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42nd Chinese control Conference, CCC 2023

作者： Wang, De-Xiu Meng, Qing-Hao Han, Rui-Xue Li, Hong-Yue Hou, Hui-Rang Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Process Measurement and Control Tianjin300072 China Tianjin Navigation Instruments Research Institute Tianjin300131 China

ISBN: (纸本)9789887581543

Identification of the type of combustion-supporting agents (CSAs) by an electronic nose (e-nose) is severely limited due to the absence of untested gas concentration in the e-nose training set. In order to solve this problem, this study designs an e-nose for classifying four CSAs (Diesel, Gasoline, Ethanol and Thinner), and builds cross-concentrations data set. This study uses Gramian Angular Field method that converts one-dimensional time series data to two-dimensional data, and proposes an algorithm named the Multi-Branch Feature Fusion Network (M-BFFNet). This algorithm passes the one-dimensional and two-dimensional data through two different networks and obtains two types of features. First, the algorithm can strength the one-dimensional raw data, integrate the advantages of different networks, and fuse the characteristics of different networks. Second, it can learn the characteristics of volatile gas with specific concentrations to identify the unknown concentrations. Last, a feature fusion module is designed to improve the algorithm ability of learning odor fingerprint. In order to verify the superiority of the algorithm, this study tests the recognition performance of the e-nose based systems and compares the proposed M-BFFNet with traditional algorithms. The results show that the proposed M-BFFNet improves the identification accuracy compared to other algorithms. According to the analysis of this work, the M-BFFNet can be used to identify CSAs with unknown concentrations. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Electronic nose

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E-Nose-Based Cross-Domain Recognition of Combustion-Supporting Agents via M-BFFNet

E-Nose-Based Cross-Domain Recognition of Combustion-Supporti...

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Chinese control Conference (CCC)

作者： De-Xiu Wang Qing-Hao Meng Rui-Xue Han Hong-Yue Li Hui-Rang Hou Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin China Tianjin Navigation Instruments Research Institute Tianjin China

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Distributed Functional Safety for Modular process Plants

Distributed Functional Safety for Modular Process Plants

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Anselm Klose Florian Pelzer Mike Barth Rainer Drath Rainer Oehlert Silvia Vélez León Alexander Horch Christoph Kotsch Jochen Knab Bernhard Gut Hartmut Manske Leon Urbas Process Control Systems & Process Systems Engineering TU Dresden Dresden Germany Research Training Group 2323 TU Dresden Dresden Germany IoS³ - Institute of Smart Systems and Services Pforzheim University Pforzheim Germany Retired Process Engineering & Automation The Dow Chemical Company Stade Germany Dept. Global Consulting HIMA Paul Hildebrandt GmbH Brühl Germany R. D. & Product Management HIMA Paul Hildebrandt GmbH Brühl Germany Control Systems Technology BASF SE Ludwigshafen Germany Engineering Services Merck KGaA Darmstadt Germany Retired Electrical Engineering for Process Automation Endress+Hauser Germany Automation and Robotics Merck KGaA Darmstadt Germany

ISBN: (数字)9781728189567

ISBN: (纸本)9781728189574

Modular process plants enable the process industry to adapt to volatile and fluctuating markets. The preferred process technology concept for these market scenarios is realized through combining pre-engineered process equipment assemblies (PEA) from different manufacturers with standardized interfaces. While the flexibility gain for this type of plants is high, the design of the safety systems of these modular plants in terms of exchangeability and compatibility is challenging. One solution could be the development of a safety-interface for PEAs to create flexible and scalable safety systems. The principles of modular basic process control are analyzed and requirements with respect to safety design are discussed. The authors provide a differentiation of the intramodular safety concept of a single PEA from the intermodular safety concept of a complete modular plant. A concept for safe and modular interaction of PEAs in a modular plant is developed and additionally validated on a basic demonstrator. Finally, from these findings, standardization requirements are provided and aspects for further research are pointed out.

