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Autonomous docking and energy sharing between two types of robotic agents

IFAC-PapersOnLine 2018年第29期51卷 406-411页

作者： Babi, Anja Mandi, Filip Vasiljevi, Goran Mikovi, Nikola Faculty of Electrical Engineering and Computing LABUST Laboratory for Underwater Systems and Technologies University of Zagreb Unska 3 Zagreb Croatia Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Unska 3 Zagreb Croatia

In order to achieve long-term autonomy after deployment, a method of energy sharing within a heterogeneous swarm of marine robots was devised and implemented. This paper describes hardware and software solutions as well as guidance and control algorithms developed with the goal of allowing powerful energy-rich overactuated surface platforms to approach, dock, and wirelessly recharge less mobile sensor-rich agents upon request using visual servoing. The basic image processing algorithm uses data acquired by the Microsoft Kinect sensor alternating between RGB and infra-red camera modes, depending on lighting conditions. The full search and docking procedure developed for long-term operation is described. The results of a series of experiments done both in an indoor testbed and in realistic outdoor conditions are discussed and some goals for future work are given. © 2018

关键词： Autonomous agents

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Case study on human-free water heaters production for industry 4.0

Case study on human-free water heaters production for indust...

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Industrial Cyber-Physical systems (ICPS)

作者： Oleg I. Borisov Vladislav S. Gromov Sergey A. Kolyubin Anton A. Pyrkin Nikolay Y. Dema Vladimir I. Salikhov Igor V. Petranevsky Alexey O. Klyunin Sergey V. Shavetov Alexey A. Bobtsov Faculty of Control Systems and Industrial Robotics ITMO University St. Petersbur Russia

ISBN: (纸本)9781538665329

This paper focuses on the design of an industrial cyber-physical system for workpieces production and processing using three articulated robots (Mitsubishi MELFA RV-3SDB, KUKA youBot and Kawasaki FS06N). These equipment is integrated within the control software center based on MATLAB. The main goal is to design unified system comprised of heterogeneous technical systems. The control strategy has three levels structure (orchestration, tactic and local levels). A range of issues addressed within the study covers spatial movements planning for articulated robots, navigation, computer vision, force control, sensory system.

关键词： Robot kinematics Robot sensing systems Service robots Software Production Matlab

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State estimation for a locally unobservable parameter-varying system: one gradient-based and one switched solutions

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IFAC-PapersOnLine 2020年第2期53卷 578-583页

作者： Stanislav Aranovskiy Denis Efimov Dmitry Sokolov Jian Wang Igor Ryadchikov Alexey Bobtsov IETR - CentaleSupélec Avenue de la Boulaie 35576 Césson-Sévigné France Inria Univ. Lille CNRS UMR 9189 - CRIStAL - Centre de Recherche en Informatique Signal et Automatique de Lille F-59000 Lille France Université de Lorraine CNRS Inria LORIA F-54000 Nancy France School of Automation Hangzhou Dianzi University Xiasha Higher Education Zone Hangzhou Zhejiang PR China Kuban State University Krasnodar Russia Faculty of Control Systems and Robotics ITMO University 197101 Saint Petersburg Russia

This work is motivated by a case study of a mechanical system where a sensor bias yields loose of observability for certain values of time-varying parameters. Two solutions are proposed: a nonlinear gradient-based observer that requires the persistency of excitation of the system trajectories and a switched observer that imposes an average dwell-time requirement. For both observers, asymptotic convergence of the estimates is proven. The theoretical results are supported by illustrative numerical simulations.

关键词： parameter-varying systems switched observer nonlinear observer switched Lyapunov function

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Distributedly Solving Boolean Equations over Networks

Distributedly Solving Boolean Equations over Networks

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IEEE Conference on Decision and control

作者： Hongsheng Qi Bo Li Rui-Juan Jing Alexandre Proutiere Guodong Shi Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing China Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China Faculty of Science Jiangsu University Zhenjiang China KTH Royal Institute of Technology Stockholm Sweden Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW Australia

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

关键词： Signal processing algorithms Heuristic algorithms Consensus algorithm Distributed algorithms Approximation algorithms Signal processing Convergence

