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International Workshop on Electric Drives: Optimization in control of Electric Drives (IWED)

作者： Aleksandr Lukin Galina L. Demidova Anton Rassõlkin Toomas Vaimann Hamid Roozbahani Faculty of Control System and Robotics ITMO University Saint Petersburg Russia Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallin Estonia Laboratory of Intelligent Machines Lappeenranta University of Technology Lappeenranta Finland

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

This paper describes the control system for twin serial robot manipulators, installed on TIERA mobile robot, focusing in Robot Operating System (ROS) based control network and haptic feedback. Forward and inverse kinematics were used to translate the angular positions of Geomagic touch into joint angles of both UR10 manipulators. Force feedback allows the operator to sense forces applied to both grippers of robotic arms simultaneously using two Geomagic touch. Field tests of TIERA have shown that haptic feedback was established accurately, directions of forces inside the haptic device correspond with directions of forces affecting the gripper, and the current scaling coefficient is enough to sense forces on the haptic device.

关键词： Manipulators Robot sensing systems Robot kinematics Haptic interfaces Software

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Generation of New Exciting Regressors for Consistent On-line Estimation of Unknown Constant Parameters

arXiv

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arXiv 2021年

作者： Bobtsov, Alexey Yi, Bowen Ortega, Romeo Astolfi, Alessandro Hangzhou310018 China The Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia Australian Centre for Field Robotics The University of Sydney SydneyNSW2006 Australia Departamento Académico de Sistemas Digitales ITAM Ciudad de México Mexico The Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom The DICII Universita di Roma "Tor Vergata" Via del Politecnico 1 Roma00133 Italy

The problem of estimating constant parameters from a standard vector linear regression equation in the absence of sufficient excitation in the regressor is addressed. The first step to solve the problem consists in transforming this equation into a set of scalar ones using the well-known dynamic regressor extension and mixing technique. Then a novel procedure to generate new scalar exciting regressors is proposed. The superior performance of a classical gradient estimator using this new regressor, instead of the original one, is illustrated with comprehensive simulations. © 2021, CC BY.

关键词： Parameter estimation

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A Globally Convergent State Observer for Multimachine Power systems with Lossy Lines

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IFAC-PapersOnLine 2020年第2期53卷 5028-5033页

作者： Alexey Bobtsov Romeo Ortega Nikolay Nikolaev Johannes Schiffer Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint Petersburg 197101 Russia LSS-Supelec 3 Rue Joliot-Curie 91192 Gif-sur-Yvette France Fachgebiet Regelungssysteme und Netzleitechnik Brandenburgische Technische Universität Cottbus – Senftenberg Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia

We present the first solution to the problem of estimation of the state of multimachine power systems with lossy transmission lines. We consider the classical three-dimensional “flux-decay” model of the power system and assume that the active and reactive power as well as the rotor angle and excitation voltage at each generator is available for measurement—a scenario that is feasible with current technology. The design of the observer relies on two recent developments proposed by the authors: a parameter estimation based approach to the problem of state estimation and the use of the dynamic regressor extension and mixing technique to estimate these parameters. Thanks to the combination of these techniques it is possible to overcome the problem of lack of persistent excitation that stymies the application of standard observer designs. Simulation results illustrate the performance of the proposed observer.

关键词： Electric power systems Observers Nonlinear systems Dynamic state estimation

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Path following of a class of underactuated mechanical systems via immersion and invariance-based orbital stabilization

arXiv

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arXiv 2020年

作者： Yi, Bowen Ortega, Romeo Manchester, Ian R. Siguerdidjane, Houria Australian Centre for Field Robotics & Sydney Institute for Robotics and Intelligent Systems University of Sydney SydneyNSW2006 Australia Laboratoire des Signaux et Systèmes CNRS-CentraleSupélec Gif-sur-Yvette 91192 France Department of Control Systems and Informatics ITMO University St. Petersburg197101 Russia

This paper aims to provide a new problem formulation of path following for mechanical systems without time parameterization nor guidance laws, namely, we express the control objective as an orbital stabilization problem. It is shown that, it is possible to adapt the immersion and invariance technique to design static state-feedback controllers that solve the problem. In particular, we select the target dynamics adopting the recently introduced Mexican sombrero energy assignment method. To demonstrate the effectiveness of the proposed method we apply it to control underactuated marine surface vessels. Copyright © 2020, The Authors. All rights reserved.

