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IEEE International Conference on Automation Science and engineering (CASE)

作者： Shankar A. Deka Sujet Phodapol Andreu Matoses Gimenez Victor Nan Fernandez-Ayala Rufus Wong Pian Yu Xiao Tan Dimos V. Dimarogonas Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland Division of Decision and Control Systems School of EECS Royal Institute of Technology (KTH) Stockholm Sweden Department of Cognitive Robotics Faculty of Mechanical Engineering TU Delft Delft Netherlands Department of Computer Science University of Oxford Oxford UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In this paper, we introduce a ROS based framework designed for the planning and control of robotic systems within the context of precision agriculture, with an emphasis on human-in-the-loop capabilities. Utilizing Linear Temporal Logic to articulate complex task specifications, our algorithm creates high-level robotic plans that are not only correct by design but also adaptable in real time by human operators. This dual-focus approach ensures that while humans have the flexibility to modify the high-level plan on-the-fly or even take over low-level control of the robots, the system inherently safeguards against any human actions that could potentially breach the predefined task specifications. We demonstrate our algorithm within the dynamic and challenging environment of a real vineyard, where the collaboration between human workers and robots is critical for tasks such as harvesting and pruning, and show the practical applicability and robustness of our software. This work marks a pioneering application of formal methods to complex, real-world agricultural environments.

关键词： Precision agriculture Heuristic algorithms Software algorithms Robustness Human in the loop Software Real-time systems Planning Robots Multi-agent systems

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Dynamic control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Dynamic Control of a Walking Robot Using the Versatile Intel...

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International Conference on control Systems and Computer Science (CSCS)

作者： Victor Vladareanu Corina Boscoianu Radu I. Munteanu Hongnian Yu Luige Vladareanu Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest ROMANIA Department of Automatic Control and Systems Engineering Faculty of Electrical Engineering Technical University of Cluj-Napoca Napoca ROMANIA School of Design Engineering and Computing Bournemouth University Poole UK Bournemouth UK

This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effect or and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.

关键词： Legged locomotion Stability analysis control systems Real-time systems Robot kinematics Dynamics

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Saturated Continuous Twisting Algorithm

Saturated Continuous Twisting Algorithm

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International Workshop on Variable Structure Systems, VSS

作者： M. A. Golkani L. M. Fridman S. Koch M. Reichhartinger M. Horn Faculty of Electrical and Information Engineering Graz University of Technology Graz Austria Department of Control Engineering and Robotics National Autonomous University of Mexico México D.F. Mexico Christian Doppler Laboratory for Model Based Control of Complex Test Bed Systems Graz University of Technology Graz Austria

In this paper, a second-order system affected by perturbations is considered. A feedback control law adopting the continuous twisting algorithm is designed such that a saturated and continuous control signal is introduced to the system. In the case that a state variable is not measurable, estimate information obtained through a super-twisting observer is incorporated into the design. For the closed-loops (with and without observer), global finite-time stability properties are established. The feasibility and effectiveness of the strategy is shown employing numerical simulations.

关键词： Stability analysis Lyapunov methods Observers Perturbation methods Heuristic algorithms Actuators Feedback control

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Optimal control of Automatic Manipulator for Elimination of Galvanic Line Load Oscillation

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica electrical engineering and computer science 2021年第2期65卷 91-105页

作者： Autsou, Siarhei Rassõlkin, Anton Vaimann, Toomas Demidova, Galina Saroka, Viktor Karpovich, Dzmitry Kallaste, Ants Department of Automation of Production Processes and Electrical Engineering Faculty of Chemical Technology and Technique Belarussian State Technological University 13a Sverdlova str. Minsk220006 Belarus Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology 5 Ehitajate street Tallinn19086 Estonia Faculty of Control Systems and Robotics Itmo University 49 Kronverksky Pr. St. Petersburg197101 Russia

This paper provides an analysis of the current state-of-The-Art technologies in the field of auto-operators used in production during the electroplating process. General schemes of operations are presented, benefits and drawbacks of each scheme are discussed. The paper discusses an increase in the operating efficiency of the auto-operator in transient conditions (braking and acceleration) by reducing suspension oscillations and provides an example of a similar problem from other industries. In addition to the classification of the auto-operators, three main ways and control methods of the auto-operator of a galvanic line are presented. The main ways of eliminating oscillations during the movement of the auto-operator, as well as the rationale for the choice of adaptive (optimal) control, based on and comparing the basic control algorithms of the robot manipulator, are discussed. The comparative analysis of algorithms used to determine the optimal control has been carried out. Application field of each optimal control method described, moreover advantages and disadvantages as well as implementation methods described. Bellman dynamic programming method was chosen to eliminate oscillations of the suspension with details during the auto-operator transient conditions, the chosen method takes into account all necessary conditions to achieve the desired result. © 2021 Budapest University of Technology and Economics. All rights reserved.

