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Autonomous docking and energy sharing between two types of robotic agents

IFAC-PapersOnLine 2018年第29期51卷 406-411页

作者： Babi, Anja Mandi, Filip Vasiljevi, Goran Mikovi, Nikola Faculty of Electrical Engineering and Computing LABUST Laboratory for Underwater Systems and Technologies University of Zagreb Unska 3 Zagreb Croatia Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Unska 3 Zagreb Croatia

In order to achieve long-term autonomy after deployment, a method of energy sharing within a heterogeneous swarm of marine robots was devised and implemented. This paper describes hardware and software solutions as well as guidance and control algorithms developed with the goal of allowing powerful energy-rich overactuated surface platforms to approach, dock, and wirelessly recharge less mobile sensor-rich agents upon request using visual servoing. The basic image processing algorithm uses data acquired by the Microsoft Kinect sensor alternating between RGB and infra-red camera modes, depending on lighting conditions. The full search and docking procedure developed for long-term operation is described. The results of a series of experiments done both in an indoor testbed and in realistic outdoor conditions are discussed and some goals for future work are given. © 2018

关键词： Autonomous agents

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Design of a Highly Reliable SRAM Cell with Advanced Self-Recoverability from Soft Errors

Design of a Highly Reliable SRAM Cell with Advanced Self-Rec...

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International Test Conference in Asia (ITC-Asia)

作者： Zhengda Dou Albin Yan Jun Zhou Yuanjie Hu Yan Chen Tianming Ni Jie Cui Patrick Girard Xiaoqing Wen School of Computer Science and Technology Anhui University/Anhui Engineering Laboratory of IoT Security Technologies Hefei China College of Electrical Engineering Anhui Polytechnic University Wuhu China Laboratory of Informatics Robotics and Microelectronics of Montpellier University of Montpellier/CNRS Montpellier France Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

ISBN: (数字)9781728189444

ISBN: (纸本)9781728189451

In this paper, a highly reliable SRAM cell, namely SESRS cell, is proposed. Since the cell has a special feedback mechanism among its internal nodes and has more access transistors compared to a standard SRAM cell, the SESRS cell provides the following advantages: (1) it can self-recover from single node upsets (SNUs) and double-node upsets (DNUs); (2) it can reduce power consumption by 49.78% and silicon area by 7.92%, compared with the only existing SRAM cell which can self-recover from all possible DNUs. Simulation results validate the robustness of the proposed SESRS cell. Moreover, compared with the state-of-the-art hardened SRAM cells, the proposed SESRS cell can reduce read access time by 61.93% on average.

关键词： SRAM cells Transistors Integrated circuit reliability Logic gates Standards Robustness Reliability engineering

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Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model

Passive Quadrupedal Gait Synchronization for Extra Robotic L...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Daniel J. Gonzalez H. Harry Asada Robotics Research Center in the Department of Electrical Engineering and Computer Science United States Military Academy West Point NY USA d’Arbeloff Laboratory for Information Systems and Technology in the Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped system to walk with the rear legs lead the front by 25% of the gait period, minimizing the energy lost from foot impacts while maximizing balance stability. Unlike quadrupedal robots, the XRL cannot command the human's limbs to coordinate quadrupedal locomotion. Using a pair of Rimless Wheel models, it is shown that the systems coupled with a spring and damper converge to the desired 25% phase difference. A Poincaré return map was generated using numerical simulation to examine the convergence properties to different coupler design parameters, and initial conditions. The Dynamically Coupled Double Rimless Wheel system was physically realized with a spring and dashpot chosen from the theoretical results, and initial experiments indicate that the desired synchronization properties may be achieved within several steps using this set of passive components alone.

关键词： Legged locomotion Wheels Synchronization Couplers Robot kinematics

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Application of Iterative Learning Control in X-Y Precision Planar Motion Platform

Application of Iterative Learning Control in X-Y Precision P...

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Chinese Automation Congress (CAC)

作者： Hongyu Yan Danping Jia Tao Zhang Hualiang Zhang Yingjie Xiong Xu Lu Yang Liu School of Artificial Intelligence Shenyang University of Technology Shenyang China School of Information Science and Engineering Shenyang University of Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Electrical Engineering Dalian University of Technology Dalian China College Of Information Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9781665426480

The size of the tracking error is one of the important indicators to measure the control system of the X-Y Precision Planar Motion Platform. Iterative learning control (ILC) can obtain higher tracking accuracy through multiple iterations. However, it is found in experiments that the tracking error of the XY precision motion stage using ordinary PD-type iterative learning will eventually fluctuate in a relatively range, and some high-frequency Noise will seriously affect the stability of the system after many iterations. Aiming at the above problems, a PD-type variable gain open-closed loop ILC with a low-pass filter is proposed. This control scheme can effectively remove high-frequency noise and reduce tracking errors. Finally, a hardware-in-the-loop real-time simulator is used to conduct a comparative experiment. Through comparison with PID controller and ordinary PD-type ILC, the experimental consequence show that this arithmetic has a smaller tracking error than the other two algorithms.

