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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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Who Moved?! An Investigation into Distribution of Actions and Behaviors in a Multi Agent System

Who Moved?! An Investigation into Distribution of Actions an...

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International Conference on Mechatronics (ICM)

作者： Roozbeh Daneshvar Caro Lucas Artificial Intelligence and Robotics Laboratory Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing Faculty of Electrical and Computer Engineering School of Intelligent Systems IPM University of Tehran Tehran Iran

In this paper we have considered systems in which agents communicate via their environment. In these systems the agents do not have direct and explicit communication with each other and instead they have implicit communication which is performed via the environment they are located in. Different kinds of environment elements are considered to be changed while on the other hand for all of these situations there is a change in the environment and this change means potential stimuli that fires behaviors of agents for future. It is considered that if we can find a track of changes in the environment and find the roots of a movement in an agent that is originally made by another agent of the group

关键词： Artificial intelligence Intelligent robots Fires Tracking Process control Communication system control control systems Intelligent control Optical computing Intelligent systems

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Dynamic modeling and control simulation of a modified delta manipulator

Dynamic modeling and control simulation of a modified delta ...

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2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics

作者： Hao, Jianlong Xie, Xiaoliang Bian, Guibin Feng, Zhenqiu Gao, Zhanjie Hou, Zengguang Yu, Hongnian Vladareanu, Luige State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Faculty of Science and Technology Bournemouth University Poole DorsetBH12 5BB United Kingdom Robotics and Mechatronics Department Institute of Solid Mechanics Romanian Academy 15 C-tin Mille Street Bucharest 1 Romania

ISBN: (纸本)9781467391047

The delta parallel mechanism has proven to be a very successful parallel robot design and a number of variants have been proposed in the literature. Taking advantage of its simple construction and the intrinsic features such as high stiffness and accuracy, delta robots play an important role both in the fields of industrial robots and academical fields. In this paper, dynamic modeling and control simulation of a cable-driven modified delta manipulator for haptic interface are discussed. For the parallel mechanism is highly coupled and nonlinear, the dynamic model is of great importance for model-based controller to achieve a satisfactory performance. Based on the principle of virtual work, the dynamic equations of this manipulator are established. The proportional-derivative (PD) computed torque control scheme is proposed for trajectory tracking. With the help of the virtual prototype builded in ADAMS software and used in MATLAB software, the co-simulation is accomplished and the results validate the performance of the controller proposed in this paper. © 2015 IEEE.

关键词： Manipulators

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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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Water Indicator Measurement and Data Processing From Internet of Things Modules

Water Indicator Measurement and Data Processing From Interne...

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IEEE International Conference on Electrical Engineering and Photonics (EExPolytech)

作者： Yeldos A. Altay Lashin Bazarbay Raisa K. Uskenbayeva Alexey V. Fedorov Zhuldyz B. Kalpeyeva Department of Robotics and Technical Means of Automation Satbayev University Almaty Kazakhstan Vice-Rector Satbayev University Almaty Kazakhstan Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russian Federation Institute of Automation and Information Technologies Satbayev University Almaty Kazakhstan

ISBN: (数字)9798350388879

ISBN: (纸本)9798350388886

This article presents the results of the implementation of a measuring system based on an IoT module for remote transmission of aggregate measurement data obtained during analytical monitoring of five water parameters via a wireless communication channel. A model of an experimental setup is presented and discussed, demonstrating the operability and consistency of the model for monitoring physical parameters during aggregate measurements. The obtained results of remote data transmission via a wireless communication channel revealed a statistically significant correlation between spring water parameters and the most influential predictor of acidity, conductivity, turbidity and oxidation-reduction potential is water temperature. The discovered relationship between the measured parameters is mainly associated with the effect of temperature on the processes occurring with an increase and decrease in the temperature of the analyzed water samples.

关键词： Temperature measurement Wireless communication Correlation coefficient Temperature distribution Correlation Turbidity Conductivity Internet of Things Springs Monitoring

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Autonomous Exploration of Unknown 3D Environments Using a Frontier-Based Collector Strategy

Autonomous Exploration of Unknown 3D Environments Using a Fr...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Iván D. Changoluisa Caiza Ana Milas Marco A. Montes Grova Francisco Javier Pérez-Grau Tamara Petrovic University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Advanced Center for Aerospace Technologies (CATEC) Aerospace Technology Park of Andalusia Seville Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Autonomous exploration using unmanned aerial vehicles (UAVs) is essential for various tasks such as building inspections, rescue operations, deliveries, and warehousing. However, there are two main limitations to previous approaches: they may not be able to provide a complete map of the environment and assume that the map built during exploration is accurate enough for safe navigation, which is usually not the case. To address these limitations, a novel exploration method is proposed that combines frontier-based exploration with a collector strategy that achieves global exploration and complete map creation. In each iteration, the collector strategy stores and validates frontiers detected during exploration and selects the next best frontier to navigate to. The collector strategy ensures global exploration by balancing the exploitation of a known map with the exploration of unknown areas. In addition, the online path replanning ensures safe navigation through the map created during motion. The performance of the proposed method is verified by exploring 3D simulation environments in comparison with the state-of-the-art methods. Finally, the proposed approach is validated in a real-world experiment.

