1
|
Mendoza-Bautista KJ, Torres-Mendez LA, Chairez I. Adaptive controller based on barrier Lyapunov function for a composite Cartesian-delta robotic device for precise time-varying position tracking. ISA TRANSACTIONS 2023:S0019-0578(23)00398-1. [PMID: 37709560 DOI: 10.1016/j.isatra.2023.08.033] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/23/2022] [Revised: 08/30/2023] [Accepted: 08/31/2023] [Indexed: 09/16/2023]
Abstract
This study presents the design of an adaptive event-driven controller for solving the trajectory tracking problem of a composite robotic device made up of a three-dimensional Cartesian and a parallel Delta robot. The proposed composite device has a mathematical model satisfying a standard Lagrangian structure affected by modeling uncertainties and external perturbations. The adaptive gain of the controller is considered to enforce the convergence of the tracking error while the state bounds are satisfied. The barrier Lyapunov function addresses the preconceived state constraints for both robotic devices by designing a time-varying gain that guarantees the ultimate boundedness of the tracking error under the effect of external perturbations. The event-driven approach considers that the Cartesian robot is moving into a predefined invariant zone near to the origin. In contrast, the delta robot can complete the tracking problem once the end-effector is inside the given zone. The suggested controller was evaluated using a virtual representation of the composite robotic device showing better tracking performance (while the restrictions are satisfied) than the performances obtained with the traditional linear state feedback controllers. Analyzing the mean square error and its integral led to confirming the benefits of using the adaptive barrier control.
Collapse
Affiliation(s)
| | | | - Isaac Chairez
- Institute of Advanced Materials for Sustainable Manufacturing, Tecnologico de Monterrey, Campus Guadalajara, Jalisco, Mexico.
| |
Collapse
|
2
|
Ortega J, Meersman MF, Aparicio S, Liébana JC, Martín R, Anaya JJ, González M. An automated sonic tomography system for the inspection of historical masonry walls. OPEN RESEARCH EUROPE 2023; 3:60. [PMID: 37645495 PMCID: PMC10445949 DOI: 10.12688/openreseurope.15769.1] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Accepted: 04/11/2023] [Indexed: 08/31/2023]
Abstract
Background: The conservation of the built masonry heritage requires a comprehensive understanding of its geometrical, structural, and material characteristics. Non-destructive techniques are a preferred approach to survey historical buildings, given the cultural value of their fabric. However, currently available techniques are typically operated manually, consuming much time at operational and processing level and thus hindering their use for the on-site inspection of heritage structures. Methods: A novel automated sonic tomography system was designed and built to inspect and obtain information about the inner structure and damage of historic masonry walls. The system consists of a hitting device mounted on a frame that can be placed adjacent to the wall under analysis. The hitting device can move along the surface within the frame area in X, Y and Z directions, generating the sonic wave. The receiving system is a scanning laser vibrometer, able to measure from the distance the displacement of a focused point over time, recording the wave when it reaches the opposite surface. Results: Six stone masonry walls with different interior geometries were constructed at the laboratory by a professional stonemason. The construction of the walls was carefully documented, including the generation of detailed photogrammetric models of each single stone. The system was applied to survey the six masonry walls. Since the inner morphology of the walls is known, the resulting tomographic images could be compared with the ground truth. Conclusions: Automating the inspection allowed to collect thousands of data in a few hours. New software was also developed to automate the processing of the data. Results are expected to highlight the potential of tomography to obtain quantitative information about the interior of heritage structures, while providing new tools that make the implementation of the technique more practical for professionals. Data, software and models have been made publicly available.
