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42nd Chinese control Conference, CCC 2023

作者： Zhang, Shuaikang Yuan, Mingxing Zhang, Xuebo Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing400065 China

ISBN: (纸本)9789887581543

At present, most CT scanning systems adopt the traditional horizontal O-frame, suspension or C-arm structures, which can not balance the flexibility and functionality. With the development of robot technology, CT scanning systems based on manipulators have gradually emerged. However, limited by the motion accuracy of the manipulator, most researchers sacrifice the flexibility or increase the mass to improve the accuracy. To overcome this limitation, a new master-slave teaching-based scanning method is proposed to improve the scanning accuracy of the dual-manipulator Robot-CT system with the auxiliary function of rigid links. First, a rigid link is employed to connect the end effectors of the two manipulators. Next, the sampled trajectory of each joint of the slave-manipulator is recorded while the master-manipulator pulls the slave-manipulator to perform a circular motion. Finally, when carrying out the scanning, the dual-manilupator system reproduces the recorded joint trajectory without the rigid element, thereby improving the accuracy of the dual-manipulator CT scanning system to achieve a high-accuracy spatiotemporal synchronization and alignment of pose. To this end, a fifth-order spline interpolation is used to interpolate the sampled trajectory of each joint of the slave-manipulator, which allows it to perfectly reproduce the joint trajectory recorded during the teaching process and ensures the smoothness of the angular velocity and acceleration curves. Simulations are investigated and the corresponding results confirm the effectiveness of the trajectory planning method of the slave-manipulator. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Manipulators

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Delayless controllers for Exact Model Matching and Disturbance Rejection of Time Delay Systems with Measurable and Non-measurable Disturbances 12

Delayless Controllers for Exact Model Matching and Disturban...

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12th International Conference on Modern Circuits and Systems Technologies, MOCAST 2023

作者： Koumboulis, Fotis N. Kouvakas, Nikolaos D. National and Kapodistrian University of Athens Euripus Campus Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies School of Science Euboea Greece

ISBN: (纸本)9798350321074

Delayless control design for time delay systems is an attractive direction for networked control systems as well as other cyber physical applications. In the present paper, the problem of Exact Model Matching with simultaneous Disturbance Rejection (EMMDR) is studied for the case of left-invertible general neutral multi delay systems with measurable and non-measurable disturbances, via two types of delayless controllers. The first type of controllers is a dynamic delayless controller feeding back the measurement outputs, the measurable disturbances and the external commands. The number of the external commands is equal to the number of the control inputs. The second type of controllers is the static delayless version of the first type. For both types of controllers, the necessary and sufficient conditions for the solvability of the problem are established, and the general solutions of the controller matrices are derived. The results are illustrated through a numerical example. © 2023 IEEE.

关键词： controllers

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High-Accuracy Pose Estimation for 3D Reconstruction Considering the Manipulator Motion Constraints with an Eye-in-Hand RGB-D Camera 42

High-Accuracy Pose Estimation for 3D Reconstruction Consider...

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42nd Chinese control Conference, CCC 2023

作者： Zhou, Yanling Zhang, Xuebo Wang, Runhua Zhang, Shiyong Yuan, Mingxing Yuan, Jing Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education China

ISBN: (纸本)9789887581543

Three-dimensional(3D) environmental reconstruction of the manipulator workspace is a prerequisite to enable autonomous collision-free path planning and subsequent task execution, wherein the positioning accuracy of the equipped sensor is one key issue to determine the performance of 3D reconstruction. In this paper, an eye-in-hand RGB-D camera is used to complete the manipulator workspace scanning and a novel high-accuracy pose estimation method for 3D reconstruction is proposed, which not only considers the geometric and photometric constraints constructed from the visual information used in traditional methods, but also considers the manipulator motion constraints since the positioning accuracy of the manipulator is usually high. Based on above three constraints, three error functions are constructed respectively and fused with different weights to form an integrated objective function. Then, the problem is converted into solving the least squares problem by the Gaussian Newton nonlinear iterative method, which involves the computation of Jacobian matrices and residuals of the three error functions. To this end, the mathematical derivation of their formulas considering the manipulator motion constraints are given in detail. By qualitative and quantitative experimental comparison with traditional methods, the proposed method can greatly improve the accuracy of pose estimation and 3D reconstruction, which always maintains the error within 3 cm, and show good robustness even in the challenging environments with weak texture or geometric features. (Supplemented video link: https://***/FkFTxssnWms) © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Manipulators

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PointPillars Backbone Type Selection for Fast and Accurate LiDAR Object Detection

PointPillars Backbone Type Selection for Fast and Accurate L...

