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Enhanced cooperative single-range underwater navigation based on optimal trajectories

IFAC-PapersOnLine 2020年第2期53卷 14668-14673页

作者： Santiago Rúa Naveen Crasta Rafael E. Vásquez Antonio M. Pascoal Universidad Pontificia Bolivariana Circular 1 # 70-01 School of Engineering 050031 Medellín Colombia Universidad Nacional Abierta y a Distancia Carrera 45 # 55-19 Escuela de ciencias básicas e ingeniería Medellín Colombia Laboratory of Robotics and Systems in Engineering and Science (LARSyS) IST/University of Lisbon Av. Rovisco Pais 1 1049-001 Lisbon Portugal

This work addresses the observability analysis for a cooperative range-based navigation system based on the optimization of an index. A nonlinear model is first defined in order to describe the motion of the vehicle and a mobile beacon. Then, the Fisher Information Matrix is introduced to explain how it is related with the observability problem. A unconstrained optimization problem is formulated in order to find the best sequence of actions for the beacon to ensure observability in the system; the unconstrained problem does not take into account physical limitation of the vehicle and beacon. Then, four different scenarios are solved using different constraints; we show that, when the beacon is rotating with variable angular velocity we get a better strategy than rotating with constant velocity, despite that in both scenarios the system is observable. Finally, we show that increasing the energy provided to rotate the beacon does not improve further the observability of the system. These results are important from a theoretical and practical point of view, since they represent a strategy to plan the motion of the beacon to guarantee observability in the system.

关键词： Marine system navigation guidance control Acoustic-Based Networked Control Navigation Cooperative control

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Fuzzy Adaptive Control-based Real-time Obstacle Avoidance under Uncertain Perturbations

Fuzzy Adaptive Control-based Real-time Obstacle Avoidance un...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Yingbai Hu Guang Chen Longbin Zhang Hang Su Mengyao Li Yunus Schmirander Hu Cao Alois Knoll Chair of Robotics Artificial Intelligence and Realtime Systems Technical University of Munich Munich Germany College of Automotive Engineering Tongji University Shanghai China KTH MoveAbility Lab KTH Royal Institute of Technology Stockholm Sweden Politecnico di Milano Milano Italy Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Dynamic Movement Primitives (DMPs) framework is a powerful approach to imitate motor skills, which has outstanding characteristics, such as convergence to the goal position and good imitation performance. Considering complex motion scenes of manipulators, such as changing the goal position or adding obstacles, the original DMPs framework is not sufficient for the requirements. In this paper, we propose a learning control-based hierarchical control strategy to adapt to new goal positions and avoid obstacles: the high-level learning scheme is targeted at imitating the motor skill and generating the optimization trajectory for obstacle avoidance; the lower-level control scheme focuses on the safety and stability of the robot's movement with unknown disturbances. Firstly, the enhanced DMPs framework is presented to imitate the trajectory from human demonstrations, where the novel DMPs can adapt to new goal position with the changing goal, and avoid single or multiple obstacles. Then, the fuzzy adaptive control method is employed to control redundant manipulators, where the fuzzy logic system (FLS) is incorporated to approximate an unknown nonlinear function term of the unknown disturbance. Finally, the effectiveness of the proposed learning-control strategy is demonstrated with simulation results. The results show that the developed hierarchical strategy has good performance for new goal adaptation and obstacle avoidance.

关键词： Collision avoidance Trajectory Manipulator dynamics Nonlinear dynamical systems Adaptive control

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Cascade Terminal Sliding Mode Control of a Deployable Cable Driven Robot

Cascade Terminal Sliding Mode Control of a Deployable Cable ...