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Building an Aerial-Ground robotics System for Precision Farming: An Adaptable Solution

arXiv

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arXiv 2019年

作者： Pretto, Alberto Aravecchia, Stéphanie Burgard, Wolfram Chebrolu, Nived Dornhege, Christian Falck, Tillmann Fleckenstein, Freya Fontenla, Alessandra Imperoli, Marco Khanna, Raghav Liebisch, Frank Lottes, Philipp Milioto, Andres Nardi, Daniele Nardi, Sandro Pfeifer, Johannes Popović, Marija Potena, Ciro Pradalier, Cédric Rothacker-Feder, Elisa Sa, Inkyu Schaefer, Alexander Siegwart, Roland Stachniss, Cyrill Walter, Achim Winterhalter, Wera Wu, Xiaolong Nieto, Juan Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy International Research Lab 2958 Georgia Tech-CNRS Metz France Department of Computer Science University of Freiburg Germany Toyota Research Institute Los Altos United States Photogrammetry & Robotics Lab University of Bonn Germany Robert Bosch GmbH Corporate Research Renningen Germany Osimo Italy Autonomous Systems Lab. Department of Mechanical and Process Engineering ETH Zurich Zürich Switzerland Department of Environmental Systems Science Institute of Agricultural Sciences ETH Zurich Zürich Switzerland IT+Robotics Srl Padova Italy Smart Robotics Lab. Department of Computing Imperial College London London United Kingdom CSIRO Data61 Australia

The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of human effort and yield. With this vision, the Flourish research project aimed to develop an adaptable robotic solution for precision farming that combines the aerial survey capabilities of small autonomous unmanned aerial vehicles (UAVs) with targeted intervention performed by multi-purpose unmanned ground vehicles (UGVs). This paper presents an overview of the scientific and technological advances and outcomes obtained in the project. We introduce multi-spectral perception algorithms and aerial and ground-based systems developed for monitoring crop density, weed pressure, crop nitrogen nutrition status, and to accurately classify and locate weeds. We then introduce the navigation and mapping systems tailored to our robots in the agricultural environment, as well as the modules for collaborative mapping. We finally present the ground intervention hardware, software solutions, and interfaces we implemented and tested in different field conditions and with different crops. We describe a real use case in which a UAV collaborates with a UGV to monitor the field and to perform selective spraying without human intervention. Copyright © 2019, The Authors. All rights reserved.

关键词： Mapping

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Imitation learning for a continuum trunk robot 25

Imitation learning for a continuum trunk robot

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25th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2017

作者： Malekzadeh, Milad S. Queiber, J.F. Steil, J.J. Institute for Robotics and Process Control Technische Universitat Braunschweig Muehlenpfordtstr. 23 BraunschweigD-38106 Germany Research Institute of Cognition and Robotics Bielefeld University Universitatsstr. 25 Bielefeld33615 Germany

ISBN: (纸本)9782875870391

The paper applies learning from demonstration (LfD) for high-level trajectory planning and movement control of the Bionic Handling Assistant (BHA) robot. For such soft continuum robot with mechanical elasticity and complex dynamics it is difficult to use kinesthetic teaching to collect demonstration data. We propose to use an active compliant controller to this aim and record both position and orientation of the BHA's end-effector. Subsequently, this data is then encoded with a state-of-the-art task-parameterized probabilistic Gaussian mixture model and its performance and generalization is experimentally evaluated. © ESANN 2017 - Proceedings, 25th European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning. All rights reserved.

关键词： Robot programming

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Modeling and control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics During Grasping

Modeling and Control of Multi-Arm and Multi-Leg Robots: Comp...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Niels Dehio Joshua Smith Dennis Leroy Wigand Guiyang Xin Hsiu-Chin Lin Jochen J. Steil Michael Mistry Research Institute for Robotics and Process Control (IRP) Technical University Braunschweig Germany School of Informatics University of Edinburgh United Kingdom Faculty of Technology Bielefeld University Germany School of Mechanical and Electrical Engineering Central South University China

We consider a virtual manipulator in grasping scenarios which allows us to capture the effect of the object dynamics. This modeling approach turns a multi-arm robot into an underactuated system. We observe that controlling floating-base multi-leg robots is fundamentally similar. The Projected Inverse Dynamics control approach is employed for decoupling contact consistent motion generation and controlling contact wrenches. The proposed framework for underactuated robots has been evaluated on an enormous robot hand composed of four KUKA LWR IV+ representing fingers cooperatively manipulating a 9kg box with total 28 actuated DOF and six virtual DOF representing the object as additional free-floating robot link. Finally, we validate the same approach on ANYmal, a floating-base quadruped with 12 actuated DOF. Experiments are performed both in simulation and real world.

关键词： Grasping Dynamics Task analysis Jacobian matrices Manipulator dynamics

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A Projected inverse dynamics approach for dual-arm cartesian impedance control

arXiv

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arXiv 2017年

作者： Lin, Hsiu-Chin Smith, Joshua Babarahmati, Keyhan Kouhkiloui Dehio, Niels Mistry, Michael School of Informatics University of Edinburgh United Kingdom School of Computer Science University of Birmingham United Kingdom Research Institute for Robotics and Process Control Technical University Braunschweig Germany

We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component of the controller to enforce contact and the unconstrained controller to accomplish the task with a desired 6-DOF impedance behaviour. Furthermore, the proposed method optimises the torque required to maintain contact, subject to unknown disturbances, and can do so without direct measurement of external force. The techniques are evaluated on a single-arm wiping a table and a dual-arm platform manipulating a rigid object of unknown mass and with human interaction. [1]. Copyright © 2017, The Authors. All rights reserved.

