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第37届中国控制会议

作者： Xiaowei Pan Zhongxin Liu Zengqiang Chen College of Computer and Control Engineering Nankai University IEEE Tianjin Key Laboratory of Intelligent Robotics Nankai University

In this paper, an algorithm with discontinuous characteristics is proposed to solve distributed optimization problems of sum type. The finite-time convergence of the algorithm is proved and the settling time bound is ... 详细信息

关键词： Discontinuous Optimization Nonsmooth Finite-time

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Manufacturing Systems control Design 1

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丛书名： Advances in Industrial control

1000年

作者： Stjepan Bogdan Zdenko Kovačić Frank L. Lewis José Mireles

ISBN: (数字)9781846283345

ISBN: (纸本)9781852339821;9781849969895

The series Advances in Industrial control aims to report and encourage technology transfer in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies , new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. In some areas of manufacturing, the elements of a flexible manufacturing system form the key components of the process line. These key components are four-fold: a set of programmable robots and machines, an automated materia- handling system that allows parts to be freely routed and re-routed, a buffer storage system where parts and partly-assembled components can wait until required for further processing and assembly and finally, a supervisory control system. The technology employed to coordinate and control all these components as a working system is usually based on programmable logic controllers. The use of this automation hardware and software in manufacturing is designed to yield significant cost reductions and to enhance quality.

关键词： control and Systems Theory Industrial and Production Engineering Manufacturing, Machines, Tools, Processes Simulation and Modeling Linear and Multilinear Algebras, Matrix Theory Industrial Organization

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A novel visual servoing approach involving disturbance observer

A novel visual servoing approach involving disturbance obser...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joon-Soo Lee Il Hong Suh Bum-Jae You Sang-Rok Oh Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea Intelligent Control and Robotics Laboratory Hanyang University Ansan Gyeonggi South Korea

To improve the visual servoing performance, several strategies have been proposed by using redundant feature points, by using a point with different height, and by a weighted selection of image features. The performance of these visual servoing methods depends on the configuration between the camera and objects. And redundant feature points require much computational efforts. The paper proposes a visual servoing method based on a disturbance observer which compensates the effect of the off-diagonal component of the image feature Jacobian to be null. The performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise, and controllability are improved when an image feature Jacobian is given as a block diagonal matrix. The proposed approach is applied to the PUMA560 and Samsung FARAMAN 6-axis industrial robot manipulators successfully.

关键词： Visual servoing Jacobian matrices Robot sensing systems Manipulators Service robots Image sensors intelligent control intelligent robots Cameras controllability

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Fuzzy logic navigation in multi agent systems

Fuzzy logic navigation in multi agent systems

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IEEE International Symposium on intelligent control (ISIC)

作者： S. Bogdan I. Rigo D. Miklic LARICS-Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of EE&C University of Zagreb Croatia

ISBN: (纸本)9781424422241

In this paper we present a methodology for decision making in multi agent system comprised of agents driven by repulsive force and attracting force. Navigation functions are expressed as a set of fuzzy rules obtained by fuzzy Lyapunov stability criteria, thus ensuring stability of the overall system. The goal of the proposed methodology is to create desired formations by moving agents from their initial positions to formation targets, while in the same time avoiding collisions. The destination targets are dynamically permutated as long as the required formation is achieved.

关键词： intelligent control control systems USA Councils

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A novel visual servoing with stereo cameras using QR decomposition and disturbance observer

A novel visual servoing with stereo cameras using QR decompo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joon-Soo Lee Il Hong Suh Bum-Jae You Sang-Rok Oh Intelligent Control and Robotics Laboratory Hanyang University Ansan Gyeonggi South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

This paper proposes a visual serving method based on QR decomposition and disturbance observer. The QR decomposition factorizes the image feature Jacobian into a unitary matrix and an upper triangular matrix. It is shown that several performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability can be improved for any general image feature Jacobian by OR decomposition and disturbance observer. To show the validities of the proposed approach, visual servoing with stereo cameras is experimented on Samsung FARAMAN 6-axis industrial manipulator.

关键词： Visual servoing Cameras Jacobian matrices Matrix decomposition controllability Manipulators intelligent control intelligent robots Robot vision systems Robot sensing systems

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Dynamics Modeling and Analysis for Cooperative Dual Rotary Crane Systems

Dynamics Modeling and Analysis for Cooperative Dual Rotary C...

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第37届中国控制会议

作者： Yu Fu Tong Yang Ning Sun Jianyi Zhang Yongchun Fang the Institute of Robotics and Automatic Information Systems （IRAIS） College of Computer and Control Engineering and also with the Tianjin Key Laboratory of Intelligent Robotics （tjKLIR） Nankai University

With industrial development,the cargoes that need to be lifted by rotary cranes are getting larger and heavier,which tend to exceed the rated load of a single crane,so it is common for two cranes to deliver a cargo ***,even with wide real applications,the studies of cooperative dual rotary crane systems（CDRCS） still do not attract enough *** order to solve the above problems,an accurate model for CDRCS is established by Lagrange’s modeling *** this model,we take into account not only the swing of the rope,but also the wobble of the *** be more precise,there are no simplifications in the process of modeling.