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Orbital stabilization of nonlinear systems via mexican sombrero energy shaping and pumping-and-damping injection

arXiv

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arXiv 2019年

作者： Yi, Bowen Ortega, Romeo Wu, Dongjun Zhang, Weidong Department of Automation Shanghai Jiao Tong University Shanghai200240 China Laboratoire des Signaux et Systèmes CNRS-CentraleSupélec Gif-sur-Yvette91192 France Faculty of Control Systems and Robotics ITMO University St. Petersburg197101 Russia

In this paper we show that a slight modification to the widely popular interconnection and damping assignment passivity-based control method-originally proposed for stabilization of equilibria of nonlinear systems-allows us to provide a solution to the more challenging orbital stabilization problem. Two different, though related, ways how this procedure can be applied are proposed. First, the assignment of an energy function that has a minimum in a closed curve, i.e., with the shape of a Mexican sombrero. Second, the use of a damping matrix that changes "sign" according to the position of the state trajectory relative to the desired orbit, that is, pumping or dissipating energy. The proposed methodologies are illustrated with the example of the induction motor and prove that it yields the industry standard field oriented control. Copyright © 2019, The Authors. All rights reserved.

关键词： Damping

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Distributed algorithms that solve boolean equations with local and differential privacies

arXiv

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arXiv 2020年

作者： Qi, Hongsheng Li, Bo Jing, Rui-Juan Wang, Lei Proutiere, Alexandre Shi, Guodong Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Faculty of Science Jiangsu University Zhenjiang212013 China Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW2006 Australia Department of Automatic Control Kth Royal Institute of Technology Stockholm100-44 Sweden

In this paper, we propose distributed algorithms that solve a system of Boolean equations over a network, where each node in the network possesses only one Boolean equation from the system. The Boolean equation assigned at any particular node is a private equation known to this node only, and the nodes aim to compute the exact set of solutions to the system without exchanging their local equations. We show that each private Boolean equation can be locally lifted to a linear algebraic equation under a basis of Boolean vectors, leading to a network linear equation that is distributedly solvable using existing distributed linear equation algorithms as a subroutine. A number of exact or approximate solutions to the induced linear equation are then computed at each node from different initial values. The solutions to the original Boolean equations are eventually computed locally via a Boolean vector search algorithm. We prove that given solvable Boolean equations, when the initial values of the nodes for the distributed linear equation solving step are i.i.d selected according to a uniform distribution in a high-dimensional cube, our algorithms return the exact solution set of the Boolean equations at each node with high probability. Furthermore, we present an algorithm for distributed verification of the satisfiability of Boolean equations, and prove its correctness. Finally, we show that by utilizing linear equation solvers with differential privacy to replace the in-network computing routines, the overall distributed Boolean equation algorithms can be made differentially private. Under the standard Laplace mechanism, we prove an explicit level of noises that can be injected in the linear equation steps for ensuring a prescribed level of differential privacy. Copyright © 2020, The Authors. All rights reserved.

关键词： Linear equations

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Novel Optimization Approach to Development of Digit Mechanism for Bio-inspired Prosthetic Hand

Novel Optimization Approach to Development of Digit Mechanis...

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IEEE International Conference on Biomedical robotics and Biomechatronics

作者： Ivan I. Borisov Oleg I. Borisov Daniil S. Monich Tariel A. Dodashvili Sergey A. Kolyubin Faculty of Control Systems and Robotics ITMO University 49 Kronverksky Pr. St. Petersburg 197101 Russia Faculty of Control Systems and Roboti

ISBN: (纸本)9781538681848

This paper presents a novel optimization approach to development of a digit mechanism for a bio-inspired anthropomorphic industrial gripper, or a prosthetic device. The proposed approach is going to help to provide a necessary trajectory of phalanges through calculation of links lengths of a robotic hand. In this paper the approach is applied to design of the prosthetic hand fingers, which are able to perform both types of the grasp: power and precision. The structure of the robotic hand finger is able to use different modes to actuate the finger: if the kinematic chain of the finger mechanism is closed it has only one degree of freedom and the trajectory is predictable, but if the kinematic chain is opened the finger will have two degrees of freedom, which allows to perform adaptive grasp. The paper is concerned with the proposed approach, fingers implementation, design of the prosthetic hand and its simulation.

