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Ultimate Boundedness and Output Convergence of Prioritized Output Tracking Control Under Nonsmooth and Imperfect Feedback Linearization

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IEEE Transactions on Automatic Control 2025年

作者： An, Sang-Ik Lee, Dongheui Park, Gyunghoon University of Seoul School of Electrical and Computer Engineering Korea Republic of Tu Wien Autonomous Systems at Institute of Computer Technology Faculty of Electrical Engineering and Information Technology Austria Institute of Robotics and Mechatronics Germany

The concept of priority has been introduced to the robotic systems in 1980 s as an effort to overcome problems caused by singularity and it has attracted considerable attention from both the robotics and control societies. However, none of the previous works have successfully addressed two fundamental degenerate properties of singularity: nonsmoothness and imperfect inversion. This technical note proposes a prioritized output tracking control method that guarantees the ultimate boundedness and the convergence of higher priority outputs when the input-output feedback linearization becomes nonsmooth and imperfect by singularity. For that purpose, we firstly prioritize the input-output feedback linearization and discuss how two degenerate properties can occur when the system becomes singular. Then, we introduce the differential inclusion to deal with the nonsmooth internal dynamics and establish a condition using the upper Dini derivative for asymptotically stable zero dynamics. Also, we propose a strictly positive realness-based feedback gain design and find a condition related to an M-matrix in order to handle nonlinearities that appear in the imperfect feedback linearization. Finally, we combine these two results and show the ultimate boundedness and the output convergence. Additionally, we provide a motivational example with a planar four-link manipulator to illustrate the effectiveness and limitations of the proposed method. © 1963-2012 IEEE.

关键词： Feedback linearization

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Parking Lines and Indoor Structural Feature-based SLAM with 2D LiDAR and AVM for Indoor Autonomous Parking

Parking Lines and Indoor Structural Feature-based SLAM with ...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Sekang Oh Taehyun Lim Yonggu Kang Seonghan Kim Department of Intelligent Mechatronics Engineering Sejong University Seoul Korea Department of Artificial Intelligence and Robotics Sejong University Seoul Korea

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

Accurate localization is essential to achieve Automated Valet Parking (AVP) without collisions. However, indoor parking facilities where the use of GPS is restricted are usually lack of maps. This study proposes a Simultaneous Localization And Mapping (SLAM) approach that combines parking line information detected by Around View Monitor (AVM) with the scan data by a 2D LiDAR. The parking line information is extracted using a parking slot detection model and then fused with the scan data. Finally, an indoor map that includes parking spaces is created based on the fused scan data. The proposed method results in low computational requirements, and the generated map contains information such as parking lines, pillars, and walls, which enables accurate real-time localization. This generated map can be utilized in future AVP research to navigate from one location in the parking facility to an available parking space.

关键词： Location awareness Simultaneous localization and mapping Laser radar Accuracy Navigation Feature extraction Real-time systems Data mining Monitoring Global Positioning System

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Semi-Closed-Loop Constant Force Control of a Multi-Modes Rigid-Flexible Underactuated Gripper 23rd

Semi-Closed-Loop Constant Force Control of a Multi-Modes Rig...

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23rd IFToMM China International Conference on Mechanism and Machine Science and engineering, IFToMM CCMMS 2022

作者： Chen, Weilin Feng, Zihong Lu, Qinghua Wei, Huiling Qin, Xiaolu Mo, Jiacheng Tang, Yu Wei, Sheng School of Mechatronics Engineering and Automation Foshan University 33 Guangyun Road Guangdong Foshan528000 China Academy of Interdisciplinary Studies Guangdong Polytechnic Normal University Guangzhou510665 China Engineering Research Center for Intelligent Robotics Jihua Laboratory Foshan528200 China