关键词： controllers

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Incremental bootstrapping of parameterized motor skills

Incremental bootstrapping of parameterized motor skills

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeffrey Frederic Queißer René Felix Reinhart Jochen Jakob Steil Universitat Bielefeld Bielefeld Nordrhein-Westfalen DE Fraunhofer IEM Research Institution for Mechatronic Systems Design Paderborn Germany Institute for Robotics and Process Control Technical University Braunschweig Braunschweig Germany Research Institute for Cognition and Robotics (CoR-Lab) Bielefeld University Bielefeld Germany

Many motor skills have an intrinsic, low-dimensional parameterization, e.g. reaching through a grid to different targets. Repeated policy search for new parameterizations of such a skill is inefficient, because the structure of the skill variability is not exploited. This issue has been previously addressed by learning mappings from task parameters to policy parameters. In this work, we introduce a bootstrapping technique that establishes such parameterized skills incrementally. The approach combines iterative learning with state-of-the-art black-box policy optimization. We investigate the benefits of incrementally learning parameterized skills for efficient policy retrieval and show that the number of required rollouts can be significantly reduced when optimizing policies for novel tasks. The approach is demonstrated for several parameterized motor tasks including upper-body reaching motion generation for the humanoid robot COMAN.

关键词： Optimization Trajectory Training Learning (artificial intelligence) End effectors Humanoid robots

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Continuous task-priority rearrangement during motion execution with a mixture of torque controllers

Continuous task-priority rearrangement during motion executi...

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IEEE-RAS International Conference on Humanoid Robots

作者： Niels Dehio René Felix Reinhart Jochen J. Steil Technische Universitat Braunschweig Braunschweig Niedersachsen DE Fraunhofer IEM Research Institution for Mechatronic Systems Design Paderborn Germany Research Institute for Robotics and Process Control (IPR) Technical University Braunschweig Germany

ISBN: (纸本)9781509047192

When controlling highly redundant humanoid robots multiple motion tasks can be accomplished simultaneously by employing several reactive torque-control modules. Flexible task-prioritization for these modules during motion generation is an open research problem. Null-space based approaches for redundant robots implement a strict, hierarchical prioritization and are not suited for changing the priority-order of the underlying control modules. In contrast, the mixture of controller approach superposes torques from several control modules and thereby enables flexible and continuous task-priority rearrangement. Here we show how to react to environmental changes by blending the corresponding priorities during motion execution. Additionally, we investigate the advantage of regularization when learning new mixture coefficients. The proposed framework is demonstrated for the full 11 DOF upper body of the compliant humanoid robot COMAN in simulation.

关键词： Aerospace electronics Robot sensing systems Optimization Humanoid robots Jacobian matrices Trajectory

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Movement Analysis for Surgical Skill Assessment and Measurement of Ergonomic Conditions

Movement Analysis for Surgical Skill Assessment and Measurem...

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International Conference on Artificial Intelligence, Modelling and Simulation (AIMS)

作者： O. Weede F. Möhrle H. Wörn M. Falkinger H. Feussner Polytechnic of Namibia Windhoek Namibia University of Kaiserslautem Kaiserslautem Germany KIT Institute for Process Control and Robotics Karlsruhe Germany MITI research group Technical University Munich Munich Germany

A measurement for ergonomic conditions is derived from motion analysis of surgical instruments. Several features for surgical skill assessment are examined and an overall grading system for surgical skill assessment and evaluation of ergonomic conditions based on the movement of the instruments' tool tips is presented. The grading system is applied to different ergonomic conditions provided by different types of displays, including three 3D displays. The features examined for skill evaluation include a movement alphabet derived from recorded trajectories by the k-Means algorithm. The system is trained with expert knowledge about the expertise of surgeons. The findings show that surgeons working under better ergonomic conditions perform less movements during an intervention. The time in which they move the instruments to complete the intervention is less. There is less depth oscillation with the tool-tips. The variety of different types of movements is less. The path length of the tool tips is shorter. There are less unnecessary movements. Results of a qualitative study show that measurements for skill evaluation can be applied for measuring ergonomic conditions.

关键词： Ergonomics Instruments Surgery Trajectory Three-dimensional displays Oscillators Tracking

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