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IAF Space Exploration Symposium 2021 at the 72nd International Astronautical Congress, IAC 2021

作者： Wedler, Armin Möller, Marcus G Schuster, Martin J Durner, Maximilian Brunner, Sebastian G Lehner, Peter Lehner, Hannah Dömel, Andreas Vayugundla, Mallikarjuna Steidle, Florian Sakagami, Ryo Meyer, Lukas Smisek, Michal Störzl, Wolfgang Schmitz, Nicole Vodermayer, Bernhard Prince, Andre F Staudinger, Emanuel Hellerer, Matthias Lichtenheldt, Roy Dietz, Enrico Braun, Christian Rebele, Bernhard Boerdijk, Wout Giubilato, Riccardo Reill, Josef Kuhne, Moritz Lee, Jongseok Vilacampa, Alejandro F Bargen, Info V Schröder, Susanne Frohmann, Sven Seel, Fabian Triebel, Rudolph Lii, Neal Y Bischoff, Esther Kille, Sean Wormnes, Kjetil Pereira, Aaron Carey, William Rossi, Angelo P Thomsen, Laurenz Graber, Thorsten Kruger, Thomas Kyr, Peter Börner, Anko Bussmann, Kristin Paar, Gerhard Bauer, Arnold Völk, Stefan Kimpe, Andreas Rauer, Heike Höbers, Heinz-Wilhelm Bals, Johann Hohmann, Sören Asfour, Tamim Foing, Bernhard Albu-Schäffer, Alin Olimpiu Institute of Robotics and Mechatronics Mönchener Str. 20 Webling82234 Germany Institute of Optical Sensor Systems Rutherfordstr. 2 Berlin12489 Germany Institute of System Dynamics and Control Mönchener Str. 20 Weßling82234 Germany Institute of Planetary Research Rutherfordstr. 2 Berlin12489 Germany Mobile Rocket Base MönchenerStr. 20Webl 82234 Germany Joanneum Research Steyrergasse 17 GrazA-8010 Austria Solenix Engineering GmbH Spreestr. 3 Darmstadt64295 Germany ESTEC Noordwijk Netherlands University of Leiden Netherlands Institute of Control Systems Kaiserstr. 12 Karlsruhe76131 Germany Kaiserstr. 12 Karlsruhe76131 Germany Jacobs University Bremen Planetary Science Campus Ring 1 Bremen28759 Germany

ISBN: (纸本)9781713842965

This paper was initially intended to report on the outcome of the twice postponed demonstration mission of the ARCHES project. Due to the global COVID pandemic, it has been postponed from 2020, then 2021, to 2022. Nevertheless, the development of our concepts and integration has progressed rapidly, and some of the preliminary results are worthwhile to share with the community to drive the dialog on robotics planetary exploration strategies. This paper includes an overview of the planned 4-week campaign, as well as the vision and relevance of the mission towards the planned official space missions. Furthermore, the cooperative aspect of the robotic teams, the scientific motivation, the sub task achievements are summarised. © 2021 International Astronautical Federation, IAF. All rights reserved.

关键词： robotics

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Adaptive Synchronization of Uncertain Complex Networks under State-dependent a priori Interconnections

Adaptive Synchronization of Uncertain Complex Networks under...

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IEEE Conference on Decision and control

作者： Tian Tao Spandan Roy Simone Baldi Delft Center for Systems and Control Delft University of Technology (TU Delft) Netherlands Robotics Research Centre International Institute of Information Technology Hyderabad India School of Mathematics Southeast University Nanjing China

ISBN: (纸本)9781665436601

We address a distributed adaptive synchronization problem for complex networks composed of nonlinear nodes under state-dependent a priori interconnections, i.e. interconnection terms acting before control design. The interconnection terms are uncertain and the heterogeneous dynamics of the network nodes further contain state-dependent uncertainty and uncertain input matrix gain. Adaptive distributed control laws are proposed to tackle such an unsolved design. The proposed controller is verified in simulation via a multi-area load frequency control for power systems.

关键词： Adaptive systems Uncertainty control design Conferences Power system dynamics Decentralized control Complex networks

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Data-Driven Reachability Analysis of Pedestrians Using Behavior Modes

arXiv

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arXiv 2023年

作者： Söderlund, August Jiang, Frank J. Narri, Vandana Alanwar, Amr Johansson, Karl H. The Division of Decision and Control Systems EECS KTH Royal Institute of Technology Malvinas väg 10 Stockholm10044 Sweden Research and Development Scania CV AB Södertälje151 87 Sweden The School of Computation Information and Technology Technical University of Munich Heilbronn Germany The School of Computer Science and Engineering Constructor University Bremen Germany

