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arXiv 2023年

作者： Zheng, Yanggu Shyrokau, Barys Keviczky, Tamas The Department of Cognitive Robotics Faculty of Mechanical Maritime and Materials Engineering Delft University of Technology 2628CD Netherlands Delft Center for Systems and Control Faculty of Mechanical Maritime and Materials Engineering Delft University of Technology 2628CD Netherlands

Motion planning is a fundamental component in automated vehicles. It influences the comfort and time efficiency of the ride. Despite a vast collection of studies working towards improving motion comfort in self-driving cars, little attention has been paid to the performance of human drivers as a baseline. In this paper, we present an experimental study conducted on a public road using an instrumented vehicle to investigate how human drivers balance comfort and time efficiency. The human driving data is compared with two optimization-based motion planners that we developed in the past. In situations when there is no difference in travel times, human drivers incurred an average of 23.5% more energy in the longitudinal and lateral acceleration signals than the motion planner that minimizes accelerations. In terms of frequency-weighted acceleration energy, an indicator correlated with the incidence of motion sickness, the average performance deficiency rises to 70.2%. Frequency-domain analysis reveals that human drivers exhibit more longitudinal oscillations in the frequency range of 0.2-1 Hz and more lateral oscillations in the frequency range of up to 0.2 Hz. This is reflected in time-domain data features such as less smooth speed profiles and higher velocities for long turns. The performance difference also partly results from several practical matters and additional factors considered by human drivers when planning and controlling vehicle motion. The driving data collected in this study provides a performance baseline for motion planning algorithms to compare with and can be further exploited to deepen the understanding of human drivers. © 2023, CC BY-NC-ND.

关键词： Frequency domain analysis

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Non-collocated Vibration Suppression using Delay-Based controllers with Multiple Fixed Delays*

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IFAC-PapersOnLine 2023年第2期56卷 180-185页

作者： Adrian Saldanha Wim Michiels Tomáš Vyhlídal Department of Computer Science KU Leuven Celestijnenlaan 200A 3001 Leuven Belgium Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6 Czechia

The problem of non-collocated vibration absorption is targeted utilizing a multiparameter delay-based controller. The combined objective is to achieve closed-loop stability and vibration suppression at a target location, which is different from the position of the absorber. This problem can be translated into an optimization problem of shaping the poles of a closed-loop system with delays subject to zero-location constraints. The solution approach involves remodelling the closed-loop system as a system of delay-differential algebraic equations (DDAEs) which allows to systematically account for delays in the control law, thereby enabling a straightforward technique for computation of controller parameters. Finally, the proposed design method is validated by simulation on a lumped parameter model of a mass-spring-damper system.

关键词： vibration suppression time-delay systems DDAE optimization

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mechanical Characterization Analysis of Kirigami Structure for Soft Robotic Design

Mechanical Characterization Analysis of Kirigami Structure f...

引用

Automation, control and robotics engineering (CACRE), International Conference on

作者： Muhammad Niaz Khan Amin Lotfiani Umair Javaid Zhufeng Shao Department of Mechanical Engineering State Key Laboratory of Tribology Institute of Manufacturing Engineering Tsinghua University Department of Mechanical Engineering Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University Beijing China Faculty of Engineering Technology University of Twente Enschede Netherland Robotics Institute Ningbo University of Technology Ningbo China

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

This paper provides a detailed mechanical characterization and stress analysis of kirigami sheets across various structural configurations, highlighting their potential applications in soft robotics. The study examines linear, circular, triangular, and trapezoidal kirigami patterns through finite element simulations, complemented by experimental validation. Deformation parameters are systematically applied to both single and multiple units of kirigami sheets to assess their capacity for mechanical elongation and load sustainability. Additionally, friction analyses are discussed via simulation to explore the anchoring effects of these kirigami structures when applied to soft robots. The results of this study enhance our understanding of the mechanical properties of kirigami structures and their practical implications for soft robotics design.

关键词： Automation Deformation Friction Soft robotics Finite element analysis Sustainable development Stress

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Molecular Imprinted Polymer on Optical Fiber Sensor for Ethanol Vapor Biomarker Detection

Molecular Imprinted Polymer on Optical Fiber Sensor for Etha...

