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American Control Conference

作者： David Santos Pedro Batista Institute for Systems and Robotics Laboratory for Robotics and Engineering Systems Portugal

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

This paper presents a decentralized navigation system, capable of estimating positions and fluid velocities, for vehicle formations. Some vehicles have access to a measurement of their own position while the others have access to one or more bearing measurements and may have a depth measurement. Local observers with globally exponentially stable error dynamics are designed by obtaining an equivalent observable linear time-varying system using conveniently defined artificial outputs. The local observers rely on local measurements as well as limited communications between the vehicles. The stability of the system as a whole is obtained by studying the robustness of the local observers to exponentially decaying perturbations. Simulation results are presented to show the behaviour and convergence of the proposed solution.

关键词： Navigation systems Speed Estimation vehicle Depth measurement Decentralized Geologic Formations Observers System stability Access estimated position

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State-of-Charge (SOC) Estimation of Lithium-Ion Battery Based on Unscented Kalman Filtering

State-of-Charge (SOC) Estimation of Lithium-Ion Battery Base...

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IEEE Advanced Information Management,Communicates,Electronic and Automation Control Conference (IMCEC)

作者： Mengfan Miao Ligang Li Zhongfeng Wang Jing Jiang College of Automation and Electrical Engineering Shenyang Ligong University Liaoning China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350316537

ISBN: (纸本)9798350316544

Real-time estimation of State of Charge (SOC) for lithium-ion batteries is one of the core technologies in Battery Management systems (BMS). Accurate SOC estimation is fundamental for managing lithium-ion batteries. In this study, a second-order RC equivalent circuit model is established, and parameter identification methods are employed to determine the model parameters. The identified parameters are then incorporated back into the second-order RC model. The accuracy of these parameters and the model is validated through Hybrid Pulse Power Characteristic (HPPC) tests. Finally, the Unscented Kalman Filtering algorithm (UKF) is utilized to estimate battery SOC. Experimental results demonstrate that SOC estimation based on UKF exhibits high precision and stability.

关键词： Lithium-ion batteries Accuracy Parameter estimation Simulation Estimation Data models Stability analysis

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Nonvolatile and SEU-Recoverable Latch Based on FeFET and CMOS for Energy-Harvesting Devices

Nonvolatile and SEU-Recoverable Latch Based on FeFET and CMO...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Aibin Yan Zhuoyuan Lin Guangzhu Liu Qingyang Zhang Zhengfeng Huang Jie Cui Xiaoqing Wen Patrick Girard School of Computer Science and Technology Anhui University Hefei China School of Microelectronics Hefei University of Technology Hefei China Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan Laboratory of Informatics Robotics and Microelectronics of Montpellier University of Montpellier / CNRS Montpellier France

ISBN: (数字)9798350330991

ISBN: (纸本)9798350331004

Nonvolatile memories are widely used in emerging energy-harvesting Internet-of-Things (IoT) applications, and nonvolatile memories constructed from FeFET devices hold great promise. This paper presents a nonvolatile and single-event-upset (SEU)-recoverable latch based on FeFET and CMOS for energyharvesting devices. The latch uses n-type FeFET devices to provide nonvolatility without any additional control signals. Moreover, since the soft error problem has become increasingly severe, radiation hardening by design gains a great attention as a promising approach to mitigate the reliability issue. The latch uses feedback interlocked loops with n-type FeFETs and C-elements, enabling it to provide nonvolatility and SEU-recovery simultaneously. Simulation results with Candence Virtuoso verifies that the proposed latch design has correct functioning with excellent performance compared to the state-of-the-art designs.

关键词： Performance evaluation Latches Nonvolatile memory Radiation hardening (electronics) Circuits and systems Simulation Reliability engineering

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A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic Calibration

A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Emmett Wise Juraj Peršić Christopher Grebe Ivan Petrović Jonathan Kelly Space & Terrestrial Autonomous Robotics Systems (STARS) Laboratory The University of Toronto Institute for Aerospace Studies Toronto Canada Laboratory for Autonomous Systems and Mobile Robotics University of Zagreb Faculty of Electrical Engineering and Computing Croatia

Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standard AV sensor suite (i.e., lidars, cameras) with weather robust sensors, such as millimetre-wavelength radar. Critically, accurate sensor data fusion requires knowledge of the rigidbody transform between sensor pairs, which can be determined through the process of extrinsic calibration. A number of extrinsic calibration algorithms have been designed for 2D (planar) radar sensors—however, recently-developed, low-cost 3D millimetre-wavelength radars are set to displace their 2D counterparts in many applications. In this paper, we present a continuous-time 3D radar-to-camera extrinsic calibration algorithm that utilizes radar velocity measurements and, unlike the majority of existing techniques, does not require specialized radar retroreflectors to be present in the environment. We derive the observability properties of our formulation and demonstrate the efficacy of our algorithm through synthetic and real-world experiments.

