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arXiv 2025年

作者： Brunke, Lukas Zhou, Siqi D’Orazio, Francesco Schoellig, Angela P. Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich80333 Germany Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

In robotics, control barrier function (CBF)–based safety filters are commonly used to enforce state constraints. A critical challenge arises when the relative degree of the CBF varies across the state space. This variability can create regions within the safe set where the control input becomes unconstrained. When implemented as a safety filter, this may result in chattering near the safety boundary and ultimately compromise system safety. To address this issue, we propose a novel approach for CBF synthesis by formulating it as solving a set of boundary value problems. The solutions to the boundary value problems are determined using physics-informed neural networks (PINNs). Our approach ensures that the synthesized CBFs maintain a constant relative degree across the set of admissible states, thereby preventing unconstrained control scenarios. We illustrate the approach in simulation and further verify it through real-world quadrotor experiments, demonstrating its effectiveness in preserving desired system safety properties. Copyright © 2025, The Authors. All rights reserved.

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Exploiting the Intrinsic Neighborhood Semantic Structure for Domain Adaptation in EEG-based Emotion Recognition

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IEEE Transactions on Affective Computing 2025年

作者： Yang, Yi Wang, Ze Song, Yu Jia, Ziyu Wang, Boyu Jung, Tzyy-Ping Wan, Feng Macau University of Science and Technology Macao Centre for Mathematical Sciences Respiratory Disease AI Laboratory on Epidemic Intelligence and Medical Big Data Instrument Applications Faculty of Innovation Engineering 999078 China Tianjin University of Technology School of Electrical Engineering and Automation Tianjin Key Laboratory of New Energy Power Conversion Transmission and Intelligent Control Tianjin300384 China Chinese Academy of Sciences Beijing Key Laboratory of Brainnetome and Brain-Computer Interface and Brainnetome Center Institute of Automation Beijing100045 China Western University Department of Computer Science Brain Mind Institute LondonONN6A 3K7 Canada University of California at San Diego Swartz Center for Computational Neuroscience Institute for Neural Computation La Jolla CA92093 United States University of Macau Department of Electrical and Computer Engineering Faculty of Science and Technology China University of Macau Centre for Cognitive and Brain Sciences Centre for Artificial Intelligence and Robotics Institute of Collaborative Innovation 999078 China

Due to the inherent non-stationarity and individual differences present in electroencephalogram (EEG) signals, developing a generalizable model that performs well on new subjects is challenging in EEG-based emotion recognition. Most existing domain adaptation (DA) methods typically mitigate these discrepancies by aligning the marginal distributions of domain feature representations. However, when there is a significant difference in the class-conditional distribution between domain features and labels, the domain-invariant features learned by aligning marginal distributions may have limited discriminative ability for unlabeled target instances or even prove counterproductive. To address this issue, we propose a Neighborhood Semantic Aware Learning-based Dynamic Graph Attention Convolution (NSAL-DGAT) approach that learns target semantic information by considering the inter-domain semantic topological structure, thereby improving classifier adaptation for target instances. Specifically, the proposed NSAL framework is designed to capitalize on the insight that after domain feature alignment, some target samples and their neighboring source samples exhibit similar semantics. By leveraging the neighborhood topological structure, we extract and incorporate semantic target features to train a more transferable classifier. Besides, we implement an entropy weighting mechanism to emphasize representative target semantic information, encouraging target instances to prioritize high-confidence individuals within the source neighborhood. We have conducted extensive experiments on the public SEED dataset and our collected the Hearing-Impaired EEG Dataset (HIED). The experimental results underscore the efficacy of our proposed NSAL-DGAT approach, showcasing state-of-the-art accuracy in subject-dependent as well as subject-independent scenarios. The source code is available at https://***/YYingDL/NSAL-DGAT. © 2010-2012 IEEE.

关键词： Speech analysis

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Volume-based Transition Zone Assessment of Hybrid Unmanned Aerial-Underwater Vehicles

Volume-based Transition Zone Assessment of Hybrid Unmanned A...

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IEEE Latin American robotics Symposium, LARS

作者： Vivian Misaki Aoki Paulo Jefferson Dias De Oliveira Evald Pedro Miranda Pinheiro César Bastos Da Silva Dayana Dos Santos Cardoso Mauro André Barbosa Cunha Paulo Lilles Jorge Drews Intelligent Robotics and Automation Group Federal University of Rio Grande Rio Grande Brazil Department of Computer Engineering and Industrial Automation State University of Campinas Campinas Brazil Automation and Control Research Group Sul-rio-grandense Federal Institute Pelotas Brazil

ISBN: (数字)9781665462808

ISBN: (纸本)9781665462815

Quadrotors have been used in diverse areas, such as agriculture, civil construction, fire monitoring, and so on. However, these vehicles cannot perform missions that require navigation in aquatic environments, such as inspection of underwater structures and water sample collection, due to their hardware limitations. Therefore, hybrid unmanned aerial-underwater vehicles emerge as a feasible solution to accomplish these missions. Although quadrotors have well-accepted mathematical models, hybrid vehicles have a small quantity of works dealing with this topic. Moreover, we identified a gap in transition zone representation. Therefore, this paper presents a method for transition zone modeling based on vehicle geometry. Simulation results support the better representation of the proposed transition model in comparison to a sigmoid model.