引用

IEEE SENSORS

作者： Pannathorn Jitpratak Akhilesh Kumar Pathak Kankan Swargiary Charusluk Viphavakit Department of Biomedical Engineering Faculty of Engineering Chulalongkorn University Bangkok Thailand Department of Mechanical Engineering Center for Smart Structures and Materials Northwestern University Evanston IL USA Faculty of Engineering International School of Engineering (ISE) Intelligent Control Automation of Process Systems Research Unit Chulalongkorn University Bangkok Thailand

An optical fiber sensor with a single mode-multimode-single mode (SMS) structure is proposed to detect ethanol vapor ranging between 100–500 ppm via the evanescent field interaction at the interface between the optical fiber and ethanol vapor. The proposed optical fiber sensor offers real-time and non-invasive monitoring of ethanol vapor, which is one of the biomarkers of diabetes. Molecular imprinted polymer (MIP) is coated at a multimode fiber region, which is considered to be a sensing area, to improve the selectivity of the ethanol biomarker. The sensor works based on wavelength interrogation by detecting the change in wavelength due to the change in vapor concentration. The fabricated sensor has a sensitivity of 0.0013 nm/ppm, which suggests the potential to be used as a monitoring device for breath analysis.

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Interfacial Polarization-Enabled High Anti-Interference for Fiber Pressure Sensors

SSRN

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SSRN 2025年

作者： Liu, Lu Huang, Xin Zhao, Kezheng Jiang, Gaoming Cong, Honglian Ramakrishna, Seeram He, Haijun Engineering Research Center for Knitting Technology Ministry of Education Jiangnan University Wuxi214122 China Key Laboratory of Advanced Process Control for Light Industry Ministry of Education Jiangnan University Wuxi214122 China Faculty of Engineering Department of Mechanical Engineering National University of Singapore Singapore117574 Singapore

Fiber pressure sensors possess the ability to be integrated into intelligent fabrics or garments due to their flexible one-dimensional (1D) size, thus playing a crucial role in wearable electronics and robotics. However, due to the proximity effect, the signal accuracy of the reported capacitive sensors is inevitably degraded by interference from the surrounding environment. Therefore, minimizing interference while maintaining excellent sensing performance is a challenge for fiber capacitive sensors. One straightforward method to enhance anti-interference capability involves raising the initial capacitance. Based on it, this study proposed an anti-interference fiber capacitive sensor by enhancing the interfacial polarization effect between the nanofiller and the matrix. The modified CNTs@PDA with a core-shell structure increased the polarization interface as well as the charge storage capacity of the composite dielectric layer by improving the nanofillers’ dispersion, thereby significantly increasing the sensor’ initial capacitance to 1.6 times. This enables the sensor an ideal signal-to-noise ratio (SNR), reflecting negligible capacitive signal fluctuations when electromagnetic interference and proximity to objects are present. Moreover, with the synergy of interfacial polarization effect and excellent elastic recovery, the sensor achieved a linear response with high sensitivity in the ultra-high pressure range of 3500 kPa and long-term stability over 5000 cycles. With the flexible 1D structure, it was easily knitted into sensing textiles, and a 2D pressure recognization fabric and a traditional Chinese medicine (TCM) foot massage sock system were prepared by circuit integration. This demonstrates the potential application of high anti-interference fiber flexible pressure sensors in wearable electronic textiles. © 2025, The Authors. All rights reserved.

关键词： Flexible electronics

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

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

引用

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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GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization

arXiv

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arXiv 2023年

作者： Zhang, Haoming Chen, Chih-Chun Vallery, Heike Barfoot, Timothy D. Institute of Automatic Control Faculty of Mechanical Engineering RWTH Aachen University Aachen Germany Department of BioMechanical Engineering Delft University of Technology Department for Rehabilitation Medicine Erasmus MC Rotterdam Netherlands University of Toronto Robotics Institute Toronto Canada

Accurate and robust vehicle localization in highly urbanized areas is challenging. Sensors are often corrupted in those complicated and large-scale environments. This paper introduces gnssFGO, a global and online trajectory estimator that fuses GNSS observations alongside multiple sensor measurements for robust vehicle localization. In gnssFGO, we fuse asynchronous sensor measurements into the graph with a continuous-time trajectory representation using Gaussian process regression. This enables querying states at arbitrary timestamps without strict state and measurement synchronization. Thus, the proposed method presents a generalized factor graph for multi-sensor fusion. To evaluate and study different GNSS fusion strategies, we fuse GNSS measurements in loose and tight coupling with a speed sensor, IMU, and lidar-odometry. We employed datasets from measurement campaigns in Aachen, Düsseldorf, and Cologne and presented comprehensive discussions on sensor observations, smoother types, and hyperparameter tuning. Our results show that the proposed approach enables robust trajectory estimation in dense urban areas where a classic multi-sensor fusion method fails due to sensor degradation. In a test sequence containing a 17 km route through Aachen, the proposed method results in a mean 2-D positioning error 0.48 m while fusing raw GNSS observations with lidar odometry in a tight coupling. © 2023, CC BY.