关键词： Mechanics

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Simulation of a Modern Assembly Plant

Simulation of a Modern Assembly Plant

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International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon)

作者： R.A. Iureva N.S. Kuchenov Andreev Yu.S P.D. Vakhviyanova Faculty of Control Systems and robototechnics ITMO University Saint-Petersburg

The paper is devoted to investigation of facelift of a modern plant, specifically assembly plant. The question of optimization of production and number of required specialists is examined with Anylogic. The pros of th... 详细信息

关键词： Automation Optimization Planning Task analysis Software

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Application of Enhanced Extended Observer in Station-Keeping of a Quadrotor with Unmeasurable Pitch and Roll Angles ⁎

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IFAC-PapersOnLine 2019年第16期52卷 837-842页

作者： Oleg I. Borisov Anton A. Pyrkin Alberto Isidori ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia Innopolis University Center for Technologies in Robotics and Mechatronics Components Innopolis Russia University of Rome “La Sapienza” Department of Computer Control and Management Engineering “A. Ruberti” Rome Italy

In this paper we provide an example of application of the design of a control law that makes use of an enhanced version of the so-called extended observer. The enhancement in question reposes on the extension of a classical Lemma due to Dayawansa to the case of nonlinear systems whose normal form includes time-varying (and measurable) gains. The presented example concerns a station-keeping problem of a quadrotor with unmeasurable pitch and roll angles.

关键词： Dayawansa’s lemma Robust observers Nonlinear systems High-gain observers Quadrotors

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An Observer-Based Composite Identifier for Online Estimation of the Thévenin Equivalent Parameters of a Power System

arXiv

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arXiv 2022年

作者： Zonetti, Daniele Ortega, Romeo Cisneros, Rafael Bobtsov, Alexey Mancilla-David, Fernando Gomis-Bellmunt, Oriol The Centre d'Innovació Tecnològica En Convertidors Estàtics I Accionaments Departament d'Enginyeria Elèctrica Universitat Politècnica De Catalunya Barcelona08028 Spain The Departamento Académico De Sistemas Digitales ITAM Rio Hondo 1 Col. Progreso Tizapan Ciudad de México01080 Mexico The Department Of Control Systems And Robotics ITMO University Kronverkskiy av. 49 Saint-Petersburg197101 Russia The Department Of Electrical Engineering University Of Colorado Denver DenverCO80204 United States

We consider a Thévenin equivalent circuit capturing the dynamics of a power grid as seen from the point of common coupling with a power electronic converter, and provide a solution to the problem of online identification of the corresponding circuit parameters. For this purpose, we first derive a linear regression model in the conventional abc coordinates and next design a bounded observer-based composite identifier that requires local measurements and knowledge of the grid frequency only. An extension that guarantees exponential convergence of the estimates, under the additional assumption of knowledge of the grid X/R ratio, is further provided. The performance of the proposed identifier, which subsumes a conventional gradient descent algorithm, is illustrated via detailed computer simulations. © 2022, CC BY.

关键词： Equivalent circuits

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Trajectory control of the wheeled mobile robots in dynamic environment

Trajectory control of the wheeled mobile robots in dynamic e...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Botao Zhang Aleksandr Y. Krasnov Sergey A. Chepinskiy Valery V. Grigoriev Kirill A. Artemov Duzhesheng Liao Shengyi Zhang Jian Wang school of Automation Hangzhou Dianzi University Hangzhou China faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

This article deals with the problem of the trajectory control of wheeled mobile robots in presence of moving external objects. A procedure of the controllers design based on stabilisation of geometric manifolds using transformation of the mathematical model to the task-oriented basis without velocities measure is proposed. Efficiency of proposed algorithms is proven by numerical simulation results and experimental implementation on wheeled mobile robot.

