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IEEE International Conference on Mechatronics and Automation

作者： Xiaoliang Jin Shuxiang Guo Jian Guo Peng Shi Dapeng Song Faculty of Engineering and Design Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the research of vascular interventional surgery robotic system, the force information acquisition of surgical tools (guidewires and catheters) has a significant affect on the safety of surgery, especially the contact force between the catheter tip and vascular wall. Therefore. In order to obtain this contact force, we noticed the pressure sensitive rubber because of its piezoresistive effect and easy processing into any shape. a force sensor based on the pressure sensitive rubber was developed in this paper. Once a force is applied on the force sensor attached to the catheter tip, the contact force can be approximated by the piezoresistive effect of the pressure sensitive rubber. The feasibility of the developed force sensor was verified by the experiments in “Vitro”. And the results showed that the force sensor was developed in this paper can accurately detect the contact force between the catheter tip and vascular wall at different positions in the vascular model, the extraction of contact force information of catheter tip is of great significance to the safety of surgery, and the application potential of pressure sensitive rubber.

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Development of the Insect-inspired Biomimetic Underwater Microrobot for a Father-son Robot System

Development of the Insect-inspired Biomimetic Underwater Mic...

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IEEE International Conference on Mechatronics and Automation

作者： Wenbo Sui Shuxiang Guo Liang Zheng Ruochen An Awa Tendeng Graduate School of Engineering Kagawa University Takamatsu Kagawa Japan Faculty of Engineering and Design Kagawa University Hayashi-cho Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In this paper, the lifting platform structure of the father robot and the development of the insect-inspired biomimetic underwater microrobot are presented. The objective is to decrease the load of microrobot and realize more functions. In previous researchers, the platform of the father robot is fixed, which is not conducive to adopt and release the son robot. The structure of the lifting platform can effectively solve the problem in theory. The insect-inspired microrobot used wood which has high hydrophilism. It causes the body of microrobot increased weight and short-term works. The fillable structure with waterproof character which is made by a 3D printer. The new structure also can be changed weight for achieving different functions underwater efficiently. Then, two kinds of communication between the light source and microrobot like chasing rotation and fixed distance chasing are described in order to prove the feasibility of the software. In all these cases, experimental results show the performance of the microrobot.

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Constrained Gaussian process learning for model predictive control

arXiv

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arXiv 2019年

作者： Matschek, Janine Himmel, Andreas Sundmacher, Kai Findeisen, Rolf Laboratory for Systems Theory and Automatic Control Otto-von-Guericke University Magdeburg Germany Process Systems Engineering Otto-von-Guericke University Magdeburg Germany Max Planck Institute for Dynamics of Complex Technical Systems Magdeburg Germany

Many control tasks can be formulated as a tracking problem of a known or unknown reference signal. Examples are movement compensation in collaborative robotics, the synchronisation of oscillations for power systems or reference tracking of recipes in chemical process operation. Tracking performance as well as guaranteeing stability of the closed loop strongly depends on two factors: Firstly, it depends on whether the future desired tracking reference signal is known and, secondly, whether the system can track the reference at all. This paper shows how to use machine learning, i.e. Gaussian processes, to learn a reference from (noisy) data, while guaranteeing trackability of the modified desired reference predictions in the framework of model predictive control. Guarantees are provided by adjusting the hyperparameters via a constrained optimization. Two specific scenarios, i.e. asymptotically constant and periodical references, are discussed. Copyright © 2019, The Authors. All rights reserved.

关键词： Gaussian distribution

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Robust data-driven state-feedback design

arXiv

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arXiv 2019年

作者： Berberich, Julian Romer, Anne Scherer, Carsten W. Allgöwer, Frank Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70569 Germany Institute of Mathematical Methods in the Engineering Sciences Numerical Analysis and Geometrical Modeling Department of Mathematics University of Stuttgart Stuttgart70569 Germany

We consider the problem of designing robust state-feedback controllers for discrete-time linear time-invariant systems, based directly on measured data. The proposed design procedures require no model knowledge, but only a single open-loop data trajectory, which may be affected by noise. First, a data-driven characterization of the uncertain class of closed-loop matrices under state-feedback is derived. By considering this parametrization in the robust control framework, we design data-driven state-feedback gains with guarantees on stability and performance, containing, e.g., the H∞-control problem as a special case. Further, we show how the proposed framework can be extended to take partial model knowledge into account. The validity of the proposed approach is illustrated via a numerical example. Copyright © 2019, The Authors. All rights reserved.