关键词： Continuous time systems

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Development of Unmanned Cargo VTOL Aircraft 1

引用

59th Symposium on engineering Modelling in Mechanics, 2020

作者： Czyba, Roman Gorol, Zbigniew Lemanowicz, Marcin Pawlak, Mariusz Sikora, Adam Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology Akademicka Street 2A Gliwice44-100 Poland Faculty of Mechanical Engineering Department of Theoretical and Applied Mechanics Silesian University of Technology Akademicka Street 2A Gliwice44-100 Poland Faculty of Chemistry Department of Chemical Engineering and Process Design Silesian University of Technology Akademicka Street 2A Gliwice44-100 Poland

ISBN: (数字)9783030684556

ISBN: (纸本)9783030684549

The aim of the paper is to present a design cycle regarding to the construction of an unmanned cargo aircraft with own weight up to 25 kg, operating range of up to 100 km and AGL operating ceiling of up to 1 km. The task of the project team was to plan the design cycle, perform analytical calculations and CFD simulations, and finally to build an unmanned aircraft capable of lifting cargo. At the same time, a number of assumptions and technical regulations regarding constructions had to be met, which are specified in legal regulations regarding the given class of unmanned aerial vehicles. In order to achieve optimal UAV aerodynamic properties, including maximization of the payload while minimizing the own weight, aerodynamic calculations and CFD simulations were performed. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Unmanned aerial vehicles (UAV)

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Finite-time asynchronous dissipative filtering of conic-type nonlinear Markov jump systems

引用

Science China(Information Sciences) 2021年第5期64卷 151-162页

作者： Xiang ZHANG Shuping HE Vladimir STOJANOVIC Xiaoli LUAN Fei LIU Key Laboratory of Intelligent Computing and Signal Processing (Ministry of Education) School of Electrical Engineering and Automation Anhui University Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil EngineeringUniversity of Kragujevac Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of AutomationJiangnan University

In the present study, the finite-time asynchronous dissipative filter design problem for the Markov jump systems with conic-type nonlinearity is studied. The hidden Markov model can describe the asynchronism embodied in the system modes and the filter modes reasonably. Moreover, a suitable LyapunovKrasovskii function is utilized and linear matrix inequalities are applied to obtain adequate conditions. These techniques guarantee the finite-time boundedness and strict dissipativity of the filtering error dynamic system. Furthermore, the design problems of the passive filter and the H∞ filter are studied by adjusting the three parameters U, G and V. Finally, the filter gains and the optimal index α*are obtained and the correctness and feasibility of the designed approach are verified by a simulation example.

关键词： dissipative filtering hidden Markov model finite-time boundedness Markov jump systems conic-type nonlinearity

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Multi-Objective Scheduling of Single Mobile Robot Based on Grey Wolf Optimization Algorithm

SSRN

引用

SSRN 2022年

作者： Petrović, Milica Jokić, Aleksandar Miljković, Zoran Kulesza, Zbigniew University of Belgrade Faculty of Mechanical Engineering Department of Production Engineering Laboratory for Industrial Robotics and Artificial Intelligence Kraljice Marije 16 35 Belgrade11120 Serbia University of Belgrade Faculty of Mechanical Engineering Department of Production Engineering Kraljice Marije 16 35 Belgrade11120 Serbia Bialystok University of Technology Faculty of Electrical Engineering Department of Automatic Control and Robotics Wiejska 45D Bialystok15-351 Poland

During the last decades, intelligent mobile robots have been recognized as one of the most promising and emerging solutions used to fulfill material transport demands in intelligent manufacturing systems. One of the most significant characteristics of those demands is their multi-objectivity, where identified objectives might usually be in conflict. Therefore, obtaining the optimally scheduled robotic-based material transport system that is simultaneously faced with several conflicting objectives is a highly challenging task. In order to address such a challenge, this paper proposes a novel multi-objective Grey Wolf Optimizer (MOGWO) methodology to efficiently schedule material transport systems based on an intelligent single mobile robot. The proposed optimization methodology includes the comprehensive analysis and the mathematical formulation for 13 novel fitness functions, which are combined to form a Pareto front of the multi-objective optimization problem, as well as a novel strategy for optimal exploration of multi-objective search space. Moreover, four metrics, i.e., Generational Distance (GD), Inverted Generational Distance (IGD), Spacing (SP), and Maximum Spread (MS), are employed to quantitively evaluate and compare the effectiveness of the proposed enhanced MOGWO algorithm with two state-of-the-art metaheuristic methods (MOGA, MOAOA) on 25 benchmark problems. The obtained results achieved through two experimental scenarios indicate that the enhanced MOGWO algorithm outperforms other algorithms in terms of convergence, coverage, and robust optimal Pareto solution obtained. Finally, transportation paths based on obtained scheduling plans are experimentally validated by mobile robot RAICO (Robot with Artificial Intelligence based Cognition) within a physical model of the intelligent manufacturing environment. The achieved experimental results successfully demonstrate the efficiency of the proposed methodology for optimal multi-objective scheduling of materia

关键词： Mobile robots

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