Collapse
Affiliation(s)
- Javier Ortega
- Institute of Physical and Information Technologies (ITEFI), Agencia Estatal Consejo Superior de Investigaciones Cientificas, Madrid, Community of Madrid, 28006, Spain
| | - Marnix F.L. Meersman
- Faculty of Aerospace Engineering, Technische Universiteit Delft, Delft, South Holland, 2629 HS, The Netherlands
| | - Sofía Aparicio
- Institute of Physical and Information Technologies (ITEFI), Agencia Estatal Consejo Superior de Investigaciones Cientificas, Madrid, Community of Madrid, 28006, Spain
| | - Juan Carlos Liébana
- Institute of Physical and Information Technologies (ITEFI), Agencia Estatal Consejo Superior de Investigaciones Cientificas, Madrid, Community of Madrid, 28006, Spain
| | - Rodrigo Martín
- Institute of Physical and Information Technologies (ITEFI), Agencia Estatal Consejo Superior de Investigaciones Cientificas, Madrid, Community of Madrid, 28006, Spain
| | - José Javier Anaya
- Institute of Physical and Information Technologies (ITEFI), Agencia Estatal Consejo Superior de Investigaciones Cientificas, Madrid, Community of Madrid, 28006, Spain
| | - Margarita González
- Institute of Physical and Information Technologies (ITEFI), Agencia Estatal Consejo Superior de Investigaciones Cientificas, Madrid, Community of Madrid, 28006, Spain
| |
Collapse
|
3
|
Hedayati H, Suzuki R, Rees W, Leithinger D, Szafir D. Designing Expandable-Structure Robots for Human-Robot Interaction. Front Robot AI 2022; 9:719639. [PMID: 35480087 PMCID: PMC9035676 DOI: 10.3389/frobt.2022.719639] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/02/2021] [Accepted: 03/15/2022] [Indexed: 11/13/2022] Open
Abstract
In this paper, we survey the emerging design space of expandable structures in robotics, with a focus on how such structures may improve human-robot interactions. We detail various implementation considerations for researchers seeking to integrate such structures in their own work and describe how expandable structures may lead to novel forms of interaction for a variety of different robots and applications, including structures that enable robots to alter their form to augment or gain entirely new capabilities, such as enhancing manipulation or navigation, structures that improve robot safety, structures that enable new forms of communication, and structures for robot swarms that enable the swarm to change shape both individually and collectively. To illustrate how these considerations may be operationalized, we also present three case studies from our own research in expandable structure robots, sharing our design process and our findings regarding how such structures enable robots to produce novel behaviors that may capture human attention, convey information, mimic emotion, and provide new types of dynamic affordances.
Collapse
Affiliation(s)
- Hooman Hedayati
- Department of Computer Science, University of Colorado, Boulder, CO, United States
| | - Ryo Suzuki
- Department of Computer Science, University of Calgary, Calgary, AB, Canada
| | - Wyatt Rees
- Department of Computer Science, University of Colorado, Boulder, CO, United States
| | - Daniel Leithinger
- Department of Computer Science, University of Colorado, Boulder, CO, United States
- ATLAS Institute, University of Colorado, Boulder, CO, United States
| | - Daniel Szafir
- Department of Computer Science, University of Colorado, Boulder, CO, United States
- ATLAS Institute, University of Colorado, Boulder, CO, United States
- Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, United States
- *Correspondence: Daniel Szafir,
| |
Collapse
|
4
|
Gasteiger N, Hellou M, Ahn HS. Deploying social robots in museum settings: A quasi-systematic review exploring purpose and acceptability. INT J ADV ROBOT SYST 2021. [DOI: 10.1177/17298814211066740] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022] Open
Abstract
Social robots are increasingly used within public spaces, including museum settings. This quasi-systematic review identifies and synthesizes the evidence on social robots that have recently been deployed in museum settings. It specifically focuses on their intended purpose, their acceptability and factors important for successful human–robot interaction in this setting. Four databases (PsycINFO, SCOPUS, ACM Digital Library and IEEE Xplore) were systematically searched to retrieve literature published within the last 10 years on human–robot interaction studies with social robots deployed in museum settings. Due to the heterogeneous nature of the studies, qualitative and quantitative findings were summarized. A total of 604 items were identified, of which 12 were included in the review. Robots in 11 studies were physical and 1 was an embodied conversational agent presented as a virtual robot. In 75% of the studies ( n = 9), the purpose of the robots was to act as museum guides, while in 17% ( n = 2) they entertained visitors and in 8% ( n = 1) the robot taught visitors in a museum outreach programme. Overall, many of the robots were found to be acceptable for use within museum settings. Three main themes for successful social human–robot interaction were evident across the findings: (1) facial expressions, (2) movement and (3) communication and speech. There is a great opportunity for social robots to be deployed within museum settings, as guides, educators, entertainers or a combination thereof. State-of-the-art methods have led to the development of museum robots that are more capable of social interaction; however, more work is required to develop speech capabilities that work in the ‘wild’. Future work should combine the factors that have been identified within this review to improve human–robot interaction.
