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arXiv 2021年

作者： Gomez, Marco A. Cruz-Ancona, Christopher D. Fridman, Leonid Department of Mechanical Engineering DICIS Universidad de Guanajuato Gto Slamanca36885 Mexico Department of Robotics and Control Engineering Faculty Universidad Nacional Autónoma de México 04510 Mexico

We present a new continuous Lyapunov Redesign (LR) methodology for the robust stabilization of a class of uncertain time-delay systems that is based on the so-called Super Twisting Algorithm. The main feature of the proposed approach is that allows one to simultaneously adjust the chattering effect and achieve asymptotic stabilization of the uncertain system, which is lost when continuous approximation of the unit control is considered. At the basis of the Super Twisting based LR methodology is a class of Lyapunov-Krasovskii functionals, whose particular form of its time derivative allows one to define a delay-free sliding manifold on which some class of smooth uncertainties are compensated. © 2021, CC BY-NC-ND.

关键词： Delay control systems

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Identification of a Class of Hybrid Dynamical Systems

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IFAC-PapersOnLine 2020年第2期53卷 875-882页

作者： Stefano Massaroli Federico Califano Angela Faragasso Mattia Risiglione Atsushi Yamashita Hajime Asama Department of Precision Engineering The University of Tokyo Faculty of Electrical Engineering Mathematics & Computer Science Robotics and Mechatronics University of Twente Department of Mechanical and Process Engineering - ETH Zürich

This paper presents a novel identification procedure for a class of hybrid dynamical systems. In particular, we consider hybrid dynamical systems which are single flowed and single jumped and whose flow and jump maps linearly depend on two sets of unknown parameters. A systematic way to determine whether the system is flowing or jumping is introduced and used to identify the unknown parameters by employing a linear recursive estimator. Simulations have been performed to prove the validity of the proposed methodology. Results proved the efficiency and accuracy of the developed identification procedure.

关键词： System Identification Hydrid Systems Linear Systems Recursive Estimation

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Full-pose Trajectory Tracking of Overactuated Multi-Rotor Aerial Vehicles with Limited Actuation Abilities

TechRxiv

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TechRxiv 2023年

作者： Hamandi, Mahmoud Al-Ali, Ismail Seneviratne, Lakmal Franchi, Antonio Zweiri, Yahya The Department of Aerospace Engineering Khalifa University of Science and Technology Abu Dhabi United Arab Emirates The Department of Mechanical Engineering Khalifa University Abu Dhabi United Arab Emirates Khalifa University of Science and Technology Abu Dhabi United Arab Emirates The Robotics and Mechatronics Lab Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Enschede Netherlands The Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy LAAS CNRS Université de Toulouse Toulouse31000 France Khalifa University Abu Dhabi United Arab Emirates Center for Artificial Intelligence and Robotics New York University Abu Dhabi Saadiyat Island Abu Dhabi129188 United Arab Emirates

This paper presents a novel optimization-based full-pose trajectory tracking method to control overactuated multirotor aerial vehicles with limited actuation abilities. The proposed method allocates feasible control inputs to track a reference trajectory, while ensuring the tracking of the reference position, and while tracking the closest feasible attitude. The optimization simultaneously searches for a feasible trajectory and corresponding feasible control inputs from the infinite possible solutions, while ensuring smooth control inputs. The proposed real-time algorithm is tested in extensive simulation on multiple platforms with fixed and actuated propellers. The simulation experiments show the ability of the proposed approach to exploit the complex set of feasible forces and moments of overactuated platforms while allocating smooth feasible control inputs. © 2023, CC BY.

关键词： Trajectories

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Smart floor for a more comfortable and safer life 3

Smart floor for a more comfortable and safer life

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3rd International Young Engineers Forum, YEF-ECE 2019

作者： Haraburda, Karol Czygier, Jakub Recko, MacIej Department of Automatic Control and Robotics Faculty of Mechanical Engineering Bialystok University of Technology Bialystok Poland

ISBN: (纸本)9781538692820

The article presents the design of a SmartFloor to monitor pedestrians' movement patterns and collect data for Neural Network Analysis. The floor can be used in smart homes and environments to provide easy interaction with space's occupants. It is also used to determine the gender of the walkers useful during the calculation of attendance monitoring at events. Conducted research proved that the concept does indeed work and can be used for the use mentioned above cases. © 2019 IEEE.

关键词： Machine learning

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The integrated controller dedicated to multi-coil electromagnetic launcher for micro class unmanned aerial vehicles 3

The integrated controller dedicated to multi-coil electromag...

