Modeling the kinematics and dynamics of UAVs with cable-suspended loads using dual quaternions remains an area requiring further exploration, especially when considering the offset between the attachment point and the...
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ISBN:
(数字)9798331513283
ISBN:
(纸本)9798331513290
Modeling the kinematics and dynamics of UAVs with cable-suspended loads using dual quaternions remains an area requiring further exploration, especially when considering the offset between the attachment point and the UAV's center of mass. This work introduces a novel control strategy based on dual quaternions for sling load cargo UAV (cUAV) systems with offset attachments. Leveraging the mathematical efficiency and compactness of dual quaternions, we establish a unified representation of the kinematics and dynamics of both the UAV and its suspended load. Extensive simulations and realworld experiments were conducted to evaluate the accuracy and robustness of the proposed strategy. The results demonstrate the controller's reliability and stability across various conditions in practical cUAV applications. This study makes a contribution to the presentation of this novel control strategy that harnesses the benefits of dual quaternions for cUAVs. Our work also holds promise for inspiring future innovations in under-actuated systems control using dual quaternions.
The integration of renewable energy power significantly influences the voltage support strength of the power system. With the rapid increase in renewable energy generation capacity in recent years, the power system fa...
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As CMOS scaling approaches its fundamental limits, the explosive rise of AI and LLMs has unveiled profound bottlenecks in computing architectures. This paper presents two groundbreaking paradigms poised to reshape the...
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Integrating humanoid service mobile robots into human environments presents numerous challenges, primarily concerning the safety of interactions between robots and humans. To address these safety concerns, we propose ...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
Integrating humanoid service mobile robots into human environments presents numerous challenges, primarily concerning the safety of interactions between robots and humans. To address these safety concerns, we propose a novel approach that leverages the capabilities of digital twin technology by tailoring it to incorporate comprehensive and robust safety concepts. This paper introduces a "safe-by-design" digital twin that operates alongside the real twin robot in the loop, engaging real-time safety framework during physical interactions with the surrounding environment, including *** validate the effectiveness of our proposed safe-by-design digital twin framework, we conducted experiments using a humanoid service mobile robot alongside simulated human counterparts. Our results demonstrate the capability of the integrated impact safety module within the proposed digital twin approach to limit the velocities of both the robot’s base and arms, adhering to injury biomechanics-based safety thresholds. These findings emphasize the promise of our proposed approach for ensuring the physical safety of humanoid service mobile robots operating in dynamic human environments. It enables the digital twin to preemptively identify potential safety hazards and formulate safe intervention actions to ensure the robot’s compliance with safety regulations, paving the way for safer and more widespread adoption of robotic systems in various service domains.
A respiratory infection like pneumonia faces a serious health challenge across the globe, especially in the poor and underdeveloped countries. The pneumonia is affected by various factors like bacteria or viruses. The...
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Determining the optimal cost function parameters of Model Predictive Control (MPC) to optimize multiple control objectives is a challenging and time-consuming task. Multi-objective Bayesian Optimization (BO) technique...
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ISBN:
(数字)9798350348811
ISBN:
(纸本)9798350348828
Determining the optimal cost function parameters of Model Predictive Control (MPC) to optimize multiple control objectives is a challenging and time-consuming task. Multi-objective Bayesian Optimization (BO) techniques solve this problem by determining a Pareto optimal parameter set for an MPC with static weights. However, a single parameter set may not deliver the most optimal closed-loop control performance when the context of the MPC operating conditions changes during its operation, urging the need to adapt the cost function weights at runtime. Deep Reinforcement Learning (RL) algorithms can automatically learn context-dependent optimal parameter sets and dynamically adapt for a Weights-varying MPC (WMPC). However, learning cost function weights from scratch in a continuous action space may lead to unsafe operating states. To solve this, we propose a novel approach limiting the RL action space within a safe learning space that we represent by a catalog of pre-optimized feasible BO Pareto-optimal weight sets. We conceive an RL agent not to learn in a continuous space but to select the most optimal discrete actions, each corresponding to a single set of Pareto optimal weights, by proactively anticipating upcoming control tasks in a context-dependent manner. This approach introduces a two-step optimization: (1) safety-critical with BO and (2) performance-driven with RL. Hence, even an untrained RL agent guarantees a safe and optimal performance. Simulation results demonstrate that an untrained RL-WMPC shows Pareto-optimal closed-loop behavior and training the RL-WMPC helps exhibit a performance beyond the Pareto-front. The code used in this research is publicly accessible as open-source software: https://***/bzarr/TUM-CONTROL
The generalized Kerker effects have attracted increasing interests in recent years due to their abilities to manipulate the far-field properties of ***,the dual-polarized generalized Kerker effect enabling different t...
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The generalized Kerker effects have attracted increasing interests in recent years due to their abilities to manipulate the far-field properties of ***,the dual-polarized generalized Kerker effect enabling different tailoring of orthogonally-polarized electromagnetic waves has not yet been ***,we demonstrate polarization-controlled dual resonant lattice Kerker effects in periodic silicon *** varying the incident angle,the electric dipole and magnetic dipole surface lattice resonances can spectrally overlap,causing zero reflectance and unitary transmittance,i.e.,the resonant lattice Kerker *** incident angle for achieving this effect can be tuned differently for s-and p-polarizations over large regions by varying the nanodisk size or the lattice *** proposed dual-polarized resonant lattice Kerker effects open up avenues for polarization-controlled manipulation of the phase and wavefront of light with metasurfaces.
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAV...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended loads, focusing on the sling load lifting and tracking problems. By utilizing the mathematical efficiency and compactness of dual quaternions, a unified representation of the UAV and its suspended load’s dynamics and kinematics is achieved, facilitating the realization of load lifting and trajectory tracking. The simulation results have tested the proposed strategy’s accuracy, efficiency, and robustness. This study makes a substantial contribution to present this novel control strategy that harnesses the benefits of dual quaternions for cargo UAVs. Our work also holds promise for inspiring future innovations in under-actuated systems control using dual quaternions.
Modern collaborative robotic applications require robot motions that are predictable for human coworkers. Therefore, trajectories often need to be planned in task space rather than configuration space ( $\mathcal{C}$ ...
Modern collaborative robotic applications require robot motions that are predictable for human coworkers. Therefore, trajectories often need to be planned in task space rather than configuration space ( $\mathcal{C}$ -space). While the interpolation of translations in Euclidean space is straightforward, the interpolation of rotations in $SO(3)$ is more complex. Most approaches originating from computer graphics do not exhibit the often desired $\mathcal{C}^{2}$ -continuity in robotics. Our main contribution is a $\mathcal{C}^{2}$ -continuous, zero-clamped interpolation scheme for quaternions that computes a fast synchronized motion given a set of waypoints. As a second contribution, we present modifications to two state-of-the-art quaternion interpolation schemes, Spherical Quadrangle Interpolation (SQUAD) and Spherical Parabolic Blends (SPB), to enable them to compute $\mathcal{C}^{2}$ -continuous, zero-clamped trajectories. In experiments, we demonstrate that for the time optimization of trajectories, our approach is computationally efficient and at the same time computes smooth trajectory profiles.
Assembly inspection is a crucial aspect of smart manufacturing to guarantee the quality of products. To address the challenges posed by complex workshop scenes, an assembly inspection algorithm based on multi-view ste...
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