Annu. Rev. Control. Robotics Auton. Syst.最新文献_第2页

An Historical Perspective on the Control of Robotic Manipulators 机械臂控制的历史展望

Annu. Rev. Control. Robotics Auton. Syst. Pub Date : 2021-11-10 DOI: 10.1146/annurev-control-042920-094829

M. Spong

引用次数: 9

Autonomous Airborne Wind Energy Systems: Accomplishments and Challenges 自主机载风能系统:成就与挑战

Annu. Rev. Control. Robotics Auton. Syst. Pub Date : 2021-11-08 DOI: 10.1146/annurev-control-042820-124658

L. Fagiano, Manfred Quack, F. Bauer, L. Carnel, E. Oland

{"title":"Autonomous Airborne Wind Energy Systems: Accomplishments and Challenges","authors":"L. Fagiano, Manfred Quack, F. Bauer, L. Carnel, E. Oland","doi":"10.1146/annurev-control-042820-124658","DOIUrl":"https://doi.org/10.1146/annurev-control-042820-124658","url":null,"abstract":"Airborne wind energy (AWE) is a fascinating technology to convert wind power into electricity with an autonomous tethered aircraft. Deemed a potentially game-changing solution, AWE is attracting the attention of policy makers and stakeholders with the promise of producing large amounts of cost-competitive electricity with wide applicability worldwide. Since the pioneering experimental endeavors in the years 2000–2010, there has been a clear technology convergence trend and steady progress in the field. Today, AWE systems can operate automatically with minimal supervision in all operational phases. A first product is also being commercialized. However, all-around fully autonomous operation still presents important fundamental challenges that are conceptually similar to those of other systems that promise to change our lives, such as fully autonomous passenger cars or service drones. At the same time, autonomous operation is necessary to enable large-scale AWE, thus combining challenging fundamental problems with high potential impact on society and the economy. This article describes the state of the art of this technology from a system perspective and with a critical view on some fundamental aspects, presents the latest automatic control results by prominent industrial players, and finally points out the most important challenges on the road to fully autonomous AWE systems. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":147293,"journal":{"name":"Annu. Rev. Control. Robotics Auton. Syst.","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133982064","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}

引用次数: 14

Stability and Control of Power Grids 电网的稳定与控制

Annu. Rev. Control. Robotics Auton. Syst. Pub Date : 2021-11-04 DOI: 10.1146/annurev-control-042820-011148

Tao Liu, Yue Song, Lipeng Zhu, D. Hill

引用次数: 10

Control of Microparticle Assembly 微粒组装控制

Annu. Rev. Control. Robotics Auton. Syst. Pub Date : 2021-11-04 DOI: 10.1146/annurev-control-042920-100621

Xun Tang, M. Grover

{"title":"Control of Microparticle Assembly","authors":"Xun Tang, M. Grover","doi":"10.1146/annurev-control-042920-100621","DOIUrl":"https://doi.org/10.1146/annurev-control-042920-100621","url":null,"abstract":"A colloidal system is a large collection of micrometer-sized particles suspended in a liquid, and the state of the system can be measured in real time, using imaging techniques and image processing. The assembly of the particles is driven by interactions between the particles and the surrounding liquid, as well as by external fields, including electromagnetic, flow, and gravitational fields. The dynamics of the many-body system are high-dimensional, nonlinear, and stochastic. However, low-order models are derived in some cases, often using physics-based order parameters, to facilitate studying the system dynamics. With an understanding of the system dynamics, and by manipulating the aforementioned interactions, one can control the assembly process in real time using open-loop and closed-loop feedback control. Theoretical studies and experimental demonstrations of colloidal self-assembly control have been reported, with methods ranging from heuristic rules to model-based optimal feedback control. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":147293,"journal":{"name":"Annu. Rev. Control. Robotics Auton. Syst.","volume":" 39","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132011989","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}

引用次数: 9

From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots 从理论工作到临床应用:同心管机器人的进展

Annu. Rev. Control. Robotics Auton. Syst. Pub Date : 2021-10-19 DOI: 10.1146/annurev-control-042920-014147