关键词： Tracking loops Tracking Low-pass filters Control systems Size measurement Stability analysis Real-time systems

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Robust trajectory optimization over uncertain terrain with stochastic complementarity

arXiv

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arXiv 2020年

作者： Drnach, Luke Zhao, Ye School of Electrical and Computer Engineering Institute for Robotics and Intelligent Machines Georgia Institute of Technology AtlantaGA United States School of Mechanical Engineering at Georgia Institute of Technology AtlantaGA United States Laboratory for Intelligent Decision and Autonomous Robots G. W. Woodruff School of Mechanical Engineering Georgia Institute of Technology AtlantaGA United States

Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics and the terrain and are susceptible to uncertainty. Recent works have attempted to handle uncertainties in the system model, but few have investigated uncertainty in contact dynamics. In this study, we model uncertainty stemming from the terrain and design corresponding risk-sensitive objectives under the framework of contact-implicit trajectory optimization. In particular, we parameterize uncertainties from the terrain contact distance and friction coefficients using probability distributions and propose a corresponding expected residual minimization cost design approach. We evaluate our method in three simple robotic examples, including a legged hopping robot, and we benchmark one of our examples in simulation against a robust worst-case solution. We show that our risk-sensitive method produces contact-averse trajectories that are robust to terrain perturbations. Moreover, we demonstrate that the resulting trajectories converge to those generated by a traditional, non-robust method as the terrain model becomes more certain. Our study marks an important step towards a fully robust, contact-implicit approach suitable for deploying robots on real-world terrain. Copyright © 2020, The Authors. All rights reserved.

关键词： Landforms

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A Sextuple Cross-Coupled SRAM Cell Protected against Double-Node Upsets

A Sextuple Cross-Coupled SRAM Cell Protected against Double-...

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Asian Test Symposium (ATS)

作者： Aibin Yan Yan Chen Jun Zhou Jie Cui Tianming Ni Xiaoqing Wen Patrick Girard School of Computer Science and Technology Anhui University Hefei China College of Electrical Engineering Anhui Polytechnic University Wuhu China Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan Laboratory of Informatics Robotics and Microelectronics of Montpellier University of Montpellier / CNRS Montpellier France

ISBN: (数字)9781728174679

ISBN: (纸本)9781728174686

In this paper, we propose a sextuple cross-coupled SRAM cell, namely SCCS18T, protected against double-node upsets. Since the proposed SCCS18T cell forms a large feedback loop for value retention and error interception, the cell can provide self-recoverability from any single-node upsets (SNUs) and partial double-node upsets (DNUs). Moreover, the proposed cell has optimized operation speed due to the use of six access transistors. Simulation results show that the SCCS18T cell can save approximately 65% read access time at the cost of 49% power dissipation and 50% silicon area on average, compared with typical hardened SRAM cells.

关键词： Transistors SRAM cells Simulation Radiation hardening (electronics) Power dissipation Latches Integrated circuit reliability

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On the Normalization in Evolutionary Multi-Modal Multi-Objective Optimization

On the Normalization in Evolutionary Multi-Modal Multi-Objec...

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Congress on Evolutionary Computation

作者： Yiping Liu Hisao Ishibuchi Gary G. Yen Yusuke Nojima Naoki Masuyama Yuyan Han Department of Computer Science and Intelligent Systems Osaka Prefecture University Sakai Osaka Japan Guangdong Provincial Key Laboratory of Brain-inspired Intelligent Computation Southern University of Science and Technology Shenzhen China School of Electrical and Computer Engineering Oklahoma State University Stillwater OK USA School of Computer Science Liaocheng University Liaocheng China

ISBN: (数字)9781728169293

ISBN: (纸本)9781728169309

Multi-modal multi-objective optimization problems may have different Pareto optimal solutions with the same objective vector. A number of evolutionary multi-modal multiobjective algorithms have been developed to solve these problems. They aim to search for a Pareto optimal solution set with good diversity in both the objective and decision spaces. Although the normalization in both the objective and decision spaces is very important for these algorithms, there are few studies on this topic. In this paper, we investigate the effect of four normalization methods on two evolutionary multi-modal multiobjective algorithms. Six distance minimization problems are chosen as test problems. The experimental results show that the effect of normalization in evolutionary multi-modal multiobjective optimization is algorithm- and problem-dependent.

