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 ...
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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 incremen...
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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 repr...
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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 U...
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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.
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 a...
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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.
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 deployi...
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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.
This paper addresses the problem of adaptive leader-follower formation control (ALFC) of autonomous marine vehicles. The rationale for this study can be found in a number of challenging geotechnical surveying missions...
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ISBN:
(纸本)9781467360890
This paper addresses the problem of adaptive leader-follower formation control (ALFC) of autonomous marine vehicles. The rationale for this study can be found in a number of challenging geotechnical surveying missions aimed at mapping geological structures under the seabed. Mission specifications require that a group of surface vehicles equipped with acoustic receivers (hydrophones) maneuver in formation and acquire acoustic data emitted by one or more vehicles that carry acoustic emitters. To this effect, we adopt a basic setup for ALFC previously proposed for mobile robots modeled as single integrators and extend it to include explicitly the full dynamic equations of a representative type of marine vehicles. The paper offers a formal proof of convergence of the resulting formation control system. Results of simulations illustrate the performance that can be obtained with the control law proposed.
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 ...
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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.
To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and h...
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ISBN:
(纸本)9781479973989
To resemble the appearance of human beings, humanoid robots should be designed with many DOFs, however, it increases the complexity of the mechanical design and the real-time control, which will make a high cost and have a poor reliability and will not fit for the application in museums or human's daily lives. In this paper, to enable the low cost and high reliability robot to interact with humans naturally and sever humans more friendly, we imported advanced technology of the Waseda's flute robot and retained the most important mechanical parts, such as the lip, lungs and the fingers for the flute playing, on this basis, some other mechanical structures were redesigned; particularly, the robot's appearance was carefully designed; in addition, we also redesigned the hardware structure using our own joint controllers and software system based on CAN bus communication for the cost saving and high reliability. The redesigned robot had just 16 DOFs. Preliminary performance test results showed that this new redesigned robot achieved in producing high quality of flute sound and high sound conversion efficiency, and the period of communication was about 4ms.
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