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

作者： Kanai, Masaki Yamakita, Masaki R&d Group Hitachi Ltd. Controls and Robotics Innovation Center Ibaraki Japan Tokyo Institute of Technology Department of Systems and Control Engineering Tokyo Japan

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

This study proposes a method for high-performance model predictive control (MPC) by using a lifted bilinear model error model (MEM) based on the Koopman approach to compensate for errors in the prediction model. In MPC, more accurate prediction models can be expected to provide better control performance for the real plant. However, there often exist modeling errors in the prediction model, which may prevent MPC from achieving good performance. In this study, we identify the errors in the nominal model as an MEM, and formulate an MPC that integrates the nominal model and the MEM into an "error-compensated model"as a prediction model. We model the MEM with a lifted bilinear model that can represent nonlinear characteristics based on Koopman's theory. In addition, an efficient linear MPC algorithm is constructed by linearizing the MEM while maintaining high prediction accuracy. Numerical simulations demonstrate the effectiveness of the proposed method. © 2022 IEEE.

关键词： Model predictive control

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Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach

Optimal Control for Clutched-Elastic Robots: A Contact-Impli...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dennis Ossadnik Vasilije Rakčević Mehmet C. Yildirim Edmundo Pozo Fortunić Hugo T. M. Kussaba Abdalla Swikir Sami Haddadin Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich Germany Department of Electrical and Electronic Engineering Omar Al-Mukhtar University (OMU) Albaida Libya

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic motions even with limited motor power. However, the time-dependency of this energy storage and release mechanism remains one of the major challenges in controlling elastic robots. A possible remedy is the introduction of locking elements (i.e. clutches and brakes) in the drive train. This gives rise to a new class of robots, so-called clutched-elastic robots (CER), with which it is possible to precisely control the energy-transfer timing. A prevalent challenge in the realm of CERs is the automatic discovery of clutch sequences. Due to complexity, many methods still rely on pre-defined modes. In this paper, we introduce a novel contact-implicit scheme designed to optimize both control input and clutch sequence simultaneously. A penalty in the objective function ensures the prevention of unnecessary clutch transitions. We empirically demonstrate the effectiveness of our proposed method on a double pendulum equipped with two of our newly proposed clutch-based Bi-Stiffness Actuators (BSA).

关键词： Potential energy Prevention and mitigation Optimal control Switches Motors Linear programming Timing

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Miao, Zibo Pan, Yu Gao, Qing School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Guangdong Key Laboratory of Intelligent Morphing Mechanisms Shenzhen518055 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

ISBN: (纸本)9781665410205

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique. © 2024 IEEE.

关键词： Poles

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Research on Control Methods for Electric Vehicle Networks Based on FlexRay Bus

Research on Control Methods for Electric Vehicle Networks Ba...

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IEEE Conference and Expo Transportation Electrification Asia-Pacific (ITEC Asia-Pacific)

作者： Huang Xiaopeng Gao Luwei Zhang Zheng Zhang Chiyu Shaanxi College of Communication Technology Xi’an China Institute of Robotics and Intelligent Systems School of Mechanical Engineering Xi’ an Jiaotong University Xi’an China

ISBN: (数字)9798331529277

ISBN: (纸本)9798331529307

With the rapid development of electric, intelligent, and connected vehicles, the demand for onboard network technology in vehicles is increasing. The timeliness and robustness of onboard network technology have become key influencing factors for electric vehicle performance. CAN bus cannot meet the high-speed communication requirements of electric vehicles, while FlexRay bus become the preferred solution for intelligent development of electric vehicles due to its high bandwidth, reliability, determinism. This paper analyzes the, topology structure, and timeliness of Flex onboard network system. It also conducts in-depth research on the communication mechanism of FlexRay protocol and designs a FlexRay bus control suitable for data communication between complex onboard electronic control (ECUs). The design covers basic concepts of the FlexRay bus protocol, core transmission processes, data frame formats, encodingdecoding methods as well as implementation and simulation of multiple transmission modules. The functionality of transmission modules is simulated to complete the construction and design of the overall structure of the FlexRay controller. Finally, functional simulation and verification are performed on the designed FlexRay bus controller The test results show that this FlexRay bus controller performs well in terms of data transfer, real-time capability, and robustness; it can meet the requirements for onboard network technology electric vehicles.