Zisos Mitros, S. Sadati, Ross Henry, L. Cruz, C. Bergeles

{"title":"From Theoretical Work to Clinical Translation: Progress in Concentric Tube Robots","authors":"Zisos Mitros, S. Sadati, Ross Henry, L. Cruz, C. Bergeles","doi":"10.1146/annurev-control-042920-014147","DOIUrl":"https://doi.org/10.1146/annurev-control-042920-014147","url":null,"abstract":"Continuum robots can traverse anatomical pathways to intervene in regions deep inside the human body. They are able to steer along 3D curves in confined spaces and dexterously handle tissues. Concentric tube robots (CTRs) are continuum robots that comprise a series of precurved elastic tubes that can be translated and rotated with respect to each other to control the shape of the robot and tip pose. CTRs are a rapidly maturing technology that has seen extensive research over the past decade. Today, they are being evaluated as tools for a variety of surgical applications, as they can offer precision and manipulability in tight workspaces. This review provides an exhaustive classification of research on CTRs based on their clinical applications and highlights approaches for modeling, control, design, and sensing. Competing approaches are critically presented, leading to a discussion of future directions to address the limitations of current research and its translation to clinical applications. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":147293,"journal":{"name":"Annu. Rev. Control. Robotics Auton. Syst.","volume":"170 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128142917","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}

引用次数: 23

Design and Control of Drones 无人机的设计与控制

Annu. Rev. Control. Robotics Auton. Syst. Pub Date : 2021-10-19 DOI: 10.1146/annurev-control-042920-012045

M. Mueller, S. J. Lee, R. D’Andrea

引用次数: 8

Grappling Spacecraft 在宇宙飞船

Annu. Rev. Control. Robotics Auton. Syst. Pub Date : 2021-10-13 DOI: 10.1146/annurev-control-042920-011106

C. Henshaw, S. Glassner, B. Naasz, B. Roberts

{"title":"Grappling Spacecraft","authors":"C. Henshaw, S. Glassner, B. Naasz, B. Roberts","doi":"10.1146/annurev-control-042920-011106","DOIUrl":"https://doi.org/10.1146/annurev-control-042920-011106","url":null,"abstract":"This article provides a survey overview of the techniques, mechanisms, algorithms, and test and validation strategies required for the design of robotic grappling vehicles intended to approach and grapple free-flying client satellites. We concentrate on using a robotic arm to grapple a free-floating spacecraft, as distinct from spacecraft docking and berthing, where two spacecraft directly mate with each other. Robotic grappling of client spacecraft is a deceptively complex problem: It entails designing a robotic system that functions robustly in the visually stark, thermally extreme orbital environment, operating near massive and extremely expensive yet fragile client hardware, using relatively slow flight computers with limited and laggy communications. Spaceflight robotic systems are challenging to test and validate prior to deployment and extremely expensive to launch, which significantly limits opportunities to experiment with new techniques. These factors make the design and operation of orbital robotic systems significantly different from those of their terrestrial counterparts, and as a result, only a relative handful of systems have been demonstrated on orbit. Nevertheless, there is increasing interest in on-orbit robotic servicing and assembly missions, and grappling is the core requirement for these systems. Although existing systems such as the Space Station Remote Manipulator System have demonstrated extremely reliable operation, upcoming missions will attempt to expand the types of spacecraft that can be safely and dependably grappled and berthed. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":147293,"journal":{"name":"Annu. Rev. Control. Robotics Auton. Syst.","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122296458","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}

引用次数: 2

Control as an Enabler for Electrified Mobility 控制是电气化交通的推动者

Annu. Rev. Control. Robotics Auton. Syst. Pub Date : 2021-10-13 DOI: 10.1146/annurev-control-042920-012513

