmanned aerial vehicles (UAVs), which is a necessary prerequisite toward an autonomous UAV, is to guide the robot to the predefined target while the chosen path is optimized. This paper addresses the problem of path planning for an unmanned aerial vehicle in a 2D indoor environment, considering motion uncertainty. To cope with this challenge, the problem of motion planning is formulated in three parts. A vision-based extended Kalman Filter (EKF) is used to localize the UAV in the unstructured environment. To overcome motion uncertainty, the problem is modeled as a Markov decision problem (MDP). Finally, a novel dynamic feedback linearization based switching controller is proposed for point-to-point motion. Simulation and experimental results are given to show the effectiveness of the proposed path planning method in practice.

关键词： Robot kinematics Path planning Uncertainty Robot sensing systems Switches

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SMC with Linear Dynamic Compensator Design: Performance Margins Approach

SMC with Linear Dynamic Compensator Design: Performance Marg...

引用

IEEE Annual Conference on Decision and control

作者： Antonio Rosales Leonid Fridman Yuri Shtessel Deparment of Control and Robotics Faculty of Engineering National Autonomus University of Mexico 4510 Mexico City Mexico Electrical and Computer Engineering Dept. The University of Alabama in Huntsville Huntsville AL 35899 USA

ISBN: (纸本)9781467360890

In this work, the performance of the real sliding mode is characterized with the notion of performance margins under the assumption that the real sliding motion presents a limit cycle with acceptable amplitude and acceptable frequency. The performance of sliding mode controllers, in real sliding motion, is improved by means of the addition of linear compensators in cascade connection with the plant. The applied compensators are phase lead controllers which modify the frequency response of the plant in order to meet the required performance margins adding robustness to the system. Bode diagram interpretation of performance margins is presented for the first time allowing the utilization of SMC combined with the classical methodology of linear compensator design where it is possible shape the Bode diagram in order to obtain desired values of performance margins. Examples supporting the proposed idea are presented.

关键词： Bode diagrams frequency response margins limit cycles Cascade connections design performance COMPENSATORS Sliding mode

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