关键词： Protocols Flexible printed circuits Network topology Transportation Electrification Electric vehicles Robustness Real-time systems Topology Network systems

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Pulsating Fluidic Sensor for Sensing of Location, Pressure and Contact Area

Pulsating Fluidic Sensor for Sensing of Location, Pressure a...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joanna Jones Marco Pontin Dana D. Damian Department of Automatic Control and Systems Engineering Sheffield Biomedical Robotics Laboratory University of Sheffield United Kingdom Sheffield Robotics University of Sheffield UK Insigneo Institute for in Silico Medicine University of Sheffield UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Designing information-rich and space-efficient sensors is a key challenge for soft robotics, and crucial for the development of safe soft robots. Sensing and understanding the environmental interactions with a minimal footprint is especially important in the medical context, where portability and unhindered patient/user movement is a priority, to move towards personalized and decentralized healthcare solutions. In this work, a pulsating fluidic soft sensor (PFS) capable of determining location, pressure and contact area of press events is shown. The sensor relies on spatio-temporal resistance changes driven by a pulsating conductive fluid. The sensor demonstrates good repeatability and distinction of single and multiple press events, detecting single indents of sizes greater than 1 cm, forces larger than 2 N, and various locations across the sensor, as well as multiple indents spaced 2 cm apart. Furthermore, the sensor is demonstrated in two applications to detect foot placement and grip location. Overall, the sensor represents an improvement towards minimizing electronic hardware, and cost of the sensing solution, without sacrificing the richness of the sensing information in the field of soft fluidic sensors.

关键词： Presses Fluids Soft sensors Medical services Soft robotics Robot sensing systems Hardware

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A Bio-inspired Solution for Double Support Force Distribution in Humanoid Robot Locomotion

A Bio-inspired Solution for Double Support Force Distributio...

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IEEE-RAS International Conference on Humanoid Robots

作者： Francisco Javier Andrade Chavez Vidyasagar Rajendran Katja Mombaur CERC Human-Centred Robotics and Machine Intelligence of Department of Systems Design Engineering University of Waterloo Canada Optimization and Biomechanics for Human-Centred Robotics Karlsruhe Institute of Technology (KIT) Institute of Anthropomatics and Robotics (IAR) Karlsruhe Germany

In locomotion, the likelihood of slipping or maintaining contact is determined by the forces applied in the environment. Therefore, it is crucial to find methods of keeping forces within friction constraints. In single support, the relationship between center of mass acceleration and forces is unique. However, in double support, it becomes a non-deterministic problem. It is often assumed that forces are distributed to minimize a certain effort criterion. An interesting alternative is to distribute the forces in a manner similar to how a human would, which could result in a more human-like gait for humanoid robots. With this in mind, we introduce the modified Twin Polynomial Method (mTPM) as a technique to accurately distribute double support forces in a human-like way. The relevant relationships used in this method are presented, and we compare its performance against the current state of the art in human gait analysis. The comparison is conducted across three different types of contacts with the environment: barefoot, socks, and shoes. We show how human data differs from a ‘typical’ robot walk and use the proposed method to generate a more human-like distribution for robots.

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PointNetPGAP-SLC: A 3D LiDAR-based Place Recognition Approach with Segment-level Consistency Training for Mobile Robots in Horticulture

arXiv

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arXiv 2024年

作者： Barros, T. Garrote, L. Conde, P. Coombes, M.J. Liu, C. Premebida, C. Nunes, U.J. University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Portugal Dept. of Aeronautical and Automotive Engineering LUCAS Lab Loughborough University United Kingdom

3D LiDAR-based place recognition remains largely underexplored in horticultural environments, which present unique challenges due to their semi-permeable nature to laser beams. This characteristic often results in highly similar LiDAR scans from adjacent rows, leading to descriptor ambiguity and, consequently, compromised retrieval performance. In this work, we address the challenges of 3D LiDAR place recognition in horticultural environments, particularly focusing on inter-row ambiguity by introducing three key contributions: (i) a novel model, PointNetPGAP, which combines the outputs of two statistically-inspired aggregators into a single descriptor;(ii) a Segment-Level Consistency (SLC) model, used exclusively during training to enhance descriptor robustness;and (iii) the HORTO-3DLM dataset, comprising LiDAR sequences from orchards and strawberry fields. Experimental evaluations conducted on the HORTO-3DLM and KITTI Odometry datasets demonstrate that PointNetPGAP outperforms state-of-the-art models, including OverlapTransformer and PointNetVLAD, particularly when the SLC model is applied. These results underscore the model’s superiority, especially in horticultural environments, by significantly improving retrieval performance in segments with higher ambiguity. The dataset and the code will be made publicly available at https://***/Cybonic/*** © 2024, CC BY.