In this paper, we present a data-driven approach for safely predicting the future state sets of pedestrians. Previous approaches to predicting the future state sets of pedestrians either do not provide safety guarantees or are overly conservative. Moreover, an additional challenge is the selection or identification of a model that sufficiently captures the motion of pedestrians. To address these issues, this paper introduces the idea of splitting previously collected, historical pedestrian trajectories into different behavior modes for performing data-driven reachability analysis. Through this proposed approach, we are able to use data-driven reachability analysis to capture the future state sets of pedestrians, while being less conservative and still maintaining safety guarantees. Furthermore, this approach is modular and can support different approaches for behavior splitting. To illustrate the efficacy of the approach, we implement our method with a basic behavior-splitting module and evaluate the implementation on an open-source data set of real pedestrian trajectories. In this evaluation, we find that the modal reachable sets are less conservative and more descriptive of the future state sets of the pedestrian. © 2023, CC BY.

关键词： Pedestrian safety

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Evaluation of Robustness Metrics for Defense of Machine Learning systems

Evaluation of Robustness Metrics for Defense of Machine Lear...

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International Conference on Military Communications and Information systems (ICMCIS)

作者： J. DeMarchi R. Rijken J. Melrose B. Madahar G. Fumera F. Roli E. Ledda M. Aktaş F. Kurth P. Baggenstoss B. Pelzer L. Kanestad Collaborative Engineering Systems & Aerospace Systems Information Supremacy Royal Netherlands Aerospace Centre NLR Amsterdam NLD Cyber & Information Systems Division Defence Science and Technology Laboratory Portondown GBR Department of Electrical and Electronic Engineering University of Cagliari Cagliari ITA Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa ITA Department of Computer Control and Management Engineering Sapienza University of Rome Rome ITA Defence Systems Technologies Division ASELSAN Ankara TUR Fraunhofer Institute for Communication Information Processing and Ergonomics Bonn DEU Swedish Defence Research Agency Cyber Defence and C2 Technology Division Stockholm SWE

In this paper we explore some of the potential applications of robustness criteria for machine learning (ML) systems by way of tangible “demonstrator” scenarios. In each demonstrator, ML robustness metrics are applied to real-world scenarios with military relevance, indicating how they might be used to help detect and handle possible adversarial attacks on ML systems. We conclude by sketching promising future avenues of research in order to: (1) help establish useful verification methodologies to facilitate ML robustness compliance assessment; (2) support development of ML accountability mechanisms; and (3) reliably detect, repel, and mitigate adversarial attack.

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Multi-agent systems with memories under DoS attacks

Multi-agent systems with memories under DoS attacks

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International Conference on control, Automation, robotics and Vision (ICARCV)

作者： Ricardo Almeida Ewa Girejko Luís Machado Agnieszka B. Malinowska Natália Martins Department of Mathematics Center for Research and Development in Mathematics and Applications University of Aveiro Portugal Faculty of Computer Science Bialystok University of Technology Białystok Poland Institute of Systems and Robotics - University of Coimbra Coimbra Portugal Department of Mathematics University of Trás-os-Montes e Alto Douro (UTAD) Vila Real Portugal

ISBN: (纸本)9781665476881

The paper is devoted to multi-agent systems with memories under denial-of-service (DoS) attacks. The memory is represented by the fractional derivative that appears in the dynamics of the considered systems. The problem that we aim to address is, under which conditions the system continues to be stable or is in consensus mode, despite DoS attacks. Solutions to these problems are proposed in the presented theorems. We strengthen the theoretical considerations with numerical simulations.

关键词： Linear systems Sufficient conditions Automation Denial-of-service attack Numerical simulation Stability analysis Robots

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An Easy-implemented Optimization Method of Trajectory Planning Based on Polynomial Interpolation

An Easy-implemented Optimization Method of Trajectory Planni...

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第40届中国控制会议

作者： Guangrong Chen Ming Ma Sheng Guo Bowen Hou Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Firstly,the forward kinematics and inverse kinematics of a five axis manipulator are ***,an easyimplemented optimization method of trajectory planning based on seventh order polynomial interpolation is *** proposed optimization method can capture the time optimal trajectory,while the actuators specifications including speed,acceleration of motor can be guaranteed as ***,simulation results validate the effectiveness and efficiency of proposed optimization *** research provides an insight for the application of trajectory optimization on the controller with low computing capability and real-time requirement.

关键词： Trajectory planning Optimization method Polynomial interpolation Manipulator

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A Novel Fractional Order Impedance control and Its Performance Analysis

A Novel Fractional Order Impedance Control and Its Performan...

