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An Analysis of Sampling Effect on Bilateral Teleoperation System Transparency

An Analysis of Sampling Effect on Bilateral Teleoperation Sy...

引用

第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

The performances of continuous-time controlled and discrete-time controlled bilateral teleoperation systems are mathematically and experimentally studied and compared. The results show that under stability conditions, continuous-time controlled teleoperation systems have hybrid matrix parameters that are closer to their ideal values than their discrete-time controlled counterparts. This means better force tracking and position tracking performance under continuous-time control, which can lead to better task performance.

关键词： Bilateral teleoperation,hybrid parameters,discrete-time control,continuous-time control,system performance

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FPAA-based Control of Bilateral Teleoperation Systems

FPAA-based Control of Bilateral Teleoperation Systems

引用

第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

Discretizing the continuous-time controller of a master-slave teleoperation system can simplify control implementation. However, in teleoperation systems, discrete-time control can cause a performance degradation compared to continuous-time control. In digitally controlled bilateral teleoperation systems, there exist stability-imposed bounds on the gains of the discrete-time controller and the sampling period, and a trade-off between the two. This means that given a sampling period, it is impossible for the discretized controller to have gains above a threshold, which may well be necessary for successful performance of teleoperated tasks requiring highly accurate master-slave position tracking. In a teleoperation system with analog controller, however, stability does not impose any upper bound on the control gains, thus facilitating the performance of tasks that do require highly accurate master-slave position tracking. Inspired by this advantage of analog control, in this paper we develop a Field Programmable Analog Arrays(FPAA) based controller for bilateral teleoperation, which can achieve higher control gain than its discrete-time counterpart. We present the results of a user study measuring the human performance for a task involving flipping a stiff switch through a teleoperation system. We experimentally show that large sampling periods, necessitating low control gains for maintaining stability, lead to unacceptable task performance. We then show that humans can successfully perform the same task with the FPAA-based controller for the teleoperation system.

关键词： Bilateral teleoperation,stability,discrete-time control,FPAA-based control,task performance

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A Behavior-based Architecture for Multi-Robot Chemical Source Localization and its Implementation with Evolutionary Computation

A Behavior-based Architecture for Multi-Robot Chemical Sourc...

引用

IEEE International Conference on robotics and Biomimetics

作者： Meng-Li Cao Qing-Hao Meng Wei Li Ying-Jie Liu Ming Zeng Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China and Department of Computer and Electrical Engineering California State University Bakersfield CA 933311 USA

ISBN: (纸本)9781467396769

Chemical source localization (CSL) is significant for the protection of public security. In typical CSL problems, a collaborative group of multiple robots are expected to perform better than a single robot. This paper proposes a behavior-based multi-robot chemical source localization (BbMR-CSL) architecture. It includes three group behaviors, i.e., the chemical finding, chemical source tracing (CST), and chemical source declaration behaviors, among which the CST behavior is further divided into two individual behaviors. A hierarchical behavior selection method is designed for coordinating the behaviors in the BbMRCSL architecture. Then, a method framework is also proposed for combining evolutionary computation (EC) with the BbMRCSL architecture. Based on the proposed framework, three typical EC algorithms (i.e., the genetic algorithm, the artificial bee colony algorithm (ABC), and the global-best-guided ABC) are implemented in the BbMR-CSL architecture. The resulting behavior-based CSL methods were tested and compared in a simulated filamentous plume environment.

关键词： CSL significant protection

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A generalized piecewise quadratic lyapunov function approach to estimating the domain of attraction of a saturated system

A generalized piecewise quadratic lyapunov function approach...