关键词： Underwater structures Navigation Simulation Force Inspection Mathematical models Hardware

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Hydrone: Modeling of a Hybrid Unmanned Aerial Underwater Vehicle Considering Trans-Media Dynamics

SSRN

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SSRN 2024年

作者： de Oliveira Evald, Paulo Jefferson Dias Brião, Stephanie Loi Aoki, Vivian Misaki da Silva, César Bastos dos Santos Cardoso, Dayana Pinheiro, Pedro Miranda de Oliveira, Felipe Gomes André Barbosa Cunha, Mauro Jorge Drews, Paulo Lilles Intelligent Systems and Control Group Federal University of Pelotas RS Pelotas Brazil Intelligent Robotics and Automation Group Federal University of Rio Grande RS Rio Grande Brazil Department of Computer Engineering and Industrial Automation State University of Campinas SP Campinas Brazil Federal Institute of Education Science and Technology in Rio Grande do Sul RS Pelotas Brazil Institute of Exact Sciences and Technology Federal University of Amazonas Itacoatiara AM Amazonas Brazil Brazil

Research in mobile robotics is growing into applications for difficult-to-access environments, such as in rescue and transport missions. Furthermore, autonomous vehicles can perform data collection in complex approach areas. Therefore, the study of hybrid unmanned vehicles is relevant for several areas, since these vehicles can act in different domains. The developed vehicle, called Hydrone, is designed in a quadrotor-type structure and equipped with a set of aerial and underwater propellers, which are fixed and independent between them. In this sense, this work presents the mathematical modeling of an unmanned hybrid vehicle, which can navigate underwater and aerial environments. Furthermore, the modeling considers the ground effect due to the influence on the vehicle’s trajectory change and the dynamics of the transition zone between water-air and air-water. These dynamics are important to evaluate the controller’s performance. Numerical simulations consider both transitions (water-air and air-water) and they are performed to discuss the influence of acting forces on the vehicle stability and position-tracking performance using a classical control system. © 2024, The Authors. All rights reserved.

关键词： Hybrid vehicles

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Comparison of Vibration and Noise Characteristics between Radial Flux PMSMs And Axial Flux PMSMs

Comparison of Vibration and Noise Characteristics between Ra...

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International Conference on Electrical Machines and Systems (ICEMS)

作者： Mengfei Wei Chi Zhang Yunpeng Gao Yongzhou Qing Chinese Academy of Sciences Ningbo Institute of Materials Technology and Engineering Ningbo China University of Chinese Academy of Sciences Beijing China Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo China Ningbo Jingwei Computer Numerical Control Company Limted

ISBN: (数字)9781665493024

ISBN: (纸本)9781665493031

Radial flux permanent synchronous machines (PMSM) and axial flux permanent magnet synchronous machines are two main types of rotating machines used in electric vehicles. The vibration and noise characteristics of the above two types of machines are seldom compared. In this paper, two radial flux PMSMs and two axial flux PMSMs with identical power and stator structure but different slot-pole combinations are proposed, and their electromagnetic vibration and noise performances are compared. Firstly, the performance of the four machines are introduced. Secondly, the time-space distribution of the electromagnetic force exerted on stator teeth are analyzed and compared. Finally, the electromagnetic vibration and noise analysis is conducted based on a multiphysics model. The difference of electromagnetic vibration and noise characteristics between radial flux PMSMs and axial flux PMSMs are revealed. In the meantime, the influence of slot-pole combinations on vibration and noise of PMSMs are also investigated.

关键词： Vibrations Permanent magnet machines Time-frequency analysis Modal analysis Electromagnetic forces Stators Power capacitors

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Stabilization with Zero Location Constraints for Delay-Based Non-collocated Vibration Suppression ⁎

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IFAC-PapersOnLine 2021年第18期54卷 121-126页

作者： Haik Silm Wim Michiels Tomáš Vyhlídal Departement 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

A generally applicable design of non-collocated vibration absorption by a delayed resonator is proposed. It is grounded in the direct assignment of imaginary axis zeros of the transfer function between the periodic disturbance force and the target. We show that these transmission zeros are characterized as eigenvalues of a delay differential-algebraic system. Furthermore, a stabilizing local controller is added to the setup in order to widen the range of admissible vibration frequencies. These design requirements are translated into an optimization problem of the spectral abscissa function subjected to zero location constraints. The presented approach and algorithm are validated by a simulation on a three body lumped mass-spring system.