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International Conference on Control, Instrumentation, and Automation

作者： S. A. Khalilpour R. Khorrambakht M. J. Harandi H. D. Taghirad Philippe Cardou Advanced Robotics and Automated Systems Faculty of Electrical and Computer Engineering K.N. Toosi University of Technology Tehran Iran Department of Mechanical Engineering Robotics Laboratory Laval University Quebec City QC Canada

ISBN: (数字)9781728158150

ISBN: (纸本)9781728158167

Most control systems used for cable-driven parallel manipulators employ a simple inner control loop for controlling the driving force of the actuators. By this means the effects of some nonlinear uncertainties of the actuator and power transmission systems are significantly reduced, and in turn, this helps the outer user-specified position control loop to perform more accurately. However, this positive impact on performance relies on non achievable assumptions that the inner control loop is fast and accurate enough, and its dynamics can be totally ignored. The main contribution of this paper is to analyze the stability of the system as a whole, considering both inner and outer loop controllers. The outer loop controller proposed in here is a finite time robust sliding mode whose stability is analyzed through the Lyapunov direct method. A deployable cable-driven parallel robot, as the case study, is also considered in this paper, which is characterized by several intrinsic kinematic and dynamic uncertainties. Finally, the performance and effectiveness of the proposed robust controller is evaluated through some simulations and experiments in order to verify the effectiveness and the characteristics of the cascade controller structure in practice.

关键词： Robots Mathematical model Actuators Jacobian matrices Force Uncertainty Kinematics

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Output Feedback Control for MIMO systems with Disturbances Compensation

Output Feedback Control for MIMO systems with Disturbances C...

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European Control Conference (ECC)

作者： D.E. Konovalov S.A. Vrazhevsky I.B. Furtat A.S. Kremlev Martin Cech Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia The Laboratory ”Control of Complex System” Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences (IPME RAS) St. Petersburg Russia Pilsen — NTIS - European Center of Excellence University of West Bohemia

ISBN: (数字)9783907144022

ISBN: (纸本)9781728188133

The paper deals with the novel feedback output control law for multiple-input multiple-output (MIMO) plant with mismatched bounded disturbances. The plant model is described by linear and Lipshitz nonlinear terms. The control law is based on the auxiliary loop method for disturbance estimation and modified backstepping method for control under mismatched disturbances. Differently from existing results based on backstepping method the proposed algorithm allows to reduce the accuracy in steady state, while the existing auxiliary loop based algorithm are feasible under matched disturbances. The results in the England Power System Benchmark illustrate the efficiency of the proposed scheme.

关键词： Backstepping Steady-state Control systems Mathematical model Attenuation MIMO communication Estimation

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Control of the Passive-Dynamic Locomotion of the Compass-Gait Biped Robot

Control of the Passive-Dynamic Locomotion of the Compass-Gai...

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International Conference on Advanced systems and Electric Technologies (IC_ASET)

作者： Wafa Znegui Hassène Gritli Safya Belghith Higher Institute of Information and Communication Technologies Université de Carthage Borj-Cedria Tunis Tunisia Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis Université de Tunis El Manar Tunis Tunisia

ISBN: (数字)9781728163567

ISBN: (纸本)9781728163574

This paper discusses a stabilization method for the passive dynamic walking (PDW) of the compass-gait biped robot using an explicit analytical classical expression of the controlled Poincaré map in order to control its passive gaits. A linearization method is used to cast the problem from the impulsive hybrid nonlinear dynamics into the linear dynamics around a desired one-periodic hybrid limit cycle of the PDW. Thus, using the first-order Taylor approximation, we design an explicit expression of the controlled Poincaré map. In order to control the passive gaits, we develop first the linearized Poincaré map obtained around the period-one fixed point. We adopt a state-feedback control law using the LMI approach to stabilize this fixed point. We present finally some simulation results to reveal the efficiency of the designed control law in the control of the passive-dynamic locomotion of the compass-gait biped robot.

关键词： Legged locomotion Robots Nonlinear dynamical systems Mathematical model Limit-cycles Hip Dynamics

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Controllability and accessibility on graphs for bilinear systems over lie groups

arXiv

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arXiv 2020年

作者： Wang, Xing Li, Bo Li, Jr-Shin Petersen, Ian R. Shi, Guodong Key Laboratory of Mathematics Mechanization Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical and Systems Engineering Washington University St. LouisMO63130 United States Research School of Electrical Energy and Materials Engineering Australian National University CanberraACT0200 Australia Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW2006 Australia

This paper presents graph theoretic conditions for the controllability and accessibility of bilinear systems over the special orthogonal group, the special linear group and the general linear group, respectively, in the presence of drift terms. Such bilinear systems naturally induce two interaction graphs: one graph from the drift, and another from the controlled dynamics. As a result, the system controllability or accessibility becomes a property of the two graphs in view of the classical Lie algebra rank condition. We establish a systemic way of transforming the Lie bracket operations in the underlying Lie algebra, into specific operations of removing or creating links over the drift and controlled interaction graphs. As a result, we establish a series of graphical conditions for the controllability and accessibility of such bilinear systems, which rely only on the connectivity of the union of the drift and controlled interaction graphs. We present examples to illustrate the validity of the established results, and show that the proposed conditions are in fact considerably tight. Copyright © 2020, The Authors. All rights reserved.

