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3rd IFAC Conference on Intelligent Control and automation Science, ICONS 2013

作者： Wang, Xiangyu Qian, Chunjiang Li, Shihua School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China Department of Electrical and Computer Engineering University of Texas at San Antonio San Antonio TX 78249 United States

ISBN: (纸本)9783902823458

In this paper, we consider the global output feedback stabilization problem for a class of nonlinear planar systems under a more general growth condition. The nonlinearities in such a system are bounded by both lower-order and higher-order terms with an output-dependent growth rate. This problem is solved by integrating the feedback domination technique and a novel dual observer approach, where two individual observers are constructed in parallel with one estimating the linear part of the unmeasurable state and the other estimating the higher-order part. Moreover, the presented observers and the output feedback controller all have nonlinear gains. Simulations illustrate the effectiveness of the proposed stabilization scheme. Copyright © 2013 IFAC.

关键词： Growth rate

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In-hand radio frequency identification (RFID) for robotic manipulation

In-hand radio frequency identification (RFID) for robotic ma...

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IEEE International Conference on robotics and automation (ICRA)

作者： Travis Deyle Christopher J. Tralie Matthew S. Reynolds Charles C. Kemp Department of Electrical and Computer Engineering Duke University USA Healthcare Robotics Laboratory Georgia Institute of Technology USA

ISBN: (纸本)9781467356404

We present a unique multi-antenna RFID reader (a sensor) embedded in a robot's manipulator that is designed to operate with ordinary UHF RFID tags in a short-range, near-field electromagnetic regime. Using specially designed near-field antennas enables our sensor to obtain spatial information from tags at ranges of less than 1 meter. In this work, we characterize the near-field sensor's ability to detect tagged objects in the robots manipulator, present robot behaviors to determine the identity of a grasped object, and investigate how additional RF signal properties can be used for “pre-touch” capabilities such as servoing to grasp an object. The future combination of long-range (far-field) and short-range (near-field) UHF RFID sensing has the potential to enable roboticists to jump-start applications by obviating or supplementing false-positive-prone visual object recognition. These techniques may be especially useful in the healthcare and service sectors, where mis-identification of an object (for example, a medication bottle) could have catastrophic consequences.

关键词： Robot sensing systems Manipulators RFID tags UHF antennas

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Trajectory Tracking in the Sagittal Plane: Decoupled Lift/Thrust Control via Tunable Impedance Approach in Flapping-Wing MAVs

Trajectory Tracking in the Sagittal Plane: Decoupled Lift/Th...

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American Control Conference

作者： Hosein Mahjoubi Katie Byl Robotics Laboratory Department of Electrical and Computer Engineering University of California at Santa Barbara Santa Barbara CA 93106 USA

ISBN: (纸本)9781479901777

Flapping-wing micro-aerial vehicles (MAVs) are a relatively new field of research in the robotics community. Inspired by insects, their small size and unique means of force production present many challenges, from morphological construction and power supply to control methodology. Over the past couple of decades, investigating the aeromechanics of insect flight and development of prototypes have been a major focus of most researchers in this field. Those works concentrating on force manipulation and motion control often rely on modifying the properties of wing-beat profile. However, such changes affect both lift and thrust simultaneously, making it very difficult to control these forces independently. The tunable impedance (TI) approach is an alternate method of force manipulation that modifies mechanical impedance properties of the wings rather than their stroke characteristics. In this work, we show how TI can be used to achieve decoupled lift/thrust control. A motion controller developed based on this feature enables a fly-sized model to track given trajectories in the sagittal plane. Results of simulated experiments with various types of trajectories demonstrate a high degree of precision and maneuverability.

关键词： Tunable Impedance Micro-Aerial robotics Trajectory Tracking Lift/Thrust Control Insect Flight Maneuverability Simulation

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Rapid prototyping of digital controllers using FPGAs and ESL/HLS design methodologies

Rapid prototyping of digital controllers using FPGAs and ESL...

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19th International Conference on automation and Computing, ICAC 2013

作者： Economakos, Christoforos Sidiropoulos, Harry Economakos, George Technological Educational Institution of Sterea Ellada Department of Automation Engineering GR34400 Psahna Evia Greece National Technical University of Athens School of Electrical and Computer Engineering Microprocessors and Digital Systems Laboratory Heroon Polytechniou 9 GR-15780 Zografou Athens Greece

ISBN: (纸本)9781908549082

Recent advances in embedded automation applications require quality of results in terms of speed and computational complexity, along with strict time-to-market schedules. To cope with these demands, the design industry is searching for novel approaches. Performance is sought by utilizing modern FPGA devices, offering hundreds of GFLOPs with maximum power efficiency. Productivity is enforced with HighLevel Synthesis (HLS) and Electronic System Level (ESL) design methodologies, that offer an efficient abstraction level to boost-up early prototyping. This paper presents a methodology and the required tool flow for the design of a System-on-Chip (SoC) architecture, as a reference for modern control applications. The advantages of the proposed methodology are: (a) improved performance through hardware acceleration of demanding application cores, (b) improved quality of results with floating point calculations, (c) flexibility and integration of common peripheral devices supported by a RISC microcontroller and (d) improved designer productivity by avoiding Hardware Description Languages (HDLs) and other time consuming and error introducing procedures and working with C level design descriptions only. Experimental results show that the proposed SoC architecture is an efficient rapid prototyping platform for digital control applications, with very promising future extension capabilities. © 2013 Chinese automation and Computing Society in the UK - CACS.

