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3rd IEEE Conference on Industrial Cyberphysical systems, ICPS 2020

作者： Chukichev, Artemiy V. Timofeeva, Olga S. Yablochnikov, Eugeny I. Colombo, Armando Walter Itmo University Faculty of Control Systems and Robototechnics St.Petersburg Russia University of Applied Sciences Emden/Leer Faculty of Technology Emden Germany

ISBN: (纸本)9781728163895

The article discusses an approach of creating an Industrial Cyber-Physical Platform in a research laboratory to support the application of Industrial Cyber-Physical systems technologies in production processes. The research is based on the processes of small series production using injection molding with polymer forming parts made with the use of additive technology. The article considers the issues of improving physical production processes using information generated by identification of digitalized objects in the production system. The need for using process simulation systems and the possibility of processes improvement by collecting and analyzing digitalized data at all stages of technological manufacturing preparation are noted. © 2020 IEEE.

关键词： Cyber Physical System

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Position-based motion control for parallel manipulators under parametric uncertainties and with finite-time external disturbance rejection ⁎

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IFAC-PapersOnLine 2020年第2期53卷 8456-8461页

作者： Dmitrii Dobriborsci Sergey Kolyubin Natalia Gorokhova Marina Korotina Alexey Bobtsov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia.

We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are assumed to be unknown, and only a ball position is measurable with a resistive touch sensor. To solve the task we propose a novel passivity-based output control algorithm that can be implemented for unstable linearized systems of an arbitrary relative degree. In contrast to previous works, we describe a new way to parametrize harmonic signal generators and an estimation algorithm with finite-time convergence. This scheme enables fast disturbance cancellation under control signal magnitude constraints.

关键词： Adaptive control output control motion control disturbance rejection finite-time estimation ball-and-plate

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Distributed formation control of networked mechanical systems

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IFAC-PapersOnLine 2022年第13期55卷 294-299页

作者： N. Javanmardi P. Borja M.J. Yazdanpanah J.M.A. Scherpen Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Cognitive Robotics Delft University of Technology Delft The Netherlands Jan C. Wilems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen The Netherlands

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach.

关键词： Autonomous systems Cooperative control Networked control systems Large-scale systems Port-Hamiltonian systems Scalability

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Optimal swing motion control for single-rod brachiation robot *

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IFAC-PapersOnLine 2023年第2期56卷 6320-6325页

作者： Juraj Lieskovský Hijiri Akahane Jaroslav Bušek Ikuo Mizuuchi Tomáš Vyhlídal Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering and CIIRC-Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Technická 4 Prague 6 16607 Czechia Department of Mechanical Systems Engineering Tokyo University of Agriculture and Technology 2-24-16 Naka-cho Koganei-city Tokyo Japan

This paper focuses on the optimal swing and rotation control of a single-rod brachiation robot by repositioning its center of gravity. First, a time-optimal control is proposed and analyzed. It utilizes impulses of force at the robot's zero-angle and the turning-angle positions to reposition the center of gravity. Then, a practical implementation that addresses force limits is proposed, in the form of a PD controller paired with input-output linearization which uses the optimal solution as a setpoint. Both control policies are validated through simulations as a preliminary step to laboratory validation on an assembled single-rod robot. Enhanced attention is paid to energy evolution during the swing and rotation of the robot, in particular to the energy pumping achieved by repositioning the center of gravity.

关键词： Single-link robot optimal swing nonlinear control brachiation

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Cancer Breakpoint Hotspots Versus Individual Breakpoints Prediction by Machine Learning Models 1

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16th International Symposium on Bioinformatics Research and Applications, ISBRA 2020

作者： Cheloshkina, Kseniia Bzhikhatlov, Islam Poptsova, Maria Laboratory of Bioinformatics Faculty of Computer Science National Research University Higher School of Economics 11 Pokrovsky boulvar Moscow101000 Russia Faculty of Control Systems and Robotics ITMO University 49 Kronverksky Pr. St. Petersburg197101 Russia

ISBN: (数字)9783030578213

ISBN: (纸本)9783030578206

Genome rearrangement is a hallmark of all cancers. Cancer breakpoint prediction appeared to be a difficult task, and various machine learning models did not achieve high prediction power. We investigated the power of machine learning models to predict breakpoint hotspots selected with different density thresholds and also compared prediction of hotspots versus individual breakpoints. We found that hotspots are considerably better predicted than individual breakpoints. While choosing a selection criterion, the test ROC AUC only is not enough to choose the best model, the lift of recall and lift of precision should be taken into consideration. Investigation of the lift of recall and lift of precision showed that it is impossible to select one criterion of hotspot selection for all cancer types but there are three to four distinct groups of cancer with similar properties. Overall the presented results point to the necessity to choose different hotspots selection criteria for different types of cancer. © 2020, Springer Nature Switzerland AG.

