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Delayed dynamic-feedback controller design for multi-frequency vibration suppression

IFAC-PapersOnLine 2024年第27期58卷 196-201页

作者： Adrian Saldanha Adam Peichl Wim Michiels Tomas Vyhlidal Department of Computer Science KU Leuven Celestijnenlaan 200A 3001 Leuven Belgium Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6 Czechia

We present a methodology for designing a dynamic controller with delayed output feedback for achieving non-collocated vibration suppression with a focus on the multi-frequency case. To synthesize the delay-based controller, we first remodel the system of equations as a delay-differential algebraic equation (DDAE) in such a way that existing tools for design of a static output feedback controller can be easily adapted. The problem of achieving non-collocated vibration suppression with sufficient damping is formulated as a constrained optimization problem of minimizing the spectral abscissa in the presence of zero-location constraints, with the constraints exhibiting polynomial dependence on its parameters. We transform the problem into an unconstrained one using elimination, following which we solve the resulting non-convex, non-smooth optimization problem.

关键词： vibration suppression time-delay DDAE

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Grating‐like anechoic layer for broadband underwater sound absorption

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International Journal of mechanical System Dynamics 2022年第3期2卷 265-277页

作者： Chenlei Yu Mingyu Duan Wei He Xin Chen Fengxian Xin Tian J.Lu State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace EngineeringXi'an Jiaotong UniversityXi'anChina MOE Key Laboratory for Multifunctional Materials and Structures School of Aerospace EngineeringXi'an Jiaotong UniversityXi'anChina Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijingChina Xi'an Modern Chemistry Research Institute Xi'anChina State Key Laboratory for Mechanics and Control of Mechanical Structures College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina MIIT Key Laboratory of Multifunctional Lightweight Materials and Structures College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina

To address the challenging task of effective sound absorption in the low and broad frequency band for underwater structures,we propose a novel grating‐like anechoic layer by filling rubber blocks and an air backing layer into metallic *** metallic gratings are incorporated into the anechoic layer as a skeleton for enhanced viscoelastic dissipation by promoting shear deformation between rubber and metal *** introduction of an air backing layer releases the bottom constraint of the rubber,thus intensifying its deformation under acoustic *** on the homogenization method and the transfer matrix method,a theoretical model is developed to evaluate the sound absorption performance of the proposed anechoic layer,which is validated against finite element simulation *** is demonstrated that a sound absorption coefficient of the grating‐like anechoic layer of 0.8 can be achieved in the frequency range of 1294-10000 *** the importance of sound absorption at varying frequencies,the weighted average method is subsequently used to comprehensively evaluate the performance of the anechoic ***,with structural density taken into consideration,an integrated index is proposed to further evaluate the acoustic properties of the proposed anechoic ***,the backing conditions and the boundary conditions of finite‐size structures are *** results provide helpful theoretical guidance for designing novel acoustic metamaterials with broadband low‐frequency underwater sound absorption.

关键词： underwater sound absorption broadband transfer matrix method rubber coating

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Group-k consistent measurement set maximization via maximum clique over k-Uniform hypergraphs for robust multi-robot map merging

arXiv

引用

arXiv 2023年

作者： Forsgren, Brendon Vasudevan, Ram Kaess, Michael McLain, Timothy W. Mangelson, Joshua G. Department of Mechanical Engineering Brigham Young University United States Department of Mechanical Engineering University of Michigan United States Robotics Institute Carnegie Mellon University United States Department of Electrical and Computer Engineering Brigham Young University United States

This paper unifies the theory of consistent-set maximization for robust outlier detection in a simultaneous localization and mapping framework. We first describe the notion of pairwise consistency before discussing how a consistency graph can be formed by evaluating pairs of measurements for consistency. Finding the largest set of consistent measurements is transformed into an instance of the maximum clique problem and can be solved relatively quickly using existing maximum-clique solvers. We then generalize our algorithm to check consistency on a group-k basis by using a generalized notion of consistency and using generalized graphs. We also present modified maximum clique algorithms that function on generalized graphs to find the set of measurements that is internally group-k consistent. We address the exponential nature of group-k consistency and present methods that can substantially decrease the number of necessary checks performed when evaluating consistency. We extend our prior work to multi-agent systems in both simulation and hardware and provide a comparison with other state-of-the-art methods. © 2023, CC BY-NC-SA.