关键词： Three-dimensional displays Radar measurements Radar Transforms Cameras Calibration Trajectory

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Platoon-Based Distributed Control for Automated Material Handling systems

Platoon-Based Distributed Control for Automated Material Han...

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Alessandro Bozzi Jose-Fernando Jimenez Camilo Hernandez-Rodriguez Eliana-Maria Gonzalez-Neira Damien Trentesaux Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genova Italy Laboratory System and Materials for Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France Industrial Engineering Department Pontificia Universidad Javeriana Bogota Columbia Laboratory of Industrial and Human Automation Control Mechanical Engineering and Computer Science (LAMIH) Université Polytechnique Hauts-de-France Valenciennes France

Smart manufacturing systems combine collaborative and autonomous control systems to provide optimal performance and respond to volatile demands. A key component of smart manufacturing is material management, as raw materials, work-in-progress, and finished products must be transported to the right location at the right time. However, during the production phase, it is imperative to establish an optimal traffic control scheme in order to avoid congestion and optimize material flow. This paper proposes a platooning-based control procedure implemented in a virtual agent-based manufacturing environment to increase the material flow efficiency on a manufacturing shop floor. An analysis of the production makespan and an indicator of the level of congestion in the material handling system was conducted in order to determine productivity improvements. An agent-based simulation is used to test the effectiveness of the novel platooning approach versus a traditional basic approach. A multivariate analysis of variance (MANOVA) reveals that the inclusion of a platoon-based procedure improves production performance and reduces congestion risks.

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Continuity Scaling: A Rigorous Framework for Detecting and Quantifying Causality Accurately

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Research 2022年第4期2022卷 137-146页

作者： Xiong Ying Si-Yang Leng Huan-Fei MaD Qing Nie Ying-Cheng Lai Wei Lin School of Mathematical Sciences SCMSand SCAMFudan UniversityShanghai 200433China Research Institute for Inteligent Complex Systems CCSBand LCNBIFudan UniversityShanghai 200433China State Key Laboratory of Medical Neurobiology and MOE Frontiers Center for Brain Science Institutes of Brain ScienceFudan UniversityShanghai 200032China Institute of AI and Robotics Academy for Engineering and TechnologyFudan UniversityShanghai 200433China School of Mathematical Sciences Soochow UniversitySuzhou 215006China Department of Mathematics Department of Developmental and Cll BiologyAnd NSF-Simons Center for Multiscale Cell Fate ResearchUniversity of CaliforniaIrvineCA 92697-3875USA School of Electrical ComputerAnd Energy EngineeringArizona State UniversityTempeArizona 85287-5706USA Shanghai Artificial Intelligence Laboratory Shanghai 200232China

Data-based detection and quantification of causation in complex,nonlinear dynamical systems is of paramount importance to science,engineering,and *** by the widely used methodology in recent years,the cross-map-based techniques,we develop a general framework to advance towards a comprehensive understanding of dynamical causal mechanisms,which is consistent with the natural interpretation of *** particular,instead of measuring the smoothness of the cross-map as conventionally implemented,we define causation through measuring the scaling law for the continuity of the investigated dynamical system *** uncovered scaling law enables accurate,reliable,and eficient detection of causation and assessment of its strength in general complex dynamical systems,outperforming those existing representative *** continuity scaling-based framework is rigorously established and demonstrated using datasets from model complex systems and the real world.

关键词： dynamical scaling continuity

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Deep Learning-Based Prediction of Subsurface Oil Reservoir Pressure Using Spatio-Temporal Data

Deep Learning-Based Prediction of Subsurface Oil Reservoir P...

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Annual Conference of Industrial Electronics Society

作者： Haibo Cheng Yunpeng He Peng Zeng Shichao Li Valeriy Vyatkin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden Department of Electrical Engineering and Automation Aalto University Helsinki Finland

Prediction of subsurface oil reservoir pressure are critical to hydrocarbon production. However, the accurate pressure estimation faces great challenges due to the complexity and uncertainty of reservoir. The underground seepage flow and petrophysical parameters (permeability and porosity) are important but difficult to measure in oilfield. Deep learning methods have been successfully used in reservoir engineering and oil & gas production process. In this study, the effective but inaccessible subsurface seepage fields are not used, only the spatial coordinates and temporal information are selected as model input to predict reservoir pressure. A stacked GRU-based deep learning model is proposed to map the relationship between spatio-temporal data and reservoir pressure. The proposed deep learning method is verified by using a three-dimensional reservoir model, and compared with commonly-used methods. The results show that the stacked GRU model has a better performance and higher accuracy than other deep learning or machine learning methods in pressure prediction.

