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Calibration of Heterogeneous Sensor systems

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arXiv 2018年

作者： Peršić, Juraj University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems Mobile Robotics LAMOR

Environment perception is a key component of any autonomous system and is often based on a heterogeneous set of sensors and fusion thereof for which sensor sensor calibration plays fundamental role. It can be divided to intrinsic and extrinsic sensor calibration. Former seeks for internal parameters of each individual sensor, while latter provides coordinate frame transformation between sensors. Calibration techniques require correspondence registration in the measurements which is one of the main challenges in the extrinsic calibration of heterogeneous sensors, since generally, each sensor can operate on a different physical principle. Measurement correspondences can originate from a designated calibration target or from features in the environment. Additionally, environment features can be used to estimate motion of individual sensors and the calibration is found by aligning these estimates. Motion-based calibration is the most common approach in the online calibration since it is more practical than the target-based methods, although it can lack in accuracy. Furthermore, online calibration is beneficial for system robustness as it can detect and adjust recalibration of the system in runtime, which can be seen as a prerequisite for long-term autonomy. Copyright © 2018, The Authors. All rights reserved.

关键词： Calibration

Decentralized Energy Sharing Protocol using TÆMS Framework and Coalition-based Metaheuristic for Heterogeneous Robotic systems

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Decentralized Energy Sharing Protocol using TÆMS Framework ...

作者： Arbanas, Barbara Boljuncic, Sara Petrovic, Tamara Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia

In this paper we describe a decentralized protocol that is applied for scheduling and management of energy sharing in heterogeneous systems. Particular system we have in mind comprises of agents with different mobility, energy harvesting and energy sharing capabilities herein called aPads, aFish and aMussels. aPads are surface vehicles that harvest energy and are able to transmit it to both aFishes and aMussels. aFish are underwater vehicles that can transmit energy to aMussels or to other aFish, and receive energy from aPads. aMussels, that can either be attached to the sea-ground or float on the surface, can only receive energy, either from aFish or aPads. For such a system to be able to function for an extended period of time, a decentralized energy management protocol should be designed, whose purpose is to schedule and coordinate charging of agents over time. These decisions depend on the current battery levels of different agents, as well as their positions, and should be done in a decentralized manner. In this paper we apply an energy sharing protocol based on TÆMS framework, originally applied to planning and coordination in aerial-ground robotics systems for search and rescue missions. We refine the obtained plans using the coalition-based metaheuristic for vehicle routing problems. We show execution schedules achieved using the proposed protocol and highlight its advantages and flaws when applied to our underwater scenario. © 2017

关键词： Energy management systems

An impulsive model of endocrine regulation with two negative feedback loops*

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IFAC-PapersOnLine 2017年第1期50卷 14717-14722页

作者： Taghvafard, Hadi Proskurnikov, Anton V. Cao, Ming Faculty of Science and Engineering University of Groningen Nijenborgh 4 GroningenAG9747 Netherlands Delft Center for Systems and Control Delft University of Technology Delft Netherlands ITMO University St. Petersburg Russia

Whereas obtaining a global model of the human endocrine system remains a challenging problem, visible progress has been demonstrated in modeling its subsystems (axes) that regulate production of specific hormones. The axes are typically described by Goodwin-like cyclic feedback systems. Unlike the classical Goodwin oscillator, obeying a system of ordinary differential equations, the feedback mechanisms of brain-controlled hormonal regulatory circuits appear to be pulsatile, which, in particular, exclude the possibility of equilibrium solutions. The recent studies have also revealed that the regulatory mechanisms of many vital hormones (including e.g. testosterone and cortisol regulation) are more complicated than Goodwin-type oscillators and involve multiple negative feedback loops. Although a few “multi-loop” extensions of the classical Goodwin model have been studied in literature, the analysis of impulsive endocrine regulation models with additional negative feedbacks has remained elusive. In this paper, we address one of such models, obtained from the impulsive Goodwin-type oscillator by introducing an additional linear feedback. Since the levels of hormones’ concentrations oscillate periodically, examination of endocrine regulation circuits is primarily focused on periodic solutions. We prove the existence and uniqueness of periodic solutions of a special type, referred to as 1-cycles and featured by the unique discontinuous point in each period. Procedures for computing such a solution and testing its stability are discussed. The results are confirmed by numerical simulations. © 2017

