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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： R. Khorrambakht H. Damirchi M.R. Dindarloo A. Saki S.A. Khalilpour Hamid D. Taghirad Stephan Weiss Electrical & Computer Engineering Department Control/Robotics Research Laboratory Tandon School of Engineering New York University Brooklyn NY School of Computer Science University of Adelaide Australia Faculty of Electrical Engineering University of Technology Tehran Iran Department of Smart Systems Technologies University of Klagenfurt Austria

Ease of calibration and high-accuracy task-space state-estimation purely based on onboard sensors is a key requirement for enabling easily deployable cable robots in real-world applications. In this work, we incorporate the onboard camera and kinematic sensors to drive a statistical fusion framework that presents a unified localization and calibration system which requires no initial values for the kinematic parameters. This is achieved by formulating a Monte-Carlo algorithm that initializes a factor-graph representation of the calibration and localization problem. With this, we are able to jointly identify both the kinematic parameters and the visual odometry scale alongside their corresponding uncertainties. We demonstrate the practical applicability of the framework using our state-estimation dataset recorded with the ARAS-CAM suspended cable driven parallel robot, and published as part of this manuscript.

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Electronic design for portable electrical capacitance sensor: A multiphase flow measurement

Electronic design for portable electrical capacitance sensor...

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International Conference on Mechatronics (ICOM)

作者： E. Johana Mohamad O. M. Faizan Marwah Ruzairi Abdul Rahim Mohd Hafiz Fazalul Rahiman Siti Zarina Mohd Muji Department of Mechatronic and Robotics Engineering Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Department of Manufacturing and Industrial Engineering Faculty of Mechanical and Manufacturing Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Johor Malaysia Process Tomography Research Group (PROTOM) Department of Control & Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

The earlier research shows that the electrical capacitance sensor through the tomography technique is applicable in flow visualization or image reconstruction, named as electrical Capacitance Tomography (ECT). ECT can be used for imaging industrial multi-component processes involving nonconducting fluids and solids in pipelines. The electrical capacitance sensor is a non-invasive device that uses non-intrusive technique to measure the concentration of flow inside a closed pipe by measuring variations in the dielectric permittivity of the material. The capacitance of the sensor changes when the mean dielectric constant between the electrodes varies due to variations in the percentage of gas and liquid flowing in the pipe. The acquired concentration profile that obtains from capacitance measurements is able to imaging liquid and gas mixture in pipelines, meanwhile the system development is designed to attach on a vessel. The electrode plates which act as the sensor previously has been assemble fixed on the pipeline, thus it causes difficulty for the production to have any new process installation in the future. Therefore on-board sensing plate offers a new design and idea on ECT system which is portable to be assembled in different diameter sizes of pipeline, and it's flexible to apply in any number due to different size of pipeline without redesign the sensing module. The on-board sensing plate development contains signal conditioning circuit and sensing electrode built in a single module (embedded on single plate). In this paper, the details on fabricating the sensors electrodes, had been described, including signal conditioning circuit/electronic part of measurement, such as stray immune capacitance measurement circuit, amplifying circuit, AC to DC converter circuit and filter circuit.

关键词： Electrodes Capacitance Capacitance measurement Pipelines Sensors Materials Permittivity measurement

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Analytical Center of Mass Trajectory Generation for Humanoid Walking and Running with Continuous Gait Transitions

Analytical Center of Mass Trajectory Generation for Humanoid...

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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 TU Wien Tobias Egle and Christian Ott are with the Automation and Control Institute Vienna Austria Institute of Robotics and Mecha-tronics German Aerospace Center (DLR) Wessling Germany

ISBN: (纸本)9798350309805

We present an analytical trajectory generation framework for the combined computation of multiple walking and running sequences with continuous gait transitions. This framework builds on the Divergent Component of Motion (DCM)-based walking algorithm and the spline-based trajec-tory generation of the Biologically Inspired Deadbeat (BID) control for running. We describe our approach to generating closed-form center of mass (CoM) trajectories for walking and running by alternately linking the two gaits through continuity constraints. Thereby, we distinguish between vertical and horizontal planning. The vertical trajectory is computed in a forward recursion from the first to the last gait sequence. Due to the coupling of the gait sequences in the horizontal direction, we show the efficient generation of the horizontal CoM trajectory in a single matrix calculation. Subsequently, we unify the control strategies using a DCM tracking controller for the complete trajectory and integrate the proposed framework into an inverse dynamics-based whole-body controller. Finally, the presented approaches are validated in simulations with the humanoid robot Toro.

关键词： Legged locomotion Couplings Humanoid robots Biology Trajectory Planning Splines (mathematics)

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Robust control of Interleaved Boost Converter for Open-Cathode PEM Fuel Cell Systems

Robust Control of Interleaved Boost Converter for Open-Catho...

