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Space 2006 Conference

作者： Akin, David L. Roberts, Brian Roderick, Stephen Smith, Walter Henriette, Jean-Marc Space Systems Laboratory University of Maryland College Park MD 20742 Space Systems Laboratory Institute for Dexterous Space Robotics Department of Aerospace Engineering AIAA

ISBN: (纸本)1563478242

Under support from the Defense Advanced Research Projects Agency, the University of Maryland Space systems laboratory has been developing advanced miniaturized robotics for dexterous space operations. The final robotic architecture, now in prototype form, is a highly modular system capable of self-reconfiguration. These "MORPHbots" are composed of standardized actuator, sensor, and computational modules, interconnected by androgynous interface mechanisms capable of being actuated by the robots themselves. In a microsatellite configuration, a six degree-of-freedom serial manipulator with interchangeable end effectors has a total mass of only 10 kg, but is capable of performing assembly and servicing work typically performed by astronauts in pressure suits. Due to the modular nature of the system, a failed component can be easily removed and replaced with another unit, or the entire kinematics of the arm can be changed to better perform a given task In a "depot" situation, a collection of MORPHbot components stocked on an orbital platform can be used to assemble a wide variety of robotic systems, optimized for specific operational requirements, such as structural assembly or satellite servicing. This paper presents the MORPHbot concept in detail, along with samples of MORPHbot configurations for specific missions such as a robotic servicer for International Space Station and a low-mass orbital assembly system for exploration vehicles or large aperture science platforms. Results of performance and environmental testing on prototype MORPHbot actuator modules will be given, along with plans for near-term ground-based tests of the concept in end-to-end high fidelity simulations. Copyright © 2006 by University of Maryland Space systems laboratory.

关键词： robotics

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Trust Consensus Protocol for Heterogeneous Underwater Robotic systems

Trust Consensus Protocol for Heterogeneous Underwater Roboti...

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作者： Mazdin, Petra Arbanas, Barbara Haus, Tomislav Bogdan, Stjepan Petrovic, Tamara Miskovic, Nikola University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Underwater Systems and Technologies Croatia

In this paper we analyze the application of a binary trust-consensus protocol in multi-agent systems with switching communication topology. Trust represents belief of one agent that the other one is capable of executing a specific task. The approach is motivated by an underwater robot system in which robots, called aMussels, are dispersed in the environment and measure environmental properties (for example sea-current) over a longer period of time, with sensors which are prone to failures. The goal is to apply the binary trust-consensus protocol to enable the system to autonomously detect failures of aMussels. Since direct communication between aMussels is energy consuming, a new type of moving robot, called aFish, is introduced that serves as a carrier of information. Since aFish have a limited communication range, communication topology is switching. Simulations are run first in Matlab for a homogeneous system, and then in a realistic simulation environment for the described scenario with heterogeneous agents. Results show that the protocol converges to the correct trust values and that the convergence time depends on the connectivity of the communication graph. © 2016

关键词： Multi agent systems

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Human/robotic systems to enable in-space operations in the CEV era

Human/robotic systems to enable in-space operations in the C...

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Space 2006 Conference

作者： Akin, David L. Space Systems Laboratory University of Maryland College Park MD 20742 Space Systems Laboratory Institute for Dexterous Space Robotics Department of Aerospace Engineering AIAA

ISBN: (纸本)1563478242

This paper reviews technologies in extravehicular activity and space robotics that are applicable to routine operational use in conjunction with the crew exploration vehicle (CEV), and proposes several possible approaches to enable complex orbital operations on dedicated CEV missions. Preliminary designs and performance assessments are presented for two "servicing modules" to enable CEV servicing. The first design includes an external airlock with EVA suits for two crew members, robotics for grappling the target spacecraft and for dexterous servicing support for the EVA crew, and accommodations for orbital replacement units and other supplies needed for servicing. As an example, details are presented for how this unit would be used to allow the CEV to perform all activities currently planned for the upcoming SM-4 shuttle servicing mission for Hubble Space Telescope. The second design concept provides "stand-off" servicing for CEV through the use of free-flying servicing vehicles providing shirtsleeve environments for the single operators. These Space Construction and Orbital Utility Transport (SCOUT) modules were previously designed at the University of Maryland, and have been studied for design refinement and performance assessments in both analytical and experimental research at the Space systems laboratory. These systems would provide enhanced safety for the EVA crew, even in high-radiation environments such as geostationary orbit. Either system could be launched in a lengthened interstage structure between the CEV and the upper stage, and accessed via a transposition and docking maneuver identical to that used to extract the lunar module from the SFV-B stage in Apollo. Alternately, the servicing module could be launched separately on a non-human rated launch vehicle, and picked up by the CEV prior to maneuvering to reach the target spacecraft for servicing. Copyright © 2006 by University of Maryland Space systems laboratory.