关键词： Controllability

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Land Surface Displacement Geohazards Monitoring Using Multi-temporal InSAR Techniques

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Journal of Geodesy and Geoinformation Science 2021年第1期4卷 77-87页

作者： Guang LIU Perski ZBIGNIEW Salvi STEFANO Thiebes BENNI Lixin WU Jinghui FAN Shibiao BAI Lianhuan WEI Shiyong YAN Rui SONG Bignami CHRISTIAN Tolomei CRISTIANO Stefan SCHNEIDERBAUER Joao Sousa JOAQUIM 无 Key Laboratory of Digital Earth Science Institute of Remote Sensing and Digital EarthChinese Academy of SciencesBeijing 100094China Carpathian Branch Polish Geological Institute-National Research InstituteCracow 31-560Poland National Institute of Geophysics and Volcanology Roma 605-00143Italy German Committee for Disaster Reduction Bonn 1353113Germany School of Resources and Civil Engineering Northeastern UniversityShenyang 110819China Division of Remote Sensing for Environment China Aero Geophysical Survey&Remote Sensing Center for Natural ResourcesBeijing 100083China School of Marine Science and Ocean Engineering Nanjing Normal UniversityNanjing 210046China School of Environment Science and Spatial Informatics China University of Mining and TechnologyXuzhou 221116China Mullard Space Science Laboratory Department of Space and Climate Physics University College London Holmbury RH56NTUK Eurac Research Bolzano 39100Italy School of Science and Technology University of Trás-os-Montes e Alto DouroVila Real 5000-801Portugal Centre for Robotics in Industry and Intelligent Systems(CRIIS) INESC Technology and Science(INESC-TEC)Porto 4200-465Portugal

China has been affected by some of the world’s most serious geological disasters and experiences high economic damage every *** occur not only in remote areas but also in highly populated *** the framework of the Dragon-432365 Project,this paper presents the main results and the major conclusions derived from an extensive exploitation of Sentinel-1,ALOS-2(Advanced Land Observing Satellite 2),GF-3(Gao Fen Satellite 3),and latest launched SAR(Synthetic Aperture Radar),together with methods that allow the evaluation of their importance for various ***,in the scope of this project,the great benefits of recent remote sensing data(wide spatial and temporal coverage)that allow a detailed reconstruction of past displacement events and to monitor currently occurring phenomena are exploited to study different areas and geohazards problems,including:surface deformation of mountain slopes;identification and monitoring of ground movements and subsidence;landslides;ground fissure;and building inclination *** movements detected in the different study areas were cross validated with different SAR sensors and truth data.

关键词： Dragon-4 project Sentinel-1 GF-3 landslide geohazards InSAR

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Design of A Multi-Functional Soft Ankle Exoskeleton for Foot-Drop Prevention, Propulsion Assistance, and Inversion/Eversion Stabilization

Design of A Multi-Functional Soft Ankle Exoskeleton for Foot...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Haisheng Xia Junghan Kwon Prabhat Pathak Jooeun Ahn Peter B. Shull Yong-Lae Park State Key Laboratory of Mechanical Systems and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Department of Mechanical Engineering Soft Robotics Research Center (SRRC) the Institute of Advanced Machines and Design (IAMD) Seoul National University Seoul South Korea Department of Physical Education Seoul National University Seoul South Korea

