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

作者： Masahiro Kobayashi Geoffrey Huang Joao Buzzatto Angus Lynch Kostas Kyriakopoulos Minas Liarokapis Department of Mechanical and Mechatronics Engineering New Dexterity research group The University of Auckland New Zealand Control Systems Laboratory School of Mechanical Engineering National Technical University of Athens Greece

ISBN: (数字)9798331510954

ISBN: (纸本)9798331510961

Unmanned Aerial Vehicles (UAVs) are rapidly emerging as the next-generation solution for delivering pay-loads. In recent years, numerous designs have been proposed, each offering distinct approaches to this challenge. Presently, existing systems tend to be cumbersome and tailored for specific applications, which hinders their flexibility for accommodating different environments or payloads. This work focuses on the development of a versatile, scalable, and modular drone delivery system. The system comprises modular mobile robots equipped with a propulsion unit, omnidirectional wheels, and a coupler mechanism, enabling assembly so as to form rigid inter-module connections. These drones possess the ability to accommodate various payloads by utilising tethers and contact pads, allowing them to conform to the shape of the packages. The implemented system architecture is composed of four distinct modules, consisting of one parent module and three child modules, all interconnected through a tethering system. This paper aims to demonstrate the capabilities of the tethered multi-drone system by performing coordinated motions of the modules for payload grasping and flights with and without payload.

关键词： Shape Robot kinematics Wheels systems architecture Grasping Propulsion Safety Security Payloads Drones

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Safe Zeroth-Order Optimization Using Linear Programs

arXiv

引用

arXiv 2023年

作者： Guo, Baiwei Wang, Yang Jiang, Yuning Kamgarpour, Maryam Ferrari-Trecate, Giancarlo The Decode Group Institute of Mechanical Engineering Epfl Switzerland Delft Center for Systems and Control Delft University of Technology Netherlands The Predict Group Institute of Mechanical Engineering Epfl Switzerland The Sycamore Group Institute of Mechanical Engineering Epfl Switzerland

To solve unmodeled optimization problems with hard constraints, this paper proposes a novel zeroth-order approach called Safe Zeroth-order Optimization using Linear Programs (SZO-LP). The SZO-LP method solves a linear program in each iteration to find a descent direction, followed by a step length determination. We prove that, under mild conditions, the iterates of SZO-LP have an accumulation point that is also the primal of a KKT pair. We then apply SZO-LP to solve an Optimal Power Flow (OPF) problem on the IEEE 30-bus system. The results demonstrate that SZO-LP requires less computation time and samples compared to state-of-the-art approaches. © 2023, CC0.

关键词： Iterative methods

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Recursive Learning of Feedforward Parameters in High-Tech Motion systems: An Experimental Case Study

Recursive Learning of Feedforward Parameters in High-Tech Mo...

引用

European control Conference (ECC)

作者： Thijs Van Keulen Bram Kleefstra Ruud Beerens Dep. of Mechanical Engineering Control Systems Technology group Eindhoven Univ. of Tech. The Netherlands ASML Veldhoven The Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This article provides an experimental case study of a state-of-the-art recursive feedforward parameter learning framework on a high-tech industrial metrology and inspection machine. The aim of the learning framework is to recursively adapt the feedforward parameters to compensate for time-varying and position-dependent system behavior, e.g., caused by wear, position and temperature dependent actuator characteristics, changes in shape and stiffness due to thermal expansion, and sample time jitter. The strength of the approach is demonstrated through experiments on a high-tech motion system which show a peak error reduction of circa 45% compared to the industrial controller with offline calibrated feedforward parameters.