关键词： Feedback Brain Endocrinology Hormones Ordinary differential equations Oscillators (electronic) Biomedical systems Equilibrium solutions Existence and uniqueness Impulse signal Negative feedback loop Oscillations Periodic solution System of ordinary differential equations

New results on parameter estimation via dynamic regressor extension and mixing: Continuous and discrete-time cases

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arXiv 2019年

作者： Ortega, Romeo Aranovskiy, Stanislav Pyrkin, Anton A. Astolfi, Alessandro Bobtsov, Alexey A. Laboratoire des Signaux et Systèmes CNRS-SUPELEC Plateau du Moulon Gif-sur-Yvette91192 France ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia CentraleSupélec - IETR Avenue de la Boulaie Cesson-Sévigné35576 France Hangzhou Dianzi University Hangzhou310018 China Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom DICII Universita di Roma "Tor Vergata" Via del Politecnico 1 Roma00133 Italy

We present some new results on the dynamic regressor extension and mixing parameter estimators for linear regression models recently proposed in the literature. This technique has proven instrumental in the solution of several open problems in system identification and adaptive control. The new results include: (i) a unified treatment of the continuous and the discrete-time cases;(ii) the proposal of two new extended regressor matrices, one which guarantees a quantifiable transient performance improvement, and the other exponential convergence under conditions that are strictly weaker than regressor persistence of excitation;and (iii) an alternative estimator ensuring parameter estimation in finite-time that retains its alertness to track time-varying parameters. Simulations that illustrate our results are also presented. Copyright © 2019, The Authors. All rights reserved.

关键词： Adaptive control systems

A Dual-User Teleoperated Surgery Training Scheme Based on Virtual Fixture

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A Dual-User Teleoperated Surgery Training Scheme Based on Vi...

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： A. Iranfar M. Motaharifar H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

The widespread use of minimally invasive surgery (MIS) demands an appropriate framework to train novice surgeons (trainees) to perform MIS. One of the effective ways to establish a cooperative training system is to use virtual fixtures. In this paper, a guiding virtual fixture is proposed to correct the movements of the trainee according to trainer hand motion performing a real MIS surgery. The proposed training framework utilizes the position signals of trainer to modify incorrect movements of the trainee which leads to shaping the trainee's muscle memory. Thus, after enough training sessions the trainee gains sufficient experience to perform the surgical task without any further help from the trainer. The passivity approach is utilized to analyze the stability of system. Simulation results are also presented to demonstrate the effectiveness of the proposed method.

关键词： Training Surgery Haptic interfaces Task analysis Stability analysis Force Trajectory

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

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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

Two Lyapunov methods in nonlinear state estimation via finite capacity communication channels

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IFAC-PapersOnLine 2017年第1期50卷 4132-4137页

作者： Matveev A. Pogromsky A. Department of Mathematics and Mechanics Saint Petersburg University St. Petersburg Russian Federation Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Department of Control Systems and Industrial Robotics National Research University of Information Technologies Mechanics and Optics (ITMO) Saint-Petersburg Russian Federation

关键词： Entropy First Nonlinear systems second Lyapunov methods

Flights are ten a sail - Re-use and commonality in the design and system engineering of small spacecraft solar sail missions with modular hardware for responsive and adaptive exploration 70

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Flights are ten a sail - Re-use and commonality in the desig...