关键词： Trajectory Mobile robots Task analysis Mathematical model Manifolds

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Mapping Surgeons Hand/Finger Movements to Surgical Tool Motion during Conventional Microsurgery Using Machine Learning

引用

Journal of Medical robotics Research 2021年第3-4期6卷

作者： Fattahi Sani, Mohammad Ascione, Raimondo Dogramadzi, Sanja Bristol Robotics Laboratory University of the West of England Bristol United Kingdom Bristol Heart Institute and Translational Biomedical Research Centre Faculty of Health Science University of Bristol Bristol United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffiled United Kingdom

Purpose: Recent developments in robotics and artificial intelligence (AI) have led to significant advances in healthcare technologies enhancing robot-Assisted minimally invasive surgery (RAMIS) in some surgical specialties. However, current human-robot interfaces lack intuitive teleoperation and cannot mimic surgeon's hand/finger sensing required for fine motion micro-surgeries. These limitations make teleoperated robotic surgery not less suitable for, e.g. cardiac surgery and it can be difficult to learn for established surgeons. We report a pilot study showing an intuitive way of recording and mapping surgeon's gross hand motion and the fine synergic motion during cardiac micro-surgery as a way to enhance future intuitive teleoperation. Methods: We set to develop a prototype system able to train a Deep Neural Network (DNN) by mapping wrist, hand and surgical tool real-Time data acquisition (RTDA) inputs during mock-up heart micro-surgery procedures. The trained network was used to estimate the tools poses from refined hand joint angles. Outputs of the network were surgical tool orientation and jaw angle acquired by an optical motion capture system. Results: Based on surgeon's feedback during mock micro-surgery, the developed wearable system with light-weight sensors for motion tracking did not interfere with the surgery and instrument handling. The wearable motion tracking system used 12 finger/thumb/wrist joint angle sensors to generate meaningful datasets representing inputs of the DNN network with new hand joint angles added as necessary based on comparing the estimated tool poses against measured tool pose. The DNN architecture was optimized for the highest estimation accuracy and the ability to determine the tool pose with the least mean squared error. This novel approach showed that the surgical instrument's pose, an essential requirement for teleoperation, can be accurately estimated from recorded surgeon's hand/finger movements with a mean squared error (M

关键词： feature extraction hand tracking machine learning minimally invasive surgery real-Time low-cost hand tracking Robot-Assisted surgery

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Gait Phase Detection for Biped Robots

Gait Phase Detection for Biped Robots

引用

International Russian Automation Conference (RusAutoCon)

作者： Islam Bzhikhatlov Kseniia Cheloshkina Mikhail Abramchuk Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russia Faculty of Computer Science National Research University Higher School of Economics Moscow Russia

Gait phase detection is an important task for walking cycle planning because the stability of walking could be estimated by gait phase sequence. The machine learning models were developed for detection of support type and walking gait phase for given posture to be used for stability estimation of walking robots through phases sequence. It was revealed that it is possible to build high quality model based on human motion capture data using only normalized data from a body lower part without toes with the degrees of freedom same as biped robot degrees of freedom. Among different machine learning methods applied to support type prediction by all available motion capture data gradient boosting model showed the highest quality in 7-fold cross-validation having 0.97 accuracy, mean per class precision and recall. Additionally, it was demonstrated that removal of an upper half of body data as well as toes data did not lead to any significant model quality decrease as a final reduced model gives 0.964 accuracy, mean per class precision and recall. Finally, the model for prediction of 5 walking gait phases was developed and showed comparable quality namely 0.95 accuracy, mean per class precision and recall.

关键词： Legged locomotion Machine learning Data models Predictive models Correlation Stability analysis

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