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第33届中国控制与决策会议

作者： Guangrong Chen Huafeng Lu Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

In traditional impedance control model,the contact force can be reduced ***,there exists a tracking error at the stable state due to the existence of stiffness,which is not conducive to tackle tasks based on high performance position control for ***,this paper proposes a novel dynamic interaction model:fractional order impedance control,to address this ***,an integral item is added into the traditional impedance model to eliminate the tracking ***,the idea of fractional order is introduced to make the orders of inertia,damping,and stiffness change from integers to fractions to achieve more significant compliant ***,simulation results validate the advantages of proposed fractional order impedance control and it can be also employed to absorb/increase,hold/keep,and dissipate/decrease system energy to achieve jumping,bouncing and friendly contact,***,stability analysis and three criterions of choosing and tuning 6 classic parameters in the proposed fractional order impedance control are both given out.

关键词： Dynamic interaction Compliance control Fractional order Impedance control Performance analysis

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Simulation Model of a Pneumatic Drive for Compressing Electrodes of Stationary Contact Spot Welding Machine

Simulation Model of a Pneumatic Drive for Compressing Electr...

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International Conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Ilya L Sandler Dmitriy V Ivanov Michail A Terekhin Irina N Bragina Ilya V Lebakin Ruzil A Zaripov Dept. Digital Technologies Samara State University of Railway Transport Samara Russia Dept. Automation and Control in Technical Systems Samara State Technical University Samara Russia Dept. Information Systems Security Samara National Research University Samara Russia Dept. Digital Technologies Institute of Innovative Development FSBEI HE SamSMU MOH Russia Samara State University of Transport Higher School of Medical Engineering Samara Russia

The article presents a simulation model of a pneumatic drive for electrodes of a stationary contact spot welding machine. Thanks to the developed model, it becomes possible to analyze the system, as well as visually study its operation. The result of modeling the system is the obtained transients of the elements of the pneumatic system. The developed simulation model adequately describes the state and behavior of a real system of pneumatic compression of electrodes. The work is of interest to pneumatic engineers, designers and other specialists working in the field of pneumatics and can be used for more accurate and efficient design, analysis and optimization of not only a specific system of pneumatic compression of electrodes, but also pneumatic systems in general.

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research on the method of path planning for slag-removing on the surface of zinc pot

Research on the method of path planning for slag-removing on...

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第33届中国控制与决策会议

作者： Kebo LI Ling XIONG Zhenzhou ZHANG Gang CHEN Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Key Laboratory of Metallurgical Equipment and Control Technology Wuhan University of Science and Technology

During the production process of cold-rolled hot-dip galvanizing,the slag on the surface of the zinc pot will affect the quality of the *** zinc slag is mostly collected manually or by robots at *** effect of manual salvage is unstable and the operation is *** robot cannot identify the location of the zinc slag and can only salvage it according to a fixed rule,resulting in low *** response to the above problems,a zinc pot slag path planning method based on the greedy algorithm is proposed in this *** zinc pot area is divided,the image processing method is used to identify and locate the zinc slag to be *** the priority of the zinc pot,the obstacle avoidance problem and the restriction of the weight limit of the slag-removing tool are proposed in combination with the process *** three salvage strategies based on the greedy algorithm,the shortest distance,the maximum weight,and the minimum weight are proposed *** results show that the greedy algorithm strategy based on the shortest distance performs best,consumes the least energy,and the algorithm runs for a shorter *** can significantly improve the efficiency of zinc pot slag removal,realize intelligent control of slag removal technology,and can be applied to the actual production of zinc pot slag removal.

关键词： Slag from zinc pot Intelligent control Greedy algorithm Path planning Shortest distance strategy

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Learning Intra-group Cooperation in Multi-agent systems

Learning Intra-group Cooperation in Multi-agent Systems

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Weiwei Liu Shanqi Liu Jian Yang Yong Liu The Advanced Perception on Robotics and Intelligent Learning Lab College of Control Science and Enginneering Zhejiang University Hangzhou China China Research and Development Academy of Machinery Equipment Beijing China Huzhou Institute of Zhejiang University Huzhou China

ISBN: (纸本)9781665431545

Reinforcement learning is one of the algorithms used in multi-agent systems to promote agent cooperation. However, most current multi-agent reinforcement learning algorithms improve the communication capabilities of agents for cooperation, but the overall communication is costly and even harmful due to bandwidth limitations. In addition, de-centralized execution cannot generate joint actions, which is not conducive to cooperation. Therefore, we proposed the Hierarchical Group Cooperation Network (HGCN). Advanced strategy, Group Network (GroNet), learns to group all agents based on their state rather than their location. The Low-level strategy, Group Cooperation Network (GCoNet), is a method of centralized training and centralized execution within a group, which effectively promotes agent collaboration. Finally, we validated our method in various experiments.

关键词： Training Mechatronics Machine vision Collaboration Reinforcement learning Bandwidth Task analysis

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