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Trust Consensus Protocol for Heterogeneous Underwater Robotic systems

IFAC-PapersOnLine 2016年第23期49卷 341-346页

作者： Mazdin, Petra Arbanas, Barbara Haus, Tomislav Bogdan, Stjepan Petrovic, Tamara Miskovic, Nikola University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Underwater Systems and Technologies Croatia

In this paper we analyze the application of a binary trust-consensus protocol in multi-agent systems with switching communication topology. Trust represents belief of one agent that the other one is capable of executing a specific task. The approach is motivated by an underwater robot system in which robots, called aMussels, are dispersed in the environment and measure environmental properties (for example sea-current) over a longer period of time, with sensors which are prone to failures. The goal is to apply the binary trust-consensus protocol to enable the system to autonomously detect failures of aMussels. Since direct communication between aMussels is energy consuming, a new type of moving robot, called aFish, is introduced that serves as a carrier of information. Since aFish have a limited communication range, communication topology is switching. Simulations are run first in Matlab for a homogeneous system, and then in a realistic simulation environment for the described scenario with heterogeneous agents. Results show that the protocol converges to the correct trust values and that the convergence time depends on the connectivity of the communication graph. © 2016

关键词： Multi agent systems MATLAB Robots Topology Communication graphs Communication topologies Direct communications Environmental property Heterogeneous multi agent systems Limited communication range Switching topology trust consensus

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Commentaries on Viewpoint: Physiology and fast marathons

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Journal of applied physiology (Bethesda, Md. : 1985) 2020年第4期128卷 1069-1085页

作者： Jordan Santos-Concejero Fernando González-Mohíno José María González-Ravé Stephane Perrey Arthur H. Dewolf Brandon A. Yates Anton Ušaj Tadej Debevec José Manuel González-Rayas Ana Lilia Rayas-Gómez José Manuel González-Yáñez Romuald Lepers Paul Stapley Julien Louis Felix Proessl P T Nikolaidis B Knechtle D Muniz-Pumares B Hunter L Bottoms Bastien Bontemps Pedro L. Valenzuela Daniel Boullosa Juan Del Coso Richard C. Blagrove Philip R. Hayes Gregoire P. Millet Davide Malatesta Yuri de Almeida Costa Campos Miller Pereira Guimarães Jeferson Macedo Vianna Sandro Fernandes da Silva Paulo Henrique Silva Marques de Azevedo Hunter L. Paris Margaret A. Leist Mast T. Lige William Malysa Alicia S. Oumsang Erin C. Sinai Rasmus K. Hansen Niels H. Secher Stefanos Volianitis Laura Hottenrott Kuno Hottenrott Thomas Gronwald Jonathon W. Senefeld Ricardo J. Fernandes João Paulo Vilas-Boas Alain Riveros-Rivera Dieter Böning Daniel H. Craighead Shalaya Kipp Rodger Kram Christoph Zinner Billy Sperlich Hans-Christer Holmberg Borja Muniz-Pardos Shaun Sutehall Konstantinos Angeloudis Fergus M. Guppy Andrew Bosch Yannis Pitsiladis David C. Andrade Rodrigo Del Rio Rodrigo Ramirez-Campillo Thiago Ribeiro Lopes Bruno Moreira Silva Stephen J. Ives Peter G. Weyand Cayque Brietzke Paulo Estevão Franco-Alvarenga Tony Meireles dos Santos Flávio Oliveira Pires Gwenael Layec Wouter Hoogkamer Christopher S. Balestrini Curtis S. Goss Mikaela C. Gabler Albaro Escalera Shane A. Bielko Robert F. Chapman Department of Physical Education and Sport University of the Basque Country UPV/EHU Vitoria-Gasteiz Spain University of Castilla-La Mancha Sport Training Lab Toledo Spain Facultad de Lenguas y Educación Universidad Nebrija Madrid Spain EuroMov Digital Health in Motion University of Montpellier IMT Mines Ales Montpellier France Department of Systems Medicine and Center of Space Biomedicine University of Rome Tor Vergata Rome Italy Department of Kinesiology Indiana University-Purdue University of Indianapolis Indianapolis Indiana Indiana Center for Musculoskeletal Health Indiana University School of Medicine Indianapolis Indiana Faculty of Sport University of Ljubljana Ljubljana Slovenia Department of Automation Biocybernetics and Robotics Jozef Stefan Institute Ljubljana Slovenia School of Medicine and Health Sciences Monterrey Institute of Technology and Higher Education Monterrey México Hospital San José de Querétaro Querétaro México INSERM UMR1093-CAPS UFR des Sciences du Sport Université Bourgogne Franche-Comté Dijon France Neural Control of Movement Laboratory School of Medicine Faculty of Science Medicine and Health Illawarra Health and Medical Research Institute University of Wollongong New South Wales Australia Research Institute for Sport and Exercise Sciences Liverpool John Moores University Liverpool United Kingdom Neuromuscular Research Laboratory University of Pittsburgh Pittsburgh Pennsylvania School of Health and Caring Sciences University of West Attica Athens Greece Institute of Primary Care University of Zurich Zurich Switzerland Department of Psychology and Sport Sciences School of Life and Medical Sciences University of Hertfordshire Hatfield United Kingdom Unité de recherche Impact de l’Activité Physique sur la Santé (UR IAPS Number 201723207F) University of Toulon Toulon France Department of Systems Biology University of Alcalá Madrid Spain Department of Sport and Health Spanish Agency for Health Protection in Sport (AEPSAD)