关键词： Multi agent systems

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Learning Strategies for Erecting Horizontal Objects via Half-Grasping to Aid Subsequent Tasks

Learning Strategies for Erecting Horizontal Objects via Half...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Jinseok Kim Iksu Choi Taeyeop Cho Seungjae Won KwangEun Ko Kwang Hee Lee Sangjun Lee Gi-Hun Yang Dongbum Pyo Human-Centric Robotics R&D Department Korea Institute of Industrial Technology Ansan Korea Department of Robotics Korea University of Science and Technology Daejeon Korea Department of Mechanical Engineering Sungkyunkwan University Suwon Korea Department of Intelligence Robotics Hanyang University Seoul Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

In robotic assembly environments, the difficulty of subsequent tasks depends on how and where the target object is grasped, such as in peg-in-hole or bolting/screwing scenarios. Therefore, adjusting the pose of the target object is often necessary before achieving the desired configuration. Conventional wisdom dictates a grasping position distant from the center of mass of an object, resulting in the rotational displacement near the grasp point, as a failure. However, in this study, we redefine such scenarios as "half-grasping" and intentionally leverage them to execute the task of erecting horizontally lying objects. In this research, we introduce the concept of uprighting objects using half-grasping. We implemented this approach in the virtual environment using NVIDIA Isaac Sim and trained manipulation strategies through deep reinforcement learning. Using the trained policy, an object erection task was performed in a virtual environment, achieving a success rate of over 98.2% thus confirming the feasibility of the proposal.

关键词： Robotic assembly Construction Automation Shape Virtual environments Grasping Deep reinforcement learning Control systems Proposals Robots

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Guest Editorial: Special Issue on Technology Trends in Control, robotics and Systems - For the 30th Anniversary of the Institute of Control, robotics and Systems -

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Journal of Institute of Control, robotics and Systems 2024年第4期30卷 295-295页

作者： Ko, Nak Yong Kang, Taesam Song, Jin Woo Lim, Myo Taeg Jo, Kang-Hyun Department of Electronic Engineering Interdisciplinary Program in IT-Bio Convergence System Chosun University Korea Republic of Department of Mechanical and Aerospace Engineering Konkuk University Korea Republic of Department of Intelligent Mechatronics Engineering Sejong University Korea Republic of School of Electrical Engineering Korea University Korea Republic of Department of Electrical Electronic and Computer Engineering University of Ulsan Korea Republic of

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Misalignment Fault Detection in Rotor-Shaft Systems Under Varying Load Conditions Based on Kruskal-Wallis Test and Tukey's Honestly Significant Difference Test

SSRN

引用

SSRN 2024年

作者： Dao, Phong B. Barczewski, Roman Staszewski, Wieslaw J. AGH University of Krakow Faculty of Mechanical Engineering and Robotics Department of Robotics and Mechatronics Al. Mickiewicza 30 Krakow30-059 Poland Poznan University of Technology Faculty of Mechanical Engineering Institute of Applied Mechanics ul. Jana Pawla II 24 Poznan60-965 Poland

This study presents a novel method for misalignment detection in rotor-shaft systems under varying load conditions based on the Kruskal-Wallis test and Tukey’s Honestly Significant Difference (HSD) test. The method is designed for use with two or more sets of vibration data, including: a ‘no fault’ condition designated as the reference data set;and one (or more) testing data sets for which conditions need to be determined. The computational procedure has two stages. First, the Kruskal-Wallis test is performed to reveal preliminary information about the rotor-shaft condition. Second, the Tukey’s HSD test is conducted to analyse, validate, and further explore the Kruskal-Wallis test results. The HSD analysis involves multiple pairwise comparisons between the mean ranks of the ‘no fault’ data set and the testing data sets. Vibration data collected from a rotor-shaft test rig were used to validate the method. The experimental data represent different levels of misalignment faults in the rotor-shaft system under varying load effects. Two validation schemes were examined. The first related to detecting a single fault condition under the same load effect, while the second involved detecting multiple fault conditions under different load effects. The obtained results are promising: the misalignment could be accurately detected regardless of load conditions;different levels of misalignment can be distinguished based on the absolute difference between the mean ranks. © 2024, The Authors. All rights reserved.

关键词： Fault detection

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Model-Based Synchronized Control of a Robotic Dual-Arm Manipulator

Model-Based Synchronized Control of a Robotic Dual-Arm Manip...

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International Conference on Advances in mechanical engineering, ICAME 2020

作者： Katpatal, Akshay Parwekar, Ajinkya Jha, Alok Kumar Robotics Engineering Worcester Polytechnic Institute WorcesterMA United States Department of Mechanical Engineering Shri Ramdeobaba College of Engineering and Management Nagpur440013 India

ISBN: (纸本)9789811536380

Simulation results for control technique (CTC), applied to a cooperative robotic system comprising of two robotic arms of 5DOF each, are illustrated in this paper. Algorithm for a separate synchronization control technique, which allows for dual manipulation, is also illustrated. The system in consideration is used to manipulate a rigid payload on a desired trajectory from desired initial to final orientation and position (within the workspace of the system). The forward and inverse kinematics equations are formulated and the corresponding problems for the system dual arms are solved. The constraints of dynamic equations of motion, for the system in consideration, are utilized to obtain the combined required equations for the payload and both the arms. The presented dynamic model for the system is based on Lagrange equations of motion. The control algorithm makes use of measurements of acceleration, velocity, and coordinates of the object. To demonstrate the performance of the control technique, simulation results for the control torque of the three main joints are provided. The durability of the proposed control algorithm is tested while taking into consideration, disturbance, and uncertainty. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Dual arm Manipulator Synchronized control