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International Conference on Computer Vision and Graphics, ICCVG 2022

作者： Lis, Konrad Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9783031220241

3D object detection from LiDAR sensor data is an important topic in the context of autonomous cars and drones. In this paper, we present the results of experiments on the impact of backbone selection of a deep convolutional neural network on detection accuracy and computation speed. We chose the PointPillars network, which is characterised by a simple architecture, high speed, and modularity that allows for easy expansion. During the experiments, we paid particular attention to the change in detection efficiency (measured by the mAP metric) and the total number of multiply-addition operations needed to process one point cloud. We tested 10 different convolutional neural network architectures that are widely used in image-based detection problems. For a backbone like MobilenetV1, we obtained an almost 4x speedup at the cost of a 1.13% decrease in mAP. On the other hand, for CSPDarknet we got an acceleration of more than 1.5x at an increase in mAP of 0.33%. We have thus demonstrated that it is possible to significantly speed up a 3D object detector in LiDAR point clouds with a small decrease in detection efficiency. This result can be used when PointPillars or similar algorithms are implemented in embedded systems, including SoC FPGAs. The code is available at https://***/vision-agh/pointpillars-backbone. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Object detection

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Risk Assessment Based Time-adjusted Optimization for Safe and Fast Flight of Quadrotor UAVs

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IEEE Transactions on Vehicular Technology 2025年

作者： Zhu, Hai Li, Baoquan Yin, Haolin Zhang, Xuebo Tiangong University School of Control Science and Engineering The Tianjin Key Laboratory of Intelligent Control of Electrical Equipment Tianjin300387 China Nankai University Institute of Robotics and Automatic Information Systems The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China

Generating an executable reference trajectory in realtime is a core of autonomous navigation for a quadrotor unmanned aerial vehicle (UAV). In the paper, a timeadjusted optimization method is proposed for UAV motion planning to achieve safe and fast flight. Firstly, based on parameterization for uniform B-spline trajectories, relationship of knot spans and UAV speeds is analyzed, and an iterative velocity restrict algorithm is introduced to tackle nonexecutable flight. Subsequently, combining start and target points in local planning, an evaluation criterion function is designed with control points of the above trajectory and directions of collision avoidance. On this basis, risk assessment is conducted according to surrounding environments, where four phases of passing obstacles is constructed by considering risk level variation. Then, the weight function in each phase is determined by relationship of obstacle and planned local trajectory. Moreover, time intervals of B-spline trajectories are adjusted to obtain nonuniform trajectories, so as to affect UAV speeds. Simulation and experiment are conducted with comparison to verify performance of the proposed method. © 2025 IEEE.

关键词： Risk assessment

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Event-Based Supervisors for the Maintenance Process of a Printing Machine

Event-Based Supervisors for the Maintenance Process of a Pri...

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2024 Panhellenic Conference on Electronics and Telecommunications, PACET 2024

作者： Kouvakas, Nikolaos D. Koumboulis, Fotis N. Fragkoulis, Dimitrios G. Rempelos, Stelios National and Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies School of Science Euboea 34400 Greece National and Kapodistrian University of Athens Core Department Euboea 34400 Greece

ISBN: (纸本)9798350318845

A set of event-based supervisors is developed to control the maintenance process of a printing machine. The Discrete Event System descriptions of the distinct tasks of the maintenance process are in the form of Finite State Machines. The desired behavior is expressed as four behavioral rules. The rules are translated to regular languages realized by appropriate supervisor automaton. The supervisor's physical realizability is proved and the blocking avoidance of the controlled printing machine is satisfied. © 2024 IEEE.

关键词： Supervisory personnel

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Real-Time Multi-Object Tracking using YOLOv8 and SORT on a SoC FPGA

arXiv

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arXiv 2025年

作者： Danilowicz, Michal Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Krakow Poland

Multi-object tracking (MOT) is one of the most important problems in computer vision and a key component of any vision-based perception system used in advanced autonomous mobile robotics. Therefore, its implementation on low-power and real-time embedded platforms is highly desirable. Modern MOT algorithms should be able to track objects of a given class (e.g. people or vehicles). In addition, the number of objects to be tracked is not known in advance, and they may appear and disappear at any time, as well as be obscured. For these reasons, the most popular and successful approaches have recently been based on the tracking paradigm. Therefore, the presence of a high quality object detector is essential, which in practice accounts for the vast majority of the computational and memory complexity of the whole MOT system. In this paper, we propose an FPGA (Field-Programmable Gate Array) implementation of an embedded MOT system based on a quantized YOLOv8 detector and the SORT (Simple Online Realtime Tracker) tracker. We use a modified version of the FINN framework to utilize external memory for model parameters and to support operations necessary required by YOLOv8. We discuss the evaluation of detection and tracking performance using the COCO and MOT15 datasets, where we achieve 0.21 mAP and 38.9 MOTA respectively. As the computational platform, we use an MPSoC system (Zynq UltraScale+ device from AMD/Xilinx) where the detector is deployed in reprogrammable logic and the tracking algorithm is implemented in the processor system. © 2025, CC BY.

关键词： System-on-chip

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Recent Advances in Artificial Autonomous Decision Systems and Their Applications 21st

Recent Advances in Artificial Autonomous Decision Systems an...

