Pub Date : 2022-09-01DOI: 10.1109/mra.2022.3188191
Yi Guo
After two years of virtual conferences, the annual flagship conference of the IEEE Robotics and Automation Society (RAS), the IEEE International Conference on Robotics and Automation (ICRA), has returned in person. When I attended ICRA in Philadelphia in May, I felt excitement in the air when people greeted each other and friends shook hands and hugged each other. It was not easy for professors, students, industry practitioners, and other attendees traveling from all around the world to be under one roof, while the COVID-19 pandemic has not fully settled into its endemic stage. With more than 4,700 in-person participants, nearly half of whom were students, this year’s conference was the largest and youngest one ever in ICRA history.
{"title":"Reconnecting the Diverse Community [From the Guest Editors]","authors":"Yi Guo","doi":"10.1109/mra.2022.3188191","DOIUrl":"https://doi.org/10.1109/mra.2022.3188191","url":null,"abstract":"After two years of virtual conferences, the annual flagship conference of the IEEE Robotics and Automation Society (RAS), the IEEE International Conference on Robotics and Automation (ICRA), has returned in person. When I attended ICRA in Philadelphia in May, I felt excitement in the air when people greeted each other and friends shook hands and hugged each other. It was not easy for professors, students, industry practitioners, and other attendees traveling from all around the world to be under one roof, while the COVID-19 pandemic has not fully settled into its endemic stage. With more than 4,700 in-person participants, nearly half of whom were students, this year’s conference was the largest and youngest one ever in ICRA history.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"57 1","pages":"4-6"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82978769","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-09-01DOI: 10.1109/mra.2022.3189194
Karinne Ramirez-Amaro, Daniel Leidner, G. Chalvatzaki
{"title":"The Value of Diversity in the Robotics and Automation Society [Women in Engineering]","authors":"Karinne Ramirez-Amaro, Daniel Leidner, G. Chalvatzaki","doi":"10.1109/mra.2022.3189194","DOIUrl":"https://doi.org/10.1109/mra.2022.3189194","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"14 1","pages":"153-154"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89641898","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-09-01DOI: 10.1109/mra.2022.3189198
Jaehoon Lee, C. Schlenoff
T he IEEE Robotics and Au to mation Society’s standards working groups continue to grow. Our current working groups are pursuing standards and guidelines in the following areas: ● autonomous robots ● ethically driv en nudging for robotic, intelligent, and autonomous systems ● an ontological standard for ethically driv en robotics and automa tion systems ● recommended practice for the hu man–robot interaction design of human subject studies ● robot agility ● robot task representation ● standard terminology for human– robot interactions ● 3D map data representation ● the verification of autonomous systems. Our newest standards working group, “Standard for Semantic Maps for Autonomous Robots,” is developing a standard that defines a reference model; fundamental data models; and an application framework of semantic maps for autonomous robots, which is described in more detail here. Autonomous intelligent robots use highlevel descriptions of space and context to interact with human beings. Semantic maps enable e f f e c t i v e human–robot interaction by provid ing an abstraction of space and association of contextual knowl edge. The ongoing rapid develop ment of intelligent technology with robotic technology demands both sophisticated and standardized seman tic maps to provide interoperability between the diverse conjunctive tech nologies that are required for intelli gent robots. The purpose of this standard is to establish a common ground for the application of semantic maps for autonomous robots to provide intelli gent services to human users. The development of this standard is initi ated from a reference model that is based on the requirements identified from use cases. Fundamental data models for the re presentation and exchange of semantic map informa tion are developed in turn. Finally, the specification of an application framework to support the develop ment of applications utilizing the semantic maps for autonomous robots follows. There are additional working groups in the pipeline focusing on modularity for robotically assisted surgical systems and on extending the current autonomous robot standard (P1872.2). Stay tuned for more infor mation on these upcoming work ing groups. If you would like to get involved in this working group, please contact Jaeho Lee at jaeho@uos@ac.uk. If you would like to learn about or get involved in the other working groups, please visit https://www.ieeeras.org/industry government/standards. There is also an active effort to include undergraduate college students in these groups to pique their interest in robot standards. More information about this effort can be found at https:// www.ieeeras.org/students/student newsandannouncements/1572call studentsparticipatinginieeerobotic standardizationeffortsspirse. Digital Object Identifier 10.1109/MRA.2022.3189198 Date of current version: 7 September 2022 Autonomous
