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Annual Conference of Industrial Electronics Society

作者： Haibo Cheng Yunpeng He Peng Zeng Shichao Li Valeriy Vyatkin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden Department of Electrical Engineering and Automation Aalto University Helsinki Finland

Prediction of subsurface oil reservoir pressure are critical to hydrocarbon production. However, the accurate pressure estimation faces great challenges due to the complexity and uncertainty of reservoir. The underground seepage flow and petrophysical parameters (permeability and porosity) are important but difficult to measure in oilfield. Deep learning methods have been successfully used in reservoir engineering and oil & gas production process. In this study, the effective but inaccessible subsurface seepage fields are not used, only the spatial coordinates and temporal information are selected as model input to predict reservoir pressure. A stacked GRU-based deep learning model is proposed to map the relationship between spatio-temporal data and reservoir pressure. The proposed deep learning method is verified by using a three-dimensional reservoir model, and compared with commonly-used methods. The results show that the stacked GRU model has a better performance and higher accuracy than other deep learning or machine learning methods in pressure prediction.

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New memory model for humanoid robots - introduction of co-associative memory using mutually coupled chaotic neural networks

New memory model for humanoid robots - introduction of co-as...

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International Joint Conference on Neural Networks (IJCNN)

作者： K. Itoh H. Miwa Y. Nukariya M. Zecca H. Takanobu P. Dario A. Takanishi Department of Mechanical Engineering Waseda University Tokyo Japan Institute for Biomedical Engineering Waseda University Tokyo Japan Graduate School of Science and Engineering Waseda University Tokyo Japan Scuola Superiore Sant'Anna ARTS Laboratory Pontedera Italy Humanoid Robotics Institute Waseda University Tokyo Japan Department of Mechanical Systems Engineering KOGAKUIN University Tokyo Japan

Personal robots, which are expected to become popular in the future, are required to be active in joint work and community life with humans. Therefore, we have been developing new mechanisms and functions for a humanoid robot that has the ability to express emotions and to communicate with humans in a human-like manner. In 2004, we introduced the "Behavior Model" and "Consciousness Model" to the robot mental model so that the robot generated various kinds of behavior and an object of the robot's behavior became clear. We implemented the mental model in the emotion expression humanoid robot WE-4RII (Waseda Eye No.4 Refined II). Also, we have been studying a system of multiple harmonic oscillators (neurons) interacting via chaotic force since 2002. Each harmonic oscillator is driven by chaotic force whose bifurcation parameter is modulated by the position of the harmonic oscillator. In this paper, we propose an associative memory model using mutually coupled chaotic neural networks for generating an optimum behavior to a stimulus. We implemented this model in the emotional expression humanoid robot WE-4RII (Waseda Eye No.4 Refined II).

关键词： Humanoid robots Mutual coupling Chaos Neural networks Chaotic communication Oscillators Humans Cognitive science Neurons Bifurcation

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Triangular formation control using range measurements: An application to marine robotic vehicles

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IFAC Proceedings Volumes 2012年第5期45卷 112-117页

作者： Jorge M. Soares A. Pedro Aguiar António M. Pascoal Marco Gallieri Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne (EPFL) CH-1015 Lausanne Switzerland Control Group Engineering Department Sidney Sussex College University of Cambridge CB21PZ Cambridge UK

This paper addresses the problem of maintaining an autonomous robotic vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The robotic vehicle has no a priori knowledge of the path described by the leaders and its goal is to follow them by constantly regulating the inter-vehicle distances to a desired fixed value, using range-only measurements. To solve this station keeping problem, we propose a control strategy that estimates the formation speed and heading from the ranges obtained to the two leading vehicles, and uses simple feedback laws for speed and heading commands to drive suitably defined common and differential errors to zero. For straight-line motion, we provide guaranteed conditions under which the proposed control strategy achieves local convergence of the distance errors to zero. We also indicate how our design procedure can be extended to full dynamic models of marine robotic vehicles equipped with inner loops for yaw and speed control. Simulation results using realistic models are described and discussed.

关键词： Autonomous Vehicles Marine systems Control Laws Lyapunov Stability Formation Control Station Keeping Triangular Formations

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Intention-Aware Planner for Robust and Safe Aerial Tracking

arXiv

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arXiv 2023年

作者： Ren, Qiuyu Yu, Huan Dai, Jiajun Zheng, Zhi Meng, Jun Xu, Li Xu, Chao Gao, Fei Cao, Yanjun The State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China Huzhou Laboratory of Autonomous Intelligent Systems Huzhou313000 China The Robotics Institute Zhejiang University Yuyao315400 China College of Electrical Engineering Zhejiang University Hangzhou310027 China

Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the widely used constant velocity or constant rotation assumption can not fully capture the dynamics of the target. The tracker may fail when the target happens to move aggressively, such as sudden turn or deceleration. In this paper, we propose an intention-aware planner by additionally considering the intention of the target to enhance safety and robustness in aerial tracking applications. Firstly, a designated intention prediction method is proposed, which combines a user-defined potential assessment function and a state observation function. A reachable region is generated to specifically evaluate the turning intentions. Then we design an intention-driven hybrid A* method to predict the future possible positions for the target. Finally, an intention-aware optimization approach is designed to generate a spatial-temporal optimal trajectory, allowing the tracker to perceive unexpected situations from the target. Benchmark comparisons and real-world experiments are conducted to validate the performance of our method. Copyright © 2023, The Authors. All rights reserved.