70th International Astronautical Congress, IAC 2019

作者： Grundmann, Jan Thimo Bauer, Waldemar Boden, Ralf Ceriotti, Matteo Chand, Suditi Cordero, Federico Dachwald, Bernd Dumont, Etienne Grimm, Christian D. Heiligers, Jeannette Hercík, David Hérique, Alain Ho, Tra-Mi Jahnke, Rico Kofman, Wlodek Lange, Caroline Lichtenheldt, Roy McInnes, Colin Meß, Jan-Gerd Mikschl, Tobias Mikulz, Eugen Montenegro, Sergio Moore, Iain Pelivan, Ivanka Peloni, Alessandro Plettemeier, Dirk Quantius, Dominik Reershemius, Siebo Renger, Thomas Riemann, Johannes Rogez, Yves Ruffer, Michael Sasaki, Kaname Schmitz, Nicole Seboldt, Wolfgang Seefeldt, Patric Spietz, Peter Spröwitz, Tom Sznajder, Maciej Tóth, Norbert Vergaaij, Merel Viavattene, Giulia Wejmo, Elisabet Wiedemann, Carsten Wolff, Friederike Ziach, Christian DLR German Aerospace Center Institute of Space Systems Robert-Hooke-Str. 7 Bremen28359 Germany Consultants to DLR Institute of Space Systems University of Glasgow GlasgowG12 8QQ United Kingdom Telespazio-VEGA Darmstadt Germany Faculty of Aerospace Engineering FH Aachen University of Applied Sciences Hohenstaufenallee 6 Aachen52064 Germany Institute for Geophysics and Extraterrestrial Physics Technical University Braunschweig Germany Université Grenoble Alpes CS 40700 Grenoble Cédex 938058 France DLR German Aerospace Center Robotics and Mechatronics Center Weßling82234 Germany Informatik 8 Universität Würzburg Am Hubland Würzburg97074 Germany Fraunhofer Heinrich Hertz Institute Berlin Germany Dresden University of Technology RF Engineering Dresden Germany DLR German Aerospace Center Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany DLR German Aerospace Center Institute of System Dynamics and Control Wessling82234 Germany Space Research Centre PAS Warsaw Poland TU Delft Delft Netherlands Institute of Space Systems Technische Universität Braunschweig Hermann-Blenk-Str. 23 Braunschweig38108 Germany

The exploration of small solar system bodies started with fast fly-bys of opportunity on the sidelines of missions to the planets. The tiny new worlds seen turned out to be so intriguing and different from all else (and each other) that dedicated sample-return and in-situ analysis missions were developed and launched. Through these, highly efficient low-thrust propulsion expanded from commercial use into mainstream and flagship science missions, there in combination with gravity assists propulsion. In parallel, the growth of small spacecraft solutions accelerated in numbers as well as individual spacecraft capabilities. The on-going missions OSIRIS-REX (NASA) or HAYABUSA2 (JAXA) with its landers MINERVA-II and MASCOT, and the upcoming NEASCOUT mission are examples of this synergy of trends. The continuation of these and other related devlopments towards a propellant-less and highly efficient class of spacecraft for solar system exploration emerges in the form of small spacecraft solar sails designed for carefree handling and equipped with carried landers and application modules. These address the needs of all asteroid user communities - planetary science, planetary defence, and in-situ resource utilization - as well as other fields of solar system science and applications such as space weather warning and solar observations. Already the DLR-ESTEC GOSSAMER Roadmap for Solar Sailing initiated studies of missions uniquely feasible with solar sails such as Displaced L1 (DL1) space weather advance warning and monitoring and Solar Polar Orbiter (SPO) delivery, which demonstrate the capabilities of near-term solar sails to reach any kind of orbit in the inner solar system. This enables Multiple Near-Earth Asteroid (NEA) rendezvous missions (MNR), from Earth-coorbital to extremely inclined and even retrograde target orbits. For these mission types using separable payloads, design concepts can be derived from the separable Boom Sail Deployment Units characteristic of DLR GOS

关键词： Solar sails

A comparison of nonsmooth, nonconvex, constrained optimization solvers for the design of time-delay compensators

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arXiv 2018年

作者： Kungurtsev, Vyacheslav Mitchell, Tim Vyhlídal, Tomáš Department of Computer Science Faculty of Electrical Engineering Czech Technical University in Prague Max Planck Institute for Dynamics of Complex Technical Systems Magdeburg Germany Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague

We present a detailed set of performance comparisons of two state-of-the-art solvers for the application of designing time-delay compensators, an important problem in the field of robust control. Formulating such robust control mechanics as constrained optimization problems often involves objective and constraint functions that are both nonconvex and nonsmooth, both of which present significant challenges to many solvers and their end-users hoping to obtain good solutions to these problems. In our particular engineering task, the main difficulty in the optimization arises in a nonsmooth and nonconvex stability constraint, which states that the infinite spectrum of zeros of the so-called shaper should remain in the open left half-plane. To perform our evaluation, we make use β-relative minimization profiles, recently introduced visualization tools that are particularly suited for benchmarking solvers on nonsmooth, nonconvex, constrained optimization problems. Furthermore, we also introduce new visualization tools, called Global-Local Profiles, which for a given problem and a fixed computational budget, assess the tradeoffs of distributing the budget over few or many starting points, with the former getting more budget per point and latter less. Copyright © 2018, The Authors. All rights reserved.

关键词： Robust control