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IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

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Output synchronization of heterogeneous LTI plants with event-triggered communication

Output synchronization of heterogeneous LTI plants with even...

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IEEE Annual Conference on Decision and Control

作者： Joao Almeida Carlos Silvestre Antonio M. Pascoal Laboratory for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade de Lisboa Av. Rovisco Pais 1 1049-001 Lisboa Portugal

ISBN: (纸本)9781467360890

This paper proposes a control architecture to achieve output synchronization of a group of heterogeneous LTI plants. To each plant, we associate a local controller that comprises a dynamic output feedback controller and a reference generator. The local dynamic output feedback controller is designed such that the output of the plant tracks the output of the reference generator. The reference generator includes an internal state that should be synchronized across all reference generators. The decision to broadcast this synchronization state to its neighbors is done by employing an event-triggered communication protocol. It is shown that, with the proposed control architecture, the solutions of the closed-loop system are globally bounded and that there exist positive lower bounds for the inter-event intervals generated the by event-triggered mechanism associated with the broadcast of synchronization states. A self-triggered implementation of the proposed event-triggered communication protocol is also presented.

关键词： reference generator Event trigger Control Architecture Communication protocols LTI local controller Output Lower bound feedback controller

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The Widely scalable Mobile Underwater Sonar Technology (WiMUST) project: an overview

The Widely scalable Mobile Underwater Sonar Technology (WiMU...

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OCEANS

作者： Habib Al-Khatib Gianluca Antonelli Andrea Caffaz Andrea Caiti Giuseppe Casalino Ivan Bielic de Jong Henrique Duarte Giovanni Indiveritt Sergio Jesus Konstantin Kebka Antonio Pascoa Daniel Polani CGG Massy France University of Cassino e del Lazio Meridionale - ISME Node Cassino (Fr) Italy Graal Tech S.r.l. Genova Italia University of Pisa - ISME Node Pisa Italy University of Genova - ISME Node Genova Italy Geo Marine Survey Systems Rotterdam The Netherlands GeoSurveys - Consultores em Geofísica Lda. Aveiro Portugal University of Salento - ISME Node Lecce Italy SiPLAB FCT - Univ. of Algarve Faro Portugal EvoLogics Berlin Germany Laboratory of Robotics and Systems in Engineering and Science (LARSyS) ISR/IST University of Lisbon Lisbon Portugal University of Hertfordshire Hatfield United Kingdom

ISBN: (纸本)9781479987375

The Widely scalable Mobile Underwater Sonar Technology (WiMUST) project is an H2020 Research and Innovation Action funded by the European Commission. The project aims at developing a system of cooperative Autonomous Underwater Vehicles (AUVs) for geotechnical surveying and geophysical exploration. The project will address underwater communication, acoustic distributed sensor array, mission planning and robot navigation, guidance and control issues. The paper gives an overview of the project objectives and methods.

关键词： WiMUST H2020 Research AUVs

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Optimal Sensor Trajectories for Mobile Underwater Target Positioning with Noisy Range Measurements

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IFAC Proceedings Volumes 2014年第3期47卷 5139-5144页

作者： D. Moreno-Salinas A.M. Pascoal J. Aranda Department of Computer Science and Automatic Control National University Distance Education (UNED) Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico (IST) University of Lisbon Portugal Adjunct Scientist National Institute of Oceanography (NIO) Goa India

There is considerable interest in reducing the number of sensors/beacons involved in underwater positioning/navigation systems since this has the potential to drastically reduce the costs and the time spent in deploying, calibrating, and recovering acoustic equipment at sea. Motivated by these considerations, we address the problem of single underwater target positioning based on acoustic range measurements between the target and a moving sensor at the sea surface. In particular, the goal of the present work is to compute optimal geometric trajectories for the surface sensor that will, in a well defined sense, maximize the range-related information available for underwater target positioning and tracking. To this effect, the Fisher Information Matrix and the maximization of its determinant are used to determine the sensor trajectory that yields the most accurate positioning of the target, while the latter describes a preplanned trajectory. It is shown that the optimal trajectory depends on the velocity of the sensor, the velocity and trajectory of the target, the sampling time between measurements, the measurement error model, and the number of measurements used to compute the FIM. Simulation examples illustrate the key results derived.

关键词： Autonomous underwater vehicles Fisher information matrix Cramer-Rao Bound optimization positioning single tracker

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 19

Flexible triangular formation keeping of marine robotic vehi...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Rego, Francisco Soares, Jorge M. Pascoal, António Aguiar, A. Pedro Jones, Colin Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

ISBN: (纸本)9783902823625

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation. © IFAC.

关键词： Vehicle performance

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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A Hybrid Controller for Global Uniform Exponential Stabilization of Linear systems with Singular Input Constraints

A Hybrid Controller for Global Uniform Exponential Stabiliza...

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IEEE Annual Conference on Decision and Control

作者： Pedro Casau Ricardo G. Sanfelice Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tcnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal Department of Computer Engineering University of California Santa Cruz CA 95064 USA

ISBN: (纸本)9781467360890

In this paper, we devise a controller that achieves global uniform exponential stabilization of linear systems while avoiding singular input constraints, that is, the proposed controller never crosses a given input value g. We show that it is possible to solve this problem using two linear controllers and an appropriate switching logic, which leads to a hybrid controller.

关键词： Control theory Stability Linear systems Switches Educational institutions Robustness

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Particle swarms with dynamic topologies and conservation of function evaluations 6

Particle swarms with dynamic topologies and conservation of ...

