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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Hossein Sheikhi Darani Ali Noormohammadi-Asl Hamid D. Taghirad Advanced Robotics and Automated System (ARAS) Industrial Control Center of Excellence (ICEE) Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

The primary purpose of path planning for unmanned aerial vehicles (UAVs), which is a necessary prerequisite toward an autonomous UAV, is to guide the robot to the predefined target while the chosen path is optimized. This paper addresses the problem of path planning for an unmanned aerial vehicle in a 2D indoor environment, considering motion uncertainty. To cope with this challenge, the problem of motion planning is formulated in three parts. A vision-based extended Kalman Filter (EKF) is used to localize the UAV in the unstructured environment. To overcome motion uncertainty, the problem is modeled as a Markov decision problem (MDP). Finally, a novel dynamic feedback linearization based switching controller is proposed for point-to-point motion. Simulation and experimental results are given to show the effectiveness of the proposed path planning method in practice.

关键词： Robot kinematics Path planning Uncertainty Robot sensing systems Switches

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Localization and Surface Characterization by Zhurong Mars Rover at Utopia Planitia

Research Square

引用

Research Square 2021年

作者： Ding, Liang Zhou, Ruyi Yu, Tianyi Gao, Haibo Yang, Huaiguang Li, Jian Yuan, Ye Liu, Chuankai Wang, Jia Zhao, Yuyan Wang, Zhengyin Wang, Xiyu Bao, Gang Deng, Zongquan Huang, Lan Li, Nan Cui, Xiaofeng He, Ximing Jia, Yang Yuan, Baofeng Liu, Guangjun Zhang, Hui Zhao, Rui Zhang, Zuoyu Cheng, Ziqing Wu, Fan Xu, Qian Lu, Hao Richter, Lutz Liu, Zhen Niu, Fuliang Qi, Huanan Li, Shu Feng, Wenhao Yang, Chaojie Chen, Baichao Dang, Zhaolong Zhang, Mingming Li, Lichun Wang, Xiaoxue Huang, Zhao Zhang, Jitao Xing, Hongjun Wang, Guanyu Niu, Lizhou Xu, Peng Wan, Wenhui Di, Kaichang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China Beijing Aerospace Control Center Beijing100094 China Center for Lunar and Planetary Sciences Institute of Geochemistry Chinese Academy of Science Guiyang550081 China CAS Center for Excellence in Comparative Planetology Hefei230026 China University of Chinese Academy of Sciences Beijing100049 China Beijing Institute of Spacecraft System Engineering Beijing100094 China Department of Aerospace Engineering Ryerson University TorontoONM5B 2K3 Canada Hauptstrasse 1e Eching Germany State Key Laboratory of Remote Sensing Science Aerospace Information Research Institute Chinese Academy of Sciences Beijing100101 China

China’s first Mars rover, Zhurong, has successfully touched down on the southern Utopia Planitia of Mars at 109.925° E, 25.066° N, and since performed cooperative multiscale investigations with the Tianwen-1 orbiter. Here we present primary localization and surface characterization results based on complementary data of the first 60 sols. The Zhurong rover has traversed 450.9 m southwards over a flat surface with mild wheel slippage (less than 0.2 in slip ratio). The encountered crescent-shaped sand dune indicates a NE-SW local wind direction, consistent with larger-range remote-sensing observations. Soil parameter analysis based on terramechanics indicates that the topsoil has high bearing strength and cohesion, and its equivalent stiffness and internal friction angle are ~1390-5872 kPa∙m-n and ~21°-34° respectively. Rocks observed strewn with dense pits, or showing layered and flaky structures, are presumed to be involved in physical weathering like severe wind erosion and potential chemical weathering processes. These preliminary observations suggest great potential of in-situ investigations by the scientific payload suite of the Zhurong rover in obtaining new clues of the region’s aeolian and aqueous history. Cooperative investigations using the related payloads on both the rover and the obiter could peek into the habitability evolution of the northern lowlands on Mars. © 2021, CC BY.

关键词： Sols

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Chattering-free fixed-time sliding mode control for bilateral teleoperation under unknown time-varying delay via disturbance and state observers

Advanced Control for Applications: Engineering and Industria...