{"title":"New Standards Working Group on Semantic Maps - and More to Come! [Standards]","authors":"Jaehoon Lee, C. Schlenoff","doi":"10.1109/mra.2022.3189198","DOIUrl":"https://doi.org/10.1109/mra.2022.3189198","url":null,"abstract":"T he IEEE Robotics and Au to mation Society’s standards working groups continue to grow. Our current working groups are pursuing standards and guidelines in the following areas: ● autonomous robots ● ethically driv en nudging for robotic, intelligent, and autonomous systems ● an ontological standard for ethically driv en robotics and automa tion systems ● recommended practice for the hu man–robot interaction design of human subject studies ● robot agility ● robot task representation ● standard terminology for human– robot interactions ● 3D map data representation ● the verification of autonomous systems. Our newest standards working group, “Standard for Semantic Maps for Autonomous Robots,” is developing a standard that defines a reference model; fundamental data models; and an application framework of semantic maps for autonomous robots, which is described in more detail here. Autonomous intelligent robots use highlevel descriptions of space and context to interact with human beings. Semantic maps enable e f f e c t i v e human–robot interaction by provid ing an abstraction of space and association of contextual knowl edge. The ongoing rapid develop ment of intelligent technology with robotic technology demands both sophisticated and standardized seman tic maps to provide interoperability between the diverse conjunctive tech nologies that are required for intelli gent robots. The purpose of this standard is to establish a common ground for the application of semantic maps for autonomous robots to provide intelli gent services to human users. The development of this standard is initi ated from a reference model that is based on the requirements identified from use cases. Fundamental data models for the re presentation and exchange of semantic map informa tion are developed in turn. Finally, the specification of an application framework to support the develop ment of applications utilizing the semantic maps for autonomous robots follows. There are additional working groups in the pipeline focusing on modularity for robotically assisted surgical systems and on extending the current autonomous robot standard (P1872.2). Stay tuned for more infor mation on these upcoming work ing groups. If you would like to get involved in this working group, please contact Jaeho Lee at jaeho@uos@ac.uk. If you would like to learn about or get involved in the other working groups, please visit https://www.ieeeras.org/industry government/standards. There is also an active effort to include undergraduate college students in these groups to pique their interest in robot standards. More information about this effort can be found at https:// www.ieeeras.org/students/student newsandannouncements/1572call studentsparticipatinginieeerobotic standardizationeffortsspirse. Digital Object Identifier 10.1109/MRA.2022.3189198 Date of current version: 7 September 2022 Autonomous","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"110 1","pages":"152"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81217540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-09-01DOI: 10.1109/mra.2022.3188192
Francesco Missiroli
Welcome again to the “Student’s Corner” column. This year brings to us a gradual transition between the online activities resulting from COVID-19 and in-person meetings. We finally had the ability to attend to the IEEE International Conference on Robotics and Automation (ICRA) in person. It was an impressive conference, not only for the number of participants and the sponsors that the organizers were able to attract but also for the opportunities available to early researchers in the IEEE Robotics and Automation Society (RAS). We broke several records at the conference, beginning with the sponsors, extending to the number of people attending (8,004, with 4,709 joining in person) and reaching a total of 1,458 papers that students and researchers were eager to present after three years of pandemic and online meetings. We, the RAS Student Activities Committee (SAC), are excited by the large presence of early career researchers: 48% of the in-person participants were students. From these numbers, it is clear that the Society is expanding and that there is increasing interest in the field from new generations.
{"title":"Greetings From the New Student Activities Committee Executive Team [Student's Corner]","authors":"Francesco Missiroli","doi":"10.1109/mra.2022.3188192","DOIUrl":"https://doi.org/10.1109/mra.2022.3188192","url":null,"abstract":"Welcome again to the “Student’s Corner” column. This year brings to us a gradual transition between the online activities resulting from COVID-19 and in-person meetings. We finally had the ability to attend to the IEEE International Conference on Robotics and Automation (ICRA) in person. It was an impressive conference, not only for the number of participants and the sponsors that the organizers were able to attract but also for the opportunities available to early researchers in the IEEE Robotics and Automation Society (RAS). We broke several records at the conference, beginning with the sponsors, extending to the number of people attending (8,004, with 4,709 joining in person) and reaching a total of 1,458 papers that students and researchers were eager to present after three years of pandemic and online meetings. We, the RAS Student Activities Committee (SAC), are excited by the large presence of early career researchers: 48% of the in-person participants were students. From these numbers, it is clear that the Society is expanding and that there is increasing interest in the field from new generations.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"58 1","pages":"157-164"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91536249","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-09-01DOI: 10.1109/mra.2022.3189232
F. Park
Having witnessed the nearly five thousand participants gathered in Philadelphia for the IEEE International Conference on Robotics and Automation (ICRA) 2022, I think it’s safe to say that in-person meetings are emphatically back. It’s true that the coronavirus continues to evolve and still stubbornly refuses to go away, and many travel restrictions across borders remain in place. Still, after more than two years of meeting remotely, the chance to have informal conversations in the hallway with speakers, to connect with both old and new friends outside meetings, and to disconnect from the distractions of daily life and rituals were, especially for me, too much to pass up. To the organizers and volunteers who organized such a tremendously successful event through the uncertainty and challenges of the pandemic, let me express my deep gratitude on behalf of the entire robotics community.
