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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： D.Cabecinhas R.Cunha C.Silvestre Department of Electrical Engineering and Computer Science and Institute for Systems and RoboticsInstituto Superior Técnico

This paper addresses the problem of steering a quadrotor vehicle along a predefined *** problem is formulated so as to dynamically prescribe an adequate time evolution along the path and simultaneously bound the effect of position errors on the *** proposed solution consists of a nonlinear state feedback controller for thrust and torque actuations combined with a path following timing law that i)guarantees global asymptotic convergence of the path following error to zero,for a large class of three-dimensional paths,ii) ensures that the actuation does not grow unbounded as function of the position errors,and iii) allows for zero thrust actuation to be applied when the vehicle is converging to the *** results are presented to assess the performance of the proposed controller.

关键词： Rotorcraft path following control for extended flight envelope coverage

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An Augmented Reality Application for Upper-Limb Rehabilitation Supported by a Robotic Arm 6

An Augmented Reality Application for Upper-Limb Rehabilitati...

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6th Experiment at International Conference, exp.at 2023

作者： Rodrigues, Jose Carlos Restivo, Maria Teresa Menezes, Paulo University of Porto LAETA-INEGI Faculty of Engineering Porto Portugal University of Porto LAETA-INEGI Porto Portugal A3ES Lisbon Portugal University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Coimbra Portugal

ISBN: (纸本)9798350314403

This work looks at the potential use of a robotic arm and augmented reality application, with a head-mounted display, in an upper-limb rehabilitation context. A sample application using a robotic simulator and a cross-sectional study using a real robotic arm are shown. Results from the usability evaluation are positive and encourage further development, but some identified problems must be corrected before further evaluations. © 2023 IEEE.

关键词： Robotic arms

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A CONVEX RELAXATION FOR APPROXIMATE MAXIMUM-LIKELIHOOD 2D SOURCE LOCALIZATION FROM RANGE MEASUREMENTS

A CONVEX RELAXATION FOR APPROXIMATE MAXIMUM-LIKELIHOOD 2D SO...

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IEEE International Conference on Acoustics, Speech, and Signal Processing

作者： Pinar Oguz-Ekim Joao Gomes Joao Xavier Paulo Oliveira Institute for Systems and Robotics-Instituto Superior Tecnico Department of Electrical and Computer Engineering Lisboa Portugal

ISBN: (纸本)9781424442959

This paper addresses the problem of locating a single source from noisy range measurements in wireless sensor networks. An approximate solution to the maximum likelihood location estimation problem is proposed, by redefining the problem in the complex plane and relaxing the minimization problem into semidefinite programming form. Existing methods solve the source localization problem either by minimizing the maximum likelihood function iteratively or exploiting other semidefinite programming relaxations. In addition, using squared range measurements, exact and approximate least squares solutions can be calculated. Our relaxation for source localization in the complex plane (SLCP) is motivated by the near-convexity of the objective function and constraints in the complex formulation of the original (non-relaxed) problem. Simulation results indicate that the SLCP algorithm outperforms existing methods in terms of accuracy, particularly in the presence of outliers and when the number of anchors is larger than three.

关键词： Single source localization maximum likelihood estimation nonconvex and nonsmooth minimization semidefinite programming maximum likelihood estimation Position measurement Ranging measurements Complex Plane maximum likelihood relaxation Boat anchors outliers Objective function Wireless sensor networks

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Can Stereo Vision replace a Laser Rangefinder?

Can Stereo Vision replace a Laser Rangefinder?

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IEEE/RSJ International Conference on Intelligent robotics and systems

作者： M. Antunes J.P. Barreto C. Premebida U. Nunes The authors are with the Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal.