关键词： Thermal expansion Temperature dependence Temperature Shape Europe Metrology Jitter

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Plug-in for visualizing 3D tool tracking from videos of Minimally Invasive surgeries

arXiv

引用

arXiv 2024年

作者： Nema, Shubhangi Mathur, Abhishek Vachhani, Leena Systems and Control Group Indian Institute of Technology Bombay Maharashtra India Mechanical Engineering Indian Institute of Technology Goa Goa India

Background This paper tackles instrument tracking and 3D visualization challenges in minimally invasive surgery (MIS), crucial for computer-assisted interventions. Conventional and robot-assisted MIS encounter issues with limited 2D camera projections and minimal hardware integration. Method The objective is to track and visualize the entire surgical instrument, including shaft and metallic clasper, enabling safe navigation within the surgical environment. The proposed method involves 2D tracking based on segmentation maps, facilitating creation of labeled dataset without extensive ground-truth knowledge. Geometric changes in 2D intervals express motion, and kinematics based algorithms process results into 3D tracking information. Result Synthesized and experimental results in 2D and 3D motion estimates demonstrate negligible errors, validating the method for labeling and motion tracking of instruments in MIS videos. Conclusion The conclusion underscores the proposed 2D segmentation technique's simplicity and computational efficiency, emphasizing its potential as direct plug-in for 3D visualization in instrument tracking and MIS practices. © 2024, CC BY-SA.

关键词： Computational efficiency

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Hybrid control of a Variable-Speed Peristaltic PUMP

Hybrid Control of a Variable-Speed Peristaltic PUMP

引用

American control Conference (ACC)

作者： Michiel Beijen Thijs Tijman op Smeijers Gijs Boerrigter Sebastiaan van den Eijnden Department of Engineering Technology Group of Precision Engineering University of Twente AE Enschede The Netherlands Demcon High-Tech Systems PH Enschede The Netherlands Department of Mechanical Engineering Control Systems Technology Group Eindhoven University of Technology MB Eindhoven The Netherlands

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

Peristaltic pumps are used for transporting liquids within disposable tubes, and are commonly found in medical devices. The peristaltic pump principle, however, introduces disturbances, thereby distorting the desired rotational speed of the pump. Proportional plus double integral (PI2) control is commonly used to reject these disturbances, but at the cost of deteriorated transient response and robustness margins. To balance these trade-offs in a more desirable manner, in this paper we propose a hybrid PI2 control strategy that allows for reducing the steady-state error while maintaining robustness margins similar to linear PI2 control. Experiments on a representative setup demonstrate up to 45% improvement in disturbance rejection capabilities.

关键词： Transient response Medical devices Liquids Velocity control Measurement uncertainty Robustness Steady-state

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Explaining complex systems: a tutorial on transparency and interpretability in machine learning models (part II)

引用

IFAC-PapersOnLine 2024年第15期58卷 497-501页

作者： Donatello Materassi Sean Warnick Cristian Rojas Maarten Schoukens Elizabeth Cross Department of Electrical and Computer Engineering University of Minnesota US Department of Homeland Security Science and Technology Directorate EECS/Division of Decision and Control Systems KTH Royal Institute of Technology Control Systems Group Eindhoven University of Technology Eindhoven The Netherlands Department of Mechanical Engineering University of Sheffield

In the second segment of the tutorial, we transition from the granularity of local interpretability to a broader exploration of eXplainable AI (XAI) methods. Building on the specific focus of the first part, which delved into Local Interpretable Model-Agnostic Explanations (LIME) and SHapley Additive exPlanations (SHAP), this section takes a more expansive approach. We will navigate through various XAI techniques of more global nature, covering counterfactual explanations, equation discovery, and the integration of physics-informed AI. Unlike the initial part, which concentrated on two specific methods, this section offers a general overview of these broader classes of techniques for explanation. The objective is to provide participants with a comprehensive understanding of the diverse strategies available for making complex machine learning models interpretable on a more global scale.

关键词： eXplainable AI

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Accurate \mathcal{H}_{\infty}-Norm Estimation via Finite-Frequency Norms of Local Parametric Models

Accurate \mathcal{H}_{\infty}-Norm Estimation via Finite-Fre...

引用

2021 American control Conference, ACC 2021

作者： Tacx, Paul Oomen, Tom Control Systems Technology Group Eindhoven University of Technology Departement of Mechanical Engineering Eindhoven5600 Netherlands

ISBN: (纸本)9781665441971

\mathcal{H}_{\infty}-norm estimation is of critical importance for robust control design. This paper aims to develop an algorithm to estimate the \mathcal{H}_{\infty}-norm with a limited amount of data and limited user intervention. A frequency response-based approach is pursued, and local modeling techniques are exploited to include the inter-grid behavior. The main idea is to estimate the global \mathcal{H}_{\infty} norm by estimating the finite-frequency L8norm of the local models through the generalized KYP lemma. A simulation example shows the superiority of the proposed algorithm. © 2021 American Automatic control Council.