关键词： Dynamic programming

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Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs

Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspende...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Sihao Sun Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente AE Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy LAAS-CNRS Université de Toulouse Toulouse France

In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that takes into account the full nonlinear model of the load-UAV system, and ensures all the feasibility constraints concerning the UAV maximumum and minimum thrusts, the collision avoidance between the UAVs, cables and load, and the tautness and maximum tension of the cables. By taking into account the above factors, the proposed control algorithm can fully exploit the performance of UAVs and facilitate the speed of operation. Simulations are conducted to validate the algorithm to achieve fast and safe manipulation of the pose of a rigid-body payload using multiple UAVs. We demonstrate that the computational time of the proposed method is sufficiently small (<100 ms) for UAV teams composed by up to 10 units, which makes it suitable for a huge variety of future industrial applications, such as autonomous building construction and heavy-load transportation.

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Modeling and control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics During Grasping

Modeling and Control of Multi-Arm and Multi-Leg Robots: Comp...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Niels Dehio Joshua Smith Dennis Leroy Wigand Guiyang Xin Hsiu-Chin Lin Jochen J. Steil Michael Mistry Research Institute for Robotics and Process Control (IRP) Technical University Braunschweig Germany School of Informatics University of Edinburgh United Kingdom Faculty of Technology Bielefeld University Germany School of Mechanical and Electrical Engineering Central South University China

We consider a virtual manipulator in grasping scenarios which allows us to capture the effect of the object dynamics. This modeling approach turns a multi-arm robot into an underactuated system. We observe that controlling floating-base multi-leg robots is fundamentally similar. The Projected Inverse Dynamics control approach is employed for decoupling contact consistent motion generation and controlling contact wrenches. The proposed framework for underactuated robots has been evaluated on an enormous robot hand composed of four KUKA LWR IV+ representing fingers cooperatively manipulating a 9kg box with total 28 actuated DOF and six virtual DOF representing the object as additional free-floating robot link. Finally, we validate the same approach on ANYmal, a floating-base quadruped with 12 actuated DOF. Experiments are performed both in simulation and real world.

关键词： Grasping Dynamics Task analysis Jacobian matrices Manipulator dynamics

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CARE: Confidence-rich Autonomous Robot Exploration using Bayesian Kernel Inference and Optimization

arXiv

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arXiv 2023年

作者： Xu, Yang Zheng, Ronghao Zhang, Senlin Liu, Meiqin Huang, Shoudong The College of Electrical Engineering Zhejiang University Hangzhou310027 China The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China The Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China The Robotics Institute Faculty of Engineering and Information Technology University of Technology Sydney UltimoNSW2007 Australia

In this paper, we consider improving the efficiency of information-based autonomous robot exploration in unknown and complex environments. We first utilize Gaussian process (GP) regression to learn a surrogate model to infer the confidence-rich mutual information (CRMI) of querying control actions, then adopt an objective function consisting of predicted CRMI values and prediction uncertainties to conduct Bayesian optimization (BO), i.e., GP-based BO (GPBO). The trade-off between the best action with the highest CRMI value (exploitation) and the action with high prediction variance (exploration) can be realized. To further improve the efficiency of GPBO, we propose a novel lightweight information gain inference method based on Bayesian kernel inference and optimization (BKIO), achieving an approximate logarithmic complexity without the need for training. BKIO can also infer the CRMI and generate the best action using BO with bounded cumulative regret, which ensures its comparable accuracy to GPBO with much higher efficiency. Extensive numerical and real-world experiments show the desired efficiency of our proposed methods without losing exploration performance in different unstructured, cluttered environments. We also provide our open-source implementation code at https://***/Shepherd-Gregory/BKIO-Exploration. Copyright © 2023, The Authors. All rights reserved.