关键词： Pareto optimization Sociology Evolutionary computation computer science Search problems

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Hysteresis Control of the Pseudo Boost PFC Converter

Hysteresis Control of the Pseudo Boost PFC Converter

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Aleksandra Lekić-Vervoort Milovan Majstorović Leposava Ristić Dušan Stipanović Intelligent Electrical Power Grids (IEPG) Electrical Sustainable Energy (ESE) Faculty of Electrical Engineering Mathematics and Computer Science TU Delft Delft Netherlands The Department of Power Converters and Drive Systems University of Belgrade Belgrade Serbia Coordinated Science Laboratory University of Illinois Urbana IL USA

ISBN: (数字)9781728156354

ISBN: (纸本)9781728156361

In this paper, a control design for the the Pseudo Boost PFC converter with the application in the charger for electric vehicles, is formulated and verified. The rectifier ends up being energy efficient because due to containing smaller number of switches. The converter is controlled using a method involving the minimum Lyapunov function derivative and a hysteresis. This control provides an averaged value of the converter sine input current, and thus, decreasing the THD value. Theoretical results are complemented with the corresponding simulations and experimental waveforms.

关键词： Hysteresis Switches Lyapunov methods Inductors Mathematical model Electric vehicles

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Diffusive nonreciprocity and thermal diode

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Physical Review B 2021年第1期103卷 014307-014307页

作者： Ying Li Jiaxin Li Minghong Qi Cheng-Wei Qiu Hongsheng Chen Interdisciplinary Center for Quantum Information State Key Laboratory of Modern Optical Instrumentation College of Information Science and Electronic Engineering Zhejiang University Hangzhou 310027 China ZJU-Hangzhou Global Science and Technology Innovation Center Key Lab. of Advanced Micro/Nano Electronic Devices & Smart Systems of Zhejiang Zhejiang University Hangzhou 310027 China International Joint Innovation Center ZJU-UIUC Institute The Electromagnetics Academy at Zhejiang University Zhejiang University Haining 314400 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117583 Singapore State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Wave propagation and diffusion in linear materials preserve local reciprocity in terms of a symmetric Green's function. For wave propagations, the relation between the fields entering and leaving a system is more relevant than the detailed information about the fields inside it. In such cases, the global reciprocity of the scattering off a system through several ports is more important, which is defined as the symmetric transmission between the scattering channels. When a two-port system supports nonreciprocal (electromagnetic, acoustic) wave propagation, it is a (optical, phonon) diode directly following the definition. However, to date no concrete definition or discussion has been made on the global reciprocity of diffusive processes through a multiple-port system. It thus remains unclear what are the differences and relations between the three concepts, namely, local nonreciprocity, global nonreciprocity, and diode effect in diffusion. Here, we provide theoretical analysis on the frequency-domain Green's function and define the global reciprocity of heat diffusion through a two-port system, which has a different setup from that of a thermal diode. We further prove the equivalence between a heat transfer system with broken steady-state global reciprocity and a thermal diode, assuming no temperature-dependent heat generation. The validities of some typical mechanisms in breaking the diffusive reciprocity and making a thermal diode have been discussed. Our results set a general background for future studies on symmetric and asymmetric diffusive processes.

关键词： Diffusion Heat transfer Metamaterials Diodes Green's function methods

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Adaptive reinforcement learning with active state-specific exploration for engagement maximization during simulated child-robot interaction

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Paladyn 2018年第1期9卷 235-253页

作者： Velentzas, George Tsitsimis, Theodore Rañó, Iñaki Tzafestas, Costas Khamassi, Mehdi School of Electrical and Computer Engineering National Technical University of Athens Athens Greece Intelligent Systems Research Centre Ulster University Coleraine United Kingdom Sorbonne Université CNRS Institute of Intelligent Systems and Robotics ParisF-75005 France

Using assistive robots for educational applications requires robots to be able to adapt their behavior specifically for each child with whom they interact. Among relevant signals, non-verbal cues such as the child's gaze can provide the robot with important information about the child's current engagement in the task, and whether the robot should continue its current behavior or not. Here we propose a reinforcement learning algorithm extended with active state-specific exploration and show its applicability to child engagement maximization as well as more classical tasks such as maze navigation. We first demonstrate its adaptive nature on a continuous maze problem as an enhancement of the classic grid world. There, parameterized actions enable the agent to learn single moves until the end of a corridor, similarly to "options" but without explicit hierarchical *** then apply the algorithm to a series of simulated scenarios, such as an extended Tower of Hanoi where the robot should find the appropriate speed of movement for the interacting child, and to a pointing task where the robot should find the child-specific appropriate level of expressivity of action. We show that the algorithm enables to cope with both global and local non-stationarities in the state space while preserving a stable behavior in other stationary portions of the state space. Altogether, these results suggest a promising way to enable robot learning based on non-verbal cues and the high degree of non-stationarities that can occur during interaction with children. © by George Velentzas et al., published by De Gruyter 2018.

关键词： Reinforcement learning

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