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World Congress on Intelligent Control and automation (WCICA)

作者： Fang Guo Bin Xian Haotao Li Guoping Huang Tingting Zhao The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve autonomous flight control for quadrotor UAVs. In this paper, an ARM embedded system is employed as the main controller, and an attitude heading reference system (AHRS) is utilized as the main onboard sensor. By using C++ programming under Linux operation system, the data acquisition and processing of the AHRS is implemented, and then the attitude and position data of the quadrotor UAV are obtained in real time to provide reliable flight state information for the autonomous flight control. The on-board flight data is sent to ground control system and stored via a communication module based on the UDP network protocol.

关键词： Linux Global Positioning System Data acquisition process control Attitude control Servers automation

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Real-time onboard 6DoF localization of an indoor MAV in degraded visual environments using a RGB-D camera

Real-time onboard 6DoF localization of an indoor MAV in degr...

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IEEE International Conference on robotics and automation (ICRA)

作者： Zheng Fang Sebastian Scherer State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China Robotics Institute at Carnegie Mellon University Pittsburgh PA USA

ISBN: (纸本)9781479969241

Real-time and reliable localization is a prerequisite for autonomously performing high-level tasks with micro aerial vehicles(MAVs). Nowadays, most existing methods use vision system for 6DoF pose estimation, which can not work in degraded visual environments. This paper presents an onboard 6DoF pose estimation method for an indoor MAV in challenging GPS-denied degraded visual environments by using a RGB-D camera. In our system, depth images are mainly used for odometry estimation and localization. First, a fast and robust relative pose estimation (6DoF Odometry) method is proposed, which uses the range rate constraint equation and photometric error metric to get the frame-to-frame transform. Then, an absolute pose estimation (6DoF Localization) method is proposed to locate the MAV in a given 3D global map by using a particle filter. The whole localization system can run in real-time on an embedded computer with low CPU usage. We demonstrate the effectiveness of our system in extensive real environments on a customized MAV platform. The experimental results show that our localization system can robustly and accurately locate the robot in various practical challenging environments.

关键词： Estimation Visualization Three-dimensional displays Cameras Mathematical model Robots Robustness

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Hovering control of a nano quadrotor unmanned aerial vehicle using optical flow

Hovering control of a nano quadrotor unmanned aerial vehicle...

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Chinese Control Conference (CCC)

作者： Bin Xian Yang Liu Xu Zhang Meihui Cao Fu Wang The Institute of Robotics and Autonomous System The Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin Tianjin CN

In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle (UAV). The nano quadrotor UAV has a mass less than 100 g and is comparatively much smaller than the micro vehicles utilized in previous research. Due to the limited size and payload ability, a wireless camera is employed as the onboard visual device to obtain the position and translational velocity of the UAV. Experiment results are included to demonstrate the good control performance of the proposed design.

关键词： Image motion analysis Computer vision Optical imaging Optical sensors Adaptive optics Optical filters Optical feedback

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A Continuous Robust Control Design for a Class of Non-Affine Nonlinear Dynamics with Non-varnishing Disturbance

A Continuous Robust Control Design for a Class of Non-Affine...

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American Control Conference

作者： Yao Zhang Bin Xian Bo Zhao Xiang Liu Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control Schoool of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9781479932757

In this paper, the problem for the control of a class of single-input-single-output (SISO) non-affine nonlinear system with non-varnishing disturbance is investigated. A continuous nonlinear feedback structure is utilized to tackle with the uncertain dynamics in the system. By taking the time derivative of the origin system, a transformed affine-like form is derived. The first order derivative of control input appears linearly in the augmented dynamics with unknown control direction. Nussbaum-type function is incorporated to estimate the unknown control direction. A revised Lyapunov based analysis is carried out to prove that under some moderate assumptions, the Semi-global Uniformly Ultimately Bounded (SGUUB) tracking result is achieved and all the closed loop signals are bounded. Numerical simulation results are presented to illustrate the performance of the proposed control law.

关键词： Radio frequency Nonlinear dynamical systems Stability analysis Trajectory Tracking loops Control design Equations

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INTELLIGENT CONTROL OF BIPED ROBOT WITH HETEROGENEOUS LEGS

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IFAC Proceedings Volumes 2005年第1期38卷 181-186页

作者： Binrui Wang Xinhe Xu Jindong Tan Key Laboratory of Process Industry Automation Ministry of Education Institute of AI and Robotics Northeastern University Shenyang 110004 China Department of Electrical and Computer Engineering Michigan Technological University Houghton MI 49931 USA

Intelligent bionic leg (IBL) is important for above-knee amputees. Biped robot with heterogeneous legs (BRHL) including artificial leg and bionic leg is proposed as a good test-bed for IBL. Mechanism and virtual prototype of BRHL is designed and built. Model of BRHL is established. Based on the complex differential algebraic equation of bionic leg, computed torque and PD feedback control of joint angle are introduced for gait tracking. The iterative learning control is applied in conjunction with computed torque and PD control law for good tracking performance. Control simulation is done and shows intelligent control is good for BRHL.