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21st Polish control Conference, PCC 2023

作者： Skulimowski, Andrzej M. J. Badecka, Inez Karimi, Masoud Lydek, Pawel Pukocz, Przemyslaw Decision Sciences Laboratory Chair of Automatic Control and Robotics AGH University of Science and Technology Krakow30-059 Poland International Center for Decision Sciences and Forecasting Progress and Business Foundation Krakow30-048 Poland

ISBN: (纸本)9783031351693

This article presents the methodological background and an overview of recent applications of artificial autonomous decision systems (AADS), endowed with intelligent coordination algorithms. The research results comprise modelling the decision-making processes in autonomous anticipatory systems, specifically the decisions made in teams composed of robots and humans. These can be modelled as timed anticipatory networks. We present selected real-life applications of anticipatory decision support methods, such as industrial safety management systems and coordination of ground unmanned autonomous robot teams. New algorithms have been proposed to solve multicriteria combinatorial optimization problems that occur when selecting safety strategies, such as AADS evacuation from endangered areas. Decision analytics, based on reference sets, is proposed to solve optimal supervisory control problems related to coordinated autonomous robot deployment. Finally, we discuss the scenarios of future research on AADS and their applications in developing decision algorithms for teams of autonomous harvesting robots or robotic inspection of large industrial plants. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Decision making

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Event-Based Supervisor control for a Bascule Bridge 9

Event-Based Supervisor Control for a Bascule Bridge

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9th South-East Europe Design Automation, Computer Engineering, Computer Networks and Social Media Conference, SEEDA-CECNSM 2024

作者： Fragkoulis, Dimitrios G. Koumboulis, Fotis N. Tzamtzi, Maria P. Giannaris, Georgios L. National and Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies School of Science Euripus Campus Euboea 34400 Greece National and Kapodistrian University of Athens Core Department Euripus Campus Euboea 34400 Greece

ISBN: (纸本)9798350342482

The automation of a bascule bridge, located in the Netherlands, is studied. The modeling of the system is worked out in the framework of Ramadge-Wonham and analyzed per automation component of the bridge. The desired performance of the bridge is expressed in the form of rules, that will be translated to five groups of sets of regular languages. Next, new groups of sets of regular languages will be introduced by the injection of appropriate uncontrollable events, in order to guarantee the controllability of the languages. Finally, an event-based supervisor scheme will be developed and the nonblockingness of the controlled automaton is proved. © 2024 IEEE.

关键词： Bascule bridges

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Artificial neural network-based direct power control to enhance the performance of a PMSG-wind energy conversion system under real wind speed and parameter uncertainties: An experimental validation

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Energy Reports 2024年 11卷 4356-4378页

作者： Majout, Btissam Bossoufi, Badre Karim, Mohammed Skruch, Pawel Mobayen, Saleh El Mourabit, Youness El Zair Laggoun, Zakaria Laboratory of Engineering Modelling and Systems Analysis SMBA University Fez Morocco Department of Automatic Control and Robotics AGH University of Krakow Poland Graduate School of Intelligent Data Science National Yunlin University of Science and Technology 123 University Road Section 3 Yunlin Douliou640301 Taiwan National School of Applied Sciences Abdelmalek Essaadi University Tetouan Morocco Laboratory of Electrotechnique Constantine Mentouri Brothers Constantine 1 University Constantine Algeria

With the increasing emphasis on embedding advanced technology into system controls, the Direct Power control (DPC) approach has garnered considerable attention due to its simple and highly adaptable algorithm. This approach has been increasingly recognized in numerous applications. However, the variable frequency, harmonic distortion of the currents, and power ripples caused by Hysteresis controllers and switching tables decrease its effectiveness and robustness, affecting the system's performance. For this reason, this paper proposed a new DPC based on Artificial Neural Network (ANN) approaches. In this approach, the hysteresis comparator and the switching table are substituted with ANN controllers and then applied on both sides: machine-side converter (MSC) and grid-side converter (GSC) of a Permanent Magnet Synchronous Generator based Wind Energy Conversion System (PMSG-WECS). Moreover, to make the system more efficient in varying wind conditions, this study expands the utilization of the artificial neural networks (ANN) to encompass the maximum power point tracking (MPPT) control strategy. To demonstrate the effectiveness of the proposed approach on the system behaviors, a simulation test was carried out in the Matlab/Simulink environment, using a real wind profile of a Moroccan city (Essaouira). In comparison to the classical DPC control, the simulation results showed the superior performance of the proposed ANN-DPC control in terms of reference tracking, response time, overshoot, precision, and its capacity to reduce the rate of power ripples and total harmonic distortion (THD) in the injected currents. Furthermore, a robustness test was also included in this work to check the robustness of the proposed control against parameters variation. In conclusion, the feasibility and effectiveness of the ANN-DPC control approach were confirmed through experimental validation using the dSPACE DS1104 board. © 2024 The Authors

关键词： MATLAB

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