关键词： Machine learning

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Autonomous navigation of a tracked unmanned ground vehicle*

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IFAC-PapersOnLine 2022年第14期55卷 120-125页

作者： Marija Seder Anđela Jurić Ana Šelek Filip Marić Marija Lovrić Ivan Petrović University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics (LAMOR) Zagreb Croatia University of Zagreb Croatian Military Academy Dr. Franjo Tuđman Zagreb Croatia

This work proposes a complete autonomous navigation system for a tracked vehicle. The system enables a complete autonomous execution of waypoint and patrolling tasks selected by the user. It also enables user-vehicle shared autonomy, switching between the user teleoperation and the vehicle autonomous operation. Our navigation system uses the model predictive control scheme based on a navigation function. We propose the navigation function which takes into account changing environments, any-shape footprint, and non-holonomic motion of the tracked vehicle. Besides the waypoint and patrolling tasks, we implemented a fail-safe scenario in case of the user-vehicle communication loss, in which the vehicle returns autonomously to the previously visited goal where the communication was stable. The efficiency of the proposed system is validated by experimental results on the Komodo tracked vehicle.

关键词： Robot navigation path planning obstacle detection avoidance motion control map building

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Achieving of magnus effect with agros suite

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 131-137页

作者： Lukin, Aleksandr Demidova, Galina Rassõlkin, Anton Faculty of Control Systems and Robotics Itmo University 49 Kronverksky Pr. St. Petersburg197101 Russia Department of Electrical Power Engineering and Mechatronics School of Engineering Tallinn University of Technology 5 Ehitajate tee Tallinn19086 Estonia

When the rotating body gets into the ambiance flow appears the lifting force, called Magnus Effect. That lifting force may be controlled by changing the revolution speed of the body. That phenomenon uses in many engineering applications like wind turbines and marine ships. In this paper, the Magnus Effect simulation is achieved with Agros Suite, a multiplatform application for the solution of physical problems. The article presents the nature of the Magnus Effect and discusses possible applications in engineering. The research question is focused on demonstrating the Magnus Effect with Agros Suite and evaluating the computational power of the personal computer that runs the simulation. The simulation is made keeping in mind the possible application of the Agros Suite tools for Magnus-Effect-based wind generator control algorithms optimization. The simulation result analysis shows that Agros Suite is a reliable tool in accessing and simulation of such phenomena. © 2021 Budapest university of Technology and Economics. All rights reserved.

关键词： Personal computers

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Graph-Based Visual-Kinematic Fusion and Monte Carlo Initialization for Fast-Deployable Cable-Driven Robots

Graph-Based Visual-Kinematic Fusion and Monte Carlo Initiali...

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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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Simplified Rotor Angular Velocity Estimation for a Permanent Magnets Synchronous Motor by Current and Voltage Measurements 3rd

Simplified Rotor Angular Velocity Estimation for a Permanent...

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3rd International Scientific Conference on Convergent Cognitive Information Technologies, Convergent 2018

作者： Vediakova, Anastasiia O. Vedyakov, Alexey A. Department of Computer Applications and Systems St. Petersburg State University 7/9 Universitetskaya nab. St. Petersburg199034 Russia Faculty of Control Systems and Robotics ITMO University Kronverkskiy Pr. 49 St. Petersburg197101 Russia

ISBN: (纸本)9783030374358

This paper is devoted to the rotor angular velocity estimation of the permanent-magnet synchronous motor (PMSM). It is an actual problem, for example, in sensorless control. We consider a classical, two-phase model in the stator frame of the unsaturated, non-salient PMSM in the state-space representation. All parameters of the model except the stator windings resistance and rotor inertia are assumed to be known. On the first step, we find the relation between measured signals and angular velocity and excluding the unknown parameters of the motor. This relation is simplified using properties of the measured signals and represented as the first-order regression model, where the unknown parameter is the angular velocity. On the next step, we propose the estimation scheme, which is based on the gradient descent method. The efficiency is illustrated through a set of numerical simulations. © Springer Nature Switzerland AG 2020.

关键词： Sensorless control

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Enhancing Precision Agriculture Through Human-in-the-Loop Planning and control

Enhancing Precision Agriculture Through Human-in-the-Loop Pl...

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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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