关键词： Intelligent control robot dynamics modeling computed torque control learning control hierarchical structures

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ASTM E1989-98 — The New Instrument Control Standard

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SLAS Technology 1999年第3期4卷 40-42页

作者： Torsten A. Staab John W. Elling U.S. Department of Energy Los Alamos National Laboratory Engineering Sciences and Applications Division Energy and Process Engineering Group Automation and Robotics Team Los Alamos NM 87545 USA

The new ASTM E1989–98 Laboratory Equipment Control Interface Specification (LECIS) is a robust standard definition of equipment behavior while under remote control. The goal of the standardization effort is to facilitate “plug-and-play” integration of laboratory automation with standard hardware behavior and software interfaces. The LECIS standardizes laboratory equipment behavior and a message passing scheme between the controller and equipment that synchronizes this behavior. Commercial adoption of this new standard is well under way.

关键词： instrument control standard plug-and-play laboratory automation equipment control standard interface standard behavior standard Laboratory Equipment Control Interface Specification

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Unified telerobotic architecture project program overview

Unified telerobotic architecture project program overview

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： M.B. Leahy S.B. Petroski AFMC Robotics and Automation Center of Excellence Technology Industrial Support Directorate Specialized Engineering Branch Advanced Process Technology Section San Antonio Air Logistics Center TX USA AFMC Robotics and Automation Center of Excellence Technology and Industrial Support Directorate Specialized Engineering Branch Advanced Process Technology Section San Antonio Air Logistics Center TX USA

The time is right to transition telerobotics beyond the traditional hazardous environment domain into industrial repair and remanufacturing applications. Air Force depots are prime examples of an industrial environment where small batch sizes, feature uncertainty, and varying workload conspire to make classical industrial robotic solutions impractical and telerobotics a key enabling technology. The United States Air Force, Air Force Material Command, robotics and automation Center of Excellence (RACE) has launched the Unified Telerobotics Architecture Project (UTAP) to champion the development of the support infrastructure necessary to foster creative development and innovative utilization of emerging telerobotic technologies for depot applications. The UTAP program is the focus of this paper.< >

关键词： Telerobotics Industrial control

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Development of Automated Control System for Laboratory Reactoplast Casting Unit

Development of Automated Control System for Laboratory React...

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Technology Enhanced Learning in Higher Education (TELE), International Conference on

作者： German Prokudin Sergey Kondratyev Vladimir Pikalov Department of Production Process Automation Volgograd State Technical University Volgograd Russia Department of Automated Electric Drive and Robotics Lipetsk State Technical University Lipetsk Russia

ISBN: (数字)9798350353532

ISBN: (纸本)9798350353549

This paper presents the development and implementation of an automated control system for the technological process of casting reactoplastic products in a laboratory environment. The primary objective is to design an integrated control system and a comprehensive software suite to manage process parameters, enabling the use of various grades of reactoplastics efficiently. The development process involved creating a detailed electrical schematic and an operational algorithm for the equipment. Essential components were meticulously selected to construct a laboratory prototype, leading to the establishment of a reliable automated control system. Additionally, a sophisticated software suite was developed and registered with Rospatent, ensuring intellectual property protection. Extensive experimental casting trials were conducted, resulting in high-quality plastic part samples that demonstrate the system's effectiveness. The proposed system showcases significant advancements in improving the quality and efficiency of small-batch production of plastic components, highlighting its potential for broader industrial applications.

关键词： Casting Vacuum systems Software algorithms process control Prototypes Production Software

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Active fault tolerant control of an electro-hydraulic servo axis with a duplex-valve-system

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IFAC Proceedings Volumes 2010年第18期43卷 660-668页

作者： Beck Mark Schwung Andreas Muenchhof Marco Isermann Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany (Tel: +49-6151-162314) TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany (Tel: +49-6151-166283) TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany (Tel: +49-6151-163114) TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process automation 64283 Darmstadt Germany (Tel: +49-6151-162114)

In this paper fault detection, fault diagnosis and active fault tolerant control of an electro-hydraulic servo-axis with a duplex-valve-system are described. The fault detection is based on parity equations. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used on the testbed is based on fuzzy-logic. In order to tolerate a failed hydraulic proportional valve, a duplex-valve-system built up with standard direct-driven proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axis and decides on reconfiguration and fault accomodation of the control-loop. The Internal Model Control (IMC)-tracking control structure used for reconfiguration allows bumpless transfer between controllers. Experimental results show the industrial applicability of the approach.

关键词： Fault Detection Fault Diagnosis Fault Tolerance Fault Accomodation Electro-hydraulic Servo Axis Duplex-valve-system Active Fault Tolerant Control Reconfiguration Bumpless-Transfer

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Multi-modal Task Apportionment in dynamic multi-factor systems

Multi-modal Task Apportionment in dynamic multi-factor syste...

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Chinese Control and Decision Conference, CCDC

作者： Hooman A. Samani C. Fua T. Chai S. S. Ge C. C. Hang Social Robotics Laboratory Interactive Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore Singapore Key Laboratory of Process Industry Automation Ministry of Education and Research Center of Automation Northeastern University China

The problem of task apportionment for dynamic multi-factor systems is categorized in three different scenarios in this paper: admin, crew and factor based. The system is discussed based on the realistic manufacturing environments as an application platform in order to consider the robust Task Apportionment system for such a case but the proposed system can be generalized to any similar system. Both centralized and decentralized systems are considered and task allocation, re-allocation, exchange and execution as layers of task apportionment methods are designed and described in each system. The system may switch between modes according the feedback information of communication capabilities or uses different modes for each part of the platform.

关键词： Switches Resource management Manufacturing systems Manufacturing Dynamic scheduling Servers Robustness

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