ISBN: (纸本)9789811993978

Grasping force control is important to realize safe and reliable robotic manipulation. In this paper, a semi-closed-loop constant grasping force control strategy of the multi-modes rigid-flexible underactuated gripper is designed to eliminate the influence of full-closed-loop control system on the grasping dexterity. For the two-point grasping mode and enveloped grasping mode, the inverse static model of gripper were established based on the forward static models proposed in our previous research and the numerical fitting. A semi-closed-loop PID constant grasping force control strategy was designed using the established statics models. Matlab Simulink was utilized to verify the proposed control strategy. Further, the multi-modes grasping force control system was built, and the effect of deformation for the flexible linkages on the equivalent size of grasped object was considered to correct the proposed control strategy by the analysis of balance position and numerical fitting. Finally, the rapidity, accuracy and stability of corrected control strategy were verified by experiments. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Force control

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Design of a Multi-bending Flexible Manipulator for Gastrointestinal Surgery

Design of a Multi-bending Flexible Manipulator for Gastroint...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Hyojae Park Minho Hwang Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

Unlike the existing rigid surgical robots, flexible endoscopic robotic platforms have been actively researched owing to the advantages of high lesion accessibility and scar-free. However, there still exists difficult-to-access areas such as cardia and fundus in the gastrointestinal tract due to the limited Degrees of Freedom (DoFs) of the manipulator. In this study, we propose a multi-bending endoscopic manipulator to improve accessibility to the gastric region in any position and orientation. We perform mechanism design, kinematics, and cable-control analysis of the proposed manipulator. Finally, we verify the multi-bending motion in the simulated flexible pathway.

关键词： Medical robotics Automation Surgery Kinematics Manipulators Control systems Gastrointestinal tract

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Modelling of Machining Time and its Uncertainty in Micro Electrical Discharge Machining Process Using RSM

Modelling of Machining Time and its Uncertainty in Micro Ele...

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International Conference on mechatronics (ICOM)

作者： Mohammad Mainul Hasan Tanveer Saleh Ali Sophian Autonomous Systems and Robotics Research Unit (ASSRU) Department of Mechatronics Engineering International Islamic University Malaysia Kuala Lumpur Malaysia

ISBN: (数字)9798350349788

ISBN: (纸本)9798350349795

In modern manufacturing processes, precision and efficiency are paramount, particularly in a stochastic method such as Micro Electrical Discharge Machining (μEDM). With its ability to fabricate intricate geometries in hard and difficult-to-machine materials, μEDM has become indispensable in various industries. However, optimising machining time while ensuring reliability and accuracy remains a significant challenge that often relies on the intuition and experience of machinists. In response, this paper presents a comprehensive study on the modelling of machining time (MT) and also its associated uncertainty characterised by the standard deviation (SD) in the μEDM process using Response Surface Methodology (RSM). The study utilises experimental data generated through the I -optimal design of experiment technique (DOE) to develop quadratic equations for the MT Mean and SD MT models. The input factors for the models include capacitance, voltage, feed rate, tool speed, tool diameter, workpiece thickness, and workpiece materials defined by thermal conductivity, melting point, and electrical resistivity. The adequacy of both models was assessed based on ANOV A and fit statistics, demonstrating their effectiveness. Additionally, the mean percentage accuracies of the MT Mean and SD MT models are evaluated as 74.5% and 58% for the train set and 86.8% and 82.1 % for the test set, respectively. By leveraging RSM techniques, this research aims to provide insights into the complex relationships between machining parameters and the resulting machining time and uncertainty, facilitating enhanced process μEDM control and performance optimisatio n.

关键词： Training Adaptation models Uncertainty Accuracy Estimation Machining Predictive models

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Enhancing Industrial Safety Helmets: Development and Evaluation of Epoxy-Based Glass and Basalt Fiber Composites 1

Enhancing Industrial Safety Helmets: Development and Evaluat...

