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AMC2020 is the 16th in a series of biennial international workshops on Advanced Motion Control which aims to bring together researchers from both academia and industry and to promote omnipresent motion control technologies and applications.
To promote awareness, understanding, advancement and application of ocean engineering and marine technology. This includes all aspects of science, engineering, and technology that address research, development, and operations pertaining to all bodies of water. This includes the creation of new capabilities and technologies from concept design through prototypes, testing, and operational systems to sense, explore, understand, develop, use, and responsibly manage natural resources.
Energy conversion and conditioning technologies, power electronics, adjustable speed drives and their applications, power electronics for smarter grid, energy efficiency,technologies for sustainable energy systems, converters and power supplies
The conference program will consist of plenary lectures, symposia, workshops andinvitedsessions of the latest significant findings and developments in all the major fields ofbiomedical engineering.Submitted papers will be peer reviewed. Accepted high quality paperswill be presented in oral and postersessions, will appear in the Conference Proceedings and willbe indexed in PubMed/MEDLINE & IEEE Xplore
EDA (Electronics Design Automation) is becoming ever more important with the continuous scaling of semiconductor devices and the growing complexities of their use in circuits and systems. Demands for lower-power, higher-reliability and more agile electronic systems raise new challenges to both design and design automation of such systems. For the past five decades, the primary focus of research track at DAC has been to showcase leading-edge research and practice in tools and methodologies for the design of circuits and systems.
Experimental and theoretical advances in antennas including design and development, and in the propagation of electromagnetic waves including scattering, diffraction and interaction with continuous media; and applications pertinent to antennas and propagation, such as remote sensing, applied optics, and millimeter and submillimeter wave techniques.
Speech analysis, synthesis, coding speech recognition, speaker recognition, language modeling, speech production and perception, speech enhancement. In audio, transducers, room acoustics, active sound control, human audition, analysis/synthesis/coding of music, and consumer audio. (8) (IEEE Guide for Authors) The scope for the proposed transactions includes SPEECH PROCESSING - Transmission and storage of Speech signals; speech coding; speech enhancement and noise reduction; ...
The theory, design and application of Control Systems. It shall encompass components, and the integration of these components, as are necessary for the construction of such systems. The word `systems' as used herein shall be interpreted to include physical, biological, organizational and other entities and combinations thereof, which can be represented through a mathematical symbolism. The Field of Interest: shall ...
The Transactions on Biomedical Circuits and Systems addresses areas at the crossroads of Circuits and Systems and Life Sciences. The main emphasis is on microelectronic issues in a wide range of applications found in life sciences, physical sciences and engineering. The primary goal of the journal is to bridge the unique scientific and technical activities of the Circuits and Systems ...
Broad coverage of concepts and methods of the physical and engineering sciences applied in biology and medicine, ranging from formalized mathematical theory through experimental science and technological development to practical clinical applications.
IEEE Transactions on Industrial Electronics, None
In this paper, a challenging problem of full-state regulation control (FSRC) for an asymmetric underactuated surface vehicle (AUSV) suffering from disturbances is solved. The FSRC objective is divided into 2 sub-tasks, i.e., reaching trajectory (RT) guidance and tracking controller synthesis with underactuation and disturbances. The RT guidance is achieved by devising a circular orbit (CO) accurately passing through the desired ...
IEEE Transactions on Industrial Informatics, None
In this paper, suffering from both complex uncertainties and underactuations,$accurate$trajectory tracking control problem of an asymmetric underactuated surface vehicle (AUSV) is first addressed by guiding yaw dynamics which are$free of persistent excitation (PE)$. Using nested coordinate transformations, the AUSV is formulated in a cascade structure consisting of translation and rotation subsystems with complex uncertainties. Finite-time uncertainty observers (FUOs) are devised ...
IEEE Intelligent Transportation Systems Magazine, None
2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM), 2018
This paper presents a Laguerre parametrization approach to employ Model Predictive Control (MPC) for the trajectory tracking problem of a non- holonomic mobile robot with input and state constraints. A time-varying error model is obtained for the trajectory tracking of the mobile robot. Then, a Laguerre based MPC (LMPC) for time-varying systems is designed and tuned to ensure asymptotic stability ...
IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017
The proposed hierarchical sliding mode control (HSMC) for the car-like automated guided vehicle (CLAGV) includes two parts: one is virtual control input (VCI), the other is sliding mode tracking control (SMTC) . Moreover, a single software/hardware based platform develops the software for the control, image processing and trajectory planning algorithms, and the hardware for the control signal (e.g., the PWM ...
Quick Slip-Turn of HRP-4C on Its Toes
Control of a Fully-Actuated Airship for Satellite Emulation
Women Making the Future Panelist - Kathy Herring Hyashi: 2016 Technology Time Machine
Speaker Peter Fonash - ETAP San Jose 2015
Keynote: Greg Austin - ETAP Beijing 2016
Creating Influence and Impact with JJ DiGeronimo - IEEE WIE ILC 2017
Life at a Photonics Startup - 2016 IEEE Photonics Conference
Experience ICRA 2015: Robot Challenges
Quadrotor Trajectory Tracking with L1 Optimal control
Welcome to ICRA 2015: Robot Challenges
In this paper, a challenging problem of full-state regulation control (FSRC) for an asymmetric underactuated surface vehicle (AUSV) suffering from disturbances is solved. The FSRC objective is divided into 2 sub-tasks, i.e., reaching trajectory (RT) guidance and tracking controller synthesis with underactuation and disturbances. The RT guidance is achieved by devising a circular orbit (CO) accurately passing through the desired full-state waypoint (FWP). Using a series of coordinate transformations, tracking error dynamics are shaped in a translation-rotation cascade form with respect to the CO- center frame. Using finite-time approach, lumped disturbances are accurately estimated by exact observers which facilitate synthesizing surge and yaw controllers. By creating a new coordinate, translation subsystem is converted to a lower-triangular form. Combining with backstepping technique, cascade analysis and Lypunov approach, translation and rotation controllers are derived systematically, and render the entire closed-loop FSRC system globally asymptotically stable. Hence, the AUSV is regulated to the desired FWP. Simulation studies on a benchmark AUSV are conducted to demonstrate remarkable performance.
In this paper, suffering from both complex uncertainties and underactuations,$accurate$trajectory tracking control problem of an asymmetric underactuated surface vehicle (AUSV) is first addressed by guiding yaw dynamics which are$free of persistent excitation (PE)$. Using nested coordinate transformations, the AUSV is formulated in a cascade structure consisting of translation and rotation subsystems with complex uncertainties. Finite-time uncertainty observers (FUOs) are devised to exactly estimate transformed uncertainties, and enable$separation principle$in controller and observer syntheses. By virtue of creating yaw-guided dynamics, rotation tracking is shaped to stabilize yaw and sway tracking discrepancies, simultaneously, in collaboration with yaw controller. Nominal dynamics of translation tracking errors are globally asymptotically stabilized by surge control synthesis using cascade analysis and Lyapunov approach, and thereby contributing to global asymptotic stability of the entire translation-rotation tracking system. Eventually, an FUO-based yaw-guided tracking control (FUO- YTC) scheme of an AUSV with complex uncertainties is established. Simulation studies demonstrate remarkable performance.
This paper presents a Laguerre parametrization approach to employ Model Predictive Control (MPC) for the trajectory tracking problem of a non- holonomic mobile robot with input and state constraints. A time-varying error model is obtained for the trajectory tracking of the mobile robot. Then, a Laguerre based MPC (LMPC) for time-varying systems is designed and tuned to ensure asymptotic stability of the system. The proposed algorithm considers input and states, including velocity and acceleration, constraints to provide stability. It is shown that the proposed method is able to reduce the computation times. In order to confirm the effectiveness of the proposed method, extensive simulations results are provided.
The proposed hierarchical sliding mode control (HSMC) for the car-like automated guided vehicle (CLAGV) includes two parts: one is virtual control input (VCI), the other is sliding mode tracking control (SMTC) . Moreover, a single software/hardware based platform develops the software for the control, image processing and trajectory planning algorithms, and the hardware for the control signal (e.g., the PWM for driving the motor) and for the sensor inputs (e.g., the decoder for obtaining the position or velocity of motor, the USB interface for capturing the image). The RGB-D vision system can detect the obstacle(s) through the depth image and recognize the specific object through the SURF (Speed-Up Robust Feature) method. The estimated distance with respect to the vehicle can execute the task of obstacle avoidance (OA) and target approach (TA). Finally, the experiments of the straight-line and circular trajectory tracking with the simultaneous OA and TA of the vehicle confirm the effectiveness, efficiency, and robustness of the proposed system.