关键词： Frequency response

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Unconstrained Parameterization of Stable LPV Input-Output Models: with Application to System Identification

arXiv

引用

arXiv 2024年

作者： Kon, Johan van de Wijdeven, Jeroen Bruijnen, Dennis Tóth, Roland Heertjes, Marcel Oomen, Tom Control Systems Technology Group Departement of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands ASML Veldhoven Netherlands Philips Engineering Solutions Eindhoven Netherlands Control Systems Group Electrical Engineering Eindhoven University of Technology Netherlands The HUN-REN Institute for Computer Science and Control Budapest Hungary Delft University of Technology Delft Netherlands

Ensuring stability of discrete-time (DT) linear parameter-varying (LPV) input-output (IO) models estimated via system identification methods is a challenging problem as known stability constraints can only be numerically verified, e.g., through solving Linear Matrix Inequalities. In this paper, an unconstrained DT-LPV-IO parameterization is developed which gives a stable model for any choice of model parameters. To achieve this, it is shown that all quadratically stable DT-LPV-IO models can be generated by a mapping of transformed coefficient functions that are constrained to the unit ball, i.e., a small-gain condition. The unit ball is then reparameterized through a Cayley transformation, resulting in an unconstrained parameterization of all quadratically stable DT-LPV-IO models. As a special case, an unconstrained parameterization of all stable DT linear time-invariant transfer functions is obtained. Identification using the stable DT-LPV-IO model with neural network coefficient functions is demonstrated on a simulation example of a position-varying mass-damper-spring system. © 2024, CC BY-NC-ND.

关键词： Parameterization

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Physics-informed data-driven reduced-order models for Dynamic Induction control

引用

IFAC-PapersOnLine 2023年第2期56卷 8414-8419页

作者： Claudia Muscari Paolo Schito Axelle Viré Alberto Zasso Jan-Willem van Wingerden Delft Center for Systems and control (DCSC) Faculty of Mechanical Maritime and Material engineering Technical University of Delft Mechanical Department Politecnico di Milano Wind Energy group Faculty of Aerospace Engineering Technical University of Delft

In this work, we find a reduced-order model for the wake of a wind turbine controlled with dynamic induction control. We use a physics-informed dynamic mode decomposition algorithm to reduce the model complexity in a way such that the physics of the wake mixing can be investigated and that the model itself can be easily embedded into control-oriented frameworks. After discussing the advantage of forcing the linear system resulting from the algorithm to be conservative (as a consequence of the periodicity of the pitch excitation) and the choice of observables, we describe a procedure for calculating the energy associated with individual modes. The considered data-set is composed of large eddy simulation (LES) results for a single DTU 10 MW wind turbine in uniform flow. Simulations were performed first with baseline control (for reference) and then with the Pulse and the Helix approaches with constant excitation amplitude and different excitation frequencies. The frequencies and energies associated with the resulting modes are discussed.

关键词： Wind Farm control Wake Mixing Computational Fluid Dynamics Dynamic Mode Decomposition reduced-order Models

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Unconstrained Parameterization of Stable LPV Input-Output Models: with Application to System Identification

Unconstrained Parameterization of Stable LPV Input-Output Mo...

引用

European control Conference (ECC)

作者： Johan Kon Jeroen Van De Wijdeven Dennis Bruijnen Roland Tóth Marcel Heertjes Tom Oomen Departement of Mechanical Engineering Control Systems Technology Group Eindhoven University of Technology Eindhoven The Netherlands ASML Veldhoven The Netherlands Philips Engineering Solutions Eindhoven The Netherlands Control Systems Group Electrical Engineering Eindhoven University of Technology The Netherlands HUN-REN Institute for Computer Science and Control Budapest Hungary Delft University of Technology Delft The Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

关键词： Computational modeling Neural networks Riccati equations Transfer functions Mathematical models Stability analysis Numerical models

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