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1st International Conference on Materials Innovation in engineering and Technology, ICMIET 2024

作者： Pandi, Raja R. Bihari, Bagesh Chokkalingam, P. Karthikeyan, R. Anand, R. Kalaiarasan, S. Sivalingam, A. Department of Robotics and Automation Rajalakshmi Engineering College Tamil Nadu India Department of Mechanical Engineering Ramgarh Engineering College Jharkhand India Department of Mechanical Engineering Erode Sengunthar Engineering College Tamil Nadu India Department of Automobile Engineering Rajalakshmi Engineering College Tamil Nadu India Department of Aeronautical Engineering Nehru Institute of Technology Tamil Nadu India Department of Chemistry Sona College of Technology Tamil Nadu India Department of Mechatronics Engineering Sona College of Technology Tamil Nadu India

Employing personal protective equipment, including helmets for safety, at industrial sites is the ultimate step in averting disasters, and such equipment is commonly recognized the disposable items. Industrial safety helmets employ Polypropylene Terephthalate (PET) or polypropylene (PP) resins is the primary material for shell to efFiciently absorb impacts. Additionally, they exhibit a commendable level of heat resistance. Nevertheless, there is currently a lack of active initiatives to develop novel materials using a straightforward fabrication approach. The objective of this work was to enhance safety behaviour of industrial helmets by using epoxy resin as the matrix to develop composite material consisting of glass Fiber and basalt Fiber in a direct cross-ply arrangement. Subsequently, the performance of this composite material was evaluated in relation to glass and basalt composites, and PET plastic. The samples are produced through compression molding method. The tensile strength (TS), Flexural strength (FS), impact strength (IS), and inter laminar shear strength (ILSS), and their heat resistance capabilities are assessed using thermo gravimetric analysis (TGA). The impact energy absorptions of BFRP, BF/GFRP, and GFRP were 6.3, 6.1, and 5.2 times higher than that of PET plastic correspondingly. Superior heat resistance was demonstrated by specimens built of Basalt Fiber Reinforced Polymer (BFRP) and Basalt Fiber/Glass Fiber Reinforced Polymer (BF/GFRP), as compared to the other scenarios. For instance, when compared to PET plastic, BFRP was 24.9 times stronger while BF/GFRP was 12.7 times stronger. The outcomes of this research work are showed that the basalt and glass Fiber reinforced composites (BF/GFRP) exhibit the superior impact energy absorption than PET plastic. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Impact strength

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mechatronics Design of Wheeled Mobile Robotic System for Gutter Maintenance 30

Mechatronics Design of Wheeled Mobile Robotic System for Gut...

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30th IEEE International Conference on Electronics, Electrical engineering and Computing, INTERCON 2023

作者： Arbulu, Mario Arias, Geyni Iniguez, Brayan Dussan, Sofia Barreto, Ricardo Cornejo, Jose CORHUILA Mechatronics Engineering Program Colombia CORHUILA Industrial Engineering Program Colombia Robotics 4.0 R and D Department Colombia Universidad Nacional de Ingeniería Center for Space Emerging Technologies Lima Peru Universidad Tecnológica Del Perú Lima Peru

ISBN: (纸本)9798350315578

This paper deals with the challenges involved on roof building gutter maintenance robot design, from the problem statement of secure teleoperated semiautonomous navigation on confined gutter spaces, and the best selection of right mechatronics brush to remove the waste on gutter surface;Two concept design have been tested: Passive Brush with Parallel locomotion (PBP), and Active Brush Axial (ABA). The results on our development are shown, as following: secure robot lifting regulation, simulation environment, HMI to teleoperate, mechatronics design. Finally, some tests on simulations and current prototypes are shown, to validate our proposal, and the conclusion that the ABA design allows to remove until 85% gutter waste, instead of PBP design;furthermore, the ABA allows independent brush rotation velocity, instead of PBP design. © 2023 IEEE.

关键词： Maintenance

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Finite Element Method Based Toolchain for Simulation of Proximity Estimation Using Electronic Skin 10th

Finite Element Method Based Toolchain for Simulation of Pr...

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Proceedings of the 10th Machine Intelligence and Digital Interaction Conference, MIDI 2022

作者： Ostaszewska-Liżewska, Anna Klimaszewski, Jan Department of Mechatronics Institute of Metrology and Biomedical Engineering Warsaw Univeristy of Technology ul. Sw. A. Boboli 8 Warsaw02-525 Poland Department of Mechatronics Institute of Automatic Control and Robotics Warsaw Univeristy of Technology ul. Sw. A. Boboli 8 Warsaw02-525 Poland