ISBN: (数字)9781728159072

ISBN: (纸本)9781728159089

Stroke often results in hemiplegia, which greatly affects the walking ability of the patients. We propose a multi-functional portable ankle exoskeleton for use in preventing foot-drops, assisting propulsion, and stabilizing inversion/eversion during walking to help gait rehabilitation of stroke patients. The portable ankle exoskeleton was fabricated by 3D printing a soft/rigid hybrid structure. The device was able to prevent foot-drop and assist propulsion with a bi-directional cable-driven actuation system. It also showed a capability of stabilizing inversion/eversion motions using a counter-electromotive force of two small, lightweight gear motors. The device was controlled by a microcontroller based on real-time feedback from one inertial measurement unit and a customized force sensitive resistor. The device is fully untethered with all the components integrated on-board, with a total weight of less than 1 kg. Five healthy subjects performed over-ground walking tests with the proposed ankle exoskeleton for three different walking situations (normal walking, walking with simulated foot-drop, and walking on an uneven terrain) and three walking conditions (without the exoskeleton, with the exoskeleton powered off, and with the exoskeleton powered on). From the test results, we confirmed the feasibility of the proposed ankle exoskeleton for foot-drop prevention, propulsion assistance, and inversion/eversion stabilization. The ankle exoskeleton showed a potential for wearable gait rehabilitation for stroke patients with high mobility and portability.

关键词： Legged locomotion Exoskeletons Propulsion Robots DC motors Stroke (medical condition) Connectors

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Short-Term Photovoltaic Power Prediction Modeling Based on AdaBoost Algorithm and Elman

Short-Term Photovoltaic Power Prediction Modeling Based on A...

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IEEE International Conference on Power and Energy systems (ICPES)

作者： Wenxuan Sun Tao Zhang Ran Tao Anna Wang College Of Information Science and Engineering Northeastern University Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Electrical Engineering Dalian University of Technology Dalian China

ISBN: (数字)9781665404945

ISBN: (纸本)9781665404952

In recent years, with the rapid expansion of the installed capacity of renewable energy systems, the availability, stability and quality of smart grids have become increasingly important [1] . The application of renewable energy production forecasting has also been rapidly developed, especially in the field of solar photovoltaic (PV) [2][3] . In the example of solar PV output prediction, machine learning and hybrid technologies have been implemented for many applications. In this paper, a high-precision PV system output power prediction model based on improved AdaBoost and Elman is proposed. Multiple model using integrated AdaBoost algorithm fusion with the bat algorithm for the parameters of optimized combination of weak Elman neural network predictor to become a higher prediction precision, the method of strong predictor of the model can according to the weather information, such as temperature, solar radiation and the history of the output of the PV system data, the probability of photovoltaic power generation for 12 hours and deterministic prediction. The prediction accuracy of the model is determined by Root Mean Squared Error (RMSE). Experimental results show that the prediction accuracy of this algorithm is better than that of other benchmark models, and the algorithm can effectively predict the volatility and irregularity of complex time series.

关键词： Photovoltaic systems Renewable energy sources Machine learning algorithms Machine learning Predictive models Prediction algorithms Numerical models

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BTI Aging Monitoring based on SRAM Start-up Behavior

BTI Aging Monitoring based on SRAM Start-up Behavior

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Asian Test Symposium (ATS)

作者： Shengyu Duan Peng Wang Gaole Sai School of Computer Engineering and Science Shanghai University Shanghai China State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences China State Key Laboratory of Mathematical Engineering and Advanced Computing Wuxi China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology China

ISBN: (数字)9781728174679

ISBN: (纸本)9781728174686

Bias Temperature Instability (BTI) is one of the dominant CMOS aging mechanisms. It causes time-dependent variation, threatening circuit lifetime reliability. BTI-induced circuit errors are not detectable at the fabrication stage. On-line monitoring schemes are therefore necessary to capture the degradations during the operational time. Traditional aging monitoring techniques exhibit high implementation complexity and low stability. In this paper, we propose a BTI monitoring approach by simply tracking the start-up behavior of SRAM cells. SRAM is a widely used on-chip device in many applications. We study the impact of BTI for SRAM start-up values and age some cells in a manipulated manner. The BTI degradation is evaluated based on the number of SRAM cells starting with a certain value. This technique can be used to estimate the degradation for on-chip logic circuits without introducing additional circuitry, and thus has very low implementation complexity. We use an SRAM array with 1024 cells to estimate the degradations for multiple logic circuits, and show the average mean absolute percentage error as 8.48%. In addition, this technique is robust considering process, voltage and temperature variations.

关键词： Degradation Monitoring Logic circuits Transistors SRAM cells Aging System-on-chip

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