Nielsen C.,University of Waterloo |
Fulford C.,Quanser Inc. |
Maggiore M.,King's College
Automatica | Year: 2010
This article presents an approach to path following control design based on transverse feedback linearization. A "transversal" controller is designed to drive the output of the plant to the path. A "tangential" controller meets the application-specific requirements on the path, such as speed regulation and internal stability. This methodology is applied to a five-degree-of-freedom (5-DOF) magnetically levitated positioning system. Experimental results are provided that demonstrate the effectiveness of our control design. © 2010 Elsevier Ltd. All rights reserved.
Choudhury S.,University of Waterloo |
Wight D.,Quanser Inc. |
Kulic D.,University of Waterloo
IEEE-RAS International Conference on Humanoid Robots | Year: 2012
This paper introduces a rapid development toolchain for the design and dynamic simulation of robotic and/or mechatronic applications. The toolchain provides a fast and seamless workflow from developing a mechanical system in Computer Aided Design (CAD) software to automatically generating full dynamic simulations with real time 3D visualization. Subsequent design changes in CAD are reflected to the dynamic simulation blocks by simply updating the kinematic and dynamic parameters with minimal user input. The toolchain is demonstrated on the development of a 14 degree of freedom bipedal robot, validating its usefulness for designing complex robotic systems. © 2012 IEEE.
Daly J.M.,Quanser Inc. |
Tribou M.J.,University of Waterloo |
Waslander S.L.,University of Waterloo
IEEE International Conference on Intelligent Robots and Systems | Year: 2012
This work presents a novel path following controller for underactuated unmanned surface vessels (USVs) that is both provably stable and intuitive to tune. The approach consists of a navigation component that computes a desired heading angle to ensure the USV will arrive at the path, and a nonlinear controller to guarantee exponential tracking of surge velocity and heading. Additionally, ultimate boundedness of the unactuated sway velocity is proven. Simulation results are presented to show numerically that the controller works as expected in the ideal case. Outdoor experimental results are presented, using a GPS and compass as sensors, showing the practical feasibility of the approach in the presence of sensor noise, disturbances, and unmodeled dynamics. © 2012 IEEE.
Zhou Q.-L.,Concordia University at Montréal |
Zhang Y.,Concordia University at Montréal |
Rabbath C.-A.,Defence Research and Development Canada |
Apkarian J.,Quanser Inc. |
Apkarian J.,University of Toronto
AIAA Guidance, Navigation, and Control Conference | Year: 2010
Two reconfigurable control allocation (called also as control reallocation) schemes for Unmanned Aerial Vehicle (UAV) under stuck actuator failures have been proposed in this paper. The two control reallocation algorithms include a cascaded generalized inverse algorithm and a fixed-point algorithm. The performance of the two algorithms has been evaluated with a UAV model known as ALTAV (Almost-Lighter-Than-Air-Vehicle). Different stuck faults on the actuators have been implemented in the ALTAV benchmark and used for evaluating the control reallocation schemes. An effective re-distribution of the control surface deflections with the remaining healthy control actuators is used in order to achieve acceptable performance in the presence of control actuator failures. Comparisons were made among the two algorithms with different commanded inputs. Simulation results show the effectiveness of reconfigurable control allocation algorithms for handling stuck failures in such a UAV with less hardware redundancy. Copyright © 2010 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.
Zhang Y.M.,Concordia University at Montréal |
Chamseddine A.,Concordia University at Montréal |
Rabbath C.A.,Concordia University at Montréal |
Gordon B.W.,Concordia University at Montréal |
And 5 more authors.
Journal of the Franklin Institute | Year: 2013
As the first part, this paper presents an overview on the existing works on fault detection and diagnosis (FDD) and fault-tolerant control (FTC) for unmanned rotorcraft systems. Considered faults include actuator and sensor faults for single and multi-rotor systems. As the second part, several FDD and FTC techniques developed recently at the Networked Autonomous Vehicles Lab of Concordia University are detailed along with experimental application to a unique and newly developed quadrotor helicopter testbed. © 2013 The Franklin Institute.
Haddadi A.,Quanser Inc. |
Razi K.,Schneider Electric |
Hashtrudi-Zaad K.,Queen's University
IEEE/ASME Transactions on Mechatronics | Year: 2015
Bilateral teleoperation control systems are designed for guaranteed stability against uncertainties in operator and environment dynamics. In this paper, we study the effect of human operator dynamics on the coupled stability by incorporating the operator dynamics in the master-slave network. We will analytically prove and graphically show that for any potentially unstable control architecture, as the operator minimum damping grows, the teleoperation system can stably tolerate a larger range of variations in the environment impedance parameters. More importantly, we will demonstrate how the proposed coupled stability analysis method can be utilized to design stabilizing controllers for enhanced transparency, given a priori knowledge or online estimate of human operator damping. © 1996-2012 IEEE.