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Non-contact transportation and rotation of micro objects by vibrating glass needle circularly under water

Non-contact transportation and rotation of micro objects by ...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Liu, Xiaoming Kojima, Masaru Shi, Qing Wang, Huaping Sun, Tao Mae, Yasushi Huang, Qiang Arai, Tatsuo Fukuda, Toshio Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China Department of Systems Innovation Osaka University 1-3 Machikaneyama Toyonaka Osaka560-8531 Japan Faculty of Science and Engineering Meijo University 1-501 Shiogamaguchi Tenpaku-ku Nagoya468-8502 Japan

ISBN: (纸本)9781509046331

In micromanipulation, lots of methods have been developed to manipulate objects in microscale. However, few of them can be applied in both the transportation and the rotation of the micro objects. In this paper, we present a novel method to realize the non-contact transportation and rotation of the micro objects based on the vibration-induced swirl flow. A piezo actuator is set between the glass needle and a metal rod. The sine wave with controlled frequency and amplitude is input into the piezo actuator to drive the glass needle to move circularly, which is caused by resonance of the actuator and the metal rod. We place the glass needle under water and keep a limited distance to the bottom. The circular vibration of the glass needle can generate a swirl flow and low pressure around it. The low pressure can trap and transport the micro objects vertically to the glass needle, and the swirl flow can rotate the objects continuously. Finally, we realize the trap and rotation of micro object with only one piezo actuator. Experiments of transportation and rotation of microbeads are carried out, and the results demonstrate it is a simple, low-cost, effective micromanipulation method. © 2017 IEEE.

关键词： Needles

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Trust Consensus Protocol for Heterogeneous Underwater Robotic systems

Trust Consensus Protocol for Heterogeneous Underwater Roboti...

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关键词： Multi agent systems

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Diagonal stability of a class of discrete-time positive switched systems with delay

arXiv

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arXiv 2017年

作者： Aleksandrov, Alexander Mason, Oliver Faculty of Applied Mathematics and Control Processes Saint Petersburg State University Saint Petersburg199034 Russia Department of Control of Complex Systems ITMO University Saint Petersburg197101 Russia Dept. of Mathematics and Statistics Hamilton Institute Maynooth University Maynooth Co. Kildare Ireland Irish Software Research Centre

A class of discrete-time nonlinear positive time-delay switched systems with sector-type nonlinearities is studied. Sufficient conditions for the existence of common and switched diagonal Lyapunov–Krasovskii functionals for this system class are derived;these are expressed as feasibility conditions for systems of linear algebraic inequalities. Corresponding spectral conditions for the existence of common L–K functionals are also described. Furthermore, it is shown that the proposed approaches can be applied to discrete-time models of digital filters and neural networks. Finally, a numerical example is given to illustrate the effectiveness of theoretical results. Copyright © 2017, The Authors. All rights reserved.

关键词： Digital filters

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Power Line Communication in IoT-systems

Power Line Communication in IoT-Systems

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IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering

作者： Anton A. Zhilenkov Dinis D. Gilyazov Ilya I. Matveev Yanina V. Krishtal Faculty of Control Systems and Robotics Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Saint Petersburg Russia

ISBN: (纸本)9781509048663

Internet of Things (IoT) - a unified network of physical objects that can change the parameters of the environment or their own, gather information and transmit it to other devices. It is emerging as the third wave in the development of the internet. This technology will give immediate access to information about the physical world and the objects in it leading to innovative services and increase in efficiency and productivity. The IoT is enabled by the latest developments, smart sensors, communication technologies, and Internet protocols. This article contains a description of Internet of things (IoT) networks. Much attention is given to prospects for future of using IoT and it's development. Some problems of development IoT are were noted. The article also gives valuable information on building(construction) IoT systems based on PLC technology.