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IEEE International Conference on Automatic control and Intelligent Systems (I2CACIS)

作者： Jie Ying Tan R.M.T Raja Ismail Institute of Postgraduate Studies Universiti Malaysia Pahang Pekan Pahang Malaysia Robotics Intelligent Systems & Control Engineering (RISC) Research Group Faculty of Electrical & Electronics Universiti Malaysia Pahang Pekan Pahang Malaysia

This paper implements a thermal control and a super-twisting sliding mode (STSM) incorporated with an interleaved boost converter (IBC) for an open-cathode proton exchange membrane fuel cell (OC-PEMFC). The implementation of the thermal control is to regulate the stack temperature and adjust the air stoichiometric during the fuel cell current variation. The STSM controller is designed to ensure the fuel cell system’s robustness by achieving the reference values set. Therefore, simulation results discussed that the thermal control provides the suitable stack temperature to the system and maintains the fan voltage during temperature variations. A PI controller is designed and used as a comparison to the proposed STSM controller. Hence, the proposed STSM demonstrates its effectiveness in tracking down the reference current values for the fuel cell system.

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A New, Reconfigurable Circuit Offering Functionality of AND and OR Logic Gates for Use in Algorithms Implemented in Hardware

A New, Reconfigurable Circuit Offering Functionality of AND ...

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International Conference on Microelectronics, MIEL

作者： Tomasz Talaśka Rafał Długosz Tatjana Nikolić Goran Nikolić Tomasz Stefanśki Michał Długosz Michał Talaśka Faculty of Telecommunication Computer Science and Electrical Engineering Bydgoszcz University of Science and Technology Bydgoszcz Poland Aptiv Services Poland Kraków Poland Faculty of Electronic Engineering University of Niš Niš Serbia Faculty of Electronics Telecommunications and Informatics Gdanśk Univeristy of Technology Gdanśk Poland Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan Poland Complex of Electronics Schools Bydgoszcz Poland

The paper presents a programmable (using a 1-bit signal) digital gate that can operate in one of two OR or AND modes. A circuit of this type can also be implemented using conventional logic gates. However, in the case of the proposed circuit, compared to conventional solutions, the advantage is a much smaller number of transistors necessary for its implementation. Circuit is also much faster than its conventional counterpart. The logic gate was implemented in the 180nm CMOS technology and verified using Hspice simulations. There are many possible applications for this gate, mostly in artificial intelligence and pattern recognition algorithms implemented at the transistor level.

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A Unified Formulation of Geometry-aware Discrete Dynamic Movement Primitives

arXiv

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arXiv 2022年

作者： Abu-Dakka, Fares J. Saveriano, Matteo Kyrki, Ville Electronic and Computer Science Department Faculty of Engineering Mondragon Unibertsitatea Arrasate20500 Spain Automatic Control Lab Department of Industrial Engineering University of Trento Trento Italy Intelligent Robotics Group Department of Electrical Engineering and Automation Aalto University Aalto Finland

Learning from demonstration (LfD) is considered as an efficient way to transfer skills from humans to robots. Traditionally, LfD has been used to transfer Cartesian and joint positions and forces from human demonstrations. The traditional approach works well for some robotic tasks, but for many tasks of interest, it is necessary to learn skills such as orientation, impedance, and/or manipulability that have specific geometric characteristics. An effective encoding of such skills can be only achieved if the underlying geometric structure of the skill manifold is considered and the constrains arising from this structure are fulfilled during both learning and execution. However, typical learned skill models such as dynamic movement primitives (DMPs) are limited to Euclidean data and fail in correctly embedding quantities with geometric constraints. In this paper, we propose a novel and mathematically principled framework that uses concepts from Riemannian geometry to allow DMPs to properly embed geometric constrains. The resulting DMP formulation can deal with data sampled from any Riemannian manifold including, but not limited to, unit quaternions and symmetric and positive definite matrices. The proposed approach has been extensively evaluated both on simulated data and real robot experiments. The performed evaluation demonstrates that beneficial properties of DMPs, such as convergence to a given goal and the possibility to change the goal during operation, apply also to the proposed formulation. © 2022, CC BY-NC-ND.

关键词： Demonstrations

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Interaction Motion on Pneumatic Cylinder using Prescribed Performance Force Tracking Impedance control

Interaction Motion on Pneumatic Cylinder using Prescribed Pe...