Collapse
Affiliation(s)
- Norina Gasteiger
- Department of Electrical, Computer and Software Engineering, CARES, The University of Auckland, Auckland, New Zealand
- School of Health Sciences, The University of Manchester, Manchester, UK
| | - Mehdi Hellou
- Department of Electrical, Computer and Software Engineering, CARES, The University of Auckland, Auckland, New Zealand
- Département d’Informatique, Facultés des Sciences et Ingénieries, Sorbonne Université, Paris, France
| | - Ho Seok Ahn
- Department of Electrical, Computer and Software Engineering, CARES, The University of Auckland, Auckland, New Zealand
| |
Collapse
|
5
|
Abstract
This paper presents a survey on mobile robots as systems that can move in different environments with walking, flying and swimming up to solutions that combine those capabilities. The peculiarities of these mobile robots are analyzed with significant examples as references and a specific case study is presented as from the direct experiences of the authors for the robotic platform HeritageBot, in applications within the frame of Cultural Heritage. The hybrid design of mobile robots is explained as integration of different technologies to achieve robotic systems with full mobility.
Collapse
|
6
|
Abstract
Locomotion over different terrain types, whether flat or uneven, is very important for a wide range of service operations in robotics. Potential applications range from surveillance, rescue, or hospital assistance. Wheeled-legged hexapod robots have been designed to solve these locomotion tasks. Given the wide range of feasible operations, one of the key operation planning issues is related to the robot balancing during motion tasks. Usually this problem is related with the pose of the robot’s center of mass, which can be addressed using different mathematical techniques. This paper proposes a new practical technique for balancing wheeled-legged hexapod robots, where a Biodex Balance System model SD (for static & dynamic) is used to obtain the effective position of the center of mass, thus it can be recalculated to its optimal position. Experimental tests are carried out to evaluate the effectiveness of this technique and modify and improve the position of hexapod robots’ center of mass.
Collapse
|
7
|
Cafolla D, Russo M, Ceccarelli M. Experimental Validation of HeritageBot III, a Robotic Platform for Cultural Heritage. J INTELL ROBOT SYST 2020. [DOI: 10.1007/s10846-020-01180-6] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
|
8
|
Orozco-Magdaleno EC, Cafolla D, Castillo-Castañeda E, Carbone G. A hybrid legged-wheeled obstacle avoidance strategy for service operations. SN APPLIED SCIENCES 2020. [DOI: 10.1007/s42452-020-2141-5] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022] Open
|
9
|
Xuan-Mung N, Hong SK. Robust adaptive formation control of quadcopters based on a leader–follower approach. INT J ADV ROBOT SYST 2019. [DOI: 10.1177/1729881419862733] [Citation(s) in RCA: 21] [Impact Index Per Article: 4.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022] Open
Abstract
The formation control problem for multi-agent systems has been explored in recent years. However, controlling a formation of multiple aerial vehicles in the presence of disturbances has been a challenge for control researchers. To deal with this issue, a robust adaptive formation control algorithm for a group of multiple quadcopters is proposed. A nonlinear model of the dynamics of the formation error is obtained based on a leader–follower scheme. This model considers both the relative position in the x– y plane and the relative heading angle between vehicles in the presence of uncertainties. In addition, by means of a model reference control approach, a robust adaptive formation controller is used to steer the vehicles into a formation pattern and have them maintain the formation shape. Numerical simulations demonstrate the effectiveness of the algorithm.
Collapse
Affiliation(s)
- Nguyen Xuan-Mung
- Department of Aerospace Engineering, Sejong University, Seoul, South Korea
| | - Sung Kyung Hong
- Faculty of Mechanical and Aerospace Engineering, Sejong University, Seoul, South Korea
| |
Collapse
|