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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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Development of Method of Generating a Reference Movement Speed of a Group of UAVs

Development of Method of Generating a Reference Movement Spe...

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2024 International Conference on Ocean Studies, ICOS 2024

作者： Gubankov, Anton Gornostaev, Igor Institute of Automation and Control Processes FEB RAS M.D. Ageev Institute of Marine Technology Problems Admiral G.I. Nevelskoy Maritime State University Robotics Laboratory Laboratory of Intelligent Information Systems for Marine Robots Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Vladivostok Russia Institute of Automation and Control Processes FEB RAS M.D. Ageev Institute of Marine Technology Problems Admiral G.I. Nevelskoy Maritime State University Robotics Laboratory Laboratory of Robotic Systems Laboratory of Marine Unmanned Aviation and Marine Aviation Systems Vladivostok Russia

ISBN: (纸本)9798331532307

The article presents the results of the development of a method for the automatic formation of reference speeds for autonomous unmanned aerial vehicles of multirotor type, performing specified missions (such as monitoring of the sea and coastal territory in order to track populations of rare and endangered species, as well as evaluating the potential volumes of biological resources) singly or as part of a group (in formation). At the same time, the trajectories of these aircraft are set by smooth spatial curves - parametric splines of the third order, which makes it easy to adjust the specified trajectories during the mission. In order to maintain a high speed of movement of vehicles along trajectories with high accuracy of movement and saving formation, it is proposed to adjust the specified speed directly during the mission in such a way that the thrusters can ensure their required movements, taking into account the restrictions on the thrust vectors. At the same time, a simplified model of the dynamics of a quadcopter was used to calculate the values of reference speeds, taking into account the influence of wind force, environmental resistance, gravity and the total thrust vector of the propellers. The systems synthesized on the basis of this method can be implemented even on low-power onboard computing devices of unmanned aerial vehicles. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Multiple-mode switched observer-based unknown input estimation for a class of switched systems

Multiple-mode switched observer-based unknown input estimati...

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第28届中国控制与决策会议

作者： Yantao Chen Junqi Yang Donglei Xie Wei Zhang College of Electrical Engineering and Automation Henan Polytechnic University Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science

ISBN: (纸本)9781467397155

This paper considers the issue of unknown input estimation for a class of uncertain switched linear systems by designing multiple-mode switched *** average dwell time(ADT),the multiple-mode switched observer is proposed to estimate the states of switched system even if it subjects to unknown inputs,where the observer gain matrices are also obtained by solving a linear matrix inequality(LMI).A switching signal is designed to guarantee the exponential stability of error ***,an approach of differential numerical solution is provided to obtain the approximate value of system output *** on the state estimation and the numerical solution of system output derivative,a kind of algebraic reconstruction method of unknown information is developed such that the unknown input of switched system can be ***,a numerical simulation is given to illustrate the effectiveness of the proposed methods.

关键词： Multiple-mode switching observer Unknown input estimation Average dwell time

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Autonomous, Mobile Manipulation in a Wall-building Scenario: Team LARICS at MBZIRC 2020

arXiv

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arXiv 2022年

作者： Vatavuk, Ivo Polic, Marsela Hrabar, Ivan Petric, Frano Orsag, Matko Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb Croatia

In this paper we present our hardware design and control approaches for a mobile manipulation platform used in Challenge 2 of the MBZIRC 2020 competition. In this challenge, a team of UAVs and a single UGV collaborate in an autonomous, wall-building scenario, motivated by construction automation and large-scale robotic 3D printing. The robots must be able, autonomously, to detect, manipulate, and transport bricks in an unstructured, outdoor environment. Our control approach is based on a state machine that dictates which controllers are active at each stage of the Challenge. In the first stage our UGV uses visual servoing and local controllers to approach the target object without considering its orientation. The second stage consists of detecting the object’s global pose using OpenCV-based processing of RGB-D image and point-cloud data, and calculating an alignment goal within a global map. The map is built with Google Cartographer and is based on onboard LIDAR, IMU, and GPS data. Motion control in the second stage is realized using the ROS Move Base package with Time-Elastic Band trajectory optimization. Visual servo algorithms guide the vehicle in local object-approach movement and the arm in manipulating bricks. To ensure a stable grasp of the brick’s magnetic patch, we developed a passively-compliant, electromagnetic gripper with tactile feedback. Our fully-autonomous UGV performed well in Challenge 2 and in post-competition evaluations of its brick pick-and-place algorithms. © 2022, CC BY-SA.

关键词： Brick

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Design and Analysis of A Novel AFPM with Opposite-Rotation Dual Rotors 4

Design and Analysis of A Novel AFPM with Opposite-Rotation D...

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4th IEEE International Future Energy Electronics Conference, IFEEC 2019

作者： Wei, Mengfei Zhang, Chi Chen, Jinhua Xu, Chenxia Chinese Academy of Sciences Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology of Zhejiang Province Ningbo Institute of Materials Technology and Engineering Ningbo China University of Chinese Academy of Sciences Beijing China Phase Motion Control Ningbo Ltd. China

ISBN: (纸本)9781728131535

This paper proposes a novel opposite-rotation dual-rotor axial flux permanent-magnet machine (ORDR-AFPM) for underwater vehicle counter-rotation propeller propulsion system. The structure of the machine mainly consists of dual identical surface-mounted PM rotors, dual sets of concentrated windings and single stator sandwiched in between the dual rotors. The dual rotors operate independently like dual conventional machines but toward opposite directions. For the purpose of exploring the interaction between the dual rotors and verify the feasibility of the machine, the flux distribution in the dual air gaps is analyzed by magnetic equivalent circuit (MEC). Meanwhile, finite-element method (FEM) is also used to confirm the validity of the theoretical analysis. During the process of machine design, the axial magnetic force is analyzed by using Maxwell stress tensor and the main design parameters of the machine get optimized. © 2019 IEEE.

关键词： Finite element method

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Comparative Analysis of Programming by Demonstration Methods: Kinesthetic Teaching vs Human Demonstration

arXiv

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arXiv 2024年

作者： Maric, Bruno Zoric, Filip Petric, Frano Orsag, Matko The LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Faculty of Electrical Engineering and Computing Zagreb10000 Croatia

Programming by demonstration (PbD) is a simple and efficient way to program robots without explicit robot programming. PbD enables unskilled operators to easily demonstrate and guide different robots to execute task. In this paper we present comparison of demonstration methods with comprehensive user study. Each participant had to demonstrate drawing simple pattern with human demonstration using virtual marker and kinesthetic teaching with robot manipulator. To evaluate differences between demonstration methods, we conducted user study with 24 participants which filled out NASA raw task load index (rTLX) and system usability scale (SUS). We also evaluated similarity of the executed trajectories to measure difference between demonstrated and ideal trajectory. We concluded study with finding that human demonstration using a virtual marker is on average 8 times faster, superior in terms of quality and imposes 2 times less overall workload than kinesthetic teaching. © 2024, CC BY.

关键词： Demonstrations

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