ISBN: (纸本)9781467317375

Many robotic systems combine cameras with Laser Rangefinders (LRF) for simultaneously achieving multipurpose visual sensing and accurate depth recovery. Employing a single sensor modality for accomplishing both goals is an appealing proposition because it enables substantial savings in equipment, and tends to decrease the overall complexity of the system. This article explores the possibility of replacing LRF by passive stereo vision for reconstructing the scene along a 2D scan plane. We present a new stereo algorithm that is specifically tailored for the purpose. The algorithm recovers the depth along the scan plane using a symmetry-based matching cost (SymStereo), and refines the raw estimates by applying dynamic programming, followed by a Markov Random Field (MRF) that decides if the reconstructed contour is a line or not. We report for the first time comparative experiments between Stereo Rangefinding (SRF) and LRF. The results are encouraging by showing that SRF can be a plausible alternative to LRF in several application scenarios. Moreover, since SRF also enables independent depth estimates along multiple scan planes with arbitrary orientation, being the only constraint that the scan plane intersects the stereo baseline, it is an important benefit that can be decisive for many robotic applications.

关键词： SRF LRF applying

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Stability of switched seesaw systems with application to the stabilization of underactuated vehicles

Stability of switched seesaw systems with application to the...

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IEEE Conference on Decision and Control

作者： A.P. Aguiar J.P. Hespanha A.M. Pascoal Instituto Superior Técnico Torre ISR/IST-Institute for Systems and Robotics Lisboa Portugal Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

This paper addresses the stabilization of a class of nonlinear systems in the presence of disturbances, using hybrid control. To this effect we introduce two new classes of switched systems and provide conditions under which they are input-to-state practically stable (ISpS). These results lead to a control design methodology called switched seesaw control design that allows for the development of nonlinear control laws yielding input-to-state stability, using switching. The range of applicability and the efficacy of the methodology proposed are illustrated via two non-trivial design examples. Namely, stabilization of the extended nonholonomic double integrator (ENDI) and stabilization of an underactuated autonomous underwater vehicle (AUV) in the presence of input disturbances and measurement noise.

关键词： Stability Control systems Control design Nonlinear control systems Nonlinear systems Switched systems Remotely operated vehicles Underwater vehicles Noise measurement Vehicle dynamics

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Optimal Control on Lie Groups: Implementation Details of the Projection Operator Approach

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IFAC Proceedings Volumes 2011年第1期44卷 14567-14572页

作者： Alessandro Saccon John Hauser A. Pedro Aguiar Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Department of Electrical Computer and Energy Engineering University of Colorado Boulder

Abstract This paper discusses key implementation details required for computing the solution of a continuous-time optimal control problem on a Lie group using the projection operator approach. In particular, we provide the explicit formulas to compute the time-varying linear quadratic problem which defines the search direction step of the algorithm. We also show that the projection operator approach on Lie groups generates a sequence of adjoint state trajectories that converges, as a local minimum is approached, to the adjoint state trajectory of the first order necessary conditions of the Pontryagin's Maximum Principle, placing it between direct and indirect optimization methods. As illustrative example, an optimization problem on SO(3) is introduced and numerical results of the projection operator approach are presented, highlighting second order converge rate of the method.

关键词： Optimal control Lie groups direct method rotation matrix

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Relaxed conditions for uniform complete observability and controllability of LTV systems with bounded realizations

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IFAC-PapersOnLine 2017年第1期50卷 3598-3605页

作者： Batista P. Petit N. Silvestre C. Oliveira P. Institute for Systems and Robotics Laboratory for Robotics and Engineering Systems Instituto Superior Técnico Universidade de Lisboa Portugal MINES ParisTech PSL Research University CAS – Centre automatique et systémes 60 bd St Michel Paris 75272 France Department of Electrical and Computer Engineering Faculty of Science and Technology of the University of Macau Macau Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Portugal

Uniform complete observability and controllability are key concepts for the design of state observers and controllers for linear time-varying systems. While the definitions of these properties are simple, it is more often that not very difficult to show they hold for a particular system. This paper presents alternative simpler sufficient conditions. Examples are shown that illustrate the improvement over previous results, the fact that the new conditions are not necessary, and a practical application. © 2017