关键词： Grippers Thumb Robots Prosthetic hand Trajectory Indexes Kinematics Prosthetic hand Grippers trajectory Fingers Thumb Robot kinematics Kinematic chain two degrees of freedom Degree of freedom robotic hand

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Modelling a project for the development of a neurocomputer interface based on EMG

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IOP Conference Series: Materials Science and Engineering 2020年第1期940卷

作者： S A Gavrilov A S Kyzdarbekova S S Reznikov E A Kobets N N Gorlushkina ITMO University Kronverksky pr. 49 St. Petersburg Russian Federation 197101 ITMO University Megafaculty of Computer Technologies and Control Faculty of Control Systems and Robotics Kronverksky pr. 49 St. Petersburg Russian Federation 197101 ITMO University Megafaculty of Translational Information Technologies Faculty of Infocommunication Technologies Exchange line 14-16 St. Petersburg Russian Federation 199034

Currently, around the world, various neurocomputer interfaces (NCI) are being actively developed for controlling prostheses, exoskeletons, robots, for interacting with virtual reality, for rehabilitation medicine, and even for professional sports. Development and research in the field of rehabilitation medicine will help partially and fully restore the functional capabilities of people with amputation or congenital defects of the limbs. Thus, the purpose of this work is to review the methods of recording the control signals of bionic devices based on the analysis of physiological and nervous processes in humans and modeling of a project for developing a neurocomputer interface based on EMG using flexible methods of project management. In this regard, first of all, it is interesting to develop a sensor and controller for further use in systems of robotic prostheses. At the moment, the design of the project using flexible methods of project management has been made and the first prototype with five channels for connecting sensors and a USB interface for communication with a personal computer has been manufactured. Also was made the first prototype with 5 channels for connecting sensors and a USB interface for communication with a personal computer.

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Machine Learning with Blockchain for Secure E-voting System

Machine Learning with Blockchain for Secure E-voting System

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2020 First International Conference of Smart systems and Emerging Technologies (SMARTTECH)

作者： Muhammad Asaad Cheema Nouman Ashraf Asad Aftab Hassaan Khaliq Qureshi Muhammad Kazim Ahmad Taher Azar National University of Sciences and Technology (NUST) Islamabad Pakistan Telecommunication Software and System Group (TSSG) Waterford Institute of Technology Waterford Ireland Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China Robotics and Internet-of-Things Lab (RIOTU) Prince Sultan University Riyadh Saudi Arabia Faculty of Computers and Artificial Intelligence Benha University

ISBN: (数字)9781728174075

ISBN: (纸本)9781728174082

Voting is a central component of a country's political life cycle. Privacy, authentication and integrity of citizens' votes and their data are considered to be essential to any e-voting program. In order to resolve these concerns, we propose a stable e-voting system based on the principles of blockchain and machine learning. We use blockchain to ensure the integrity and security of votes, machine learning model to detect intrusion in voting data centers and e-voting stations. In the proposed model, we use the concepts of personal and public blockchain. The personal blockchain is used for the purposes of voter registration and voting. The public blockchain is used to maintain the integrity of the personal data of the voters by storing the root hash derived from the Merkle hash tree and revealing the results of the voting stations as soon as the voting process is completed. The proposed blockchain-based e-voting system offers transparency, treasury, confidence and prevents intrusion into the information exchange network.

关键词： Data centers Support vector machine classification Blockchain Machine learning Web servers Registers Electronic voting

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Efficient dense frontier detection for 2D graph SLAM based on occupancy grid submaps

arXiv

引用

arXiv 2019年

作者： Oršulić, Juraj Miklić, Damjan Kovačić, Zdenko Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems University of Zagreb Croatia RoMb Technologies d.o.o. Zagreb Croatia

In autonomous robot exploration, the frontier is the border in the world map dividing the explored and unexplored space. The frontier plays an important role when deciding where in the environment the robots should go explore next. We consider a modular control system pipeline for autonomous exploration where a 2D graph SLAM algorithm based on occupancy grid submaps performs map building and localization, and frontier detection is one of key system components. We provide an overview of the state of the art in frontier detection and the relevant SLAM concepts and propose a fast specialized frontier detection method which is efficiently constrained to active submaps, yet robust to graph SLAM loop closures. Copyright © 2019, The Authors. All rights reserved.

关键词： Computer vision

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