关键词： State feedback

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Environment Modeling for the Application in optimization-based Trajectory Planning

Environment Modeling for the Application in optimization-bas...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Lienke, Christian Keller, Martin Glander, Karl-Heinz Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund44227 Germany Active Passive Safety Technology ZF Group Düsseldorf40547 Germany

ISBN: (纸本)9781538644522

The paper at hand proposes an environment model for trajectory planning in structured environments. It is composed of a static and a dynamic environment model. The generated static potential field takes restrictions imposed by the static environment into account. The dynamic environment model is based on the physical interpretation of the required safety distance. By the use of an advanced obstacle trajectory prediction method, the safety distance is calculated in accordance to the predicted situation. As the safety distance affects the dynamic potential field, information provided by the obstacle trajectory prediction is directly considered in the ego vehicle trajectory planning process. On account of the predictive character of the developed environment potential field, simulation experiments demonstrate the feasibility and effectiveness of the proposed method. © 2018 IEEE.

关键词： Trajectories

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Towards a DESTEST: A district energy simulation test developed in IBPSA project 1 16

Towards a DESTEST: A district energy simulation test develop...

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16th International Conference of the International Building Performance Simulation Association, Building Simulation 2019

作者： Saelens, Dirk De Jaeger, Ina Bünning, Felix Mans, Michael Vandermeulen, Annelies Van Der Heijde, Bram Garreau, Enora MacCarini, Alessandro Rønneseth, Øystein Sartori, Igor Helsen, Lieve KU Leuven Department of Civil Engineering Building Physics Section Leuven Belgium EnergyVille Genk Belgium VITO Mol Belgium Empa Urban Energy Systems Automatic Control Laboratory ETH Zürich Switzerland RWTH Aachen University E.ON Energy Research Center Institute for Energy Efficient Buildings and Indoor Climate Germany KU Leuven Department of Mechanical Engineering Applied Mechanics and Energy Conversion Section Leuven Belgium CSTB MINES ParisTech France Aalborg University Danish Building Research Institute Denmark SINTEF Norway

ISBN: (纸本)9781713809418

This paper presents the first steps towards a District Energy Simulation Test (DESTEST), which is part of IBPSA Project 1. The goal is to develop a test sequel for district energy simulations, inspired by principles of the BESTEST. It aims at providing a means to validate District Energy System models. The description of the DESTEST cases and the simulation results of extensively verified models will be available as a reference for verification. By presenting the research plan, goal and first results, the district energy simulation community is informed about the project's intentions, offering a chance for feedback and collaboration. © 2019 Building Simulation Conference Proceedings. All rights reserved.

关键词： Circuit simulation

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Definition of critical traffic scenarios to evaluate trigger criteria for collision avoidance

Definition of critical traffic scenarios to evaluate trigger...

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18th International Stuttgart Symposium on Automotive and Engine Technology, 2018

作者： Homann, Andreas Bertram, Torsten Buß, Markus Keller, Martin Glander, Karl-Heinz TU Dortmund University Institute of Control Theory and Systems Engineering Germany ZF TRW Active & Passive Safety Technology Düsseldorf Germany

ISBN: (纸本)9783658211936

This contribution examines the parameters, which influence a critical situation in road traffic decisively. For this purpose, sets of simulations are performed to evaluate the impact. By this knowledge, a trigger criteria for collision avoidance, which take all parameters into account is defined. The criteria utilizes an easy planning method to assess if an evasive maneuver or braking intervention will lead to collision free driving © Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature 2018.

关键词： Highway accidents

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Online calibration of a camera system in road traffic scenarios for the validation of automated driving functionalities 9

Online calibration of a camera system in road traffic scenar...