ISBN: (纸本)9783031376481

The emergence of new areas of human-robot cooperation creates the need to ensure human safety in this regard. Therefore, there is a need to develop new sensors to detect the presence of a human in the vicinity of a robot. One such sensor is an electronic skin (e-skin). Manufacturing and testing new e-skin prototypes is labor-intensive. This paper presents a software toolchain developed to simulate the operation of an e-skin used to detect human proximity. The toolchain is based on the finite element method and has been developed exclusively with free and open-source software. The presented toolchain makes it possible to test e-skin modifications without the need for a physical prototype and significantly reduces implementation costs. The developed solution is multi-platform and allows parallel and multi-threaded calculations conducted on multiple machines simultaneously. This paper presents modeling results obtained for a simplified e-skin sensor, which are consistent with experimental results on the actual model. © 2023, The Author(s).

关键词： Finite element method

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MPPI-DBaS: Safe Trajectory Optimization with Adaptive Exploration

arXiv

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arXiv 2025年

作者： Wang, Fanxin Cheng, Yikun Tao, Chuyuan Department of Mechatronics and Robotics Xi’an Jiaotong-Liverpool University China Department of Mechanical Science and Engineering University of Illinois at Urbana-Champaign United States

In trajectory optimization, Model Predictive Path Integral (MPPI) control is a sampling-based Model Predictive Control (MPC) framework that generates optimal inputs by efficiently simulating numerous trajectories. In practice, however, MPPI often struggles to guarantee safety assurance and balance efficient sampling in open spaces with the need for more extensive exploration under tight constraints. To address this challenge, we incorporate discrete barrier states (DBaS) into MPPI and propose a novel MPPI-DBaS algorithm that ensures system safety and enables adaptive exploration across diverse scenarios. We evaluate our method in simulation experiments where the vehicle navigates through closely placed obstacles. The results demonstrate that the proposed algorithm significantly outperforms standard MPPI, achieving a higher success rate and lower tracking errors. © 2025, CC BY.

关键词： Stochastic systems

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Toolpath and Tool Design Innovations in Deformation Machining for Superior AA-7075 T6 Fins 6

Toolpath and Tool Design Innovations in Deformation Machinin...

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6th International Conference on Advancements in Materials and Manufacturing, ICAAMM 2024

作者： Ponnusamy, Prasanth Seenivasan, S. Loganathan, Ganesh Babu Magesh Babu, D. Sivalingam, A. Nanthakumar, S. Girimurugan, R. Department of Mechanical Engineering Tagore Institute of Engineering and Technology Tamilnadu Salem636 112 India Department of Mechanical Engineering Rathinam Technical Campus Tamilnadu Coimbatore641 021 India Department of Robotics and Automation Rajalakshmi Engineering College Tamilnadu Chennai602 105 India Department of Mechatronics Engineering Velammal Institute of Technology Tamilnadu Panjetty601 204 India Department of Mechatronics Engineering Sona College of Technology Tamilnadu Salem636 005 India Department of Mechanical Engineering PSG Institute of Technology and Applied Research Tamilnadu Coimbatore641 062 India Department of Mechanical Engineering Nandha College of Technology Tamilnadu Perundurai638 052 India

A hybrid manufacturing process, deformation machining (DM) combines subtractive manufacturing with incremental forming. Monolithic components with complex profiles are created through the hybridization of manufacturing technologies, which also reduces the wastage of raw materials. The properties of geometry and surface quality of the fin made from the aluminum alloy Al-7075 T6 using the DM process's bending mode was examined in this research, as were the effects of various approaches, toolpath methods, and tool design. To achieve the desired shape for the machined fin, various combinations of arcuate and slanting fin toolpath techniques were explored utilizing both top-down and bottom-up methods. The bottom-up method and the arcuate toolpath strategy were used to investigate various tool profiles. Using the best combination of toolpath strategy and tool profile, named as the T3 tool profile, which has a 0.6 mm nose radius and a circular sector, bottom-to-top (BTT)technique, and arcuate toolpath method, components with better geometrical features and surface roughness (SR) were produced. The analysis of the forming force in the bending approach of the DM progression was further carried out using this optimal combination. © Published under licence by IOP Publishing Ltd.

关键词： Bending (forming)

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