Pub Date : 2022-01-01DOI: 10.5220/0011144800003271
M. Flammer, K. Hüper
{"title":"Persistent Homology based Classification of Chaotic Multi-variate Time Series with Application to EEG Data","authors":"M. Flammer, K. Hüper","doi":"10.5220/0011144800003271","DOIUrl":"https://doi.org/10.5220/0011144800003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"7 1","pages":"595-604"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87240802","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 : 2022-01-01DOI: 10.5220/0011272100003271
Jalil Boudjadar, M. Tomko
: Digital twin technology offers a sophisticated and flexible methodology to design high fidelity models of cyber-physical systems for simulation, optimization, formal verification and validation purposes. This has made such a technology a nascent process being currently adopted in many industries. This paper introduces a digital twin setup for safety-aware performance optimization of a cyber-physical system ( Energy Buck converter EBC). This is achieved by designing a high fidelity digital twin model of the Buck converter through synchronization of the model with the physical system, namely calibration. The behavior model is originally built in MATLAB to identify potential runtime optimization patterns using a genetic algorithm. Such a model is translated to a Uppaal model to perform formal verification of the safety properties. The behavior patterns from optimization are provided as inputs to the verification engine for approval, where only valid and feasible patterns are pushed into the actual control loop of EBC. The proposed setup has led to maintain the system safety while optimizing the performance and reducing the output errors.
{"title":"A Digital Twin Setup for Safety-aware Optimization of a Cyber-physical System","authors":"Jalil Boudjadar, M. Tomko","doi":"10.5220/0011272100003271","DOIUrl":"https://doi.org/10.5220/0011272100003271","url":null,"abstract":": Digital twin technology offers a sophisticated and flexible methodology to design high fidelity models of cyber-physical systems for simulation, optimization, formal verification and validation purposes. This has made such a technology a nascent process being currently adopted in many industries. This paper introduces a digital twin setup for safety-aware performance optimization of a cyber-physical system ( Energy Buck converter EBC). This is achieved by designing a high fidelity digital twin model of the Buck converter through synchronization of the model with the physical system, namely calibration. The behavior model is originally built in MATLAB to identify potential runtime optimization patterns using a genetic algorithm. Such a model is translated to a Uppaal model to perform formal verification of the safety properties. The behavior patterns from optimization are provided as inputs to the verification engine for approval, where only valid and feasible patterns are pushed into the actual control loop of EBC. The proposed setup has led to maintain the system safety while optimizing the performance and reducing the output errors.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"55 1","pages":"161-168"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72654591","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 : 2022-01-01DOI: 10.5220/0011231700003271
S. Hafstein
: Lyapunov functions can be used to characterize the stability and basins of attraction for dynamical systems, whose dynamics are defined by ordinary differential equations. Since the analytic generation of Lyapunov functions for nonlinear systems is a formidable task, one often resorts to numerical methods. In this paper we study the efficient verification of the conditions for a Lyapunov function using affine interpolation over a triangulation; the values of the Lyapunov function candidate at the vertices of the triangulation can be generated using various different formulas from converse theorems in the Lyapunov stability theory. Further, we give an implementation in C++ and demonstrate its efficiency and applicability.
{"title":"Efficient Verification of CPA Lyapunov Functions","authors":"S. Hafstein","doi":"10.5220/0011231700003271","DOIUrl":"https://doi.org/10.5220/0011231700003271","url":null,"abstract":": Lyapunov functions can be used to characterize the stability and basins of attraction for dynamical systems, whose dynamics are defined by ordinary differential equations. Since the analytic generation of Lyapunov functions for nonlinear systems is a formidable task, one often resorts to numerical methods. In this paper we study the efficient verification of the conditions for a Lyapunov function using affine interpolation over a triangulation; the values of the Lyapunov function candidate at the vertices of the triangulation can be generated using various different formulas from converse theorems in the Lyapunov stability theory. Further, we give an implementation in C++ and demonstrate its efficiency and applicability.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"158 1","pages":"120-129"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72790951","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 : 2022-01-01DOI: 10.5220/0011322600003271
Bilal Tout, Jason Chevrie, L. Vermeiren, A. Dequidt
: Conventional identification approach based on the inverse dynamic identification model using least-squares and direct and inverse dynamic identification techniques has been effectively used to identify inertial and friction parameters of robots. However these methods require a well-tuned filtering of the observation matrix and the measured torque to avoid bias in identification results. Meanwhile, the cutoff frequency of the low-pass filter f c must be well chosen, which is not always easy to do. In this paper, we propose to use a Kalman filter to reduce the noise of the observation matrix and the output torque signal of the PID controller.