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3rd International Young Engineers Forum, YEF-ECE 2019

作者： Kuc, Barbara Kondratiuk, Miroslaw Ambroziak, Leszek Dzierzek, Kazimierz Department of Automatic Control and Robotics Faculty of Mechanical Engineering Bialystok University of Technology Bialystok Poland

ISBN: (纸本)9781538692820

The paper presents the structure, design and operational functions of the integrated controller of an multicoil electromagnetic launcher (EML) for micro class unmanned aerial vehicle (UAVs). UAVs are used for military and civilian purposes for patrolling forest areas, transporting loads of small sizes and weights, mapping, counting animal populations or observing mass events, etc. Some constructions of unmanned aerial vehicles are not equipped with a chassis allowing independent start using special runways, so there is a need for manual ejection by a man hand or using one of many types of dedicated launcher. In example, there are in usage rubber launchers (bungee), pneumatic, hydraulic, steam, rocket and also electromagnetic one. Especially the last type can be used for micro class UAVs. EMLs enable operator to precisely control thrust parameters, i.e. giving the appropriate initial speed, avoiding acceleration pulses, repeating start procedure in short periods of time. For instance, more advanced task involved EMLs can be creation of UAVs formation flight structure, which is very complex process sometimes even impossible to do with manual controlled thrust. The first part of the work presents the concept and construction of a multi-coil launcher with a moving ferromagnetic core. Project was created at the faculty of mechanical engineering of the Bialystok University of Technology. The next part of the work presents the structure, design and construction of the dedicated for EML, programmable controller. Moreover, in the paper the method of UAV ejection control and the selection of the appropriate, crucial parameters were described. In the last part, summary the obtained results was presented and conclusions were drawn. © 2019 IEEE.

关键词： controllers

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Active wheel speed control to avoid lifting the swingarms in rocker-bogie suspension 3

Active wheel speed control to avoid lifting the swingarms in...

引用

3rd International Young Engineers Forum, YEF-ECE 2019

作者： Tomaszuk, P. Lukowska, A. Recko, M. Dzierzek, K. Straszynski, P. Faculty of Mechanical Engineering Bialystok University of Technology Department of Automatic Control and Robotics Bialystok Poland

ISBN: (纸本)9781538692820

Rocker-bogie is kind of suspension system where wheels from each side of the vehicle are connected with swingarm on the rotary axle. Both levers are connected with a differential mechanism. If the vehicle has not had turnable wheels and turns only using the velocity or heading difference of each side or the object, then increased traction on the most loaded wheels causes lifting of the swingarms in opposing directions. This situation is undesirable because it leads to the high inclination of the vehicle's body and threatens to fall over. This article shows the way of active adjusting each wheel's speed to avoid swingarms lifting. Presented algorithm increases or decreases the angular velocity of selected wheels depending on the robot's rotation speed, acceleration, and traction. Parameters are calculated from the velocity of swingarm lift angle changes compared to the vehicle's relative rotation speed. Theoretical description presents the geometry of vehicle suspension, used sensors, and wheels speed control circuitry. The algorithm is implemented on an existing vehicle, and experimental part contains a comparison of behavior with and without active control on different surfaces. © 2019 IEEE.

关键词： Automobile suspensions

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Time Delay Model of the Turbine Pressure Water Conduit: Application to the off-the-grid regime control

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IFAC-PapersOnLine 2021年第18期54卷 41-46页

作者： Jaromír Fišer Pavel Zítek Michal Kuchař Adam Peichl Milan Kučera Pavel Kulík Tomáš Vyhlídal Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Technická 4 Prague 6 16607 Czech Republic ZAT a.s. K Podlesí 541 Příbram 261 01 Czech Republic

The paper presents modeling the hydro-turbine governing system with delay in application to the turbo-machinery control. The delay originates from the wave phenomenon encountered in the pressure water conduit connected to the turbine. To facilitate the PID control tuning the turbine and conduit model is linearized and it results in linear time delay system referred to as the neutral system. Particularly, the disturbance rejection is achieved by the PID control response to varying power loads. Finally, the application example demonstrates the turbo-machinery control in the off-the-grid regime.

关键词： penstock conduit turbine wave phenomenon neutral system PID control

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Distributed Constrained Online Nonconvex Optimization with Compressed Communication

arXiv

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arXiv 2025年

作者： Zhang, Kunpeng Xu, Lei Yi, Xinlei Cao, Ming Johansson, Karl H. Chai, Tianyou Yang, Tao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Mechanical Engineering University of Victoria VictoriaBCV8W 2Y2 Canada Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai201210 China Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen GroningenAG 9747 Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures Stockholm10044 Sweden

This paper considers distributed online nonconvex optimization with time-varying inequality constraints over a network of agents. For a time-varying graph, we propose a distributed online primal–dual algorithm with compressed communication to efficiently utilize communication resources. We show that the proposed algorithm establishes an O(T max{1−θ1,θ1}) network regret bound and an O(T 1−θ1/2) network cumulative constraint violation bound, where T is the number of iterations and θ1 ∈ (0, 1) is a user-defined trade-off parameter. When Slater’s condition holds (i.e, there is a point that strictly satisfies the inequality constraints at all iterations), the network cumulative constraint violation bound is reduced to O(T 1−θ1). These bounds are comparable to the state-of-the-art results established by existing distributed online algorithms with perfect communication for distributed online convex optimization with (time-varying) inequality constraints. Finally, a simulation example is presented to validate the theoretical results. Copyright © 2025, The Authors. All rights reserved.

