A Hybrid Physical And Data Drivapproach To Motion Prediction And Control In Human Robot Collaboration
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A Hybrid Physical And Data Drivapproach To Motion Prediction And Control In Human Robot Collaboration
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Author : Min Wu
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2022-06-14
A Hybrid Physical And Data Drivapproach To Motion Prediction And Control In Human Robot Collaboration written by Min Wu and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-06-14 with Technology & Engineering categories.
In recent years, researchers have achieved great success in guaranteeing safety in human-robot interaction, yielding a new generation of robots that can work with humans in close proximity, known as collaborative robots (cobots). However, due to the lack of ability to understand and coordinate with their human partners, the ``co'' in most cobots still refers to ``coexistence'' rather than ``collaboration''. This thesis aims to develop an adaptive learning and control framework with a novel physical and data-driven approach towards a real collaborative robot. The first part focuses on online human motion prediction. A comprehensive study on various motion prediction techniques is presented, including their scope of application, accuracy in different time scales, and implementation complexity. Based on this study, a hybrid approach that combines physically well-understood models with data-driven learning techniques is proposed and validated through a motion data set. The second part addresses interaction control in human-robot collaboration. An adaptive impedance control scheme with human reference estimation is presented. Reinforcement learning is used to find optimal control parameters to minimize a task-orient cost function without fully knowing the system dynamic. The proposed framework is experimentally validated through two benchmark applications for human-robot collaboration: object handover and cooperative object handling. Results show that the robot can provide reliable online human motion prediction, react early to human motion variation, make proactive contributions to physical collaborations, and behave compliantly in response to human forces.
Human In The Loop Robot Control And Learning
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Author : Luka Peternel
language : en
Publisher: Frontiers Media SA
Release Date : 2020-01-22
Human In The Loop Robot Control And Learning written by Luka Peternel and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-01-22 with categories.
In the past years there has been considerable effort to move robots from industrial environments to our daily lives where they can collaborate and interact with humans to improve our life quality. One of the key challenges in this direction is to make a suitable robot control system that can adapt to humans and interactively learn from humans to facilitate the efficient and safe co-existence of the two. The applications of such robotic systems include: service robotics and physical human-robot collaboration, assistive and rehabilitation robotics, semi-autonomous cars, etc. To achieve the goal of integrating robotic systems into these applications, several important research directions must be explored. One such direction is the study of skill transfer, where a human operator’s skilled executions are used to obtain an autonomous controller. Another important direction is shared control, where a robotic controller and humans control the same body, tool, mechanism, car, etc. Shared control, in turn invokes very rich research questions such as co-adaptation between the human and the robot, where the two agents can benefit from each other’s skills or must adapt to each other’s behavior to achieve effective cooperative task executions. The aim of this Research Topic is to help bridge the gap between the state-of-the-art and above-mentioned goals through novel multidisciplinary approaches in human-in-the-loop robot control and learning.
Advances In Computational Intelligence Systems
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Author : Zhaojie Ju
language : en
Publisher: Springer Nature
Release Date : 2019-08-29
Advances In Computational Intelligence Systems written by Zhaojie Ju and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-08-29 with Technology & Engineering categories.
This book highlights the latest research in computational intelligence and its applications. It covers both conventional and trending approaches in individual chapters on Fuzzy Systems, Intelligence in Robotics, Deep Learning Approaches, Optimization and Classification, Detection, Inference and Prediction, Hybrid Methods, Emerging Intelligence, Intelligent Health Care, and Engineering Data- and Model-Driven Applications. All chapters are based on peer-reviewed contributions presented at the 19th Annual UK Workshop on Computational Intelligence, held in Portsmouth, UK, on 4–6 September 2019. The book offers a valuable reference guide for readers with expertise in computational intelligence or who are seeking a comprehensive and timely review of the latest trends in computational intelligence. Special emphasis is placed on novel methods and their use in a wide range of application areas, updating both academics and professionals on the state of the art.
Distributed Optimisation For Multi Robot Cooperative Manipulation Control In Dynamic Environments
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Author : Yanhao He
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2022-12-15
Distributed Optimisation For Multi Robot Cooperative Manipulation Control In Dynamic Environments written by Yanhao He and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-12-15 with Technology & Engineering categories.
Since the manipulation tasks for robotic systems become more and more complicated, multi-robot cooperation has been attracting much attention recently. Furthermore, under the trend of human-robot co-existence, collision-free motion control is now also desired on multi-robot groups. This dissertation aims to design a novel distributed optimal control framework to deal with multi-robot cooperative manipulation of rigid objects in dynamic environments. Besides object transportation, the control scheme also tackles obstacle avoidance, joint-space performance optimisation and internal force suppression. The proposed control framework has a two-layer structure, with a distributed optimisation algorithm in the kinematic layer for generating proper joint configuration references, followed by a robot motion controller in the dynamic control layer to fulfil the reference. An indirect and a direct distributed optimisation method are developed for the kinematic layer, both of which are computationally and communicationally efficient. In the dynamic control layer, impedance control is employed for safe physical interaction. As another highlight, abundant experiments carried out on a multi-arm test bench have demonstrated the effectiveness of the presented control schemes under various environmental and task settings. The recorded computation time shows the applicability of the control framework in practice.
