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arXiv 2021年

作者： Wang, Ruigang Koelwijn, Patrick J.W. Manchester, Ian R. Tóth, Roland Australian Centre for Field Robotics Sydney Institute for Robotics and Intelligent Systems University of Sydney SydneyNSW2006 Australia Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

In this paper, we present a virtual control contraction metric (VCCM) based nonlinear parameter-varying (NPV) approach to design a state-feedback controller for a control moment gyroscope (CMG) to track a user-defined trajectory set. This VCCM based nonlinear stabilization and performance synthesis approach, which is similar to linear parameter-varying (LPV) control approaches, allows to achieve exact guarantees of exponential stability and L2-gain performance on nonlinear systems with respect to all trajectories from the predetermined set, which is not the case with the conventional LPV methods. Simulation and experimental studies conducted in both fully- and under-actuated operating modes of the CMG show effectiveness of this approach compared to standard LPV control methods. © 2021, CC BY.

关键词： State feedback

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Reducing stick-slip motion in one-dimensional nano manipulation by real-time feedback control

Reducing stick-slip motion in one-dimensional nano manipulat...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Zhang, Jing Miao, Lei Wu, Re-Bing Xi, Ning Li, Chun-Wen Wang, Yue-Chao Tarn, Tzyh-Jong Department of Automation Tsinghua University Beijing 100084 China Center for Quantum Information Science and Technology Tsinghua National Laboratory for Information Science and Technology Beijing 100084 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Beijing 110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Department of Electrical and Systems Engineering Washington University St. Louis MO 63130 United States

ISBN: (纸本)9781424470334

When a micro cantilever with a nanoscale tip is manipulated on a substrate with atomic roughness, e.g., pushing an atomic-scale sample or etching the surface of the substrate to draw desired patterns, the periodical lateral frictional forces with stochastic fluctuations will induce stick-slip motion of the cantilever tip, which may greatly influence the precision of the nano manipulation. To reduce such a stick-slip motion, we propose a feedback control strategy based on the position estimation of the cantilever tip to compensate the periodical frictional force. Numerical simulations show that the motion of the cantilever tip under feedback control can track the desired trajectory asymptotically. Our proposal can aL be extended to the case when the cantilever tip moves over a Gaussian-shape defection on the substrate and when the stochastic fluctuations in the lateral force are with non-zero correlation time. ©2010 IEEE.

关键词： Feedback control

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Robot Embodied Dynamic Tactile Perception of Liquid in Containers 23

Robot Embodied Dynamic Tactile Perception of Liquid in Conta...

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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Xu, Yingtian Ma, Yichen Lin, Waner Sun, Zhenglong Zhang, Tianwei Wang, Ziya The Chinese Univ of Hong Kong School of Science and Engineering Shenzhen518172 China Shenzhen University Key Laboratory of Optoelectronic Devices and Systems Ministry of Education School of Physics and Optoelectronic Engineering Shenzhen518060 China Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Department of Micro-Nano Electronics Shanghai200240 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518129 China

ISBN: (纸本)9798350373578

Humans perceive objects and environments actively and dynamically using tactile sensing facilitated by the skin. However, due to the gap in sensing capabilities between electronic skin and human skin, it remains a challenge for robots to achieve intricate tactile perception. For example, the task of liquid properties estimation within containers, demands sensing and comprehension of complex dynamic tactile signals during contact. This paper introduces a novel tactile fingertip inspired by human skin enabling both static tactile sensing facilitated by a layer of porous piezoresistive elastomer and dynamic tactile sensing enabled by condenser microphones. A data-driven methodology is employed to analyze liquids through multimodal signals devoid of physical modelling. The proposed robotic system engages in shaking various bottles filled with different volumes of water, allowing the tactile fingertip to detect changes in grasping force caused by shaking and small vibrations caused by the collision of the container with liquid. Five machine learning models trained on these tactile signals are analyzed and compared. Experimental results demonstrate the proficiency of the tactile system in distinguishing liquid fill percentages across bottles of different shapes and capacities with a remarkable accuracy of 98%. This paper holds promise for advancing the embodied intelligence of robots, enhancing their ability to perceive mixed tactile signals dynamically, thereby facilitating tasks such as liquid estimation and other intricate tactile operations in environments like kitchens and hospitals. © 2024 IEEE.

关键词： Bottles

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Design of a Sextuple Cross-Coupled SRAM Cell with Optimized Access Operations for Highly Reliable Terrestrial Applications

Design of a Sextuple Cross-Coupled SRAM Cell with Optimized ...