关键词： linear time-varying systems uniform complete controllability uniform complete observability

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Handwritten numeral recognition based on hierarchically self-organizing learning networks with spatio-temporal pattern representation

Handwritten numeral recognition based on hierarchically self...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： S. Lee J.C. Pan Department of Electrical Engineering-Systems and Computer Science Institute for Robotics and Intelligence Systems University of Southern California USA

An approach for tracing, representation, and recognition of a handwritten numeral in an offline environment is presented. A 2D spatial representation of a numeral is first transformed into a 3D spatiotemporal representation by identifying the tracing sequence based on a set of heuristic rules acting as transformation operators. Given the dynamic information of the tracing sequence, a multiresolution critical-point segmentation method is proposed to extract local feature points, at varying degrees of scale and coarseness. A neural network architecture, the hierarchically self-organizing learning (HSOL) network (S. Lee, J.C. Pan, 1989), especially for handwritten numeral recognition, is presented. Experimental results based on a bidirectional HSOL network indicated that the method is robust in terms of variations, deformations, and corruption, achieving about 99% recognition rate for the test patterns.< >

关键词： Handwriting recognition Pattern recognition Feature extraction Character recognition Intelligent robots Neural networks Humans Heuristic algorithms Skeleton Lifting equipment

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Wildfire Spread Prediction Model Calibration Using Metaheuristic Algorithms 48

Wildfire Spread Prediction Model Calibration Using Metaheuri...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Pereira, Jorge Mendes, Jerome Junior, Jorge S. S. Viegas, Carlos Paulo, Joao Ruivo University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Pólo Ii CoimbraPT-3030-290 Portugal University of Coimbra Association for the Development of Industrial Aerodynamics CoimbraPT-3030-289 Portugal

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Every year, wildfires cause significant losses and destruction around the globe. In order to attempt to reduce their damages, resources have been put into developing fire propagation prediction systems. In a real wildfire event, these systems provide the authorities with information about the fire propagation in the near future, thus allowing them to make better decisions. Wildfire spread prediction systems are based on fire propagation models, from which the most used and accepted model is the Rothermel model. However, given the complexity of the wildfire phenomena and the uncertainty of some of its input parameter values, the Rothermel model can produce misleading results of fire propagation. This paper uses 3 metaheuristic algorithms, genetic algorithm (GA), differential evolution (DE) and simulated annealing (SA), for calibration of input parameters from the Rothermel model. These algorithms were validated using 37 datasets containing data from controlled experimental fires. Results have shown that these algorithms provide a precise wildfire spread prediction accounting for the uncertainties in the model's selected parameters. © 2022 IEEE.

关键词： Forecasting

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Fault detection and isolation of an aircraft using set-valued observers

Fault detection and isolation of an aircraft using set-value...

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18th IFAC Symposium on Automatic Control in Aerospace, ACA 2010

作者： Rosa, Paulo Silvestre, Carlos Shamma, Jeff S. Athans, Michael Institute for Systems and Robotics Instituto Superior Tecnico Av. Rovisco Pais 1 1049-001 Lisboa Portugal Georgia Institute of Technology School of Electrical and Computer Engineering Atlanta GA United States Department of EECS MIT United States

ISBN: (纸本)9783902661968

This paper describes an application of a new fault detection and isolation (FDI) technique based on set-valued observers (SVOs) to a linear parameter varying (LPV) longitudinal aircraft dynamic model. The FDI strategy adopted herein computes and uses the set-valued estimates of the SVOs to eliminate models of the plant that are not compatible with the set of observations provided by the aircraft sensor suite and actuation data. The design of the SVOs takes into account model uncertainty and disturbances, thus avoiding false alarms due to such perturbations. The behavior of the proposed solution is assessed in simulation, by deliberately generating hard and soft sensor/actuator faults. The results show that the faults take, in general, only a few iterations to be detected and isolated, therefore paving the way for the use of the proposed methodology in practical applications.

关键词： Linear systems

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