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IEEE Conference on Decision and control

作者： Andre Coelho Alin Albu-Schaeffer Arne Sachtler Hrishik Mishra Davide Bicego Christian Ott Antonio Franchi Institute of Robotics and Mechatronics of the German Aerospace Center (DLR) Oberpfaffenhofen Germany Dextrous Robotics Inc Memphis TN USA Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Netherlands Department of Informatics Technical University of Munich Germany Automation and Control Institute (ACIN) Technical University of Vienna Austria LAAS-CNRS University of Toulouse France

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper proposes a Nonlinear Model-Predictive control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action to be sustained. The approach builds up on the recently developed Eigenmanifold theory, which defines the sets of line-shaped oscillations of a robot as an invariant two-dimensional submanifold of its state space. By defining the control problem as a nonlinear program (NLP), the controller is able to deal with constraints in the state and control variables and be energy-efficient not only in its final trajectory but also during the convergence phase. An initial implementation of this approach is proposed, analyzed, and tested in simulation.

关键词： Analytical models Aerospace electronics Energy efficiency Trajectory Mechanical systems Oscillators Robots

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A Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints

arXiv

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arXiv 2022年

作者： Ferrentino, Enrico Savino, Heitor J. Franchi, Antonio Chiacchio, Pasquale University of Salerno SA Fisciano84084 Italy Ambev Robotics Lab Anheuser-Busch InBev SP Jacareí12334-480 Brazil The Robotics and Mechatronics Laboratory Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede7522NH Netherlands The Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy

Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is parametrized with a time law. If the two processes are separated, they cannot optimize the same objective function, ultimately providing sub-optimal results. In this paper, a unified approach is presented where dynamic programming is the underlying optimization technique. Its flexibility allows accommodating arbitrary constraints and objective functions, thus providing a generic framework for optimal planning of real systems. To demonstrate its applicability to a real world scenario, the framework is instantiated for time-optimality on Franka Emika's Panda robot. The well-known issues associated with the execution of non-smooth trajectories on a real controller are partially addressed at planning level, through the enforcement of constraints, and partially through post-processing of the optimal solution. The experiments show that the proposed framework is able to effectively exploit kinematic redundancy to optimize the performance index defined at planning level and generate feasible trajectories that can be executed on real hardware with satisfactory results. Note to Practitioners-The common planning algorithms which consolidated over the years for generating trajectories for non-redundant robots are not adequate to fully exploit the more advanced capabilities offered by redundant robots. This is especially true in performance-demanding tasks, as for robots employed on assembly lines in manufacturing industries, repeatedly performing the same activity. Once the assembly line engineer has defined the tool path in the task space, our planning algorithm unifies inverse kinematics and time parametrization so as to bring the manipulator at its physical limits to achieve specific efficiency goals, being execution time the most typical

关键词： Robot programming

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Defining, measuring, and modeling passenger's in-vehicle experience and acceptance of automated vehicles

arXiv

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arXiv 2023年

作者： Bhide, Neeraja Hashimoto, Nanami Dokurno, Kazimierz Van der Hoorn, Chris Hoogendoorn-Lanser, Sascha Nordhoff, Sina Delft Center for Systems and Control Delft University of Technology Netherlands Department of Cognitive Robotics Delft University of Technology Netherlands Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Netherlands Department Transport & Planning Delft University of Technology Netherlands

Automated vehicle acceptance (AVA) has been measured mostly subjectively by questionnaires and interviews, with a main focus on drivers inside automated vehicles (AVs). To ensure that AVs are widely accepted by the public, ensuring the acceptance by both drivers and passengers is key. The in-vehicle experience of passengers will determine the extent to which AVs will be accepted by passengers. A comprehensive understanding of potential assessment methods to measure the passenger experience in AVs is needed to improve the in-vehicle experience of passengers and thereby the acceptance. The present work provides an overview of assessment methods that were used to measure a driver's behavior, and cognitive and emotional states during (automated) driving. The results of the review have shown that these assessment methods can be classified by type of data-collection method (e.g., questionnaires, interviews, direct input devices, sensors), object of their measurement (i.e., perception, behavior, state), time of measurement, and degree of objectivity of the data collected. A conceptual model synthesizes the results of the literature review, formulating relationships between the factors constituting the in-vehicle experience and AVA acceptance. It is theorized that the in-vehicle experience influences the intention to use, with intention to use serving as predictor of actual use. The model also formulates relationships between actual use and well-being. A combined approach of using both subjective and objective assessment methods is needed to provide more accurate estimates for AVA, and advance the uptake and use of AVs. © 2023, CC BY.

