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15th International Workshop on Variable Structure Systems, VSS 2018

作者： Perez, U. Capello, E. Punta, E. Perea, J. Fridman, L. Department of Control and Robotics Division of Electrical Engineering Engineering Faculty National Autonomous University of Mexico C.P. 04510 Mexico Politecnico di Torino Department of Mechanical and Aerospace Engineering Torino10129 Italy National Research Council of Italy CNR-IEIIT Institute of Electronics Computer and Telecommunication Engineering Torino Italy

ISBN: (纸本)9781538664391

This paper analyzes the problem of detection and isolation of faults in the actuators of a 3-Degree-of-Freedom (3-DOF) helicopter by a residual-based approach. A third-order sliding mode differentiator is designed for the evaluation of the residuals. Moreover, two sliding mode controllers are suitably designed to stabilize the angular positions and velocities: (i) a super twisting control system and (ii) a continuous twisting control system. The performance of the designed controllers and the effectiveness of the residual-based method are illustrated by simulations. © 2018 IEEE.

关键词： controllers

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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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An Electro-Hydraulic Servo with Intelligent control Strategy

An Electro-Hydraulic Servo with Intelligent Control Strategy

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2017 Malaysian Technical Universities Conference on engineering and Technology, MUCET 2017

作者： Mohammed, Saeed Chee Soon, Chong Ghazali, Rozaimi Yusof, Ahmad Anas Md Sam, Yahaya Mau Shern, Chai Centre for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya Durian Tunggal Melaka76100 Malaysia Faculty of Mechanical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya Durian Tunggal Melaka76100 Malaysia Department of Control and Mechatronic Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor81310 Malaysia

Versatile engineering applications have been developed to assist, reduce, and avoid human being from any heavy or harmful manufacturing processes. The gradually increased demand in force and position controls have simultaneously increased the usage of Electro-Hydraulic Servo (EHS) system. However, the time varying characteristics such as high-speed, outburst starting and stopping dynamic have led the EHS system to suffer from uncertainties and nonlinearities effects. Therefore, in order to enhance the performance of an EHS to surmount the uncertain and nonlinear effects, a hybrid Fuzzy-PID control strategy is developed which particularly improve the accuracy of the system by enhancing the control performance during the positioning tracking. By measuring the performance of the proposed control approach, the transient response and steady-state analysis will be performed which taking linear and intelligent control strategies as the references in the assessment process. The finding indicates the capability of a hybrid Fuzzy-PID controller in reducing the control effort applied to the EHS system. © The Authors, published by EDP Sciences, 2018.

关键词： Position control

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Local mechanical properties of Zinc-Iron coated steel sheets by depth- sensing indentation 13th

Local mechanical properties of Zinc-Iron coated steel sheets...

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13th International Conference on Local mechanical Properties, LMP 2017

作者： Ambriško, Lubomír Pešek, Ladislav Institute of Logistics Faculty of Mining Ecology Process Control and Geotechnology Technical University of Košice Park Komenského 14 Košice043 84 Slovakia Department of Material Science Faculty of Mechanical Engineering Technical University of Liberec Studentská 2 Liberec461 17 Czech Republic

ISBN: (纸本)9783035712421

Depth-sensing indentation (DSI) is used in this work to determine the change of local mechanical properties by annealing of hot-dip galvanized IF steel sheets. The influence of annealing conditions (temperature and time) on: (i) coating composition;(ii) local mechanical properties and (iii) roughness of the coating surface was quantified. Annealing of steel samples (Ti-IF steel and Ti- Nb-P-IF steel alloyed with phosphorus) was performed with different holding times (10, 60, and 300 s) by both temperatures 450 and 550 °C. The zinc in coating transformed during annealing to the intermetallic phases ZnxFey. Annealed Zn-Fe coatings, wherein the iron concentration falls towards the surface, consist of different intermetallic phases. © 2018 Trans Tech Publications, Switzerland.