关键词： Aircraft detection

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Accessibility-Aware Reinforcement Learning for Inclusive Robotic Navigation

Accessibility-Aware Reinforcement Learning for Inclusive Rob...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Mengsha Hu Yunhuan Wu Yibei Guo Yi Wu Chao Shi Lei Xu Rui Liu Department of Computer Science Kent State University Kent OH USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA Cognitive Robotics and AI Lab (CRAI) College of Aeronautics and Engineering Kent State University Kent OH USA Informatique et Sciences du Numérique (Computer Research Laboratory) CentraleSupélec Paris-Saclay University Gif-sur-Yvette France Department of Systems Science and Industrial Engineering Binghamton University Binghamton NY USA

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Robotic navigation aids humans in essential scenarios, including airport customer boarding, commercial meeting receptions, and disaster site navigation. While individuals benefit from robotic services, these services pose accessibility challenges for people with disabilities. Robots may face limitations in mobility, vision, hearing, and cognitive reasoning, hindering disabled individuals' access to these services. As robotic services become increasingly prevalent, ensuring they are inclusive and accessible is crucial, accommodating human disabilities with adaptations such as slower movements, standing support, and hazard detection. To address this issue, this study introduces a novel Accessibility-Aware Reinforcement Learning model (ARL). ARL extracts disability-related information from human behavioral observations using a contextembedding neural network. It then adjusts robot motions to provide inclusive assistance to individuals with disabilities. To assess the effectiveness of this approach, four assisting services in navigation scenarios ('lead', 'wait', 'assist', and 'protect') and three application scenarios involving navigating elderly individuals in a museum, through traffic, and across a building patio were designed. The results validate ARL's efficacy in enabling robots to make accessibility-aware decisions, thereby enhancing their support for individuals with disabilities.

关键词： Robot motion Navigation Neural networks Reinforcement learning Feature extraction People with disabilities Robot learning Data mining Older adults Robots

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Observability analysis of 2D single beacon navigation in the presence of constant currents for two classes of maneuvers

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IFAC Proceedings Volumes 2013年第33期46卷 227-232页

作者： Naveena Crasta Mohammadreza Bayat A. Pedro Aguiar António M. Pascoal Institute for Automation and System Engineering Technical University of Ilmenau Ilmenau 98694 Germany Laboratory of Robotics and Systems in Engineering and Science (LARSyS) IST/University of Lisbon Av. Rovisco Pais 1 1049-001 Lisbon Portugal Faculty of Engineering University of Porto (FEUP) Rua Dr. Roberto Frias s/n 4200-465 Porto Portugal Adjunct Scientist National Institute of Oceanography (NIO) Goa India

We analyze the observability properties of an underwater vehicle (moving in 2D) performing single beacon navigation for two specific classes of maneuvers, whereby the vehicle measures its distance to a fixed transponder located at a known position using an acoustic ranging device. We show that in the presence of known ocean currents, the system is found to be globally observable for constant relative course and constant (nonzero) relative course rate inputs in the sense of Herman and Krener. On the other hand, with unknown ocean currents the system fails to be locally weakly observable with constant relative course but we characterize the set of indistinguishable states from a given initial position and ocean current configuration. Interestingly, observability can be achieved with constant (nonzero) relative course rate in the presence of unknown, constant ocean currents.

关键词： Single beacon navigation Range-only measurement Set of indistinguishable states Observability

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Position control of XY precision planar motion table based on input shaping filter

Position control of XY precision planar motion table based o...

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作者： HuaLiang Zhang Xu Lu DanPing Jia BingJie Zhao Tao Zhang Yang Liu HongYu Yan Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Artificial Intelligence Shenyang University of Technology School of Information Science and Engineering Shenyang University of Technology

In order to solve the vibration problem of mining equipment,a Simulink simulation model of current loop,speed loop and position loop of permanent magnet synchronous motor was established to track the input position signal of the motor system.[1] At the same time,the input shaper is introduced into the motor three loop control model to study the vibration suppression effect of the input shaper.[2] The essence of the input shaper is to filter the input ***,the parameters of the input shaper need to be accurately identified and the detailed parameters of the system need to be ***,the problem that the identification accuracy of the system is not enough often makes the parameters of the shaper *** view of the problem that the system identification is not accurate,a method of adjusting and setting input shaper parameters is designed,which is not very dependent on the *** results show that the optimal parameters of the shaper can be selected by the *** with the parameters of the shaper selected according to the identification model,the vibration suppression effect is better.