A. Alleyne, Christopher T. Aksland

{"title":"Control as an Enabler for Electrified Mobility","authors":"A. Alleyne, Christopher T. Aksland","doi":"10.1146/annurev-control-042920-012513","DOIUrl":"https://doi.org/10.1146/annurev-control-042920-012513","url":null,"abstract":"This article outlines the importance of electrified mobility (e-mobility) in modern transport. One key goal of this review is to illustrate the role that control has played, and must continue to play, as e-mobility grows. The coordination of power in multiple modes (mechanical, electrical, and thermal) requires sophisticated controller algorithms. This review advocates for model-based approaches to control since there may not be readily available physical systems from which to gather data and do data-based control. A second goal of the article is to present methods for modeling these powertrain systems that are modular, scalable, flexible, and computationally efficient. A graph-based approach satisfies many of the desired criteria. The third goal is to review control approaches for these classes of systems and detail a hierarchical approach that makes trades across different domains of power. Optimization-based approaches are well suited to achieving the regulation and tracking goals, along with the minimization of costs and the satisfaction of constraints. Multiple examples, within this article and the references therein, support the presentation throughout. This field of e-mobility is rapidly growing, and control engineers are uniquely positioned to have an impact and lead many of the critical developments. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":147293,"journal":{"name":"Annu. Rev. Control. Robotics Auton. Syst.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126760004","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}

引用次数: 1

Control of the Stefan System and Applications: A Tutorial 斯蒂芬系统的控制及其应用:教程

Annu. Rev. Control. Robotics Auton. Syst. Pub Date : 2021-09-27 DOI: 10.1146/annurev-control-042920-014825

Shumon Koga, M. Krstić

{"title":"Control of the Stefan System and Applications: A Tutorial","authors":"Shumon Koga, M. Krstić","doi":"10.1146/annurev-control-042920-014825","DOIUrl":"https://doi.org/10.1146/annurev-control-042920-014825","url":null,"abstract":"The so-called Stefan system describes the dynamical model of the liquid–solid phase change in materials ranging from water and ice in the polar caps to metal casting and additive manufacturing (3D printing). The mathematical structure is given by a partial differential equation (PDE) with a moving boundary governed by a scalar ordinary differential equation. Because of the system's moving-boundary nature, control of the Stefan model is unconventional even within the class of otherwise challenging PDE control problems. The second decade of the twenty-first century has witnessed remarkable advances in control design for the Stefan system. Such advances carry significant potential in several areas of technology. In this article, we briefly review the principal literature on control of the Stefan model, along with the associated basics of the PDE analysis of the model and select applications. Principal ideas from our work on control design, stability analysis, and the maintenance of physical phase constraints are given sufficient attention and tutorial treatment so that the article can serve as a self-contained point of entry into the growing subject of boundary control of the Stefan system using the method of PDE backstepping. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":147293,"journal":{"name":"Annu. Rev. Control. Robotics Auton. Syst.","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128600825","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}

引用次数: 6

Methods for Robot Behavior Adaptation for Cognitive Neurorehabilitation 认知神经康复机器人行为适应方法

Annu. Rev. Control. Robotics Auton. Syst. Pub Date : 2021-09-27 DOI: 10.1146/annurev-control-042920-093225

A. Kubota, L. Riek

{"title":"Methods for Robot Behavior Adaptation for Cognitive Neurorehabilitation","authors":"A. Kubota, L. Riek","doi":"10.1146/annurev-control-042920-093225","DOIUrl":"https://doi.org/10.1146/annurev-control-042920-093225","url":null,"abstract":"An estimated 11% of adults report experiencing some form of cognitive decline, which may be associated with conditions such as stroke or dementia and can impact their memory, cognition, behavior, and physical abilities. While there are no known pharmacological treatments for many of these conditions, behavioral treatments such as cognitive training can prolong the independence of people with cognitive impairments. These treatments teach metacognitive strategies to compensate for memory difficulties in their everyday lives. Personalizing these treatments to suit the preferences and goals of an individual is critical to improving their engagement and sustainment, as well as maximizing the treatment's effectiveness. Robots have great potential to facilitate these training regimens and support people with cognitive impairments, their caregivers, and clinicians. This article examines how robots can adapt their behavior to be personalized to an individual in the context of cognitive neurorehabilitation. We provide an overview of existing robots being used to support neurorehabilitation and identify key principles for working in this space. We then examine state-of-the-art technical approaches for enabling longitudinal behavioral adaptation. To conclude, we discuss our recent work on enabling social robots to automatically adapt their behavior and explore open challenges for longitudinal behavior adaptation. This work will help guide the robotics community as it continues to provide more engaging, effective, and personalized interactions between people and robots. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.","PeriodicalId":147293,"journal":{"name":"Annu. Rev. Control. Robotics Auton. Syst.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116717403","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}

引用次数: 14