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LPV sequential loop closing for high-precision motion systems

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arXiv 2022年

作者： Broens, Yorick Butler, Hans Tóth, Roland The Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands ASML Veldhoven Netherlands The Systems and Control Laboratory Institute for Computer Science and Control Hungary

Increasingly stringent throughput requirements in the industry necessitate the need for lightweight design of high-precision motion systems to allow for high accelerations, while still achieving accurate positioning of the moving-body. The presence of position dependent dynamics in such motion systems severely limits achievable position tracking performance using conventional sequential loop closing (SLC) control design strategies. This paper presents a novel extension of the conventional SLC design framework towards linear-parameter-varying systems, which allows to circumvent limitations that are introduced by position dependent effects in high-precision motion systems. Advantages of the proposed control design approach are demonstrated in simulation using a high-fidelity model of a moving-magnet planar actuator system, which exhibits position dependency in both actuation and *** Codes 93-06 © 2022, CC BY.

关键词： Linear systems

Continuous-Time LiDAR-Inertial-Vehicle Odometry Method with Lateral Acceleration Constraint

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Continuous-Time LiDAR-Inertial-Vehicle Odometry Method with ...

IEEE International Conference on Robotics and Automation (ICRA)

作者： Bin He Weichen Dai Zeyu Wan Hong Zhang Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China School of Computer Science Hangzhou Dianzi University Hangzhou China Key Laboratory of Collaborative sensing and autonomous unmanned systems of Zhejiang Province Hangzhou China

In this paper, we propose a continuous-time-based LiDAR-inertial-vehicle odometry method, which can tightly fuse the data from Light Detection And Ranging (LiDAR), inertial measurement units (IMU), and vehicle measurements. The lateral acceleration constraint is further added to trajectory estimation to make the estimated trajectory follow the motion characteristics of vehicles. In addition, since vehicle model parameters vary with different motion conditions and tyre pressure, we estimate vehicle correction factors that rectify changes in vehicle model parameters online, and also analyze the observability of these vehicle correction factors. In experiments, the proposed method is evaluated and compared with state-of-the-art methods in the public dataset. The experimental results show that the proposed method achieves more accurate results in all sequences since we add additional sensor measurements and utilize the characteristic of vehicle motion to restrict the trajectory estimation. The ablation study also proved the effectiveness of continuous-time representation, online correction factor estimation, and incorporation of lateral acceleration constraint.

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Adaptive Stiffness control of Series Elastic Actuator Manipulators Based on Dynamic System

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Adaptive Stiffness Control of Series Elastic Actuator Manipu...

IEEE International Conference on Automation Science and Engineering (CASE)

作者： Kunlin Guo Chao Zeng Weiyong Si Ning Wang Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control School of Automation Science and Engineering South China University of Technology Guangzhou China Department of Computer Science University of Liverpool Liverpool UK School of Computer Science and Electronic Engineering University of Essex Colchester Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In traditional control methods, Series Elastic Actuator (SEA) joint manipulators are limited by their hardware and can only perform simple tasks with low stiffness. To address this issue, we propose a stiffness adjustment control strategy for SEA manipulators based on Dynamic systems (DS) with good generalization performance. By enhancing the generalization capability of DS in complex tasks and combining posture control, the SEA manipulators can autonomously adjust control gains and postures according to task requirements to achieve higher stiffness at the end-effector. Experimental results involving the activation of air switches with different stiffness levels and installation angles have demonstrated the effectiveness of our proposed method. The results indicate that compared to traditional methods of adjusting the control gain and retraining DS for similar tasks, our approach exhibits superior generalization performance while maintaining end-effector stiffness during interactions.

关键词： Actuators computer aided software engineering Automation Adaptive systems control systems End effectors Hardware Dynamical systems Manipulator dynamics

On modal observers for beyond rigid body H∞ control in high-precision mechatronics

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arXiv 2022年

The ever increasing need for performance results in increasingly rigorous demands on throughput and positioning accuracy of high-precision motion systems, which often suffer from position dependent effects that originate from relative actuation and sensing of the moving-body. Due to the highly stiff mechanical design, such systems are typically controlled using rigid body control design approaches. Nonetheless, the presence of position dependent flexible dynamics severely limits attainable position tracking performance. This paper presents two extensions of the conventional rigid body control framework towards active control of position dependent flexible dynamics. Additionally, a novel control design approach is presented, which allows for shaping of the full closed-loop system by means of structured H∞ co-design. The effectiveness of the approach is validated through simulation using a high-fidelity model of a state-of-the-art moving-magnet planar *** Codes 37M15 © 2022, CC BY.

关键词： Closed loop systems

Real-Time Driver Distraction Detection Using Lightweight Convolution Neural Network with Cheap Multi-scale Features Fusion Block 17th

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Real-Time Driver Distraction Detection Using Lightweight Con...