引用

1st IFAC Conference on Modelling, Identification and Control of Nonlinear Systems, MICNON 2015

作者： Li, Yuanlong Lin, Zongli Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia CharlottesvilleVA229044743 United States

This paper revisits the problem of estimating the domain of attraction of a saturated system with an algebraic loop. A piecewise quadratic Lyapunov function of an augmented state vector composing of the system state and the saturated input has been proposed for use in estimating the domain of attraction for a saturated system. Considering the relationship between the system states and the saturation function, we propose in this paper a generalized piecewise quadratic Lyapunov function, which results from adding a term that characterizes the regional sector condition of the saturated input to the piecewise quadratic Lypunov function. The matrix associated with the generalized piecewise quadratic Lyapunov function is not required to be positive definite, and thus a set of less conservative stability conditions are established, from which a larger estimate of the domain of attraction can be obtained. Simulation results indicate that the effectiveness and superiority of the proposed method.

关键词： Lyapunov functions

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Autonomous robotic refueling of an unmanned surface vehicle in varying sea states

Autonomous robotic refueling of an unmanned surface vehicle ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： G. P. Scott C. G. Henshaw I. D. Walker B. Willimon Spacecraft Engineering Department Robotics researchers with the Naval Research Laboratory Washington DC Department of Electrical and Computer Engineering Clemson University Clemson SC

In an effort to improve sailor safety during underway replenishment on the open sea, a robotic refueling system has been developed to autonomously refuel unmanned surface vehicles (USVs). The Rapid Autonomous Fuel Transfer (RAFT) project has demonstrated a methodology that could be used on the open water to autonomously refuel Navy vessels at significant sea states. The prototype refueling system is made up of two robotic arms: a rigid and precise industrial robotic manipulator to pinpoint the location of the target fuel tank and a novel soft pneumatic arm (Octarm) to provide compliant and safe contact with the USV. At the end of the Octarm, a magnetic end effector was designed (patent pending) to transfer a refueling "puck" from the robotic system to the target fuel tank. Acting under manual control or autonomously through visual tracking techniques, the robotic refueling system was shown to effectively transfer fuel to the target US Navy Sea Fox vessel under sea state 3.25 conditions at the US Army Aberdeen Test Center. The results demonstrate the feasibility of using a robotic solution to allow autonomous shore-to-ship or ship-to-USV refueling. It also illustrates the benefits and challenges of future robotic ship-to-USV refueling operations. This represents the first demonstrated use of a robotic system for fluid transfer to vessels in active sea states. This paper describes the design, development, and demonstration of the prototype autonomous refueling system.

关键词： Fuels Manipulators Service robots Pneumatic systems Robot kinematics Vehicles

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Switching to Learn

Switching to Learn

引用

American Control Conference

作者： Shahin Shahrampour Mohammad Amin Rahimian Ali Jadbabaie Department of Electrical and Systems Engineering and General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA 19104-6228 USA

ISBN: (纸本)9781479917730

A network of agents attempt to learn some unknown state of the world drawn by nature from a finite set. Agents observe private signals conditioned on the true state, and form beliefs about the unknown state accordingly. Each agent may face an identification problem in the sense that she cannot distinguish the truth in isolation. However, by communicating with each other, agents are able to benefit from side observations to learn the truth collectively. Unlike many distributed algorithms which rely on all-time communication protocols, we propose an efficient method by switching between Bayesian and non-Bayesian regimes. In this model, agents exchange information only when their private signals are not informative enough;thence, by switching between the two regimes, agents efficiently learn the truth using only a few rounds of communications. The proposed algorithm preserves learnability while incurring a lower communication cost. We also verify our theoretical findings by simulation examples.

关键词： Switches Bayes methods Convergence Robot sensing systems Symmetric matrices Protocols Silicon

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Inferring Automata Logic from Manual Control Scenarios: Implementation in Function Blocks

Inferring Automata Logic from Manual Control Scenarios: Impl...