关键词： Deep learning

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Offset-Aware Dual Quaternion Control for UAVs with Cable-Suspended Loads

Offset-Aware Dual Quaternion Control for UAVs with Cable-Sus...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Yuxia Yuan Lukas Pries Markus Ryll Autonomous Aerial Systems School of Engineering and Design Technical University of Munich Ottobrunn Germany Munich Institute of Robotics and Machine Intelligence (MIRMI) and Autonomous Aerial Systems School of Engineering and Design Technical University of Munich Ottobrunn Germany

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

Modeling the kinematics and dynamics of UAVs with cable-suspended loads using dual quaternions remains an area requiring further exploration, especially when considering the offset between the attachment point and the UAV's center of mass. This work introduces a novel control strategy based on dual quaternions for sling load cargo UAV (cUAV) systems with offset attachments. Leveraging the mathematical efficiency and compactness of dual quaternions, we establish a unified representation of the kinematics and dynamics of both the UAV and its suspended load. Extensive simulations and realworld experiments were conducted to evaluate the accuracy and robustness of the proposed strategy. The results demonstrate the controller's reliability and stability across various conditions in practical cUAV applications. This study makes a contribution to the presentation of this novel control strategy that harnesses the benefits of dual quaternions for cUAVs. Our work also holds promise for inspiring future innovations in under-actuated systems control using dual quaternions.

关键词： Technological innovation Accuracy Quaternions Transportation Kinematics Autonomous aerial vehicles Stability analysis Robustness Trajectory Load modeling

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Online Prediction of Novel Trajectories Using a Library of Movement Primitives

Online Prediction of Novel Trajectories Using a Library of M...

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IEEE International Conference on Development and Learning, ICDL

作者： Paris Oikonomou Athanasios Dometios Mehdi Khamassi Costas S. Tzafestas School of Electrical and Computer Engineering National Technical University of Athens Greece Sorbonne Université CNRS Institute of Intelligent Systems and Robotics Paris France

ISBN: (数字)9798350348552

ISBN: (纸本)9798350348569

Learning to anticipate other agents' future movements has gained increased interest in robotics, especially in situations requiring interaction. Such a prediction allows the robotic systems to plan their actions as a task evolves and before its completion. Specifically, in case of active robot collaboration, early decision making might ensure smoothness during motion and collision avoidance. While previous work has addressed prediction and recognition of primitive actions, to our knowledge little attention has been paid to the aspect of unseen ones. In this paper, we introduce a method for online continuous prediction of the evolution of previously unseen trajectories based on a recency weighting of past observations using a library of trained probabilistic movement primitives (ProMPs). The proposed method makes the assumption that parts of any novel trajectory could be considered as a combination of simpler ones. A probability distribution is derived across the evolution of the trajectory, and is updated in a recursive manner. We present a set of simulation experiments to showcase the new method, and compare it with a state-of-the-art method.

关键词： Decision making Collaboration Probabilistic logic Libraries Probability distribution Trajectory Collision avoidance

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A General Overview of Intelligent Sorting System Based on Machine Vision

A General Overview of Intelligent Sorting System Based on Ma...

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Chinese Control and Decision Conference, CCDC

作者： Xining Cui Menghui Yu LinQigao Wu Caiqi Wang Yi Xiong Shiqian Wu Institute of Robotics and Intelligent Systems School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China

With the development of computer-related technologies, robot technology and machine vision technology have also been greatly improved. The intelligent sorting system composed of traditional robots and machine vision can not only reduce production costs, but also improve the efficiency and accuracy of sorting operations. With these advantages, the machine sorting system is gradually replacing the manual sorting system. It develops in the direction of networking, automation, collaboration and intelligence, and has extremely broad development prospects. Therefore, this paper discusses and analyzes the composition, classification and application of the intelligent sorting system in detail, and expounds the key technologies. At the same time, the intelligent sorting system proposed in this paper is introduced. Finally, the current development of intelligent sorting system is summarized, and the future development trend is prospected.

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