关键词： Steel sheet

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Spectral design of robust delayed resonator by double-root assignment

引用

IFAC-PapersOnLine 2018年第14期51卷 72-77页

作者： Kue, Matj Vyhlídal, Tomá Michiels, Wim Boussaada, Islam 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 16000 Czech Republic Department of Computer Science KU Leuven Celestijnenlaan 200A HeverleeB-3001 Belgium L2S-CNRS Universite Paris Saclay CentraleSupelec-Universite Paris Sud 3 rue Joliot-Curie Gif-sur-Yvette cedex91192 France

A robust alternative of the delayed resonator is proposed using a spectral approach. By double root assignment at the excitation frequency which is employed to widening the stop-band in the active absorber frequency response, the performance sensitivity to the mismatch between the design and true excitation frequency is considerably decreased. Additionally the overall scheme is supplemented by a control loop which improves the stability margin. The design is validated by simulations and the results are compared with the classical delayed resonator. © 2018

关键词： Resonators Frequency response Robust control Absorber frequency Acceleration feedback Active vibration controls Double root assignment Excitation frequency Performance sensitivity Spectral methods Stability margins

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Building an Aerial-Ground robotics System for Precision Farming: An Adaptable Solution

arXiv

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arXiv 2019年

作者： Pretto, Alberto Aravecchia, Stéphanie Burgard, Wolfram Chebrolu, Nived Dornhege, Christian Falck, Tillmann Fleckenstein, Freya Fontenla, Alessandra Imperoli, Marco Khanna, Raghav Liebisch, Frank Lottes, Philipp Milioto, Andres Nardi, Daniele Nardi, Sandro Pfeifer, Johannes Popović, Marija Potena, Ciro Pradalier, Cédric Rothacker-Feder, Elisa Sa, Inkyu Schaefer, Alexander Siegwart, Roland Stachniss, Cyrill Walter, Achim Winterhalter, Wera Wu, Xiaolong Nieto, Juan Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy International Research Lab 2958 Georgia Tech-CNRS Metz France Department of Computer Science University of Freiburg Germany Toyota Research Institute Los Altos United States Photogrammetry & Robotics Lab University of Bonn Germany Robert Bosch GmbH Corporate Research Renningen Germany Osimo Italy Autonomous Systems Lab. Department of Mechanical and Process Engineering ETH Zurich Zürich Switzerland Department of Environmental Systems Science Institute of Agricultural Sciences ETH Zurich Zürich Switzerland IT+Robotics Srl Padova Italy Smart Robotics Lab. Department of Computing Imperial College London London United Kingdom CSIRO Data61 Australia

The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of human effort and yield. With this vision, the Flourish research project aimed to develop an adaptable robotic solution for precision farming that combines the aerial survey capabilities of small autonomous unmanned aerial vehicles (UAVs) with targeted intervention performed by multi-purpose unmanned ground vehicles (UGVs). This paper presents an overview of the scientific and technological advances and outcomes obtained in the project. We introduce multi-spectral perception algorithms and aerial and ground-based systems developed for monitoring crop density, weed pressure, crop nitrogen nutrition status, and to accurately classify and locate weeds. We then introduce the navigation and mapping systems tailored to our robots in the agricultural environment, as well as the modules for collaborative mapping. We finally present the ground intervention hardware, software solutions, and interfaces we implemented and tested in different field conditions and with different crops. We describe a real use case in which a UAV collaborates with a UGV to monitor the field and to perform selective spraying without human intervention. Copyright © 2019, The Authors. All rights reserved.

关键词： Mapping

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Development of an Unmanned Vertical Take-Off and Landing Aircraft for Medical Express UAV Challenge

Development of an Unmanned Vertical Take-Off and Landing Air...