关键词： Vehicles

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An extended PI model for hysteresis and creep compensation in AFM based nanomanipulation

An extended PI model for hysteresis and creep compensation i...

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IEEE International Conference on robotics and Biomimetics

作者： Zhiyu Wang Lianqing Liu Zhidong Wang Zaili Dong Shuai Yuan Faculty of Electrical and Control Engineering Liaoning Technical University Huludao China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy and Sciences Beijing China Department of Advanced Robotics Chiba Institute of Technology Chiba Japan Chinese Academy of Sciences Beijing Beijing CN

ISBN: (纸本)9781424493197

One of the prerequisites for AFM based nanomanipulation is that the tip position can be controlled accurately, while this prerequisite is still hindered by the large model uncertainties aroused from PZT nonlinearity such as hysteresis and creep. In this paper, an Extended Prandtl-Ishlinskii (EPI) model is proposed to solve these problems. The main advantage of EPI model over conventional PI model is that the EPI model can compensate the positioning error caused by hysteresis and creep simultaneously through adopting the new adaptive basic operator. The experimental results demonstrate the effectiveness and validity of EPI model in depicting the PZT hysteresis and creep prosperities.

关键词： Creep Hysteresis Fitting Data models Adaptation model Robot sensing systems

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Adaptive State Observers of Linear Time-varying Descriptor Systems: A Parameter Estimation-Based Approach

arXiv

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arXiv 2024年

作者： Ortega, Romeo Bobtsov, Alexey Castaños, Fernando Nikolaev, Nikolay Department of Electrical and Electronic Engineering ITAM Ciudad de México Mexico The Hangzhou Dianzi University ITMO Joint Institute Xiasha Higher Education Zone Zhejiang Hangzhou China Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia The Departamento de Control Automático IPN Cinvestav Mexico The Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia

In this paper, we apply the recently developed generalized parameter estimation-based observer design technique for state-affine systems to the practically important case of linear time-varying descriptor systems with uncertain parameters. We give simulation results of benchmark examples that illustrate the performance of the proposed adaptive observer. © 2024, CC BY-NC-ND.

关键词： Parameter estimation

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A positive tensions PID controller for a planar cable robot: An experimental study

A positive tensions PID controller for a planar cable robot:...

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

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh 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 Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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Development of CR2-Haptic: A compact and portable rehabilitation robot for wrist and forearm training

Development of CR2-Haptic: A compact and portable rehabilita...

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IEEE EMBS Conference on Biomedical engineering and Sciences (IECBES)

作者： K. X. Khor P. J. H. Chin A. R. Hisyam C.F. Yeong A. L. T. Narayanan E. L. M. Su Universiti Teknologi Malaysia from Malaysia Japan International Institute of Technology Universiti Teknologi Malaysia Skudai Johor MY Department of Control Mechatronics of Faculty of Electrical Engineering Unwersiti Teknologi Malaysia Universiti Teknologi Malaysia Center of Artificial Intelligence and Robotics (CAIRO)

Stroke has now become the leading cause of severe disability. Rehabilitation robots are gradually becoming popular for stroke rehabilitation to improve motor recovery, as robotic technology can assist, enhance, and further quantify rehabilitation training for stroke patients. However, most of the available rehabilitation robots are complex and involve multiple degrees-of-freedom (DOFs) causing it to be very expensive and huge in size. Rehabilitation robots should be useful but also need to be affordable and portable enabling more patients to afford and train independently at home. This paper presents a development of an affordable, portable and compact rehabilitation robot that implements different rehabilitation strategies for stroke patient to train forearm and wrist movement in an enhanced virtual reality environment with haptic feedback.

关键词： Robots Training Torque Wrist Haptic interfaces Games Joints

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Reviewing Fault Diagnosis Methods in Electric Drives: Power Subsystem and electrical Machine

Reviewing Fault Diagnosis Methods in Electric Drives: Power ...