关键词： Vibration control Delayed resonator Transmission zeros Stability Spectral method

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Tactile-Based Object Pose Estimation Employing Extended Kalman Filter

Tactile-Based Object Pose Estimation Employing Extended Kalm...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Qiguang Lin Chaojie Yan Qiang Li Yonggen Ling Yu Zheng Wangwei Lee Zhaoliang Wan Bidan Huang Xiaofeng Liu Jiangsu Key laboratory of Special Robotic Technology College of IoT Engineering Hohai University Changzhou Jiangsu P.R. China State Key Laboratory of Industrial Control and Technology Zhejiang University Institute of Cyber-System and Control Hangzhou P.R. China Neuroinformatics Group Center for Cognitive Interaction Technology (CITEC) Bielefeld University Bielefeld Germany Tencent Robotics X Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou P.R.China

In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the estimation of the object's pose using an Extended Kalman Filter (EKF) based approach. We defined and derived the state and measurement equations, as well as evaluated the estimation accuracy in grasping tasks. The approach is able to effectively account for the pose transition caused by tactile pushing, and the mapping from the object's pose to the contact position and normal direction as measured by the tactile sensor. The method was evaluated in multiple grasping experiments in simulation scenarios. Results show that the estimation can converge towards the ground truth in a relatively short period of time, with displacement and rotation errors remaining within acceptable levels. This new method has the potential to improve the accuracy and reliability of robotic grasping and manipulation tasks.

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Application of Machine Learning to Performance Assessment for a class of PID-based control Systems

arXiv

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arXiv 2021年

作者： Grelewicz, Patryk Khuat, Thanh Tung Czeczot, Jacek Nowak, Pawel Klopot, Tomasz Gabrys, Bogdan Silesian University of Technology Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Gliwice44100 Poland University of Technology Sydney Faculty of Engineering and IT Advanced Analytics Institute NSW2007 Australia

In this paper, a novel machine learning derived control performance assessment (CPA) classification system is proposed. It is dedicated for a wide class of PID-based control industrial loops with processes exhibiting dynamical properties close to second order plus delay time (SOPDT). The proposed concept is very general and easy to configure to distinguish between acceptable and poor closed loop performance. This approach allows for determining the best (but also robust and practically achievable) closed loop performance based on very popular and intuitive closed loop quality factors. Training set can be automatically derived off-line using a number of different, diverse control performance indices (CPIs) used as discriminative features of the assessed control system. The proposed extended set of CPIs is discussed with comprehensive performance assessment of different machine learning based classification methods and practical application of the suggested solution. As a result, a general-purpose CPA system is derived that can be immediately applied in practice without any preliminary or additional learning stage during normal closed loop operation. It is verified by practical application to assess the control system for a laboratory heat exchange and distribution *** Codes 93 © 2021, CC BY-NC-SA.

关键词： Three term control systems

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Flight demonstrations of lunar cubesat technologies developed for clps

Flight demonstrations of lunar cubesat technologies develope...

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Accelerating Space Commerce, Exploration, and New Discovery Conference, ASCEND 2020

作者： Singh, Hunter Huang, Calvin Coble, Kyle Yuan, Christine University of Colorado Boulder United States Pasadena City College Computer Science United States KTH Royal Institute of Technology Systems Control and Robotics Sweden Cornell University Mechanical Engineering United States

ISBN: (纸本)9781624106088

During the summer of 2020, students under the Innovation to Flight (i2F) program will be performing flight demonstrations of lunar CubeSat technologies which include navigation and communication. These Earth-bound flight demonstrations are aimed to test flight-critical technology and hardware that will fly to the Moon utilizing NASA’s Commercial Lunar Payload Services (CLPS). Specifically, a strategic partnership with Qualcomm has opened the door to utilizing Qualcomm’s Modal AI chips on custom boards that will provide both telecommunications, navigation and command and data handling (C&DH) abilities. The i2F team performed the first high altitude near-space environmental testing of the basic Qualcomm Snapdragon system in August of 2019 by utilizing the Zephyrus High Altitude Balloon (HAB) platform that i2F developed in 2017. The flight demonstrations for 2020 will be specifically testing the updated Qualcomm NavComm and C&DH systems ability to provide clocking and positioning to ground based assets at long-range systems testing. Autonomous ground robotics relayed data to lunar analog astronauts at the facility and using the ModalAI board performed visual navigation pushing lunar simulant into gravity filtration systems for processing. The CRADLE (California Research Analog for Deepspace and Lunar Exploration) analogue is a test site in the Mojave Desert that is a 1.5-hour drive from Los Angeles and has analogous features to lunar craters and crevices. The team will present the results of the experiment and next steps in working with the Qualcomm chip in cubesat platforms. University of Colorado Boulder advisor Scott Palo is working with students to provide an achitecture cable of supporting Atemis missions as well as commercial robotics on the moon. © 2020 The MITRE Corporation. All Rights Reserved.

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Simultaneously Calibration of Multi Hand-Eye Robot System Based on Graph

arXiv

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arXiv 2023年

作者： Zhou, Zishun Ma, Liping Liu, Xilong Cao, Zhiqiang Yu, Junzhi The Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Electrical Engineering and Computer Science Australian National University Canberra2601 Australia The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as micro-assembly systems. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the relative pose between each unit, but the serialized incremental calibration strategy cannot avoid the problem of error accumulation in a large-scale system. Instead of focusing on a single unit, this paper models the multi-eye and multi-hand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method. © 2023, CC BY-SA.

关键词： Multipurpose robots

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