引用

Advanced control for Applications: Engineering and Industrial Systems 2020年第4期2卷

作者： Abadi, Ali Soltani Sharif Hosseinabadi, Pooyan Alinaghi Mekhilef, Saad Ordys, Andrzej Department of Electrical Engineering Faculty of Engineering Yazd University Yazd Iran Faculty of Engineering University of Malaya Kuala Lumpur Malaysia School of Software and Electrical Engineering Faculty of Science Engineering and Technology Swinburne University of Technology Melbourne Australia Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz University Jeddah Saudi Arabia The Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland

This paper proposes a new chattering-free Fixed-time Observer-Based Sliding Mode control (FOBSMC) scheme for synchronization of two bilateral teleoperations under unknown time-varying delay. The system is subjected to unknown disturbances which are estimated in a fixed time by utilizing the Disturbance Observer-based SMC scheme. The fixed-time State Observer-based SMC is designed to estimate the unmeasured velocity state, while the position state is assumed to be available. Fixed-time stability method is used to provide the system convergence time independently of initial states. A FOBSMC scheme is first designed for master system of bilateral teleoperation under unknown time-varying delay to track the environmental torque by the human operating torque in the presence of time delay in the communication channel, as well as estimating the unknown disturbances and unmeasured states. A FOBSMC scheme is designed to synchronize slave system to master system in the presence of time delay in the communication channel, as well as estimating disturbances and states. The stability analysis is performed for closed-loop system of combined controller-observer by using Lyapunov theory. The efficacy of the proposed method to fulfill a good transparency and stability under time-varying communication delays is tested by performing numerical simulation in Simulink/MATLAB. © 2020 John Wiley & Sons Ltd.

关键词： Time delay

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A rapid fault reconstruction strategy using a bank of sliding mode observers

arXiv

引用

arXiv 2019年

作者： Shakarami, Mehran Esfandiari, Kasra Suratgar, Amir Aboulfazl Talebi, Heidar Ali Engineering and Technology Institute Groningen University of Groningen AG Groningen 9747 Netherlands Center for Systems Science Yale University New HavenCT United States Center of Excellence on Control and Robotics Department of Electrical Engineering Tehran Polytechnic Tehran Iran

This paper deals with the design of a model-based rapid fault detection and isolation strategy using sliding mode observers. To address this problem, a new scheme is proposed by adaptively combining the information provided by a bank of observers. In this regard, a new structure for sliding mode observers is considered. Then, the well-known recursive least square algorithm is utilized to merge individual state estimations suitably such that the system fault is detected faster. The required condition for enhancing perfect state estimation is derived, and the stability of the overall system is proven via Lyapunov's direct method. The supremacy of proposed scheme is fully discussed through mathematical analyses as well as simulations. Copyright © 2019, The Authors. All rights reserved.

关键词： State estimation

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Skill Assessment Using Kinematic Signatures: Geomagic Touch Haptic Device

Skill Assessment Using Kinematic Signatures: Geomagic Touch ...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： N. S. Hojati M. Motaharifar H. D. Taghirad A. Malekzadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Iran Faculty of Mathematics K.N. Toosi University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

The aim of this paper is to develop a practical skill assessment for some designed experimental tasks, retrieved from Minimally Invasive Surgery. The skill evaluation is very important in surgery training, especially in MIS. Most of the previous studies for skill assessment methods are limited in the Hidden Markov Model and some frequency transforms, such as Discrete Fourier transform, Discrete Cosine Transform and etc. In this paper, some features have been extracted from time-frequency analysis with the Discrete Wavelet Transform and temporal signal analysis of some kinematic metrics which were computed from Geomagic Touch kinematic data. In addition, the k-nearest neighbors classifier are employed to detect skill level based on extracted features. Through cross-validation results, it is demonstrated that the proposed methodology has annrouriate accuracy in skill level detection.

关键词： Feature extraction Measurement Discrete wavelet transforms Haptic interfaces Surgery Microsoft Windows

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Kinematics and Dynamics Modeling of Spherical Parallel Manipulator

Kinematics and Dynamics Modeling of Spherical Parallel Manip...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Omid Mahdizadeh Afshin Zeinaddini Meymand Mojtaba Mollahossein S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

Spherical parallel manipulators have been proposed for accurate and fast performance. In this paper, kinematics and dynamics of a spherical three degrees-of-freedom parallel manipulator are studied. First, both direct and inverse kinematics are solved by using a new geometric approach and defining a new appropriate set of coordinates. Then, based on the derived kinematics equations and Jacobian matrices of links, according to Lagrange method, the explicit dynamics formulation of the manipulator is developed. The obtained dynamics has been verified by using *** and MATLAB Software, simultaneously. This explicit verified model is highly important to design and implement various model based control algorithms. So, a Fuzzy Adaptive PID controller is designed to show the controller's operation on the manipulator. Discussing the obtained results reveal the merits and importance of the proposed modeling.

