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arXiv 2024年

作者： Maric, Bruno Zoric, Filip Petric, Frano Orsag, Matko The LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Zagreb10000 Croatia

Programming by demonstration (PbD) is a simple and efficient way to program robots without explicit robot programming. PbD enables unskilled operators to easily demonstrate and guide different robots to execute task. In this paper we present comparison of demonstration methods with comprehensive user study. Each participant had to demonstrate drawing simple pattern with human demonstration using virtual marker and kinesthetic teaching with robot manipulator. To evaluate differences between demonstration methods, we conducted user study with 24 participants which filled out NASA raw task load index (rTLX) and system usability scale (SUS). We also evaluated similarity of the executed trajectories to measure difference between demonstrated and ideal trajectory. We concluded study with finding that human demonstration using a virtual marker is on average 8 times faster, superior in terms of quality and imposes 2 times less overall workload than kinesthetic teaching. © 2024, CC BY.

关键词： Demonstrations

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Modeling, Simulation and control of a Spincopter

Modeling, Simulation and Control of a Spincopter

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： M. Orsag S. Bogdan T. Haus M. Bunic A. Krnjak Laboratory for Robotics and Intelligent Control Systems - LARICS Dept. of Control and Computer EngineeringFaculty of Electrical Engineering and ComputingUniversity of ZagrebZagrebCroatia

In this article we present a mathematical model of a spincopter -an inherently stable and easy to control unmanned aerial vehicle (UAV). Although the devised model represents only the first approximation of spincopter's physics, it captures basic phenomena that are sufficient for derivation and testing of a simple control algorithm. Results obtained by simulations in Simulink presented herein, demonstrate efficient performance of the proposed simple controller structure. Further tests, including investigation of complex aerodynamics effects and hardware-specified limitations, have been done using X-Plan software package. Finally, the proposed controller has been tested experimentally. Both, Xplane and experimental results confirmed the outcome from Simulink.

关键词： Aircraft Mathematical model Engines Propellers Force Atmospheric modeling

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Iterative-analytic redundancy resolution scheme for a cable-driven redundant parallel manipulator

Iterative-analytic redundancy resolution scheme for a cable-...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yousef B. Bedoustani Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Department of Systems and Control Faculty of Electrical and Computer Engineering Khaje Nasir Toosi University of Technology Tehran Iran

In this paper, redundancy resolution of a cable-driven parallel manipulator is solved by an iterative-analytic scheme. The method can be applied to all kind of redundant manipulators either parallel or serial with constraint caused through their dynamics. However, for sake of simulation the proposed method is implemented on a cable-driven redundant parallel manipulator (CDRPM). The redundancy resolution problem is formulated as a convex optimization with equality and non-equality constraints caused by manipulator structure and cables dynamics. Karush-Kuhn-Tucker theorem is used to analyze the optimization problem and to find an analytic solution. Subsequently, a tractable and iterative search algorithm is proposed to solve the redundancy resolution of such redundant mechanisms. Furthermore, it is shown through the simulation that, the elapsed time required to implement the analytical redundancy resolution scheme in a closed-loop structure is considerably less than that of other numerical optimization methods.

关键词： Redundancy Optimization Equations Actuators Manipulator dynamics Jacobian matrices

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A Parallel and Asynchronous Blob Shape Descriptor Implemented in CMOS Technology 33

A Parallel and Asynchronous Blob Shape Descriptor Implemente...

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33rd IEEE International Conference on Microelectronics, MIEL 2023

作者： Bogacki, P. Dlugosz, M. Talaska, T. Dlugosz, R. Aptiv Services Poland Kraków30-399 Poland Agh University of Science and Technology Institute of Telecommunications Faculty of Computer Science Electronics and Telecommunications Kraków30-059 Poland Poznan University of Technology Faculty of Control Robotics and Electrical Engineering Institute of Automation and Robotics Division of Signal Processing and Electronic Systems Poznan60-965 Poland Bydgoszcz University of Science and Technology Faculty of Telecommunication Computer Science and Electrical Engineering Bydgoszcz85-796 Poland

ISBN: (纸本)9798350347760

The paper presents a family of novel light blob shape descriptors for use in selected active safety algorithms used in Advanced Driver Assistance systems (ADAS). One of the motivations was to obtain a descriptor that would ensure low computational complexity. This makes it easy to implement both in software and hardware. One assumption is that the location of the center of a given light spot is approximately known. The principle of its operation is then to count white pixels in selected directions, starting from this central point. A key issue here is an efficient way of determining indexes of particular pixels belonging to the image patch, as well as the location of points representing places where the white area turns into black. In the case of a hardware implementation, this can be done using a parallel circuit operating in asynchronous mode, without the need for a control clock. © 2023 IEEE.

关键词： Pixels

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Performance Comparison of Teleoperation Interfaces for Ultra-Lightweight Anthropomorphic Arms

Performance Comparison of Teleoperation Interfaces for Ultra...

