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NA-CPG: A robust and stable rhythm generator for robot motion control

Biomimetic Intelligence & robotics 2022年第4期2卷 30-38页

作者： Ru Tong Changlin Qiu Zhengxing Wu Jian Wang Min Tan Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Central pattern generators(CPGs)have been widely applied in robot motion control for the spontaneous output of coherent periodic ***,the underlying CPG network exhibits good convergence performance only within a certain range of parameter spaces,and the coupling of oscillators affects the network output accuracy in complex topological ***,CPGs may diverge when parameters change drastically,and the divergence is irreversible,which is catastrophic for the control of robot ***,normalized asymmetric CPGs(NA-CPGs)that normalize the amplitude parameters of Hopf-based CPGs and add a constraint function and a frequency regulation mechanism are ***-CPGs can realize parameter decoupling,precise amplitude output,and stable and rapid convergence,as well as asymmetric output ***,it can effectively cope with large parameter changes to avoid network oscillations and *** optimize the parameters of the NA-CPG model,a reinforcement-learning-based online optimization method is further ***,a biomimetic robotic fish is illustrated to realize the whole optimization *** demonstrated that the designed NA-CPGs exhibit stable,secure,and accurate network outputs,and the proposed optimization method effectively improves the swimming speed and reduces the lateral swing of the multijoint robotic fish by 6.7%and 41.7%,*** proposed approach provides a significant improvement in CPG research and can be widely employed in the field of robot motion control.

关键词： Normalized asymmetric CPGs Rhythm generator Motion control Robotic fish

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Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Hou, Muyang Lei, Zhenya Hu, Haidong Wang, Zhong Wang, Yong Xie, Le Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Beijing Institute of Control Engineering Beijing100190 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant;on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A∗ which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion. © 2024 IEEE.

关键词： Trajectories

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Case Study on an Experimental Autonomous Vehicle and Evaluation of its System Reliability

Case Study on an Experimental Autonomous Vehicle and Evaluat...

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Electrical, Computer, Communications and Mechatronics engineering (ICECCME), International Conference on

作者： Marius Misaros Clément Robier Ovidiu-Petru Stan Szilárd Enyedi Anca Stan Dan Ioan Gota Liviu Miclea Automation Department Technical University of Cluj-Napoca Cluj-Napoca Romania Generalist Department Cesi Ingineering School of Lyon Lyon France Industrial Engineering Robotics and Production Management Technical University of Cluj Napoca Romania

ISBN: (数字)9798350391183

ISBN: (纸本)9798350391190

The ability of a vehicle to move without the input of a human operator marks its transition into the domain of the autonomous vehicle. This concept is gaining increasing popularity with the objective of enhancing navigational safety and facilitating the transmission and reception of information from other road users, thereby facilitating more efficient navigation. It was thus resolved to construct a partially autonomous vehicle that employs sensors and Li-Fi technology to receive and process external stimuli approaching the control side of the vehicle. The prototype in the proposed and analyzed case study is steered by means of a steering wheel that has been specially configured for this application and is connected by radio. Additionally, the case study examined the reliability of the vehicle, which is a crucial factor in determining the potential causes of malfunction or even complete failure of the prototype under test. The principal objective of the case study is to construct a prototype and conduct a reliability analysis of the system, examining each component to ascertain the strengths and weaknesses of the prototype under test. The findings of the study underscore the significance of assessing the hardware elements of the proposed autonomous vehicle, culminating in a favorable assessment of its reliability.

关键词： Mechatronics Navigation Roads Prototypes Wheels Process control Sensors Safety Reliability Autonomous vehicles

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Localization Using Two Different IMU Sensor-Based Dead Reckoning System

Localization Using Two Different IMU Sensor-Based Dead Recko...