关键词： Efficiency

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RF chain reduction for MIMO systems: A hardware prototype

arXiv

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arXiv 2019年

作者： Gong, Tierui Shlezinger, Nir Ioushua, Shahar Stein Namer, Moshe Yang, Zhijia Eldar, Yonina C. State Key Lab of Robotics Key Lab of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Faculty of Mathematics and Computer Science Weizmann Institute of Science Rehovot Israel School of Electrical Engineering Tel Aviv University Tel Aviv Israel Faculty of Electrical Engineering Technion Haifa Israel

RF chain circuits play a major role in digital receiver architectures, allowing passband communication signals to be processed in baseband. When operating at high frequencies, these circuits tend to be costly. This increased cost imposes a major limitation on future multiple-input multiple-output (MIMO) communication technologies. A common approach to mitigate the increased cost is to utilize hybrid architectures, in which the received signal is combined in analog into a lower dimension, thus reducing the number of RF chains. In this work we present a hardware prototype implementing analog combining for RF chain reduction. The prototype consists of a specially designed configurable combining board as well as a dedicated experimental setup. Our hardware prototype allows to evaluate the effect of analog combining in MIMO systems using actual communication signals. The experimental study, which focuses on channel estimation accuracy in MIMO channels, demonstrates that using the proposed prototype, the achievable channel estimation performance is within a small gap in a statistical sense from that obtained using a costly receiver in which each antenna is connected to a dedicated RF chain. Furthermore, in the considered scenarios, this gap becomes negligible when the reduction rate, i.e., the ratio of the number of RF chains to the number of antennas, is above 62.5%. Copyright © 2019, The Authors. All rights reserved.

关键词： Channel estimation

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Optimizing Supervision and control for Industrial Furnaces: Predictive control Based Design

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IFAC Proceedings Volumes 2004年第19期37卷 17-28页

作者： Georgi M. Dimirovski A. Talha Dinibütün Miomir K. Vukobratovic J. Zhao SS Cyril and Methodius University Faculty of Electrical Engineering MK-1000 Skopje Republic of Macedonia Dogus University Computer Engineering Department Faculty of Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey Institute “Mihailo Pupin” Centre of Robotics and Flexible Automation 11000 Belgrade Serbia and Montenegro Northeastern University School of Information Science and Engineering Institute of Control Theory Shenyang Liaoning 110004 P.R. of China

A systems re-engineering technique to integrated control and supervision for applications to industrial multi-zone furnaces has been elaborated by using known theories on generalized predictive control and nonlinear programming. This paper presents the derivation of optimizing equations and inequalities. The design is based on the use of general predictive control to provide optimized set-points under the presumption a well designed regulatory control was implemented at the executive level. Digital implementation of control functions are sought within standard computer process control platform for practical engineering and maintenance reasons.

关键词： Complex time-delay processes generalized predictive control integrated control and supervision optimization set-point control

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Multi-Robot System for Autonomous Cooperative Counter-UAS Missions: Design, Integration, and Field Testing

Multi-Robot System for Autonomous Cooperative Counter-UAS Mi...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Antonella Barisic Marlan Ball Noah Jackson Riley McCarthy Nasib Naimi Luca Strässle Jonathan Becker Maurice Brunner Julius Fricke Lovro Markovic Isaac Seslar David Novick Jonathan Salton Roland Siegwart Stjepan Bogdan Rafael Fierro Laboratory for Robotics and Intelligent Control Systems (LAR-ICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Electrical and Computer Engineering Department University of New Mexico Albuquerque NM USA ETH Zurich Autonomous Systems Lab (ASL) Zurich Switzerland Sandia National Laboratories Albuquerque New Mexico USA

ISBN: (纸本)9781665456814

With the rapid development of technology and the proliferation of uncrewed aerial systems (UAS), there is an immediate need for security solutions. Toward this end, we propose the use of a multi-robot system for autonomous and cooperative counter-UAS missions. In this paper, we present the design of the hardware and software components of different complementary robotic platforms: a mobile uncrewed ground vehicle (UGV) equipped with a LiDAR sensor, an uncrewed aerial vehicle (UAV) with a gimbal-mounted stereo camera for air-to-air inspections, and a UAV with a capture mechanism equipped with radars and camera. Our proposed system features 1) scalability to larger areas due to the distributed approach and online processing, 2) long-term cooperative missions, and 3) complementary multimodal perception for the detection of multirotor UAVs. In field experiments, we demonstrate the integration of all subsystems in accomplishing a counter-UAS task within an unstructured environment. The obtained results confirm the promising direction of using multi-robot and multi-modal systems for C-UAS.

关键词： Scalability Robot vision systems Autonomous aerial vehicles Cameras Software Safety Security

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