关键词： Internet of Things Powerline communication Electrical network New technologies

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Robust suboptimal output control for a Twin Rotor MIMO System

Robust suboptimal output control for a Twin Rotor MIMO Syste...

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International Conference on Ultra Modern Telecommunications and Workshops (ICUMT)

作者： Sergey A. Vrazevsky Julia V. Chugina Igor B. Furtat Artem S. Kremlev Department of Control Systems and Industrial Robotics IITMO University St. Petersburg Russia The Laboratory “Control of Complex Systems” St. Petersburg Russia Department of Control Systems and Industrial Robotics ITMO University St. Petersburg Russia

ISBN: (纸本)9781467388191

The main focus of this paper is the research of practical application of robust suboptimal control for the Twin Rotor multiple input multiple output (MIMO) System. In this work, MIMO system is represented as dynamically related single input single output (SISO) systems. The robust and suboptimal control algorithm is based on the auxiliary loop method for disturbances compensation and suboptimal linear quadratic regulator (LQR) which is applied to the simplified linearized model of the plant. The proposed approach ensures the high quality of the system functioning and reliability in the presence of parametric uncertainties and external disturbances. Obtained result contributes for control of copters with different configurations. It is experimentally tested on the laboratory platform.

关键词： Transmission line measurements Mathematical model Robustness Rotors MIMO control systems DC motors

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Set-up of active magnetic bearings for control of flexible shaft

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AIP Conference Proceedings 2018年第1期2029卷

作者： Adam Piłat Bartosz Sikora Jan Klocek Jan Cieślik 1AGH University of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Mickiewicza 30 30-059 Krakow Poland 2Optister Jalowcowa 50 31-329 Krakow Poland 3AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems Mickiewicza 30 30-059 Krakow Poland

This paper presents the new laboratory test rig of the vertical axis flexible shaft supported by two active magnetic bearings. Behind the motivation of establishing this setup is the control of vibration modes of the flexible rotor - shaft assembly, while the rotational speed varies and the unbalanced mass on the whirling disc is introduced to the system. The proposed model is aimed to simulate real operation conditions of the rotating machinery with an applied external load, with a variable structure caused by a change of material properties of the rotor - shaft assembly, or due to a fault of some elements coupled with the rotor.

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An effective model based on Haar wavelet entropy and genetic algorithm for fruit identification

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AIP Conference Proceedings 2018年第1期1955卷

作者： Wenjuan Jia Leonid Snetkov Soriya Aok 1School of Computer Science and Technology Nanjing Normal University Nanjing 210023 Jiangsu Province P R China 2Department of Computer Technologies and Control Systems ITMO University Kronverksky Prospect 197101 Russian Federation 3Faculty of Science and Technology Angkor University Borey Seang Nam Siem Reap Province Cambodia

In order to detect and identify fruit category more efficiently, this study presents a novel method based on Haar wavelet entropy, multilayer perceptron, and standard genetic algorithm. The Haar wavelet entropy extracted features from a given fruit image. The multilayer perceptron received the features and acted as a classifier. Finally, genetic algorithm was used to train the classifier. The experiment was performed over a 10×12-fold cross validation. The overall accuracy was 81.11±4.23%., better than the result of back propagation gradient descent algorithm of 74.17± 4.98%, and the result of simulated annealing of 78.10± 3.57%.

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A novel concept of attitude control for large multirotor-UAVs based on moving mass control

A novel concept of attitude control for large multirotor-UAV...

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Mediterranean Conference on control and Automation

作者： Tomislav Haus Nikola Prkut Katarina Borovina Bruno Maric Matko Orsag Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems

ISBN: (纸本)9781467383479

In this work we aim to explore the concept of using the shift in the center of gravity, which in turn produces roll and pitch moments, to control the attitude of the quadrotor. We propose constructing a UAV with moving masses within each rotor arm. In this paper we show the mathematical equations describing the dynamics of the proposed system, propose a classical PID based control approach and analyze and confirm its stability. Furthermore, we analyze the effectiveness of the proposed controller in a Gazebo based simulation environment. Finally, we build a laboratory testbed that emulates the dynamics of the system and test our proposed control strategy.

关键词： Mathematical model Unmanned aerial vehicles Gravity Attitude control Robots

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