Optimal Active Power Control Of Wind Turbines For Grid Stability Support
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Author : Bashar Mousa Melhem
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2025-03-07
Optimal Active Power Control Of Wind Turbines For Grid Stability Support written by Bashar Mousa Melhem and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-03-07 with Technology & Engineering categories.
This dissertation addresses the critical challenge of grid frequency stability in the context of increasing reliance on renewable energy sources, particularly wind power. As the integration of wind turbines into power systems grows, ensuring their effective contribution to frequency regulation becomes essential. This research proposes a novel approach that employs data-enabled predictive control to enhance the frequency control of the future heterogeneous power grid and hence improve the overall grid stability. The study begins with a comprehensive analysis of the dynamic interactions between wind turbines and the power grid, identifying key factors that impact frequency control. A predictive control framework is developed to anticipate grid frequency fluctuations and optimize turbine responses. Through rigorous simulations and practical case studies, the author demonstrates the effectiveness of the proposed strategies in mitigating frequency deviations and improving overall system resilience. The findings highlight that data-enabled control not only enhances the responsiveness of wind turbines, among other generating units, to frequency support but also contributes significantly to a more stable and reliable power grid.
Human In The Loop System Design And Control Adaptation For Behavior Assistant Robots
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Author : Yuquan Leng
language : en
Publisher: Frontiers Media SA
Release Date : 2024-06-03
Human In The Loop System Design And Control Adaptation For Behavior Assistant Robots written by Yuquan Leng and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-06-03 with Science categories.
With the progress and development of human-robot systems, the coordination among humans, robots, and environments has become increasingly sophisticated. In this Research Topic, we focus on an important field in robotics and automation disciplines, which is commonly defined as behavior-assistant robots. The scope includes but is not limited to: (1) rehabilitation assistive devices, such as rigid/soft exoskeletons, prosthetic systems, orthoses, and intelligent wheelchairs; (2) intelligent medical systems, such as endoscopic robots, surgical robots, and the navigation systems; (3) industrial application devices, such as collaborative manipulators, load-bearing exoskeletons, supernumerary robotic limbs; (4) intelligent domestic devices, such as mobile robots, elderly-care robots, walking-aids robots and so on. The emergence of robot-assisted daily behaviors, based on aforementioned devices, is gradually becoming part of our social lives, which can improve weak motor abilities, enhance physical functionalities, and enable various other benefits.
Proceedings Of The 5th International Conference On Big Data Analytics For Cyber Physical System In Smart City Volume 1
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Author : Mohammed Atiquzzaman
language : en
Publisher: Springer Nature
Release Date : 2025-02-01
Proceedings Of The 5th International Conference On Big Data Analytics For Cyber Physical System In Smart City Volume 1 written by Mohammed Atiquzzaman and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-02-01 with Computers categories.
This book gathers a selection of peer-reviewed papers presented at the 5th Big Data Analytics for Cyber-Physical System in Smart City (BDCPS 2023) conference, held in Fuyang, China, on December 28–29. The contributions, prepared by an international team of scientists and engineers, cover the latest advances and challenges made in the field of big data analytics methods and approaches for the data-driven co-design of communication, computing, and control for smart cities. Given its scope, it offers a valuable resource for all researchers and professionals interested in big data, smart cities, and cyber-physical systems.
Smart Product Service Systems
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Author : Pai Zheng
language : en
Publisher: Elsevier
Release Date : 2021-06-24
Smart Product Service Systems written by Pai Zheng and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-06-24 with Business & Economics categories.
Smart Product-Service Systems draws on innovative practice and academic research to demonstrate the unique benefits of Smart PSS and help facilitate its effective implementation. This comprehensive guide explains how Smart PSS reshapes product-service design in several unique aspects, including a closed-loop product design and redesign manner, value co-creation with integrated human-machine intelligence, and solution design context-awareness. Readers in industry as well as academia will find this to be an invaluable guide to the current body of technical knowledge on Smart Product-Service Systems (Smart PSS), future research trajectories, and experiences of implementation. Rapid development of information and communication technologies, artificial intelligence, and digital technologies have driven today's industries towards the so-called digital servitization era. As a result, a promising IT-driven business paradigm, known as Smart Product-Service Systems (Smart PSS) has emerged, where a large amount of low cost, high performance smart, connected products are leveraged, together with their generated on-demand services, as a single solution bundle to meet individual customer needs. Explains what factors a company needs to consider in their transition towards digital servitization and its advantages Describes how this field relates to the sustainability movement, and how Smart PSS can be implemented in a sustainable way Includes detailed case studies from different industries, including DELTA Electronics Inc. Singapore (smart commercialization), COMAC aviation industry (smart manufacturing servitization), and Van High Tech (smart building services)
Towards Visual Inertial Slam For Mobile Augmented Reality
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Author : Gabriele Bleser
language : en
Publisher:
Release Date : 2009
Towards Visual Inertial Slam For Mobile Augmented Reality written by Gabriele Bleser and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009 with Erweiterte Realität Informatik - Echtzeitbildverarbeitung - Kamera - Zielverfolgung - Merkmalsextraktion - Registrierung Bildverarbeitung categories.
Robot Force Control
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Author : Bruno Siciliano
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Robot Force Control written by Bruno Siciliano and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.