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Remote control library and GUI development for Russian crawler robot Servosila Engineer 13

Remote control library and GUI development for Russian crawl...

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13th International Conference on Electromechanics and robotics "Zavalishin's Readings", ER(ZR) 2018

作者： Mavrin, Ilya Lavrenov, Roman Svinin, Mikhail Sorokin, Sergey Magid, Evgeni Intelligent Robotics Department Higher School of Information Technology and Information Systems Kazan Federal University Russia Robot Dynamics and Control Laboratory College of Information Science and Engineering Ritsumeikan University Japan Mechanical Engineering Department Chuvash State University Russia

Recently a large variety of robots are available on the global market for a reasonable price. Often it turns out that even though a robot has a high-quality hardware and architecture, an original software of the robot may have a number of drawbacks or lacks some important features, which are required for a particular application of the robot. In such cases a user may decide to implement new libraries and functionalities using a provided by a manufacturer application programming interfaces as in most cases code of a commercial robot system is not an open-source. A number of our ongoing research projects concentrate on applications of various robots in urban search and rescue operations, and in most of these projects utilize Russian crawler robot Servosila Engineer. This paper describes the development of a new ROS-based control software and graphical user interface for Servosila Engineer robot. © The Authors, published by EDP Sciences.

关键词： Graphical user interfaces

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Design of a High Speed 360-degree Panoramic Video Acquisition System Based on FPGA and USB 3.0

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IEEE Sensors Journal 2023年 1-1页

作者： Lyu, Congyi Peng, Jianqing Zhou, Weiguo Yang, Shanshan Liu, Yunhui Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology Beijing China

This paper presents a FPGA-based hardware architecture for capturing real-time panoramic images and the parallel implementation of an image stitching algorithm based on the scale-invariant feature transform (SIFT) features. First, the system transfers the images captured by five CMOS sensors to the designed FPGA board through the FMC adapter plate. Then, the system employs the FPGA-based parallel computing to extract the SIFT features and detect the best matching region and points for image registration. Finally, in order to obtain the panoramic image with smooth changes at the junctions, images of the adjacent images are fused. Using the designed FPGA platform makes it possible to extract the SIFT and stitch the images in real-time, which is not realized in most panoramic imaging systems. The panoramic system, developed using the Xilinx Zynq®-7000 all programmable SOC, can capture video of 5*640*480 images at the speed of 60 fps. To enable high-speed image transfer from the imaging system to the host computer, the USB3.0 interface with the transmission speed of 359MB/s has been developed. The real-time efficiency of the parallel system will be demonstrated by the simulations and experiments. IEEE

关键词： Real time systems

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Experiments on a visual servoing approach using disturbance observer

Experiments on a visual servoing approach using disturbance ...

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Proceedings 1999 IEEE/RSJ International Conference on intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： Joon-Soo Lee Il Hong Suh Bum-Jae You Sang-Rok Oh Intelligent Control and Robotics Laboratory Hanyang University Ansan Kyunggi South Korea Intelligent System Control Research Center Korea Institute of Science and Technology Seoul South Korea

A visual servoing method has been proposed based on a disturbance observer to eliminate the effect of the off-diagonal component of the image feature Jacobian, since performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise, and controllability could be improved when an image feature Jacobian was given as a block diagonal matrix. In this paper, experimental results of disturbance observer-based visual servoing are discussed, where a Samsung FARAMAN-ASI 6-axis industrial robot manipulator is employed. Also, the feature saturator is proposed to stabilize the disturbance observer loop by saturating the differential changes of the image features.

关键词： Visual servoing Jacobian matrices Manipulators Robot sensing systems intelligent control intelligent robots control systems controllability Service robots Image sensors

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Learning Agile Quadrotor Flight in Restricted Environments with Safety Guarantees

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年 1-8页

作者： Chen, Shiyu Li, Yanjie Lou, Yunjiang Lin, Ke Wu, Xinyu Department of Control Science and Engineering Harbin Institute of Technology Shenzhen and Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

With the increasing requirement for agile and efficient controllers in safety-critical scenarios, controllers that exhibit both agility and safety are attracting attention, especially in the aerial robotics domain. This paper focuses on the safety issue of Reinforcement Learning (RL)-based control for agile quadrotor flight in restricted environments. To this end, we propose a unified Adaptive Safety Predictive Corrector (ASPC) to certify each output action of the RL-based controller in real-time, ensuring its safety while maintaining agility. Specifically, we develop the ASPC as a finite-horizon optimal control problem, formulated by a variant of Model Predictive control (MPC). Given the safety constraints determined by the restricted environment, the objective of minimizing loss of agility can be optimized by reducing the difference between the actions of RL and ASPC. As the safety constraints are decoupled from the RL-based control policy, the ASPC is plug-and-play and can be incorporated into any potentially unsafe controllers. Furthermore, an online adaptive regulator is presented to adjust the safety bounds of the state constraints with respect to the environment changes, extending the proposed ASPC to different restricted environments. Finally, simulations and real-world experiments are demonstrated in various restricted environments to validate the effectiveness of the proposed ASPC. IEEE

关键词： Reinforcement learning

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