关键词： Field programmable gate arrays (FPGA)

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Experimental Testing of a Traction Control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on Control & automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction Control Systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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Learning Control for a Robotic Manipulator with Input Saturation

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IFAC Proceedings Volumes 2013年第20期46卷 74-79页

作者： Wei He Shengtao Xiao Sijia Yu Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical & Computer Engineering National University of Singapore Singapore 117576 Robotics Institute and School of Mechanical Engineering University of Electronic Science and Technology of China Chengdu 611731 China

In this paper, adaptive neural-network control is designed for an n-DOF robotic manipulator system. In the tracking control design, both uncertainties and input saturation are considered. Stability of the closed-loop system is analyzed via the Lyapunov's direct method. The uncertain system is approximated by the radial basis function neural-networks (RBFNN) and the input saturation is solved by adding an auxiliary signal. Simulation studies are conducted to examine the effectiveness of the proposed model-based and RBFNN control.

关键词： Input saturation radial basis function (RBFNN) robotic manipulator Lyapunov stability

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Exponentially Fast Parameter Estimation in Networks Using Distributed Dual Averaging

Exponentially Fast Parameter Estimation in Networks Using Di...

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IEEE Annual Conference on Decision and Control

作者： Shahin Shahrampour 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)9781467357159

In this paper we present an optimization-based view of distributed parameter estimation and observational social learning in networks. Agents receive a sequence of random, independent and identically distributed (i.i.d.) signals, each of which individually may not be informative about the underlying true state, but the signals together are globally informative enough to make the true state identifiable. Using an optimization-based characterization of Bayesian learning as proximal stochastic gradient descent (with Kullback-Leibler divergence from a prior as a proximal function), we show how to efficiently use a distributed, online variant of Nesterov's dual averaging method to solve the estimation with purely local information. When the true state is globally identifiable, and the network is connected, we prove that agents eventually learn the true parameter using a randomized gossip scheme. We demonstrate that with high probability the convergence is exponentially fast with a rate dependent on the KL divergence of observations under the true state from observations under the second likeliest state. Furthermore, our work also highlights the possibility of learning under continuous adaptation of network which is a consequence of employing constant, unit stepsize for the algorithm.

关键词： Parameter estimation Network Bayesian learning local information. averaging Dual Fasting Distribute

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Scaled Minimum Unscented Multiple Hypotheses Mixing Filter

Scaled Minimum Unscented Multiple Hypotheses Mixing Filter

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American Control Conference

作者： Henrique M. Menegaz Pedro Henrique R.Q.A. Santana Jo?o Y. Ishihara Geovany A. Borges Laboratory of Robotics and Automation (LARA) at the Department of Electrical Engineering University of Brasilia Brasilia DF Brasil Computer Science and Artificial Intelligence Lab Massachusetts Institute of Technology Cambridge MA 02139 USA

ISBN: (纸本)9781479901777

This work brings two new contributions. First, it introduces the Scaled Minimum Unscented Multiple Hypotheses Mixing Filter, a novel filter for hybrid dynamical systems that 1) uses a new minimum set of sigma points along with the scaled unscented transform in a hybrid framework;2) can estimate the Markovian Transition Probability Matrix in real-time;3) features a pruning step that reduces the filter's computational effort and prevents its estimates from being degraded by very unlikely hypotheses;and 4) has a mixing step with merging depth greater than one. Second, we present a result revealing the conservativeness of one of the scaled unscented transform forms.

关键词： hybrid dynamical systems sigma points along scaled unscented transform

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Joint ASV/AUV range-based formation control: Theory and experimental results

Joint ASV/AUV range-based formation control: Theory and expe...

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2013 IEEE International Conference on robotics and automation, ICRA 2013

作者： Soares, Jorge M. Aguiar, A. Pedro Pascoal, Antonio M. Martinoli, Alcherio Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal CH-1015 Lausanne Switzerland

ISBN: (纸本)9781467356411

The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios requiring the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites, relative positioning and formation control becomes mandatory. However, the constraints placed by the medium make it hard to both communicate and localize vehicles, even in relation to each other. In this paper, we deal with the challenging problem of keeping an autonomous underwater vehicle in a moving triangular formation with respect to 2 leader vehicles. We build upon our previous theoretical work on range-only formation control, which presents simple feedback laws to drive the controlled vehicle to its intended position in the formation using only ranges obtained to the leading vehicles with no knowledge of the formation path. We then introduce the real-world constraints associated with the use of autonomous underwater vehicles, especially the low frequency characteristics of acoustic ranging and its unreliability. We discuss the required changes to implement the solution in our vehicles, and provide simulation results using a full dynamic and communication model. Finally, we present the results of real world trials using MEDUSA-class autonomous marine vehicles. © 2013 IEEE.

关键词： Autonomous underwater vehicles

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Efficiency analysis of epicyclic gear mechanism of the improved ePaddle mechanism via virtual power

Efficiency analysis of epicyclic gear mechanism of the impro...

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IEEE International Conference on robotics and Biomimetics

作者： Huayan Pu Jinglei Zhao Yi Sun Shugen Ma Jun Luo Jason Gu Tao Wang Zhenbang Gong School of Mechatronics Engineering and Automation Shanghai University Shanghai China Department of Robotics Ritsumeikan University Shiga Japan Department of Electrical & Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781479927456

Eccentric paddle mechanism based on epicyclic gear mechanism (ePaddle-EGM) is a novel locomotion mechanism designed for amphibious robot. The epicyclic gear mechanism is the key component of ePaddle-EGM to perform multiple gaits. In this paper, efficiency of the epicyclic gear mechanism is analyzed. Via the virtual power flow, we characterize how the efficiency relates with the velocity ratio and torque ratio. Two particular conditions verified the proposed efficiency formulas.

关键词： Gears Load flow Torque Robots Shafts Sun

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