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Asian Test Symposium (ATS)

作者： Aibin Yan Zhen Wu Jun Zhou Yuanjie Hu Yan Chen Zuobin Ying Xiaoqing Wen Patrick Girard School of Computer Science and Technology Anhui Engineering Laboratory of IoT Security Technologies Hefei China Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan Laboratory of Informatics Robotics and Microelectronics of Montpellier CNRS Montpellier France

ISBN: (数字)9781728126951

ISBN: (纸本)9781728126968

The Aggressive technology scaling makes modern advanced SRAMs more and more sensitive to soft errors that include single-node upsets (SNUs) and double-node upsets (DNUs). This paper presents a novel Sextuple Cross-Coupled SRAM cell, namely SCCS cell, which can tolerate both SNUs and DNUs. The cell mainly consists of six cross-coupled input-split inverters, constructing a large error-interceptive feedback loop to robustly retain stored values. Since the cell has many redundant storage nodes, the cell achieves the following robustness: (1) the cell can self-recover from all possible SNU; (2) the cell can self-recover from partial DNUs; (3) the cell can avoid the occurrence of other DNUs due to node-separation. Simulation results validate the excellent robustness of the proposed cell. Moreover, compared with the state-of-the-art typical existing hardened cells, the proposed cell achieves an approximate 61% read access time as well as 12% write access time reduction at the costs of 47% power dissipation as well as 44% silicon area on average.

关键词： Transistors SRAM cells Simulation Integrated circuit reliability Feedback loop

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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Novel Radiation Hardened Latch Design with Cost-Effectiveness for Safety-Critical Terrestrial Applications

Novel Radiation Hardened Latch Design with Cost-Effectivenes...

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Asian Test Symposium (ATS)

作者： Aibin Yan Zhen Wu Lu Lu Zhili Chen Jie Song Zuobin Ying Patrick Girard Xiaoqing Wen School of Computer Science and Technology Anhui Engineering Laboratory of IoT Security Technologies Hefei China Laboratory of Informatics Robotics and Microelectronics of Montpellier CNRS Montpellier France Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

ISBN: (数字)9781728126951

ISBN: (纸本)9781728126968

To meet the requirements of both cost-effectiveness and high reliability for safety-critical terrestrial applications, this paper proposes a novel radiation hardened latch design, namely HLCRT. The HLCRT latch mainly consists of a single-node-upset self-recoverable cell, a 3-input C-element, and an inverter. If any two inputs of the C-element suffer from a double-node-upset (DNU), or if one node inside the cell together with another node outside the cell suffer from a DNU, the latch still has correct values on its output node, i.e., the latch is effectively DNU hardened. Simulation results demonstrate the DNU tolerance of the proposed latch. Moreover, due to the use of fewer transistors, clock gating technologies, and a high-speed path, the proposed latch saves about 444.80% delay, 150.50% power, 72.66% area, and 2029.63% delay-power-area product on average, compared with state-of-the-art DNU hardened latch designs.

关键词： Latches Inverters Radiation hardening (electronics) Reliability engineering MOSFET

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Gone with the Wind: Nonlinear Guidance for Small Fixed-Wing Aircraft in Arbitrarily Strong Windfields

Gone with the Wind: Nonlinear Guidance for Small Fixed-Wing ...

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American Control Conference

作者： Luca Furieri Thomas Stastny Lorenzo Marconi Roland Siegwart Igor Gilitschenski Laboratory of Automation and Robotics Department of Electronics Computer Science and Systems University of Bologna Italy Autonomous Systems Lab Department of Mechanical & Processing Engineering Swiss Federal Institute of Technology (ETH Zurich) Switzerland

ISBN: (纸本)9781509045839

The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of environmental conditions. Due to their small size, low weight, and low speeds, they require the capability of coping with wind speeds that are approaching or even faster than the nominal airspeed. In this paper we present a principled nonlinear guidance strategy, addressing this problem. More broadly, we propose a methodology for the high-level control of non-holonomic unicycle-like vehicles in the presence of strong flowfields (e.g. winds, underwater currents) which may outreach the maximum vehicle speed. The proposed strategy guarantees convergence to a safe and stable vehicle configuration with respect to the flowfield, while preserving some tracking performance with respect to the target path. Evaluations in simulations and a challenging real-world flight experiment in very windy conditions confirm the feasibility of the proposed guidance approach.