This paper presents the design and motion control of a practical system where a car-like robotically steerable tractor tows multiple four-wheeled passive trailers. This specific system is rarely dealt with in academic studies but is very commonly applied in real-world industrial applications. The objective is to achieve the trajectory tracking control of the whole system with minimized tracking deviation happening to each trailer. This has long been challenging because of the high degree of non-holonomy caused by the increasing number of linked trailers. This paper simplifies the control problem by considering the whole tractor-trailer system as the iterative linkage of just two types of connection mechanism between axles - the off-hooked connection and the trailer's steering mechanism. In both connection mechanisms, it is designed to make the rear vehicle stably and precisely follows its front vehicle. Since the motion of a passive vehicle is only affected by its preceding vehicle, once the tractor at the very front is controlled to track the reference trajectory, the trajectory tracking control of the whole system can be achieved by iteratively applying the inner tracking property of the two connection mechanisms. The numerical simulation result is also presented to verify the control scheme.
Level 3+ automated driving implies highest safety demands for the entire vehicle automation functionality. For the part of trajectory tracking, functional redundancies among all available actuators provide an opportunity to reduce safety requirements for single actuators. Yet, the exploitation of functional redundancies must be well argued if employed in a safety concept as physical limits can be reached. In this paper, we want to examine from a trajectory tracking perspective whether such a concept can be used. For this, we present a model predictive fault-tolerant trajectory tracking approach for over-actuated vehicles featuring wheel individual all-wheel drive, brakes, and steering. Applying this approach exemplarily demonstrates for a selected reference trajectory that degradations such as missing or undesired wheel torques as well as reduced steering dynamics can be compensated. Degradations at the physical actuator limits lead to significant deviations from the reference trajectory while small constant steering angles are partially critical.
The visually servoed trajectory tracking of quadrotors has attracted many academic researchers over the past decade, and numerous controllers are proposed for this challenging problem. The trajectory tracking controller proposed in this paper follows the Position Based Visual Servoing (PBVS) paradigm. Most of the PBVS controllers, if not all, are implemented assuming that the position of the quadrotor has been accurately recovered with an independent estimator. Therefore the rigorous trajectory tracking stability cannot be promised due to the separation principle does not hold for the general nonlinear systems. Accordingly, a new PBVS controller is proposed in this paper for the trajectory tracking of quadrotors by embedding a novel adaptive estimator into this new controller to estimate the position of the quadrotor online. It is proved by Lyapunov theory that the proposed adaptive PBVS controller gives rise to the asymptotic trajectory tracking and the convergence of the estimated position to the actual one. An experiment is conducted to validate the effectiveness of the proposed controller.
The large dive depth of underactuated AUV leads to the complicated external interference in the dive process, which greatly affects the performance of AUV dive motion control. In order to solve the problem of external interference, this paper first divides the external interferences into the constant current interferences and the buoyancy interferences that vary with the depth changes. Then the mathematical model is built and the adaptive rate is designed for the external interference. Secondly, the AUV dynamic model under external interference is established and the three-dimensional trajectory tracking is implemented by the backstepping control method which defines the virtual velocity error variables. The control method can ensure that the AUV can dive to a designated area when there is external interference and can also solve the singular value problem in the traditional backstepping method. Finally, the system stability is proved by Lyapunov function. The simulation results show the effectiveness of the proposed method, which achieve the purpose of controlling the deep-depth spiral dive of the AUV.
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Systems Engineer – Specializing in Aviation Simulation and Modeling
Architecture Technology Corporation
Lawrence Livermore National Laboratory
Assistant Professor in Electrical and Computer Engineering
Systems Engineer Specializing in Aviation Research
Architecture Technology Corporation
Senior Mechanical Engineer - Guidance, Navigation & Control
Lawrence Livermore National Laboratory