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Customizing Visual-Language Foundation Models for Multi-modal Anomaly Detection and Reasoning

arXiv

引用

arXiv 2024年

作者： Xu, Xiaohao Cao, Yunkang Chen, Yongqi Shen, Weiming Huang, Xiaonan The Robotics Department University of Michigan Ann ArborMI United States The Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China

Anomaly detection is vital in various industrial scenarios, including the identification of unusual patterns in production lines and the detection of manufacturing defects for quality control. Existing techniques tend to be specialized in individual scenarios and lack generalization capacities. In this study, we aim to develop a generic anomaly detection model applicable across multiple scenarios. To achieve this, we customize generic visual-language foundation models that possess extensive knowledge and robust reasoning abilities into anomaly detectors and reasoners. Specifically, we introduce a multi-modal prompting strategy that incorporates domain knowledge from experts as conditions to guide the models. Our approach considers diverse prompt types, including task descriptions, class context, normality rules, and reference images. In addition, we unify the input representation of multi-modality into a 2D image format, enabling multi-modal anomaly detection and reasoning. Our preliminary studies demonstrate that combining visual and language prompts as conditions for customizing the models enhances anomaly detection performance. The customized models showcase the ability to detect anomalies across different data modalities such as images and point clouds. Qualitative case studies further highlight the anomaly detection and reasoning capabilities, particularly for multiobject scenes and temporal data. Our code is available at https://***/Xiaohao-Xu/Customizable-VLM. © 2024, CC BY-SA.

关键词： Anomaly detection

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Summer School on Circular Economy for Sustainable Manufacturing: A Case Study and Lessons Learned 31

Summer School on Circular Economy for Sustainable Manufactur...

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31st CIRP Conference on Life Cycle engineering, LCE 2024

作者： Rejeb, Helmi Ben Muxika, Eñaut Ghadimi, Pezhman Univ. Grenoble Alpes CNRS Grenoble INP G-SCOP Grenoble France Mondragon University Electronics & Computer Science Department - Signal Theory & Communications Arrasate Spain Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering University College Dublin Belfield Dublin Ireland

The Circular Economy Action Plan is the main building block of the European Green Deal, Europe's new agenda for sustainable growth. Businesses need new technologies, new methods and new industrial organization either to create new businesses or to transform their products, processes and business models. They also need new talents to innovate, create businesses and new jobs, and transform society into a more sustainable one. Circular economy has grown significantly in recent years as a topic taught in engineering curricula. The purpose of this paper is to present the design, implementation and evaluation of a summer school program dedicated to the development, transformation and implementation of circular economy systems and new business models in manufacturing. The program was designed in collaboration with three university partners during a European project and relied on contributions from industrial companies, including start-ups and innovative companies. At the end, some lessons are drawn in order to show the main added value based on the evaluation of this summer school and to identify recommendations for the design and implementation of similar summer schools. © 2024 The Author(s).

关键词： engineering education

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Heterogenous Collaboration: A new approach for search and rescue operations

Heterogenous Collaboration: A new approach for search and re...

引用

IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Sidney Nimako Boateng Shashwat Singh Mustafa Ugur Sicheng Wang Max Kramer Isaac Osei Olivia Sobek Melisa Orta Martinez F. Zeynep Temel Laura H. Blumenschein The Robotics Institute Carnegie Mellon University Pittsburgh PA USA School of Mechanical Engineering Purdue University West Lafayette IN USA Department of Mechanical Engineering Carnegie Mellon University Pittsburgh PA USA Electrical and Computer Engineering University of Pittsburgh Pitts-burgh PA USA

ISBN: (数字)9798331510954

ISBN: (纸本)9798331510961

Urban search and rescue (USAR) remains a challenging application domain despite recent and rapid advancements in robotics. Navigating complex environments is difficult for robotic architectures due to the variation in surface composition and the range of terrain feature sizes. This variety of scenarios incentivize creating a range of different robot designs, but how to effectively use these robots together remains uncertain. Soft robots and centimeter (cm) scale robots have been studied for their potential uses in USAR operations due to their ability to pass through narrow spaces by deforming to adapt to the environment or by virtue of their small size. However, both classes still poses significant challenges in control, limited operational domain, and runtime. In this paper, we demonstrate how collaborative behavior of Vine Robots, i.e. soft inflatable growing robots, and RESCUE Rollers, i.e. cm-scale mobile robots, can expand the reachable area for each robot in rescue-like operations. We accomplish this expansion by equipping the Vine robot to carry and deploy the RESCUE Rollers, and by using the RESCUE Rollers to improve the maneuvarability of Vine Robots by external steering. Through experimental characterization of the necessary interaction forces and an example scenario of collaborative behavior to reach the top of a ramp, we demonstrate that this approach of physical heterogeneous collaboration can lead to increased capabilities of all systems involved.

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