关键词： system identification input shaping oscillation suppression

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Theoretical Model Construction of Deformation-Force for Soft Grippers Part I: Co-rotational Modeling and Force Control for Design Optimization

arXiv

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arXiv 2023年

作者： Dong, Huixu Guo, Haotian Yang, Sihao Qiu, Chen Dai, Jiansheng Chen, I-Ming Zhejiang University Hangzhou310058 China Robotics Research Center Nanyang Technological University Singapore639798 Singapore Maider Medical Industry Equipment Co. Itd 317607 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems SUSTech Institute of Robotics Southern University of Science and Technology Shenzhen518055 China Centre for Robotics Research Department of Engineering King’s College London Strand LondonWC2R 2LS United Kingdom

Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship between shape deformation and contact force for such grippers, the Fin-Ray grippers as an example, remains stagnant to date. To address this research gap, this article devises, presents, and experimentally validates a universal bidirectional force-displacement mathematical model for compliant grippers based on the co-rotational concept, which endows such grippers with an intrinsic force sensing capability and offers a better insight into the design optimization. In Part I of the article, we introduce the fundamental theory of the co-rotational approach, where arbitrary large deformation of beam elements can be modeled. Its intrinsic principle allowing taking materials with varying stiffness, various connection types and key design parameters into consideration with few assumptions. Further, the force-displacement relationship is numerically derived, providing accurate displacement estimations of the gripper under external forces with minor computational loads. The performance of the proposed method is experimentally verified through comparison with Finite Element Analysis (FEA) in simulation, obtaining a fair degree of accuracy (6%), and design optimization of Fin-Ray grippers is systematically investigated. Part II of this article demonstrating the force sensing capabilities and the effects of representative co-rotational modeling parameters on model accuracy is released in Arxiv1 Copyright © 2023, The Authors. All rights reserved.

关键词： Grippers

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Theoretical Model Construction of Deformation-Force for Soft Grippers Part II: Displacement Control Based Intrinsic Force Sensing

arXiv

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arXiv 2023年

作者： Dong, Huixu Zheng, Ziyi Guo, Haotian Yang, Sihao Qiu, Chen Dai, Jiansheng Chen, I. Ming Zhejiang University Hangzhou310058 China Robotics Research Center Nanyang Technological University Singapore639798 Singapore Maider Medical Industry Equipment Co. Itd 317607 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems SUSTech Institute of Robotics Southern University of Science and Technology Shenzhen518055 China Centre for Robotics Research Department of Engineering King’s College London Strand LondonWC2R 2LS United Kingdom

Force-aware grasping is an essential capability for most robots in practical applications. Especially for compliant grippers, such as Fin-Ray gripper, it still remains challenging to build a bidirectional mathematical model that mutually maps the shape deformation and contact force. Part I of this article has constructed the force-displacement relationship for design optimization through the co-rotational theory. In Part II, we further devise a displacement-force mathematical model, enabling the compliant gripper to precisely estimate contact force from deformations sensor-free. The presented displacement-force model elaborately investigates contact forces and provides force feedback for a force control system of a gripper, where deformation appears as displacements in contact points. After-wards, simulation experiments are conducted to evaluate the performance of the proposed model through comparisons with the finite-element analysis (FEA) in Ansys. Simulation results reveal that the proposed model accurately estimates contact force, with an average error of around 3% and 4% for single or multiple node cases, respectively, regardless of various design parameters (Part I of this article is released in Arxiv1). Copyright © 2023, The Authors. All rights reserved.

关键词： Grippers

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A social power game for the concatenated Friedkin-Johnsen model

A social power game for the concatenated Friedkin-Johnsen mo...

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IEEE Conference on Decision and Control

作者： Lingfei Wang Guanpu Chen Yiguang Hong Guodong Shi Claudio Altafini Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences and also with the University of Chinese Academy of Sciences Beijing China JD Explore Academy Beijing China Department of Control Science and Engineering Tongji University Shanghai China Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW Sydney Department of Electrical Engineering Division of Automatic Control Linköping University Linköping Sweden

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

If a concatenated Friedkin-Johnsen model is used to describe the evolution of the opinions of stubborn agents in a sequence of discussion events, then the social power achieved by the agents at the end of the discussions depends from the stubbornness coefficients adopted by the agents through the sequence of events. In this paper we assume that the agents are free to choose their stubbornness profiles, and ask ourselves what strategy should an agent follow in order to maximize its social power. Formulating the problem as a strategic game, we show that choosing the highest possible values of stubbornness in the early discussions leads to the highest possible social power.

关键词： Games

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