关键词： Three-dimensional displays Video on demand Navigation Warehousing Buildings Inspection Web sites

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A Graph-Based Self-Calibration Technique for Cable-Driven Robots with Sagging Cable

A Graph-Based Self-Calibration Technique for Cable-Driven Ro...

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

作者： M. R. Dindarloo A. S. Mirjalili S. A. Khalilpour R. Khorrambakht Stephan Weiss H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Tandon School of Engineering Control/Robotics Research Laboratory New York University Brooklyn NY Department of Smart Systems Technologies University of Klagenfurt Austria

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The efficient operation of large-scale Cable-Driven Parallel Robots (CDPRs) relies on precise calibration of kinematic parameters and the simplicity of the calibration process. This paper presents a graph-based self-calibration framework that explicitly addresses cable sag effects and facilitates the calibration procedure for large-scale CDPRs by only relying on internal sensors. A unified factor graph is proposed, incorporating a catenary cable model to capture cable sagging. The factor graph iteratively refines kinematic parameters, including anchor point locations and initial cable length, by considering jointly onboard sensor data and the robot’s kineto-static model. The applicability and accuracy of the proposed technique are demonstrated through Finite Element (FE) simulations, on both large and small-scale CDPRs subjected to significant initialization perturbations.

关键词： Meters Accuracy Perturbation methods Kinematics Robot sensing systems End effectors Software Calibration Sensors Finite element analysis

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A Terrain Segmentation Method Based on U-MobileNet for Navigation of Outdoor Robots

A Terrain Segmentation Method Based on U-MobileNet for Navig...

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Chinese control and Decision Conference, CCDC

作者： Tao Hong Botao Zhang Qi’an Zhang Sergey A. Chepinskiy Anton A. Zhilenkov School of Automation Hangzhou Dianzi University Hangzhou China Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University St. Petersburg Russia

ISBN: (纸本)9781665478977

Terrain segmentation is widely used in the recognition and navigation of outdoor mobile robots, in which deep learning-based segmentation methods have achieved remarkable performance. However, most of the segmentation networks can hardly meet the real-time requirement for outdoor robots. A novel terrain segmentation approach is proposed for segmentation terrains in the navigation of robots based on U-MobileNet. U-MobileNet, a lightweight segmentation network, is formed by transposing the feature extraction structure of MobileNetV2 to the contracting path of U-Net. The network efficiently reduce the computational cost and the error in segmentation by applying depthwise separable convolution, inverted residual and linear bottleneck. The experimental results show that the proposed lightweight neural network has good real-time performance with high-accuracy.

关键词： Navigation Convolution Neural networks Feature extraction Real-time systems Computational efficiency Mobile robots

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Sensorless control of Permanent Magnet Synchronous Motors based on Finite-Time Robust Flux Observer ⁎

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IFAC-PapersOnLine 2020年第2期53卷 9270-9275页

作者： Anton Pyrkin Alexey Bobtsov Romeo Ortega Alexey Vedyakov Dmitry Cherginets Dmitry Bazylev Petranevsky Igor ITMO University Faculty of Control Systems and Robotics49 Kronverksky Pr. St. Petersburg 197101 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Laboratory “Control of Complex Systems” Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg 199178 Russia Laboratoire des Signaux et Systèmes CNRS-SUPELEC Plateau du Moulon 91192 Gif-sur-Yvette France

A sensorless control algorithm is developed based on novel finite-time robust flux observer for the non-salient permanent magnet synchronous motor (PMSM). Total flux equality and motor model are used to find the linear regression-like model with respect to the flux. Applying dynamic regressor extension and mixing method, we obtain two independent scalar equations and construct a finite-time flux observer. The flux estimate is used to reconstruct the rotor position and velocity with well-known trigonometric relation and phase-locked loop observer, respectively. To complete a sensorless control design, we pass these estimates to standard field orient control. The efficiency and robustness of the proposed approach are demonstrated through the set of numerical simulations.

关键词： Sensorless nonlinear observer flux observer nonlinear control systems synchronous motor

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Frequency estimation of multi-sinusoidal signals in finite-time

arXiv

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arXiv 2020年

作者： Vediakova, Anastasiia Vedyakov, Alexey Pyrkin, Anton Bobtsov, Alexey Gromov, Vladislav Department of Computer Applications and Systems Saint Petersburg State University Universitetskaya nab. 7/9 Saint Petersburg199034 Russia Faculty of Control Systems and Robotics ITMO University Kronverksky av. 49 Saint Petersburg197101 Russia

This paper considers the problem of frequency estimation for a multi-sinusoidal signal consisting of n sinuses in finite-time. The parameterization approach based on applying delay operators to a measurable signal is used. The result is the nth order linear regression model with n parameters, which depends on the signals frequencies. We propose to use Dynamic Regressor Extension and Mixing method to replace nth order regression model with n first-order regression models. Then the standard gradient descent method is used to estimate separately for each the regression model parameter. On the next step using algebraic equations finite-time frequency estimate is found. The described method does not require measuring or calculating derivatives of the input signal, and uses only the signal measurement. The efficiency of the proposed approach is demonstrated through the set of numerical *** Codes 93C40 Copyright © 2020, The Authors. All rights reserved.

关键词： Frequency estimation

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