{"title":"Reflections on ICRA 2022 [President's Message]","authors":"F. Park","doi":"10.1109/mra.2022.3189232","DOIUrl":"https://doi.org/10.1109/mra.2022.3189232","url":null,"abstract":"Having witnessed the nearly five thousand participants gathered in Philadelphia for the IEEE International Conference on Robotics and Automation (ICRA) 2022, I think it’s safe to say that in-person meetings are emphatically back. It’s true that the coronavirus continues to evolve and still stubbornly refuses to go away, and many travel restrictions across borders remain in place. Still, after more than two years of meeting remotely, the chance to have informal conversations in the hallway with speakers, to connect with both old and new friends outside meetings, and to disconnect from the distractions of daily life and rituals were, especially for me, too much to pass up. To the organizers and volunteers who organized such a tremendously successful event through the uncertainty and challenges of the pandemic, let me express my deep gratitude on behalf of the entire robotics community.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"40 1","pages":"8"},"PeriodicalIF":0.0,"publicationDate":"2022-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81433566","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-05DOI: 10.48550/arXiv.2208.02936
Lili Wang, Ji Liu, A. Morse
A hybrid observer is described for estimating the state of a system of the form dot x=Ax, y_i=C_ix, i=1,...,m. The system's state x is simultaneously estimated by m agents assuming agent i senses y_i and receives appropriately defined data from its neighbors. Neighbor relations are characterized by a time-varying directed graph N(t). Agent i updates its estimate x_i of x at event times t_{i1},t_{i2} ... using a local continuous-time linear observer and a local parameter estimator which iterates q times during each event time interval [t_{i(s-1)},t_{is}), s>=1, to obtain an estimate of x(t_{is}). Subject to the assumptions that N(t) is strongly connected, and the system is jointly observable, it is possible to design parameters so that x_i converges to x with a pre-assigned rate. This result holds when agents communicate asynchronously with the assumption that N(t) changes slowly. Exponential convergence is also assured if the event time sequence of the agents are slightly different, although only if the system being observed is exponentially stable; this limitation however, is a robustness issue shared by all open loop state estimators with small modeling errors. The result also holds facing abrupt changes in the number of vertices and arcs in the inter-agent communication graph upon which the algorithm depends.
{"title":"A Hybrid Observer for Estimating the State of a Distributed Linear System","authors":"Lili Wang, Ji Liu, A. Morse","doi":"10.48550/arXiv.2208.02936","DOIUrl":"https://doi.org/10.48550/arXiv.2208.02936","url":null,"abstract":"A hybrid observer is described for estimating the state of a system of the form dot x=Ax, y_i=C_ix, i=1,...,m. The system's state x is simultaneously estimated by m agents assuming agent i senses y_i and receives appropriately defined data from its neighbors. Neighbor relations are characterized by a time-varying directed graph N(t). Agent i updates its estimate x_i of x at event times t_{i1},t_{i2} ... using a local continuous-time linear observer and a local parameter estimator which iterates q times during each event time interval [t_{i(s-1)},t_{is}), s>=1, to obtain an estimate of x(t_{is}). Subject to the assumptions that N(t) is strongly connected, and the system is jointly observable, it is possible to design parameters so that x_i converges to x with a pre-assigned rate. This result holds when agents communicate asynchronously with the assumption that N(t) changes slowly. Exponential convergence is also assured if the event time sequence of the agents are slightly different, although only if the system being observed is exponentially stable; this limitation however, is a robustness issue shared by all open loop state estimators with small modeling errors. The result also holds facing abrupt changes in the number of vertices and arcs in the inter-agent communication graph upon which the algorithm depends.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"17 1","pages":"110633"},"PeriodicalIF":0.0,"publicationDate":"2022-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79875666","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-01DOI: 10.1016/J.IFACOL.2020.12.2166
Handong Bai, Hongwei Zhang, He Cai, Johannes Schiffer
{"title":"Voltage regulation and current sharing for multi-bus DC microgrids: A compromised design approach","authors":"Handong Bai, Hongwei Zhang, He Cai, Johannes Schiffer","doi":"10.1016/J.IFACOL.2020.12.2166","DOIUrl":"https://doi.org/10.1016/J.IFACOL.2020.12.2166","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"76 1","pages":"110340"},"PeriodicalIF":0.0,"publicationDate":"2022-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81398595","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-07-04DOI: 10.48550/arXiv.2207.01299
A. Simoes, Efstratios Stratoglou, A. Bloch, L. Colombo
Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the velocities. In this work, we introduce the notion of virtual nonholonomic constraints in a geometric framework. More precisely, it is a controlled invariant distribution associated with an affine connection mechanical control system. We demonstrate the existence and uniqueness of a control law defining a virtual nonholonomic constraint and we characterize the trajectories of the closed-loop system as solutions of a mechanical system associated with an induced constrained connection. Moreover, we characterize the dynamics for nonholonomic systems in terms of virtual nonholonomic constraints, i.e., we characterize when can we obtain nonholonomic dynamics from virtual nonholonomic constraints.