{"title":"Contribution to Robot System Identification: Noise Reduction using a State Observer","authors":"Bilal Tout, Jason Chevrie, L. Vermeiren, A. Dequidt","doi":"10.5220/0011322600003271","DOIUrl":"https://doi.org/10.5220/0011322600003271","url":null,"abstract":": Conventional identification approach based on the inverse dynamic identification model using least-squares and direct and inverse dynamic identification techniques has been effectively used to identify inertial and friction parameters of robots. However these methods require a well-tuned filtering of the observation matrix and the measured torque to avoid bias in identification results. Meanwhile, the cutoff frequency of the low-pass filter f c must be well chosen, which is not always easy to do. In this paper, we propose to use a Kalman filter to reduce the noise of the observation matrix and the output torque signal of the PID controller.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"74 1","pages":"695-702"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75637795","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 : 2022-01-01DOI: 10.5220/0011271000003271
Siva Dhanakoti, J. Maddocks, Martin Weiser
: Recently developed Concentric Tube Continuum Robots (CTCRs) are widely exploited in, for example in minimally invasive surgeries which involve navigating inside narrow body cavities close to sensitive regions. These CTCRs can be controlled by extending and rotating the tubes one inside the other in order to reach a target point or perform some task. The robot must deviate as little as possible from this narrow space and avoid damaging neighbouring tissue. We consider open-loop optimal control of CTCRs parameterized over pseudo-time, primarily aiming at minimizing the robot’s working volume during its motion. External loads acting on the system like tip loads or contact with tissues are not considered here. We also discussed the inclusion of tip’s orientation in the optimal framework to perform some tasks. We recall a quaternion-based formulation of the robot configuration, discuss discretization, develop optimization objectives addressing different criteria, and investigate their impact on robot path planning for several numerical examples. This optimal control framework can be applied to any backbone based continuum robot.
{"title":"Navigation of Concentric Tube Continuum Robots using Optimal Control","authors":"Siva Dhanakoti, J. Maddocks, Martin Weiser","doi":"10.5220/0011271000003271","DOIUrl":"https://doi.org/10.5220/0011271000003271","url":null,"abstract":": Recently developed Concentric Tube Continuum Robots (CTCRs) are widely exploited in, for example in minimally invasive surgeries which involve navigating inside narrow body cavities close to sensitive regions. These CTCRs can be controlled by extending and rotating the tubes one inside the other in order to reach a target point or perform some task. The robot must deviate as little as possible from this narrow space and avoid damaging neighbouring tissue. We consider open-loop optimal control of CTCRs parameterized over pseudo-time, primarily aiming at minimizing the robot’s working volume during its motion. External loads acting on the system like tip loads or contact with tissues are not considered here. We also discussed the inclusion of tip’s orientation in the optimal framework to perform some tasks. We recall a quaternion-based formulation of the robot configuration, discuss discretization, develop optimization objectives addressing different criteria, and investigate their impact on robot path planning for several numerical examples. This optimal control framework can be applied to any backbone based continuum robot.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"41 1","pages":"146-154"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74939020","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 : 2022-01-01DOI: 10.5220/0011260100003271
D. Chakarov, I. Veneva, Pavel Venev
{"title":"Comparative Study of a Vacuum Powered Upper Limb Exoskeleton","authors":"D. Chakarov, I. Veneva, Pavel Venev","doi":"10.5220/0011260100003271","DOIUrl":"https://doi.org/10.5220/0011260100003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"11 1","pages":"403-410"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73212108","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 : 2022-01-01DOI: 10.5220/0011141600003271
Alicia Mora, Adrián Prados, Ramón Barber
: Traditional mapping techniques rely on metric properties, which represent indoor information with specific geometric characteristics. This fact highly differs from the way in which people interpret their surroundings. By geometrically segmenting occupancy grid maps into rooms, robots are brought closer to the way in which we understand indoor environments. In this work, Voronoi diagrams are proposed as the main tool to locate map partitions. As a novelty, they are extracted from free and occupied spaces to analyze their shape. This allows to locate narrow passages on free zones which coincide with protruding parts on occupied zones, indicating a nearby door. An additional advantage is the use of a varying threshold that depends on the map structure. This dynamic value can adjust to multiple scenarios, avoiding the use of a fixed threshold that cannot be generalized. Experiments have been conducted in multiple maps, showing the potential of the propose method.