关键词： Man machine systems

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Adaptive observer for a LTV system with partially unknown state matrix and delayed measurements 14

Adaptive observer for a LTV system with partially unknown st...

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14th International Congress on Ultra Modern Telecommunications and Control systems and Workshops, ICUMT 2022

作者： Bobtsov, Alexey Nikolaev, Nikolay Slita, Olga Kozachek, Olga Oskina, Olga Itmo University Institute of Problems of Mechanical Engineering Laboratory 'Control of Complex Systems' Department of Control Systems and Robotics Saint-Petersburg Russia Itmo University Department of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (数字)9798350398663

ISBN: (纸本)9798350398663

Problem of adaptive state observer synthesis for linear time-varying (LTV) system with unknown time-varying parameter and delayed output measurements is considered. State observation problem has attracted the attention of many researchers [1]. In this paper the results proposed in the [2]-[4] are developed. It is supposed that the state matrix can be represented as sum of known and unknown parts. Output vector is measured with known constant delay. An adaptive identification algorithm which reconstructs unknown state and unknown time-varying parameter is proposed. © 2022 IEEE.

关键词： Time varying control systems

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Magnetic Flux Servoing for Precise Localization Based on Gradient Tensor Contractions 19

Magnetic Flux Servoing for Precise Localization Based on Gra...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Martinovic, Dean Orsag, Matko University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb10000 Croatia

ISBN: (纸本)9798350320695

This paper focuses on bridge inspections performed by intelligent unmanned aerial vehicles (UAV). For this, small data loggers are placed by the UAVs at the bridge, which have to be removed later. In our previous work we presented the magnetic localization method SRIOD, which not only detects the center of the data logger but also its orientation. In this work we proof SRIOD in a real application and let a robotic arm locate a magnetic target. The hardware involved is presented including the control strategy for the robot. The motions of the robot and the magnetic target are captured with 12 Optitrack cameras in order to validate the localization quality. © 2023 IEEE.

关键词： Antennas

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Path planning for cooperating unmanned vehicles over 3-d terrain

Path planning for cooperating unmanned vehicles over 3-d ter...

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International Conference on Informatics in Control Automation and robotics, ICINCO 2007

作者： Nikolos, Ioannis K. Tsourveloudis, Nikos C. Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete 73100 Chania Greece

ISBN: (纸本)9783540856399

In this paper we suggest an off-line/on-line path planner for cooperating unmanned vehicles that takes into account the mission objectives and constraints through an optimization procedure. The cooperating vehicles can be either Unmanned Aerial Vehicles (UAVs) or Autonomous Underwater Vehicles (AUVs);these two categories of vehicles share common features as far as path planning is concerned and these features are used in this work for the development of a unified approach to the path planning problem over 3-D terrains. A number of unmanned vehicles of the same category are launched from the same or different known initial locations. The main issue is to produce 3-D trajectories (represented by 3-D B-Spline curves) that ensure a collision free path, respect the mission objectives and constraints, and guide the vehicles to a common final destination. The off-line planner is designed for known environments. The on-line one generates paths in unknown static environments, by exchanging acquired information from the cooperating vehicles' on-board sensors. For each vehicle a near optimum path is generated that guides it safely to an intermediate position within the already scanned area. The process is repeated for each vehicle until the final destination is reached by one or more members of the team. Then, each one of the remaining vehicles can either turn into the off-line mode to reach the target, moving through the already scanned area, or continue with the on-line mode. Both off-line and on-line path planning problems are formulated as optimization problems, and a Differential Evolution algorithm is used as the optimizer.

关键词： Autonomous underwater vehicles

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Safe test flights for small rotorcrafts

Safe test flights for small rotorcrafts

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5th International Conference on Informatics in Control Automation and robotics, ICINCO 2008

作者： Vitzilaios, Nikos Tsourveloudis, Nikos Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania 73300 Greece

ISBN: (纸本)9783642002700

In this paper we present an experimental test bed for the development and evaluation of unmanned helicopters control. Main component of the suggested test bed is a flying stand which permits all possible movements but, also, prevents helicopters' damage because of crashing. A variety of sensors mounted on the stand, monitor and feedback rotorcraft's attitude and operational states. Based on the sensory information, a fuzzy logic controller has been developed and tested on a real rotorcraft, using the developed test bed. This controller proved able to perform hovering and altitude control. Experimental results are presented for various test cases. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Fuzzy control

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Experimental Characterization and Comparison of Three Typical Omnidirectional Mobile Robots 8