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International Conference on control, Mechatronics and Automation (ICCMA)

作者： Addie Irawan Mohd Iskandar Putra Azahar Zool Hilmi Ismail Robotics Intelligent System & Control System (RISC) Research Group Faculty of Electrical & Electronics Engineering Technology Universiti Malaysia Pahang Pekan Pahang Malaysia Center for Artificial Intelligence and Robotics (CAIRO) Malaysia-Japan International Institute of Technology (MJIIT) Universiti Teknologi Malaysia Malaysia

ISBN: (数字)9781728192109

ISBN: (纸本)9781728192116

Pneumatic system has gained popularity in robotics and industrial automation technology especially in developing a cost-effective and highspeed robot/machine with low maintenance. However, control in such systems is very challenging especially that involved compliant and interaction behavior between the system and unknown environment. Therefore, this study has taken initiative to overcome the nonlinearity and uncertainties of pneumatic actuator in interaction of motion by proposed an accurate impedance control with prescribe performance function. The finite-time in prescribe performance is formulated to improve the force tracking between the desired impedance and unknown environment. The comparison study between proposed impedance control with finite-time prescribe performance force tracking shows almost zero steady-state-error, no oscillation at the first contact with environment, stable pressure in chamber and low energy consumption in terms of control input on valve.

关键词： Impedance Force Pneumatic systems Robots Tracking Service robots Friction

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Robust cooperative synchronization of homogeneous agents with delays on directed communication graphs

arXiv

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arXiv 2019年

作者： Alikoc, Baran Hengster-Movric, Kristian Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague160 00 Czech Republic Department of Control Engineering Faculty of Electrical Engineering Czech Czech Technical University in Prague Prague166 36 Czech Republic

This study deals with analysis and control of cooperative synchronization for identical agents interacting on a directed graph topology. The agents are considered to have general continuous linear time-invariant dynamics with homogeneous communication and/or control delays. An LMI approach based on a Lyapunov-Krasovskii functional is proposed, together with the synchronizing region concept, which decouples the single-agent dynamics from the detailed graph topology. Moreover, the conventional notion of synchronizing region is here extended by an LMI relaxation utilizing quasi-convex characteristic of the problem. This leads to less conservative results for the region of graph matrix eigenvalues in the complex domain, where the synchronization is guaranteed. The proposed method to calculate the allowable delay bound for synchronization is also less conservative as compared to the results from the literature. Furthermore, two designs for distributed state-feedback control are suggested. The precise delay value and the detailed graph topology need not be known for their application;it suffices only to know the upper bound on the delay and the approximate region where the Laplacian eigenvalues lie. Specific improvements over the results existing in the literature are demonstrated by a numerical example, which validates the proposed approaches. Copyright © 2019, The Authors. All rights reserved.

关键词： Lyapunov functions

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Skill Assessment Using Kinematic Signatures: Geomagic Touch Haptic Device

Skill Assessment Using Kinematic Signatures: Geomagic Touch ...

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

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

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

The aim of this paper is to develop a practical skill assessment for some designed experimental tasks, retrieved from Minimally Invasive Surgery. The skill evaluation is very important in surgery training, especially in MIS. Most of the previous studies for skill assessment methods are limited in the Hidden Markov Model and some frequency transforms, such as Discrete Fourier transform, Discrete Cosine Transform and etc. In this paper, some features have been extracted from time-frequency analysis with the Discrete Wavelet Transform and temporal signal analysis of some kinematic metrics which were computed from Geomagic Touch kinematic data. In addition, the k-nearest neighbors classifier are employed to detect skill level based on extracted features. Through cross-validation results, it is demonstrated that the proposed methodology has annrouriate accuracy in skill level detection.

关键词： Feature extraction Measurement Discrete wavelet transforms Haptic interfaces Surgery Microsoft Windows

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Investigation of the diagnostic properties of sensors and features in a multiphase flow facility case study ⁎

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IFAC-PapersOnLine 2019年第1期52卷 772-777页

作者： Anna Stief James R. Ottewill Jerzy Baranowski ABB Corporate Research Center ul. Starowislna 13a 31-038 Krakow Poland Department of Automatic Control and Robotics Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering AGH University of Science and Technology Al. A. Mickiewicza 30 30-059 Krakow Poland

Feature design and selection is one of the first steps towards successful fault detection and diagnosis. Data from different sources can contain complimentary information about a monitored system. Hence methods which fuse features from multiple sources can often detect and diagnose a greater number of fault modes with higher confidence. However, solutions that require data from multiple sensors as inputs can be susceptible to failure if one or more of those sensors cease to function. Optimally a solution will fuse data from a sufficient number of sensors so that the advantages of sensor fusion are realized, while the robustness of the system is retained. In this paper the authors investigate how the best subset of features might differ for fault detection and fault severity diagnosis in a multiphase flow facility case study. ReliefF, which is a K-nearest neighbors-based feature selection filter, is used to rank the features for different problems. The dataset used for the analysis contains data from various operating conditions and induced faults with various severities. It was found that the optimal subset of features varied for different monitoring problems. It was also shown that including features that are ranked as being uninformative into a fault classifier can also impact the robustness of the classifier to sensor failures.

关键词： Signal processing Feature extraction Feature selection Process monitoring

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