{"title":"Segmenting Maps by Analyzing Free and Occupied Regions with Voronoi Diagrams","authors":"Alicia Mora, Adrián Prados, Ramón Barber","doi":"10.5220/0011141600003271","DOIUrl":"https://doi.org/10.5220/0011141600003271","url":null,"abstract":": Traditional mapping techniques rely on metric properties, which represent indoor information with specific geometric characteristics. This fact highly differs from the way in which people interpret their surroundings. By geometrically segmenting occupancy grid maps into rooms, robots are brought closer to the way in which we understand indoor environments. In this work, Voronoi diagrams are proposed as the main tool to locate map partitions. As a novelty, they are extracted from free and occupied spaces to analyze their shape. This allows to locate narrow passages on free zones which coincide with protruding parts on occupied zones, indicating a nearby door. An additional advantage is the use of a varying threshold that depends on the map structure. This dynamic value can adjust to multiple scenarios, avoiding the use of a fixed threshold that cannot be generalized. Experiments have been conducted in multiple maps, showing the potential of the propose method.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"64 1","pages":"395-402"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72698779","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 : 2022-01-01DOI: 10.5220/0011123600003271
Danielle K. Gleason, Michael Jenkin
: Developing a navigation function for an unknown environment is a difficult task, made even more challenging when the environment has complex structure and the robot imposes nonholonomic constraints on the problem. Here we pose the problem of navigating an unknown environment as a reinforcement learning task for an Ackermann vehicle. We model environmental complexity using a standard characterization of mazes, and we show that training on complex maze architectures with loops (braid and partial braid mazes) results in an effective policy, but that for a more efficient policy, training on mazes without loops (perfect mazes) is to be preferred. Experimental results obtained in simulation are validated on a real robot operating both indoors and outdoors, assuming good localization and a 2D LIDAR to recover the local structure of the environment.
{"title":"Nonholonomic Robot Navigation of Mazes using Reinforcement Learning","authors":"Danielle K. Gleason, Michael Jenkin","doi":"10.5220/0011123600003271","DOIUrl":"https://doi.org/10.5220/0011123600003271","url":null,"abstract":": Developing a navigation function for an unknown environment is a difficult task, made even more challenging when the environment has complex structure and the robot imposes nonholonomic constraints on the problem. Here we pose the problem of navigating an unknown environment as a reinforcement learning task for an Ackermann vehicle. We model environmental complexity using a standard characterization of mazes, and we show that training on complex maze architectures with loops (braid and partial braid mazes) results in an effective policy, but that for a more efficient policy, training on mazes without loops (perfect mazes) is to be preferred. Experimental results obtained in simulation are validated on a real robot operating both indoors and outdoors, assuming good localization and a 2D LIDAR to recover the local structure of the environment.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"23 1","pages":"369-376"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82229716","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 : 2022-01-01DOI: 10.5220/0011275700003271
Máté Fazekas, B. Németh, P. Gáspár
: To guarantee the required motion estimation accuracy for an autonomous vehicle, the integration of the wheel encoder measurements is an adequate choice besides the generally applied GNSS, inertial and visual-odometry methods. Wheel odometry is a robust and cost-effective technique, but the required calibration of the nonlinear odometry model in the presence of noise remains an open problem in the context of autonomous vehicles. The core problem is that due to the nonlinear behavior of the model, the identified parameters will be biased even with Gaussian-type measurement noises. The presented method operates with genetic algorithms and utilizes two novel improvements: compensation of the state initialization of the model inside the estimation process, and equilibration of the parameter estimation by an adaptive weighting technique. With these innovations the distortion effects are mitigated and unbiased model calibration can be obtained even when several local minimums exist. The performance of the developed algorithm and the accuracy of parameter estimation are demonstrated with detailed validation and test with a real vehicle.
{"title":"Calibration of the Nonlinear Wheel Odometry Model with an Improved Genetic Algorithm Architecture","authors":"Máté Fazekas, B. Németh, P. Gáspár","doi":"10.5220/0011275700003271","DOIUrl":"https://doi.org/10.5220/0011275700003271","url":null,"abstract":": To guarantee the required motion estimation accuracy for an autonomous vehicle, the integration of the wheel encoder measurements is an adequate choice besides the generally applied GNSS, inertial and visual-odometry methods. Wheel odometry is a robust and cost-effective technique, but the required calibration of the nonlinear odometry model in the presence of noise remains an open problem in the context of autonomous vehicles. The core problem is that due to the nonlinear behavior of the model, the identified parameters will be biased even with Gaussian-type measurement noises. The presented method operates with genetic algorithms and utilizes two novel improvements: compensation of the state initialization of the model inside the estimation process, and equilibration of the parameter estimation by an adaptive weighting technique. With these innovations the distortion effects are mitigated and unbiased model calibration can be obtained even when several local minimums exist. The performance of the developed algorithm and the accuracy of parameter estimation are demonstrated with detailed validation and test with a real vehicle.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"3 1","pages":"640-648"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84177525","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 : 2022-01-01DOI: 10.5220/0011141100003271
James White, Mark A. Post, A. Tyrrell
{"title":"A Novel Connection Mechanism for Dynamically Reconfigurable Modular Robots","authors":"James White, Mark A. Post, A. Tyrrell","doi":"10.5220/0011141100003271","DOIUrl":"https://doi.org/10.5220/0011141100003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"55 1","pages":"385-394"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90774120","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：