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International Symposium on INFOTEH-JAHORINA (INFOTEH)

作者： Ibrahim Toy Akif Durdu Abdullah Yusefi Research and Development MPG Machinery Production Group Inc. Co. Konya Turkey Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkey

Dead reckoning estimates the current position, speed, and direction of moving objects using known position information. Localization determines an object's location on the map, categorized into human and vehicle localization. Autonomous vehicles rely on accurate vehicle localization for effective task execution. While Global Navigation Satellite System (GNSS) is a popular method, weak or absent signals can pose challenges. This study utilizes Inertial Measurement Unit (IMU) sensors for localization, integrating a second IMU to enhance accuracy. Fusing data from two IMU sensors, a dead reckoning system achieves 1.02 degrees and 1.41 meters errors in rotation and translation with a single IMU, and 1.01 degrees and 1.04 meters with two IMUs, respectively.

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Enhanced Obstacle Detection in Autonomous Vehicles using 3D LiDAR Mapping Techniques

Enhanced Obstacle Detection in Autonomous Vehicles using 3D ...

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International Symposium on INFOTEH-JAHORINA (INFOTEH)

作者： Muhammed Enes Tokgöz Abdullah Yusefi İbrahim Toy Akif Durdu Research and Development MPG Machinery Production Group Inc. Co. Konya Turkey Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkey

In this study, a method utilizing a 3D LiDAR(Light Detection and Ranging) sensor for mapping and obstacle detection in autonomous vehicles has been developed. The LiDAR sensor employs laser beams to detect the positions and distances of surrounding objects. Data from the LiDAR were processed to generate 2D maps from the 3D point cloud. During this process, obstacles within the vehicle's navigable height range, as well as those that wouldn't impede its movement were identified. Using a filtering method, points outside of these obstacles were removed to create a map. In experimental studies, it was observed that the developed method can accurately detect challenging obstacles such as fences made of thin wires. Consequently, it is evident that this method holds the potential to offer more reliable and safe obstacle detection for autonomous vehicles.

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Camera/LiDAR Sensor Fusion-based Autonomous Navigation

Camera/LiDAR Sensor Fusion-based Autonomous Navigation

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International Symposium on INFOTEH-JAHORINA (INFOTEH)

作者： Abdullah Yusefi Akif Durdu Ibrahim Toy Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkey Research and Development MPG Machinery Production Group Inc. Co. Konya Turkey

This research presents a novel approach for autonomous navigation of Unmanned Ground Vehicles (UGV) using a camera and LiDAR sensor fusion system. The proposed method is designed to achieve a high rate of obstacle detection, distance estimation, and obstacle avoidance. In order to thoroughly study the form of things and decrease the problem of object occlusion, which frequently happens in camera-based object recognition, the 3D point cloud received from the LiDAR depth sensors is used. The proposed camera and LiDAR sensor fusion design balance the benefits and drawbacks of the two sensors to produce a detection system that is more reliable than others. The UGV's autonomous navigation system is then provided with the region proposal to re-plan its route and navigate appropriately. The experiments were conducted on a UGV system with high obstacle avoidance and fully autonomous navigation capabilities. The outcomes demonstrate that the suggested technique can successfully maneuver the UGV and detect impediments in actual situations.

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Distributed Event-Triggered Formation Control for a Multi-robotic Fish System

Distributed Event-Triggered Formation Control for a Multi-ro...

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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Dai, Shijie Wu, Zhengxing Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9789811966125

This paper investigates the formation control problem for a multi-robotic fish system and a distributed event-triggered-based formation control framework is proposed. The framework consists of a communication topology, a distributed formation control law, and a dynamic event-triggered communication mechanism. In particular, a position-based formation control law is presented to drive the multi-robotic fish system to an anticipated configuration based on local measurements while keeping pace with a moving target. Meanwhile, a dynamic event-triggered mechanism is utilized to measure importance of the interactive information and decide the communication timing. The proposed formation control method shows its merits to greatly reduce communication consumption with a limited loss of formation control performance. Finally, simulations with quantitative comparisons are presented to verify the effectiveness of the proposed framework. This formation control framework provides a solid foundation for future marine cooperative control of the multi-robotic fish system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Advanced Brain Tumor Diagnosis using Haralick Texture Features and Multiclass SVM in MRI Imaging

Advanced Brain Tumor Diagnosis using Haralick Texture Featur...