关键词： Convex optimization

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F-ResPoint: a multi-modal fusion object detection algorithm based on frustum culling

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Displays 2025年 90卷

作者： Jinjun Rao Kai Yang QinFei Zhao Zhenwei Li Jinbo Chen Jingtao Lei Mei Liu Wojciech Giernacki Department of Precision Mechanical Engineering School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 China Mechanical and Electrical Department Kashi Polytechnic Vocational and Technical College Xinjiang 844700 China Belt and Road Joint Laboratory on Measurement and Control Technology Huazhong University of Science and Technology Wuhan 430074 China Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Piotrowo 3a 60-965 Poznan Poland

Accurate and lightweight 3D object detection is crucial for the perception ability of mobile intelligent robots. Aiming at the problem that current 3D object detection is difficult to balance lightweight and accuracy, this paper presents a multimodal fusion object detection method, F-ResPoint, based on point cloud culling in vision frustum. F-ResPoint is a lightweight two-stage object detection method, in which the frustum point cloud generation algorithm based on the improved YOLOv5 is used first to obtain the point cloud containing the object information in the view frustum from the point cloud in the original field. Then, the point cloud detection network based on the Residual-SA module is utilized for detecting the three-dimensional (3D) object from point cloud in the view frustum and obtaining its position and actual size of the object in 3D space. Experimental results demonstrate that this method achieves high detection accuracy and maintains good real-time performance while remaining lightweight.

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Advancing Embodied Intelligence in Robotic-Assisted Endovascular Procedures: A Systematic Review of AI Solutions

arXiv

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arXiv 2025年

作者： Yao, Tianliang Lu, Bo Kowarschik, Markus Yuan, Yixuan Zhao, Hubin Ourselin, Sebastien Althoefer, Kaspar Ge, Junbo Qi, Peng Department of Control Science and Engineering College of Electronic and Information Engineering Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China Department of Electronic Engineering Faculty of Engineering The Chinese University of Hong Kong 999077 Hong Kong Robotics and Microsystems Center School of Mechanical and Electrical Engineering Soochow University Suzhou215131 China Bavaria Forchheim91301 Germany CREATe Division of Surgery & Interventional Science UCL LondonHA7 4LP United Kingdom School of Biomedical Engineering & Imaging Sciences King’s College London LondonSE1 7EH United Kingdom Centre for Advanced Robotics @ Queen Mary School of Engineering and Materials Science Queen Mary University of London LondonE1 4NS United Kingdom Department of Cardiology Zhongshan Hospital Fudan University Shanghai Institute of Cardiovascular Diseases Shanghai200032 China State Key Laboratory of Cardiovascular Diseases Medical Innovation Center Shanghai East Hospital School of Medicine Tongji University Shanghai200092 China

Endovascular procedures have revolutionized the treatment of vascular diseases thanks to minimally invasive solutions that significantly reduce patient recovery time and enhance clinical outcomes. However, the precision and dexterity required during these procedures poses considerable challenges for interventionists. Robotic systems have emerged offering transformative solutions, addressing issues such as operator fatigue, radiation exposure, and the inherent limitations of human precision. The integration of Embodied Intelligence (EI) into these systems signifies a paradigm shift, enabling robots to navigate complex vascular networks and adapt to dynamic physiological conditions. Data-driven approaches, advanced computer vision, medical image analysis, and machine learning techniques, are at the forefront of this evolution. These methods augment procedural intelligence by facilitating real-time vessel segmentation, device tracking, and anatomical landmark detection. Reinforcement learning and imitation learning further refine navigation strategies and replicate experts’ techniques. This review systematically examines the integration of EI principles into robotic technologies, in relation to endovascular procedures. We discuss recent advancements in intelligent perception and data-driven control, and their practical applications in robot-assisted endovascular procedures. By critically evaluating current limitations and emerging opportunities, this review establishes a framework for future developments, emphasizing the potential for greater autonomy and improved clinical outcomes. Emerging trends and specific areas of research, such as federated learning for medical data sharing, explainable AI for clinical decision support, and advanced human-robot collaboration paradigms, are also explored, offering insights into the future direction of this rapidly evolving field. © 2025, CC BY.

关键词： Medical robotics

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