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9. GMM-Fachtagung Automotive meets Electronics, AmE 2018 - 9th GMM Symposium Automotive meets Electronics, AmE 2018

作者： Schmidt, Manuel Nattermann, Till Glander, Karl-Heinz Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund44227 Germany ZF TRW Automated Driving and Integral Cognitive Safety Düsseldorf40547 Germany

ISBN: (纸本)9783800745241

In this contribution, we introduce an algorithm that allows the estimation of a transformation between two sensor systems. The primary system consists of non-imaging sensors like for example lidar and radar or even a fused combination of these. A camera always represents the secondary system. The algorithm aims at automating the process of calibration entirely during driving. This way, much flexibility and robustness are guaranteed. Changing the placement of the camera remains possible without the need to do a cumbersome manual calibration. © AmE 2018: Autom. meets Elect. All rights reserved.

关键词： Cameras

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Flatness-Based Feed-Forward control Design for Solenoid Actuators Considering Eddy Currents

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IFAC-PapersOnLine 2019年第15期52卷 567-572页

作者： Tristan Braun Johannes Reuter Joachim Rudolph ZF Friedrichshafen AG Corporate Research & Development 88038 Friedrichshafen Germany Institute of System Dynamics Konstanz University of Applied Sciences 78462 Konstanz Germany Chair of Systems Theory and Control Engineering Saarland University Campus A5 1 66123 Saarbrücken Germany

Flatness-based feed-forward control of solenoid actuators is considered. For precise motion planning and accurate steering of conventional solenoids, eddy currents cannot be neglected. The system of ordinary differential equations including eddy currents, that describes the nonlinear dynamics of such actuators, is not differentially flat. Thus, a distributed parameter approach based on a diffusion equation is considered, that enables the parametrization of the eddy current by the armature position and its time derivatives. In order to design the feedforward control, the distributed parameter model of the eddy current subsystem is combined with a typical nonlinear lumped parameter model for the electrical and mechanical subsystems of the solenoid. The control design and its application are illustrated by numerical and practical results for an industrial solenoid actuator.

关键词： differential flatness feed-forward control motion planning distributed parameter systems diffusion equation eddy currents solenoid valves

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Extremum Seeking for Maximizing Higher Derivatives of Unknown Maps in Cascade with Reaction-Advection-Diffusion PDEs

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IFAC-PapersOnLine 2019年第29期52卷 210-215页

作者： Tiago Roux Oliveira Jan Feiling Miroslav Krstic Department of Electronics and Telecommunication Engineering State University of Rio de Janeiro (UERJ) Rio de Janeiro – RJ Brazil Institute for Systems Theory and Automatic Control (IST) University of Stuttgart Stuttgart Germany Department of Mechanical and Aerospace Engineering University of California - San Diego (UCSD) La Jolla – CA USA

We present a generalization of the scalar Newton-based extremum seeking algorithm, which maximizes the map’s higher derivatives in the presence of dynamics described by Reaction-Advection-Diffusion (RAD) equations. Basically, the effects of the Partial Differential Equations (PDEs) in the additive dither signals are canceled out using the trajectory generation paradigm. Moreover, the inclusion of a boundary control for the RAD process stabilizes the closed-loop feedback system. By properly demodulating the map output corresponding to the manner in which it is perturbed, the extremum seeking algorithm maximizes the n-th derivative only through measurements of the own map. The Newton-based extremum seeking approach removes the dependence of the convergence rate on the unknown Hessian of the higher derivative, an effort to improve performance and remove limitations of standard gradient-based extremum seeking. In particular, our RAD compensator employs the same perturbation-based (averaging-based) estimate for the Hessian’s inverse of the function to be maximized provided by a differential Riccati equation applied in the previous publications free of PDEs. We prove local stability of the algorithm, maximization of the map sensitivity and convergence to a small neighborhood of the desired (unknown) extremum by means of backstepping transformation, Lyapunov functional and the theory of averaging in infinite dimensions.

关键词： Adaptive control Extremum Seeking Partial Differential Equations Averaging theory Backstepping in Infinite Dimensions

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