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IEEE International Conference on automation, Quality and Testing, robotics, AQTR

作者： Shaik Karimullah Mohammed Mahaboob Basha Fahimuddin Shaik Srinivasulu Gundala Anca Stan Ovidiu Petru Stan Departmrnt of ECE AITS Rajampet Andhra Pradesh India Department of ECE Sreenidhi Institute of Science and Technology India Department of ECE Lakireddy Bali Reddy College of Engineering Mylavaram Andhra Pradesh Industrial Engineering Robotics and Production Management Technical University of Cluj Napoca Romania Department of Automation Automation and Computer Science Technical University of Cluj Napoca Romania

ISBN: (数字)9798350361933

ISBN: (纸本)9798350361940

This study employs contemporary computer techniques and magnetic resonance imaging (MRI) to tackle the critical issue of brain tumor classification. The proposed technique involves obtaining databases, preprocessing the data, extracting features, applying machine learning for classification, and conducting a thorough performance evaluation. The method enhances the visibility of tumors and enhances the characteristics of images by acquiring a diverse collection of MRI images and applying a series of preprocessing operations, including Otsu Binarization, Gray Level Thresholding, Morphological Operations, and Principal Component Analysis (PCA). Subsequently, the Haralick texture characteristics are extracted to depict the textural patterns observed in the pictures. The concept is based on utilizing a multiclass Support Vector Machine (SVM) to achieve accurate tumor classification. Our proposed technique demonstrated efficacy in accurately classifying brain tumors, as evidenced by an impressive accuracy rate of 99.764% and near-perfect ROC curve performance, with area under the curve (AUC) values close to 1. The findings emphasize the potential practicality of the technique and contribute to the advancement of computational methods and medical imaging in the field of brain tumor detection.

关键词： Support vector machines Training Accuracy Thresholding (Imaging) Magnetic resonance imaging Machine learning Feature extraction

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive Control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Guanfeng Yu Han Zhang Zehao Wang Jingchuan Wang Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities.

关键词： Pedestrians Accuracy Systematics Wheelchairs Estimation Predictive models Real-time systems

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K-BMPC: Derivative-based Koopman Bilinear Model Predictive Control For Tractor-trailer Trajectory Tracking With Unknown Parameters

K-BMPC: Derivative-based Koopman Bilinear Model Predictive C...

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IEEE International Conference on robotics and automation (ICRA)

作者： Zehao Wang Han Zhang Jingchuan Wang Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown. To address this constraint, we propose a derivative-based lifting function construction method, show that the corresponding infinite dimensional Koopman bilinear model over the lifting function is equivalent to the original control-affine system. Further, we analyze the propagation and bounds of state prediction errors caused by the truncation in derivative order. The identified finite dimensional Koopman bilinear model would serve as predictive model in the next step. Koopman Bilinear Model Predictive control (K-BMPC) is proposed to solve the trajectory tracking problem. We linearize the bilinear model around the estimation of the lifted state and control input. Then the bilinear Model Predictive Control problem is approximated by a quadratic programming problem. Further, the estimation is updated at each iteration until the convergence is reached. Moreover, we implement our algorithm on a tractor-trailer system, taking into account the longitudinal and side slip effects. The open-loop simulation shows the proposed Koopman bilinear model captures the dynamics with unknown parameters and has good prediction performance. Closed-loop tracking results show the proposed K-BMPC exhibits elevated tracking precision with the commendable computational efficiency. The experimental results demonstrate the feasibility of K-BMPC.

关键词： Trajectory tracking Computational modeling Estimation Predictive models Control systems Data models Nonlinear dynamical systems

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