关键词： Arbitrarily Strong Windfields Fixed wing aircraft Guidance Wind Wings Unmanned Aerial Vehicle low speed level control vehicle visual tracking wall coping nonlinearity Platform

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Microfluidic Formation of Porous Microgels with Interior Spiral Canals for Mesenchymal Stem Cell Culture

Microfluidic Formation of Porous Microgels with Interior Spi...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Zhen Zhan Tanyong Wei Zhan Yang Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China School of Mechanical and Electrical Engineering Soochow University Suzhou China

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

Stem cell delivery is pivotal in tissue engineering, enabling the regeneration and repair of damaged tissues and advancing therapeutic solutions. As an innovative stem cell delivery system, microgels provide a supportive, protective environment that enhances cell viability and promotes targeted tissue regeneration. However, conventional microgels face limitations due to the lack of microporous structures and interior canals, which hinder efficient nutrient and oxygen exchange, thereby reducing cell viability and proliferation. To overcome these challenges, we developed a droplet microfluidic system for the stable and continuous production of porous microgels with interior spiral canals by introducing a pore-forming agent. This controlled formation process results in microgels with excellent porosity and monodispersity. With their unique structure and biocompatibility, these porous microgels are excellent microcarriers for 3D cell culture, enhancing nutrient and oxygen exchange and providing a conducive environment for cell growth and proliferation.

关键词： Irrigation Spirals Three-dimensional displays Microprocessors Tissue engineering Computer architecture Stem cells Nutrients Microfluidics Surface treatment

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Hybrid acoustic-optical underwater communication networks for next-generation cooperative systems: the EUMR experience

Hybrid acoustic-optical underwater communication networks fo...

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OCEANS

作者： João Quintas Roberto Petroccia António Pascoal João Cruz Pedro Gois Luca Morlando Marin Stipanov Laboratory of Robotics and Systems in Engineering and Science (LARSyS) ISR/IST University of Lisbon Lisbon Portugal NATO STO Centre for Maritime Research and Experimentation La Spezia Italy

ISBN: (纸本)9781665427883

The past decade has witnessed a flourishing of different physical communication technologies for underwater wireless transmissions systems. Fast paced advances in optical, radio-frequency, or magneto-inductive signals technologies have ushered in a new era of multi-modal communication systems. In a nutshell, the majority of the systems seek to combine the short-range, high-bit rate of the new wave of technologies with the long-range, low-bit rate of the by now de facto acoustic communications solutions. This increasing flexibility opens a new realm of operations and solutions for underwater robotic vehicles working in cooperation. In this paper, we propose a new hybrid acoustic-optical under-water communication network for next-generation cooperative systems. We endeavor to describe its development in the scope of the EU Marine Robots Network project by a team, composed by the NATO STO Centre for Maritime Research and Experi-mentation (CMRE) and the Instituto Superior Tecnico of Lisbon (IST). In particular: the integration of the CMRE Cognitive-Communication Architecture (CCA) with the BlueRay optical modem of IST and its installation in marine robotic vehicles of the Medusa class. laboratory and in-water tests using the Medusa stack and the Medusa class vehicles showcase the potentiality of the proposed network in future cooperative underwater missions.

关键词： Wireless communication Symbiosis Underwater communication Robot kinematics Cooperative systems Modems Acoustics

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A Robust Surveillance System for AGV Using Forward-Downward Visual Measurements

A Robust Surveillance System for AGV Using Forward-Downward ...

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第35届中国控制与决策会议

作者： Sichao Zhang Wei Liang Xudong Yuan Haibo An Meng Zheng Yinlong Zhang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Science and Technology on Information Systems Engineering Laboratory the 28th Research Institute of CETC

Automatic Guided Vehicle(AGV) has been widely used in the warehouse for transporting the bulky and heavy ***,the AGV may deviate the regular trajectories in presence of incorrect or untimely commands sent form the server due to,e.g.,cyber attacks,unexpected blocks of the wireless *** order to ensure AGV running safely,this paper presents a visual surveillance system by making full use of the measurements from the forward and downward ***,the forward camera estimates the AGV positions and attitudes by tracking the surrounding landmarks detected from the forward image ***,the downward camera is used to detect the QR codes fixed on the floor and estimate the AGV poses in the absolute reference *** from that,the AGV poses from the downward camera could correct scale and poses estimated the forward *** proposed method has been extensively performed on the developed *** results proves the effectiveness in using the complementary forwarddownward visual measurements for AGV security surveillance.

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