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6th International Conference on Evolutionary Computation Theory and Applications, ECTA 2014, Part of the 6th International Joint Conference on Computational Intelligence, IJCCI 2014

作者： Fernandes, Carlos M. Laredo, Juan L. J. Merelo, Juan Julian Cotta, Carlos Rosa, Agostinho LARSyS: Laboratory for Robotics and Systems in Engineering and Science University of Lisbon Av. Rovisco Pais 1 Lisbon Portugal Faculty of Sciences Technology and Communications University of Luxembourg 6 rue Richard Coudenhove-Kalergi LuxembourgL-1359 Luxembourg Departamento de Arquitectura y Tecnología de Computadores University of Granada C Daniel Saucedo Aranda s/n Granada18071 Spain Universidad de Málaga Campus de Teatinos Malaga29071 Spain

ISBN: (纸本)9789897580529

This paper proposes a general framework for structuring dynamic Particle Swarm populations and uses a conservation of function evaluations strategy to increase the convergence speed. The population structure is constructed by placing the particles on a 2-dimensional grid of nodes, where they interact and move according to simple rules. During the running time of the algorithm, the von Neumann neighborhood is used to decide which particles influence each other when updating their velocity and position. Each particle is updated in each time-step but they are evaluated only if there are other particles in their neighborhood. A set of experiments demonstrates that the dynamics imposed by the structure provides a more consistent and stable behavior throughout the test set when compared to standard topologies, while the conservation of evaluations significantly reduces the convergence speed of the algorithm. Furthermore, the working mechanisms of the proposed structure are very simple and, except for the size of the grid, they do not require parameters and tuning.

关键词： Swarm intelligence

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Design and implementation of a range-based formation controller for marine robots 1

Design and implementation of a range-based formation control...

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ROBOT 2013: 1st Iberian robotics Conference

作者： Soares, Jorge M. Aguiar, A. Pedro Pascoal, António M. Martinoli, Alcherio Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais Lisboa1049-001 Portugal Department of Electrical and Computer Engineering University of Porto Rua Dr. Roberto Frias Porto4200-465 Portugal LausanneCH-1015 Switzerland

ISBN: (纸本)9783319034126

There is considerable worldwide interest in the use of groups of autonomous marine vehicles to carry our challenging mission scenarios, of which marine habitat mapping of complex, non-structured environments is a representative example. Relative positioning and formation control becomes mandatory in many of the missions envisioned, which require the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites. However, the constraints placed by the underwater medium make it hard to both communicate and localise the vehicles, even in relation to each other, let alone maintain them in a formation. As a contribution to overcoming some of these problems, this paper deals with the problem of keeping an autonomous marine vehicle in a moving triangular formation with respect to two leader vehicles. Simple feedback laws are derived to drive a controlled vehicle to its intended position in the formation using acoustic ranges obtained to the leading vehicles with no knowledge of the formation path. The paper discusses the implementation of this solution in the MEDUSA class of autonomous marine vehicles operated by IST and describes the results of trials with these vehicles exchanging information and ranges over an acoustic network. © Springer International Publishing Switzerland 2014.

关键词： Machine design

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Observability Analysis of 3D AUV Trimming Trajectories in the Presence of Ocean Currents using Single Beacon Navigation

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IFAC Proceedings Volumes 2014年第3期47卷 4222-4227页

作者： N. Crasta M. Bayat A. Pedro Aguiar Antonio M. Pascoal Institute for Automation and Systems Engineering Technische Universität Ilmenau 98684 Ilmenau Germany Laboratory of Robotics and Systems in Engineering and Science (LARSyS) IST/University of Lisbon Av. Rovisco Pais 1 1049-001 Lisbon Portugal Faculty of Engineering University of Porto (FEUP) Rua Dr. Roberto Frias s/n 4200-465 Porto Portugal Adjunct Scientist National Institute of Oceanography (NIO) Dona Paula 403004 Goa India

This paper addresses the observability properties of a 3D autonomous underwater vehicle (AUV) model in the presence of ocean currents, under the assumption that the vehicle can only measure its distance to a fixed transponder using an acoustic ranging device. In the set-up adopted, the AUV may undergo a wide range of maneuvers that are usually described as trimming trajectories. The latter are of paramount importance in flight dynamics and can be completely parametrized by three variables: i) linear body speed v , ii) flight-path angle γ, and iii) yaw rate ψ. We assume that v > 0, γ, and ψ are constant but otherwise arbitrary (within the constraints of the vehicle capabilities) and examine the observability of the resulting system with the output (measured) variable described above. We adopt weaker definitions of observability that are akin to those proposed by Herman and Krener (Hermann and Krener, 1977) but reflect the fact that we consider specific kinds of maneuvers in 3D. We show that in the presence of known constant ocean currents the 3D kinematic model of the AUV that corresponds to trimming trajectories with nonzero flight path angle and yaw rate is observable. In case the latter conditions fail, we give a complete characterization of the sets of states that are indistinguishable from a given initial state. We further show that in the case of unknown constant ocean currents the model is locally weakly observable for yaw rate different from zero but fails to be locally weakly observable for zero yaw rate. In both the cases we give a complete characterization of the sets of states that are indistinguishable from a given initial state.

关键词： Autonomous underwater vehicle (AUV) Single beacon navigation Range-only measurements Trimming trajectories Set of indistinguishable states Observability

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