{"title":"Virtual Nonholonomic Constraints: A Geometric Approach","authors":"A. Simoes, Efstratios Stratoglou, A. Bloch, L. Colombo","doi":"10.48550/arXiv.2207.01299","DOIUrl":"https://doi.org/10.48550/arXiv.2207.01299","url":null,"abstract":"Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the velocities. In this work, we introduce the notion of virtual nonholonomic constraints in a geometric framework. More precisely, it is a controlled invariant distribution associated with an affine connection mechanical control system. We demonstrate the existence and uniqueness of a control law defining a virtual nonholonomic constraint and we characterize the trajectories of the closed-loop system as solutions of a mechanical system associated with an induced constrained connection. Moreover, we characterize the dynamics for nonholonomic systems in terms of virtual nonholonomic constraints, i.e., we characterize when can we obtain nonholonomic dynamics from virtual nonholonomic constraints.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"87 1","pages":"111166"},"PeriodicalIF":0.0,"publicationDate":"2022-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85462770","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-06-27DOI: 10.48550/arXiv.2206.13437
Wanke Yu, Min Wu, Biao Huang, Chengda Lu
Many multivariate statistical analysis methods and their corresponding probabilistic counterparts have been adopted to develop process monitoring models in recent decades. However, the insightful connections between them have rarely been studied. In this study, a generalized probabilistic monitoring model (GPMM) is developed with both random and sequential data. Since GPMM can be reduced to various probabilistic linear models under specific restrictions, it is adopted to analyze the connections between different monitoring methods. Using expectation maximization (EM) algorithm, the parameters of GPMM are estimated for both random and sequential cases. Based on the obtained model parameters, statistics are designed for monitoring different aspects of the process system. Besides, the distributions of these statistics are rigorously derived and proved, so that the control limits can be calculated accordingly. After that, contribution analysis methods are presented for identifying faulty variables once the process anomalies are detected. Finally, the equivalence between monitoring models based on classical multivariate methods and their corresponding probabilistic graphic models is further investigated. The conclusions of this study are verified using a numerical example and the Tennessee Eastman (TE) process. Experimental results illustrate that the proposed monitoring statistics are subject to their corresponding distributions, and they are equivalent to statistics in classical deterministic models under specific restrictions.
{"title":"A Generalized Probabilistic Monitoring Model with Both Random and Sequential Data","authors":"Wanke Yu, Min Wu, Biao Huang, Chengda Lu","doi":"10.48550/arXiv.2206.13437","DOIUrl":"https://doi.org/10.48550/arXiv.2206.13437","url":null,"abstract":"Many multivariate statistical analysis methods and their corresponding probabilistic counterparts have been adopted to develop process monitoring models in recent decades. However, the insightful connections between them have rarely been studied. In this study, a generalized probabilistic monitoring model (GPMM) is developed with both random and sequential data. Since GPMM can be reduced to various probabilistic linear models under specific restrictions, it is adopted to analyze the connections between different monitoring methods. Using expectation maximization (EM) algorithm, the parameters of GPMM are estimated for both random and sequential cases. Based on the obtained model parameters, statistics are designed for monitoring different aspects of the process system. Besides, the distributions of these statistics are rigorously derived and proved, so that the control limits can be calculated accordingly. After that, contribution analysis methods are presented for identifying faulty variables once the process anomalies are detected. Finally, the equivalence between monitoring models based on classical multivariate methods and their corresponding probabilistic graphic models is further investigated. The conclusions of this study are verified using a numerical example and the Tennessee Eastman (TE) process. Experimental results illustrate that the proposed monitoring statistics are subject to their corresponding distributions, and they are equivalent to statistics in classical deterministic models under specific restrictions.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"10 6 1","pages":"110468"},"PeriodicalIF":0.0,"publicationDate":"2022-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86365319","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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