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Annual Siberian Russian Workshop on Electron Devices and Materials (EDM)

作者： Galina Demidova Hao Chen Yibin Li Dmitry Lukichev Alecksey Anuchin Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia School of Electrical and Power Engineering China University of Mining and Technology Xuzhou China Institute of Marine Science and Technology Shandong University Shandong China Department of Electric Drives Moscow Power Engineering Institute Moscow Russia

This paper provides a review of popular fault diagnosis methods in the power subsystem and electrical machine of electric drives. The review aims to explore the different approaches used to detect faults in these components and the most common types of faults encountered in electric drives. The paper first provides an overview of the power subsystem and electrical machine and their respective functions within the electric drive system. It then proceeds to discuss the different types of faults that can occur in these components, including overvoltage, undervoltage, overcurrent, and short circuits. The review evaluates the various fault diagnosis methods available for these components, including model-based, signal-based, and artificial intelligence-based approaches. Model-based approaches use mathematical models of the system to detect and diagnose faults. Signal-based approaches rely on the analysis of measured signals to detect changes in system behavior that indicate a fault. Artificial intelligence-based approaches use machine learning algorithms to identify patterns in data and detect faults. Model-based approaches are highly accurate but can be computationally intensive. Signal-based approaches are less computationally intensive but may be less accurate in certain situations. Artificial intelligence-based approaches are versatile but require significant amounts of data for training. This review provides a comprehensive overview of the current state-of-the-art in fault diagnosis methods for the power subsystem and electrical machine of electric drives. The review concludes by suggesting potential areas for future research to further improve the accuracy and efficiency of fault diagnosis methods for electric drives.

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Model Predictive control with Reduced Integration Step Size of a Switched Reluctance Drive

Model Predictive Control with Reduced Integration Step Size ...

引用

International Conference on Power Drives Systems (ICPDS)

作者： Alecksey Anuchin Valentina Podzorova Mario Hirz Christoph Datlinger Lassi Aarniovuori Viktoriya Popova Galina Demidova Chen Hao Moscow Power Engineering Institute Moscow Russia Institute of Automotive Engineering Graz University of Technology Graz Austria Electrical Drives Laboratory LUT University Lappeenranta Finland Ogarev Mordova State University Saransk Russia Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia School of Electrical and Power Engineering China University of Mining & Technology Xuzhou China

ISBN: (数字)9781728165387

ISBN: (纸本)9781728165394

The problem of torque pulsation and its stabilization by means of control is typical for switched reluctance drives. This drives usually controlled using hysteresis current regulators, which produce audible noise and torque ripple. The method of model predictive control with reduced integration step size was introduced in order to implement precise torque stabilization using pulse width modulation. Active thermal control was developed as well to increase the continuous output power of the drive. The developed control strategy was simulated and shows accurate torque regulation even when only few integration steps inside single PWM cycle are used for duty cycle evaluation. Active thermal control reduced the temperature of the hottest power module by 7.4%, which allows to increase the continuous output power of the drive.

关键词： Torque Multichip modules Switches Pulse width modulation control systems Power generation Predictive control

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Circular blocking in flexible manufacturing systems: a matrix-based analysis

Circular blocking in flexible manufacturing systems: a matri...

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IEEE Conference on control Technology and Applications (CCTA)

作者： A. Gurel F.L. Lewis S. Bogdan O.C. Pastravanu Department Automatic Control and Ind. Inf Polytechnic Institute of Iasi Iasi Romania Department Electrical and Electronics Eng Eastern Mediterranean University Turkey Automation and Robotics Research Institute University of Texas Arlington Fort Worth TX USA Faculty of Electrical Engineering and Comp University of Zagreb Zagreb Croatia

The problem of deadlock in a large class of re-entrant flowline systems is analysed. Based on a Petri net (PN) model, circular blocking is rigorously defined and shown to be equivalent to part-path deadlock. The analysis is performed in terms of circular waits. Coupling the PN marking transition equation with the matrix rule-based controller equation yields a dynamical system representation, a framework in which algorithms of polynomial complexity can be developed for computing the structures of deadlock analysis. This allows efficient dispatching with deadlock avoidance using a generalised kanban scheme.

关键词： Flexible manufacturing systems System recovery Automatic control Equations control systems Polynomials Dispatching Routing Buffer storage Material storage

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