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

作者： Filip Zorić Alejandro Suarez Goran Vasiljević Matko Orsag Zdenko Kovačić Anibal Ollero Laboratory for Robotics and Intelligent Control Systems (LARICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia GRVC Robotics Lab University of Seville Sevilla Spain

This paper presents a comparative performance evaluation of three different teleoperation interfaces for very low weight (<3 kg) anthropomorphic dual arms intended to conduct complex manipulation tasks involving a certain level of dexterity, accuracy and agility, either in ground service or in aerial manipulation applications. A visual human pose estimation system is developed to obtain the Cartesian and joint values of the user, which are mapped to the corresponding pose of the dual arm manipulator exploiting the equivalent human-robot kinematics. A leader-follower scheme is also presented, using a reduced scale dual arm that can replicate directly the joint positions of the leader arms to the follower arms. A 6-DOF (degrees of freedom) joystick is proposed to generate linear motions more accurately. A total of 60 ground tests were conducted involving 10 participants to determine the accuracy and time performance in two benchmarks (box edges and S contour tracking). Finally, the visual and leader-follower interfaces were evaluated with the dual arm aerial manipulator on flight tests, reporting several findings derived from the system evaluation.

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Stochastic search strategies in 2D using agents with limited perception

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IFAC Proceedings Volumes 2012年第22期45卷 650-654页

作者： David Puljiz Maja Varga Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne 1015 Lausanne Switzerland

Animals use stochastic search strategies to find a potential nest or to localize the food source. Animals do not rely much on the environmental cues or their sensory inputs. Since their cognitive capabilities are rather limited, search strategies are usually simplistic and stochastic. And yet such simple search strategies result in high efficiency in finding potential targets in limited time intervals. Similar problems with perception of the environment and limited computational power and sensory inputs are observed on the mobile robots used in search scenarios. In spite of their limitations, such robotic systems usually perform deterministic search strategies which heavily depend on environmental cues and sensory input. The research question we are addressing in this paper is which stochastic search strategy has the best performance in terms of area coverage and can stochastic search strategies outperform deterministic search strategies.

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Design considerations for a large quadrotor with moving mass control

Design considerations for a large quadrotor with moving mass...

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International Conference on Unmanned Aircraft systems

作者： Tomislav Haus Matko Orsag Stjepan Bogdan the University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Unska 3 10000 Zagreb

ISBN: (纸本)9781467393355

In this paper we present our ongoing efforts to build a heavy lift multirotor platform capable of lifting over 50kg of payload. Such a system requires a paradigm shift in the design of the UAV. Therefore we propose using miniature two stroke internal combustion engines to supply the necessary lift and endurance and combine them with a novel control concept based on the variations of the center of gravity (CoG) of the system. In this paper we present a detailed stability and sensitivity analysis of the proposed control scheme and discuss its underlining effect on the construction design parametrization. We present simulation results from a Gazebo based simulator that confirm the results of our mathematical analysis.

关键词： Design considerations large

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Vision based collision detection for a safe collaborative industrial manipulator

Vision based collision detection for a safe collaborative in...

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IEEE International Conference on Intelligence and Safety for robotics (ISR)

作者： Bruno Maric Fran Jurican Matko Orsag Zdenko Kovacic LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb Croatia

ISBN: (纸本)9781665438629;9781665411486

In this work we present an improved method for collision detection that extends the ability of collaborative systems to share the workspace between the operator and the robot. Our work is based on the state-of-the-art GPU-Voxels algorithm, with a dynamic swept volume method for collision detection that minimizes intervention in robot trajectories. We propose a sensor calibration method that allows multiple cameras to be placed around the robot to ensure coverage without shadows. In addition, we show how our previous work on advanced force control algorithms, which in combination with the collision detection algorithm presented, meets all safety requirements of the technical specification ISO/TS 15066. Our ultimate goal is to derive a framework for collaborative industrial manipulators, which are able to work side by side with people.

关键词： Heuristic algorithms Dynamics Collaboration Robot sensing systems Safety Trajectory Calibration

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Parameter identification of a class of nonlinear systems with structure uncertainly using controlled symmetric motions

Parameter identification of a class of nonlinear systems wit...

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School on Dynamics of Complex Networks and their Application in Intellectual robotics (DCNAIR)

作者： Aleksandr Alyshev Salimzhan Gafurov Natalia Dudarenko Autonomous Driving Lab Innopolis Univeristy Innopolis Russia Faculty of Control Systems and Robotics ITMO Univeristy Saint-Petersburg Russia

ISBN: (数字)9781728172866

ISBN: (纸本)9781728172873

This paper proposes the generalization of the nonlinear models for which the identification method based on symmetric motions can be applied with high efficiency. We chose two symmetric motion intervals which helps to simplify the calculations. We also propose a new iterative-adaptive algorithm for a high accuracy tracking control. Based on the symmetry criteria we iteratively calculate estimations and use them in the control algorithm.

关键词： Mathematical model Trajectory Tracking Indexes Friction Gravity

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Adaptive state observer for PMSM with fixed time convergence

Adaptive state observer for PMSM with fixed time convergence

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Dmitry Bazylev Dmitrii Dobriborsci Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Deggendorf Institute of Technology Technology Campus Cham Cham

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This paper is addressed to the problem of state estimation for permanent magnet synchronous motors (PMSMs) with uncertain parameters. The proposed observer of flux, rotor position and speed uses measurements of stator currents and control voltages only. Moreover, it is assumed that all the motor parameters are unknown. The designed estimation algorithm generates estimates of several parameters that are used by the state observer. Presented approach is based on motor model transformation that results in a linear regression model with unknown parameters and application of Kreisselmeier’s dynamic extension of the regressor with suitable mixing. It is shown that parameter and state estimates converge in a fixed time under some reasonable assumptions. Simulation results demonstrate efficiency of the proposed solution for a typical scenario of motor operation.

关键词： Adaptation models Uncertain systems Voltage measurement Heuristic algorithms Current measurement Linear regression Observers Stators Voltage control Convergence

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