17th Chinese Intelligent systems Conference, CISC 2021

作者： Li, Yuanyuan Xu, Peng Zhu, Zhiqin Huang, Xinghua Qi, Guanqiu Chongqing University of Posts and Telecommunications Chongqing400065 China Key Laboratory of Complex System Safety and Control Ministry of Education Chongqing University Chongqing400044 China Computer Information Systems Department Buffalo State College BuffaloNY14222 United States

ISBN: (纸本)9789811663239

Degraded driving performance is closely related to distracted driving behavior. Therefore, in this paper we introduce a fast and accurate convolution neural network (CNN) architecture named CMFFNet, which is designed for the edge devices with limited computational resources and application scenario of detecting driver distraction. CMFFNet is built on a multi-branch architecture that uses CMFF blocks to guarantee efficiency. CMFF block is based on depth-wise separable convolution, which consists of a CMFF module, a multi-branch structure fuses filtered multi-scale spatial information to enhance feature representation capability, followed by a MAPGC bottleneck, utilizing two point-wise group convolutions and a channel shuffle operation to implement efficient channel projection. Compare with recently proposed lightweight CNNs, CMFFNet can achieve better performance on StateFarm’s Dataset, e.g. higher accuracy (absolute 5.5%) and lower latency (about 18 ms) compared with MobileNetV3-Large. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Convolution

Implementation of a perception system for autonomous vehicles using a detection-segmentation network in SoC FPGA

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arXiv 2023年

作者： Baczmanski, MacIej Wasala, Mateusz Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics Agh University of Krakow Al. Mickiewicza 30 Krakow30-059 Poland

Perception and control systems for autonomous vehicles are an active area of scientific and industrial research. These solutions should be characterised by both high efficiency in recognising obstacles and other environmental elements in different road conditions, real-time capability, and energy efficiency. Achieving such functionality requires an appropriate algorithm and a suitable computing platform. In this paper, we have used the MultiTaskV3 detection-segmentation network as the basis for a perception system that can perform both functionalities within a single architecture. It was appropriately trained, quantised, and implemented on the AMD Xilinx Kria KV260 Vision AI embedded platform. By using this device, it was possible to parallelise and accelerate the computations. Furthermore, the whole system consumes relatively little power compared to a CPU-based implementation (an average of 5 watts, compared to the minimum of 55 watts for weaker CPUs, and the small size (119mm x 140mm x 36mm) of the platform allows it to be used in devices where the amount of space available is limited. It also achieves an accuracy higher than 97% of mAP (mean average precision) for object detection and above 90% of mIoU (mean intersection over union) score for image segmentation. The article also details the design of the Mecanum wheel vehicle, which was used to test the proposed solution in a mock-up city. © 2023, CC BY.

关键词： Field programmable gate arrays (FPGA)

"Why not looking backward?" a robust two-step method to automatically terminate Bayesian optimization 23

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"Why not looking backward?" a robust two-step method to auto...

Proceedings of the 37th International Conference on Neural Information Processing systems

作者： Shuang Li Ke Li Wei Li Control and Simulation Center Harbin Institute of Technology China and National Key Laboratory of Modeling and Simulation for Complex Systems China Department of Computer Science University of Exeter Exeter UK

Bayesian Optimization (BO) is a powerful method for tackling expensive blackbox optimization problems. As a sequential model-based optimization strategy, BO iteratively explores promising solutions until a predetermined budget, either iterations or time, is exhausted. The decision on when to terminate BO significantly influences both the quality of solutions and its computational efficiency. In this paper, we propose a simple, yet theoretically grounded, two-step method for automatically terminating BO. Our core concept is to proactively identify if the search is within a convex region by examining previously observed samples. BO is halted once the local regret within this convex region falls below a predetermined threshold. To enhance numerical stability, we propose an approximation method for calculating the termination indicator by solving a bilevel optimization problem. We conduct extensive empirical studies on diverse benchmark problems, including synthetic functions, reinforcement learning, and hyperparameter optimization. Experimental results demonstrate that our proposed method saves up to ≈ 80% computational budget yet is with an order of magnitude smaller performance degradation, comparing against the other peer methods. In addition, our proposed termination method is robust in terms of the setting of its termination criterion.

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Lyapunov stability of generalized ribosome flows*

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IFAC-PapersOnLine 2022年第18期55卷 56-61页

作者： Mihály A. Vághy Gábor Szederkényi Faculty of Information Technology and Bionics Pázmany Péter Catholic University H-1444 Budapest Hungary Systems and Control Laboratory Institute for Computer Science and Control (SZTAKI) H-1111 Budapest Hungary

In this paper we show that a wide class of compartmental systems with bounded capacities called generalized ribosome flow models are stable with an entropy-like logarithmic Lyapunov function known from the theory of nonnegative systems and reaction networks. The stability proof uses the kinetic representation of the compartmental model and earlier approaches applied for the input-to-state stability analysis of reaction networks with time-varying reaction rates. The results are valid not only for mass action type systems but also for models with more general reaction rates. Illustrative examples are given to show the qualitative dynamical properties of simple generalized ribosome flow models.

关键词： Lyapunov methods stability of nonlinear systems stability of distributed parameter systems kinetic modeling

Optimized Design of a Soft Actuator Considering Force/Torque, Bendability, and controllability via an Approximated Structure

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arXiv 2023年

作者： Yang, Wu-Te Kürkçü, Burak Tomizuka, Masayoshi Mechanical Systems Control Laboratory Department of Mechanical Engineering University of California BerkeleyCA94720 United States Department of Computer Engineering Hacettepe University Ankara06800 Turkey

This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it as a cantilever beam. This allows us to derive approximated nonlinear kinematic models and a dynamical model, which is explored to understand the correlation between natural frequency and dimensional parameters of SPA. The design problem is then transformed into an optimization problem, using kinematic equations as the objective function and the dynamical equation as a constraint. By solving this optimization problem, the optimal dimensional parameters are determined. Six prototypes are manufactured to validate the proposed approach. The optimal actuator successfully generates the desired force/torque and bending angle, while its natural frequency remains within the constrained range. This work highlights the potential of using optimization formulation and approximated nonlinear models to boost the performance and dynamical properties of soft pneumatic actuators. © 2023, CC BY-NC-ND.

关键词： Pneumatic actuators