关键词： Manipulator dynamics Kinematics Mathematical model Jacobian matrices Gravity Dynamics

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Augmented Modeling of a Lower Limb Assistant Robot and Human Body

Augmented Modeling of a Lower Limb Assistant Robot and Human...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian Mohamad R. Mohamadi Farshid Absalan Center of Excellence in Robotics and Control Advanced Robotics – Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

Rehabilitation robotics is nowadays one of the most attractive fields in robotics. This paper focuses on modeling of a lower limb walking assist device (RoboWalk), augmented with the human body. RoboWalk has been designed to assist either the elderly people or those with malfunctioning in lower limb to do their daily tasks. Modeling the assistive device augmented to human model is highly important for design improvements and controller developments. In such complicated cases, simulators are appropriate tools to analyze the dynamics of robotic devices and understand how the device works which leads to the system improvements. In this paper, a human model that is properly appended to the RoboWalk has been analyzed using the OpenSim software. The human model includes 37 degrees of freedom to define joint kinematics, 80 muscle units actuating the lower limbs, and 17 torque actuators driving the upper body. To this end, the robot has been first added to the human model, then constraints have been properly defined, finally simulation has been implemented by adding a specified gait to human model. Obtained results will be discussed which reveal a reasonable performance of the whole system.

关键词： Solid modeling Actuators Assistive devices Knee Hip Legged locomotion

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Modeling and Model-free Fuzzy control of a Continuum Robotic Arm

Modeling and Model-free Fuzzy Control of a Continuum Robotic...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Aida Parvaresh S. Ali A. Moosavian Center of Excellence in Robotics & Control Faculty of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

Continuum robotic arms have many advantages compared to traditional manipulators, which motivate further researches in this field. Dynamics modeling and controlling these systems are challenging areas due to the complicated nonlinearities and uncertainties. In this paper, a three-dimensional dynamics model of such manipulators is developed through appropriate system identification method that is validated by experimental data, and then it is used to design a PID-fuzzy controller. This is a model-free controller and does not require the exact model of the system for controlling the position of the end-effector. Next, the performance in reaching different positions of the workspace is investigated. Obtained results show the merits of the proposed controller.

关键词： Analytical models Robot sensing systems Mathematical model End effectors Kinematics

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Dynamics Modeling and Performance Analysis of RoboWalk

Dynamics Modeling and Performance Analysis of RoboWalk

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mahdi Nabipour S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Dept of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

In this article, after introducing the RoboWalk body weight support assistive device, the forward kinematics of human and the inverse kinematics of the assistive robot are introduced. Then, a method for obtaining an analytical dynamics of the system is presented. This method is based on modeling the human body without modeling its constraints and contact forces. Then, the contact forces are taken into account and mapped into joint space of the robot using the jacobian matrices of interaction points. This method of modeling is then compared and verified by the numerical Recursive Newton Euler Algorithm. Since the numerical method is more efficient and has less computational complexities, it can be used in implementing the control algorithms on the robot. After the model is verified, a control strategy for assisting the user is designed and implemented on the developed model of RoboWalk. The performance of this control strategy is evaluated by comparing the floor reaction force and user joint torques if using Robowalk or not. Finally, the actuator's specification to fulfill our requirements is discussed.

关键词： Robot kinematics Kinematics Exoskeletons Mathematical model Legged locomotion Pelvis

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Robust Object Tracking Based on Recurrent Neural Networks

Robust Object Tracking Based on Recurrent Neural Networks

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： F. Lotfi V. Ajallooeian H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

Object tracking through image sequences is one of the important components of many vision systems, and it has numerous applications in driver assistance systems such as pedestrian collision avoidance or collision mitigating systems. Blurred images produced by a rolling shutter camera or occlusions may easily disturb the object tracking system. In this article, a method based on convolutional and recurrent neural networks is presented to further enhance the performance and robustness of such trackers. It is proposed to use a convolutional neural network to detect an intended object and feed the tracker with found image. Moreover, by using this structure the tracker is updated every ' n ' frames. A recurrent neural network is designed to learn the object behavior for estimating and predicting its position in blurred frames or when it is occluded behind an obstacle. Real-time implementation of the proposed approach verifies its applicability for improvement of the trackers performance.

关键词： Detectors Target tracking Object tracking Recurrent neural networks Proposals Robots

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