Experimental Characterization and Comparison of Three Typica...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Li, Zhuolun Long, Jiajun Zhang, Ximan Gao, Chengyuan Jiang, Shixing Zhu, Zheng Jia, Zhenzhong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9798350300178

Omnidirectional vehicles (ODVs) or mobile robots are widely used in various industries due to their ability to move and rotate in narrow spaces without the need for multiple adjustments of moving direction or stopping. There are multiple types of ODVs, including those with standard wheels and those with special wheels such as Swedish wheels. Comprehensive characterization of the ODV's overall performance, which is very important when selecting specific configurations in the robot design process, is still missing in the literature. This paper qualitatively summarizes the comprehensive characteristics of three typical omnidirectional mobile robots in indoor scenarios through theoretical analysis and physical experiments. We compare the robot's performance through six representative evaluation metrics (maneuverability, efficiency, etc.) and express the results in a radar chart. The results of this study can assist designers in designing omnidirectional robots more effectively for specific application scenarios. © 2023 IEEE.

关键词： Wheels

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A Distributed Fixed-Time Neurodynamic Algorithm and Its Application in Multi-Autonomous Underwater Vehicle Collaborative Escorting

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IEEE Transactions on Network Science and engineering 2025年

作者： Zhang, Peng He, Xing Yu, Junzhi Southwest University Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing College of Electronic and Information Engineering Chongqing400715 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Peking University Nanchang Innovation Institute Nanchang330224 China

In this paper, a distributed fixed-time neurodynamic algorithm (DFxTNA) is designed for solving distributed optimization problem with time-varying (TV) objective function and constraints. The DFxTNA consists of consensus part based on sliding-mode control technique and optimization part based on Hessian matrix and penalty function. In contrast to existing distributed TV algorithms, DFxTNA based on fixed-time sliding mode control can effectively improve the convergence performance of the algorithm and has better stability with the addition of TV disturbance. In addition, the consistency and fixed-time convergence of DFxTNA are proved by Lyapunov theory and fixed-time stability, respectively. The effectiveness of DFxTNA is verified by numerical experiments. Finally, a distributed TV optimization problem model is established for a multi-autonomous underwater vehicle (AUV) cooperative escort scenario, and DFxTNA is applied to solve the problem. Simulation results confirm the effectiveness and stability of DFxTNA in target tracking, formation control, and dynamic obstacle avoidance. © 2013 IEEE.

关键词： Lyapunov functions

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Multi-hop Reasoning over Sparse Knowledge Graphs with Deep Reinforcement Learning

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Expert systems with Applications 2025年

作者： Yiyang Liu Lejun Fu Yukai Fu Tianxing Wu Hongfei Bai State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang 110016 China College of Information Engineering Shenyang University of Chemical Technology Shenyang 110142 China School of Computer Science and Engineering Southeast University Nanjing 211189 China

In recent years, knowledge reasoning has demonstrated substantial progress in inferring missing information, effectively alleviating the limitations caused by the incompleteness of knowledge graphs (KGs). Dealing with entities that have sufficient paths between them, multi-hop reasoning methods have achieved notable success and demonstrated interpretability, but they still exhibit deficiencies when dealing with sparse KGs. To overcome the insufficiency of edges in sparse KGs and the absence of effective guidance in multi-hop reasoning methods, a hybrid multi-hop collaborative Multi-Agent Sparse Knowledge Graph Reasoning model (MASKGR) is proposed. Attention-based dynamic completion (ADC) and variable rule guidance(VRG) are used to enhance the reasoning capability of deep reinforcement learning (RL) in sparse KGs. ADC focuses on high-value relations based on attention weights and combines embedding-based methods to predict the tail entities of these relations, expanding the original action space and improving the exploration capability of agents. Moreover, VRG greatly improves the ability of MASKGR to use rule-guided agent learning by utilizing the variable rule ratio and the variable loss reshaping. ADC can be applied to both single-agent and multi-agent in other models, while VRG is specifically designed for multi-agent. Comprehensive experiments have been conducted on four datasets: FB15K-237-10%, FB15K-237-50%, NELL23K, and WD-singer. Specifically, MASKGR achieves relative improvements of 1.3% in Mean Reciprocal Rank (MRR) and 1.1% in the proportion of correct tail entity rankings in the top 3 (Hit@3) on the FB15K-237-10%, 2.4% in MRR and 1.3% in Hit@3 on the NELL23K, and 2.7% in MRR and 3.6% in Hit@3 on the WD-singer. The results indicate that MASKGR outperforms state-of-the-art multi-hop reasoning models based on reinforcement learning.

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