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Novel Surface Design of Deployable Reflector Antenna Based on Polar Scissor Structures

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Chinese Journal of Mechanical engineering 2020年第5期33卷 4-18页

作者： Pengyuan Zhao Jinguo Liu Chenchen Wu Yangmin Li Keli Chen State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of ScienceShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Department of Industrial and Systems Engineering The Hong Kong Polytechnic UniversityHong Kong 999077China

Space-deployable mechanisms can be used as supporting structures for large-diameter antennas in space *** study proposes a novel method for constructing the surface design of space reflector antennas based on polar scissor *** concurrency and deployability equations of the space scissor unit with definite surface constraints are derived using the rod and vector *** equations of the spatial transformation for space n-edge polar scissor units are summarized.A new closed-loop deployable structure,called the polar scissor deployable antenna(PSDA),is designed by combining planar polar scissor units with spatial polar scissor *** overconstrained problem is solved by releasing the curve constraint that locates at the end-point of the planar scissor *** simulation and error analysis are *** results show that the PSDA can effectively fit the paraboloid of ***,deployment experiments verify the validity and feasibility of the proposed design method,which provides a new idea for the construction of large space-reflector antennas.

关键词： Deployable structures Polar scissor unit Reflector antenna Surface design

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Theoretical Model Construction of Deformation-Force for Soft Grippers Part I: Co-rotational Modeling and Force Control for Design Optimization

arXiv

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arXiv 2023年

作者： Dong, Huixu Guo, Haotian Yang, Sihao Qiu, Chen Dai, Jiansheng Chen, I-Ming Zhejiang University Hangzhou310058 China Robotics Research Center Nanyang Technological University Singapore639798 Singapore Maider Medical Industry Equipment Co. Itd 317607 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems SUSTech Institute of Robotics Southern University of Science and Technology Shenzhen518055 China Centre for Robotics Research Department of Engineering King’s College London Strand LondonWC2R 2LS United Kingdom

Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship between shape deformation and contact force for such grippers, the Fin-Ray grippers as an example, remains stagnant to date. To address this research gap, this article devises, presents, and experimentally validates a universal bidirectional force-displacement mathematical model for compliant grippers based on the co-rotational concept, which endows such grippers with an intrinsic force sensing capability and offers a better insight into the design optimization. In Part I of the article, we introduce the fundamental theory of the co-rotational approach, where arbitrary large deformation of beam elements can be modeled. Its intrinsic principle allowing taking materials with varying stiffness, various connection types and key design parameters into consideration with few assumptions. Further, the force-displacement relationship is numerically derived, providing accurate displacement estimations of the gripper under external forces with minor computational loads. The performance of the proposed method is experimentally verified through comparison with Finite Element Analysis (FEA) in simulation, obtaining a fair degree of accuracy (6%), and design optimization of Fin-Ray grippers is systematically investigated. Part II of this article demonstrating the force sensing capabilities and the effects of representative co-rotational modeling parameters on model accuracy is released in Arxiv1 Copyright © 2023, The Authors. All rights reserved.

关键词： Grippers

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Human Localization in Warehouse Environments based on a Wearable Camera Sensor Suite and Dynamic Ultra-Wide Band Nodes

Human Localization in Warehouse Environments based on a Wear...

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International Conference on Advanced robotics (ICAR)

作者： Goran Popović Igor Cviić Ivan Marković Ivan Petrović Laboratory for Autonomous Systems and Mobile Robotics University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia

ISBN: (纸本)9781665436854

Modern warehouses, equipped with an autonomous robots fleet, suffer from an efficiency deficit during human interventions in the shop floor area, since, during such interventions, all the robots must stop for safety reasons. This particularly affects large warehouses which could extremely benefit from a solution that would allow human-robot collaboration during such interventions. This solution should only stop the robots that are in the vicinity of the human and reroute the others, and it requires the following prerequisites: (i) reliable relative ranging of robots with respect to human workers that would ensure safety, and (ii) reliable localization of human workers in the warehouse. In this paper we propose a system for reliable human localization that is based on fusing cues from measured relative ranges with respect to moving robots and a camera system that is worn by the human worker. Since global locations of the robots in the warehouse are known, we use the relative ranges to robots in an indoor GPS-like fashion to provide global human location updates, while the wearable cameras provide visual odometry, i.e., the relative motion of the human, and another global cue by detecting ground fiducial markers used by robots. The fusion is performed within a graph-based optimization framework that also includes a visual odometry error model. We carried out an experimental analysis on three different datasets to validate the performance of the proposed approach and compared it to a state-of-the-art visual SLAM solution, namely ORB-SLAM2. The results demonstrate that our approach yields reliable human location within warehouse like environments.

关键词： Location awareness Visualization Robot vision systems Cameras Distance measurement Safety Reliability

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