引用

International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Roman Czyba Marcin Lemanowicz Michał Simon Tomasz Kudala Zbigniew Gorol Maciej Galeja Karol Hanke Adam Sikora Wojciech Grabowski Łukasz Ryczko Mateusz Żurawski Paulina Kapała Karol Kreihs Piotr Langner Department of Automatic Control Silesian University of Technology Gliwice Poland Department of Chemical Engineering and Process Design Silesian University of Technology Gliwice Poland Faculty of Mechanical Engineering Silesian University of Technology Gliwice Poland

This paper presents a design process of unmanned vertical take-off and landing aircraft, developed by the High Flyers team from Silesian University of Technology, who decided to participate in the Medical Express UAV Challenge competition. The designed system is described as a hybrid platform, where different operating modes correspond to the vertical flight, transition and spatial flight in the airframe system. Explanation of an iterative design process with the contribution of CAD design, CFD analysis and control system design in particular flight modes is presented. Simulation results are carried out to corroborate the design control system. Finally, the fast prototyping of proposed control strategy as well as manufacturing process is shown.

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Modeling and control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics During Grasping

Modeling and Control of Multi-Arm and Multi-Leg Robots: Comp...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Niels Dehio Joshua Smith Dennis Leroy Wigand Guiyang Xin Hsiu-Chin Lin Jochen J. Steil Michael Mistry Research Institute for Robotics and Process Control (IRP) Technical University Braunschweig Germany School of Informatics University of Edinburgh United Kingdom Faculty of Technology Bielefeld University Germany School of Mechanical and Electrical Engineering Central South University China

We consider a virtual manipulator in grasping scenarios which allows us to capture the effect of the object dynamics. This modeling approach turns a multi-arm robot into an underactuated system. We observe that controlling floating-base multi-leg robots is fundamentally similar. The Projected Inverse Dynamics control approach is employed for decoupling contact consistent motion generation and controlling contact wrenches. The proposed framework for underactuated robots has been evaluated on an enormous robot hand composed of four KUKA LWR IV+ representing fingers cooperatively manipulating a 9kg box with total 28 actuated DOF and six virtual DOF representing the object as additional free-floating robot link. Finally, we validate the same approach on ANYmal, a floating-base quadruped with 12 actuated DOF. Experiments are performed both in simulation and real world.

关键词： Grasping Dynamics Task analysis Jacobian matrices Manipulator dynamics

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

arXiv

引用

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

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Fractional model of magnetic field penetration into a toroidal soft ferromagnetic sample

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International Journal of Dynamics and control 2018年第1期6卷 89-96页

作者： Ducharne, Benjamin Sebald, Gael Guyomar, Daniel Litak, Grzegorz Laboratoire de Genie Electrique et Ferroelectricite Institut National des Sciences Appliquees de Lyon 8 rue de la Physique Villeurbanne cedex69621 France ELyTMaX UMI 3757 CNRS Universit de Lyon Lyon France Tohoku University Sendai Japan Faculty of Mechanical Engineering Lublin University of Technology Nadbystrzycka 36 Lublin20-807 Poland Department of Process Control AGH University of Science and Technology Mickiewicza 30 Kraków30-059 Poland

We propose an original approach to solve the coupled problem of alternative magnetic field penetration inside a toroidal soft ferromagnetic sample and frequency dependent magnetic hysteresis. Local repartition of ferromagnetic losses depends on the instantaneous material properties and on the frequency of the excitation field waveform. A correct solution to the model, with respect to this repartition, implies a higher resolution in two dimensions of the diffusion equation including local dynamic hysteresis consideration. The resulting model gives precious local information but requires complex parameter setting, high computational capacity and long simulation time. Due to the toroidal shape, a single dimension algorithm solving of the diffusion equation is clearly insufficient and it would lead to inaccurate simulation results. Consequently, a large number of discretization nodes and extended simulation time must be considered in two dimensional configurations. In our alternative solution, starting from a lumped model, we add a fractional time derivative of the dynamic hysteresis losses. It leads to an accurate formulation of the problem with a reduction in complexity and simulation times. © 2017, The Author(s).

关键词： Ferromagnetic materials

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