Erickson D.,Defence Research and Development Canada |
Lacheray H.,Quanser Inc. |
Daly J.,Quanser Inc.
Proceedings of SPIE - The International Society for Optical Engineering | Year: 2013
Of great interest to police and military organizations is the development of effective improvised explosive device (IED) disposal (IEDD) technology to aid in activities such as mine field clearing, and bomb disposal. At the same time minimizing risk to personnel. This paper presents new results in the research and development of a next generation mobile immersive teleoperated explosive ordnance disposal system. This system incorporates elements of 3D vision, multilateral teleoperation for high transparency haptic feedback, immersive augmented reality operator control interfaces, and a realistic hardware-in-the-loop (HIL) 3D simulation environment incorporating vehicle and manipulator dynamics for both operator training and algorithm development. In the past year, new algorithms have been developed to facilitate incorporating commercial off-the-shelf (COTS) robotic hardware into the teleoperation system. In particular, a real-time numerical inverse position kinematics algorithm that can be applied to a wide range of manipulators has been implemented, an inertial measurement unit (IMU) attitude stabilization system for manipulators has been developed and experimentally validated, and a voice- operated manipulator control system has been developed and integrated into the operator control station. The integration of these components into a vehicle simulation environment with half-car vehicle dynamics has also been successfully carried out. A physical half-car plant is currently being constructed for HIL integration with the simulation environment. © 2013 SPIE.
Lee L.-F.,State University of New York at Buffalo |
Narayanan M.S.,State University of New York at Buffalo |
Mendel F.,State University of New York at Buffalo |
Krovi V.N.,State University of New York at Buffalo |
Karam P.,Quanser Inc.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM | Year: 2010
Parallel-architecture haptic devices offer significant advantages over serial-architecture counterparts in applications requiring high stiffness and high accuracy. To this end, many haptic devices have been created and deployed by modularly piecing together several serial-chain arms to form an in-parallel system. However, the overall system performance depends both on the nature of the individual arms as well as their interactions. We build on the rich theoretical background of constrained articulated mechanical systems to provide a systematic framework for formulation of system-level kinematic performance from individual-arm characteristics. Specifically, we develop the system-level kinematic model in a symbolic (yet algorithmic) fashion that facilitates: (i) computational development of pertinent symbolic equations; (ii) generalization to arbitrary architectures; and (iii) combined symbolic/numeric analyses of performance (workspace, singularities, design sensitivities). These various aspects are illustrated using the example of the Quanser High Definition Haptic Device (HD)2 - an in-parallel haptic device formed by coupling two 3-link Phantom 1.5 type serial chain manipulators with appropriate passive joints. We also briefly discuss aspects of ongoing work for design-prototyping and validation, taking advantage of tools from Virtual Prototyping and Hardware-in-the-Loop testing. © 2010 IEEE.
Erickson D.,Defence Research and Development Canada |
Lacheray H.,Quanser Inc. |
Lai G.,Quanser Inc. |
Haddadi A.,Quanser Inc.
Proceedings of SPIE - The International Society for Optical Engineering | Year: 2014
This paper presents the latest advancements of the Haptics-based Immersive Tele-robotic System (HITS) project, a next generation Improvised Explosive Device (IED) disposal (IEDD) robotic interface containing an immersive telepresence environment for a remotely-controlled three-articulated-robotic-arm system. While the haptic feedback enhances the operator's perception of the remote environment, a third teleoperated dexterous arm, equipped with multiple vision sensors and cameras, provides stereo vision with proper visual cues, and a 3D photo-realistic model of the potential IED. This decentralized system combines various capabilities including stable and scaled motion, singularity avoidance, cross-coupled hybrid control, active collision detection and avoidance, compliance control and constrained motion to provide a safe and intuitive control environment for the operators. Experimental results and validation of the current system are presented through various essential IEDD tasks. This project demonstrates that a two-armed anthropomorphic Explosive Ordnance Disposal (EOD) robot interface can achieve complex neutralization techniques against realistic IEDs without the operator approaching at any time. © 2014 SPIE.
Quanser Inc. | Date: 2015-04-10
Methods and systems are provided for operating various robotic systems. The methods and systems involve applications of platforms that enable multiple-input teleoperation and a high degree of immersiveness for the user. The robotic systems may include multiple arms for manipulators and retrieving information from the environment and/or the robotic system. The robotic methods may include control modification modules for detecting that an operation of a robotic device based on the control commands fails to comply with one or more operational parameters; identifying the non-compliant control command; and generating a modifier for the secondary device to adjust the non-compliant control command to comply with the set of operational parameters.