引用

IEEE International Conference on Trust, Security and Privacy in Computing and Communications (TrustCom)

作者： Daniil Chivilikhin Anatoly Shalyto Valeriy Vyatkin Computer Technologies Laboratory ITMO University Saint Petersburg Russia Department of Electrical Engineering and Automation Aalto University Finland

ISBN: (纸本)9781467379533

This paper presents an automated technique for inferring finite automata logic from behavior examples derived from the interaction of the user and the controlled object model. The technique is demonstrated for IEC 61499 function blocks. We show how to automatically generate a manual control Human-Machine Interface (HMI) for Model-View-Control applications and how to use the HMI to record behavior examples. We also suggest a polynomial-time algorithm for constructing Execution Control Charts (ECCs) of basic FBs from behavior examples. The use of the proposed technique is illustrated on an example.

关键词： IEC Standards Human factors Input variables Automata Yttrium Control charts automation

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Formal Modeling of Testing Software for Cyber-Physical automation Systems

Formal Modeling of Testing Software for Cyber-Physical Autom...

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IEEE International Conference on Trust, Security and Privacy in Computing and Communications (TrustCom)

作者： Igor Buzhinsky Cheng Pang Valeriy Vyatkin Computer Technologies Laboratory ITMO University Russia Department of Electrical Engineering and Automation Aalto University Finland Department of Computer Science Luleå University of Technology Sweden

ISBN: (纸本)9781467379533

The paper presents a framework which uses formal models for testing control software for industrial automation systems. The formalism called Net Condition/Event Systems (NCES) is applied to model the program under test, along with the system under control (plant) and the testing environment. The benefits of using the framework include the opportunities to test systems with time delays without the need to wait, to test parameterized sets of systems with a single execution of a test suite, and to check test suites for correctness. The use of the framework is illustrated on a simple system consisting of a lab-scale plant and a control application for it.

关键词： Testing Software IEC Standards automation Delays Computational modeling Formal languages

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Maintaining constant towing tension between cable ship and burying system under sea waves by hybrid FUZZY P + ID controller

Maintaining constant towing tension between cable ship and b...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Qi Chen Wei Li Xiaohui Wang Yan Li Shuo Li Bin Xian Robotics State Key Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing P. R. China Department of Computer & Electrical Engineering and Computer Science California State University Bakersfield CA USA School of Electrical Engineering and Automation Tianjin University Tianjin China

In this paper, we propose a hybrid FUZZY P + ID controller to stabilize the towing cable tension between a cable ship and a burying system. First, we develop the model of a winch system driven by valve-controlled hydraulic motors and evaluate the step responses yielded by the conventional PID and the proposed FUZZY P+ID controllers using simulations. The comparative studies show that the control performance yielded by the FUZZY P+ID controller is superior. We replace the existing PID controller implemented on the towing winch with the FUZZY P + ID controller for burying cable tasks at speed up to 1 knot under sea waves with significant variations (peak-to-peak) from 1.5 to 2.5 meters. The real applications demonstrate that the FUZZY P + ID controller is much more robust than the conventional PID controller.

关键词： Winches Valves automation Mathematical model Marine vehicles Torque

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INTEGRABILITY-REGULARIZED PHASE UNWRAPPING VIA SPARSE ERROR CORRECTION

INTEGRABILITY-REGULARIZED PHASE UNWRAPPING VIA SPARSE ERROR ...

引用

IEEE International Conference on Image Processing

作者： Garrett Warnell Vishal M. Patel Rama Chellappa U.S. Army Research Laboratory Department of Electrical and Computer Engineering Center for Automation Research UMIACS University of Maryland

ISBN: (纸本)9781479983407

We propose a new formulation of the classical two-dimensional phase unwrapping problem. Using a sparse-error, gradient-domain measurement model, we simultaneously seek the absolute phase and sparse gradient errors that minimize a novel energy functional that strongly encourages the integrability of the corrected gradient field. Our approach can be cast as a generalized lasso problem, and we compute the solution using the alternating direction method of multipliers (ADMM) algorithm. Adopting a commonly-used inter-ferometric synthetic aperture radar noise model, we evaluate our technique for several synthetic surfaces.

关键词： Phase unwrapping Sparse error correction Integrability Interferometric synthetic aperture radar Synthetic aperture radar error correction

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