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Keynote Lectures

Recent Advances in Physical Human-Robot Interaction
Alessandro De Luca, Università di Roma "La Sapienza", Italy

Resilience of Dynamical Transportation Networks
Munther A. Dahleh, MIT, United States

Optimization in Design of Automated Machining Systems
Alexandre Dolgui, IMT Atlantique, France

Space Robotics - Guidance, Navigation and Control Challenges
Jurek Sasiadek, Carleton University, Canada

 

Recent Advances in Physical Human-Robot Interaction

Alessandro De Luca
Università di Roma "La Sapienza"
Italy
 

Brief Bio
Alessandro De Luca is Professor of Robotics in the Department of Computer, Control, and Management Engineering at the University of Roma "La Sapienza". His research interests include control of human-robot interaction, dynamic modeling and control of robots with flexible components, visual servoing, motion planning and nonlinear control of robot manipulators and wheeled mobile robots, fault detection and isolation in robotics. He has published over 170 journal and conference papers and book chapters, receiving two best paper awards at the ICRA 1998 and IROS 2006 conferences. He was a recipient of the Helmoltz-Humboldt Award in 2005 and is a Fellow of IEEE (class of 2007). He has been the first Editor-in-Chief of the IEEE Transactions on Robotics, General Chair of IEEE ICRA 2007, and is the current Vice-President for Publications of the IEEE Robotics and Automation Society. He is a member of the Search Committee for Physical Sciences of the Körber European Science Award and a Panel Chair of the European Research Council for the Advanced Grants. He is the coordinator of the FP7-ICT European project SAPHARI. For more details: http://www.dis.uniroma1.it/~deluca.


Abstract
In this talk I will present some control aspects related to physical Human-Robot Interaction (pHRI). In order to achieve the goal of a safer, dependable, and high-performance collaboration of robots and humans in industrial and professional service tasks, an integrated approach is needed, where mechatronic design, sensory information, on-line task planning, and reactive control issues are combined in a single framework. At lowest level, I will illustrate the control design for lightweight robots with compliant joints, possibly driven by variable stiffness actuation (VSA). In the latter case, simultaneous and decoupled control of both robot motion and compliance is possible. This allows implementing a safe strategy by increasing compliance when the robot is moving fast, so as to reduce the risk of potential injuries in undesired collisions. For dynamically varying and uncertain environments, the typical case in HRI tasks, on-line collision avoidance methods driven by exteroceptive sensors and rapid detection of unavoidable physical contacts using only encoder sensing will be considered. These situations ask for a portfolio of consistent robot reaction strategies in a hierarchy of safety, co-existence, and active collaboration in the human-robot interaction. Some illustrative examples will be given. The presentation will mainly highlight the latest results obtained in the on-going European project SAPHARI, including also recognition of human motion intentions, human-driven kinestethic learning of robot motion, and reactive action generation patterns.



 

 

Resilience of Dynamical Transportation Networks

Munther A. Dahleh
MIT
United States
 

Brief Bio
Munther A. Dahleh received the B.S. degree from Texas A \& M university,  College Station, Texas in 1983, and his Ph.D. degree from Rice University, Houston, TX, in 1987, all in Electrical Engineering. Since then, he has been with the Department of Electrical Engineering and Computer Science, MIT, Cambridge, MA, where he is now the Associate Department Head. Previously, he was the acting director of the Laboratory for Information and Decision Systems.
He has been a visiting Professor at the Department of Electrical Engineering, California Institute of Technology, Pasadena, CA, for the Spring of 1993.
He has held consulting positions with several companies in the US and abroad.

Dr. Dahleh is interested in problems at the interface of robust control, filtering, information theory, and computation which include control problems with communication constraints and distributed agents with local decision capabilities. In addition to methodology development, he has been interested in the application of distributed control in the future electric grid and the future transportation system with particular emphasis in the management of systemic risk. He is also interested in various problems in network science including distributed computation over noisy network as well as information propagation over complex engineering and social networks.

He is the co-author (with Ignacio Diaz-Bobillo) of the book "Control of Uncertain Systems: A Linear Programming Approach", published by Prentice-Hall, and the co-author (with Nicola Elia) of the book "Computational Methods for Controller Design" published by Springer.


Abstract

In this talk, we present recent results on the stability and robustness properties of transportation networks for various agents' route-choice behavior. We perform the analysis within a dynamical system framework over a directed acyclic graph between a single origin-destination pair. The dynamical system is composed of ordinary differential equations (ODEs), one for every link of the graph. Every ODE is a mass balance equation for the corresponding link, where the inflow term is a function of the agents’ route-choice behavior and the arrival rate at the base node of that link, and the outflow term is a function of the congestion properties of the link.

We propose a novel decision framework, where the drivers combine their historical knowledge about the global congestion levels with real-time local information to make route choice decisions at every node. We show that, if the rate of update of global information is sufficiently slow and if the drivers make route choice decisions cooperatively, then the Wardrop equilibrium is globally asymptotically stable. We then study the resilience of the flow transferring capability of the whole network under disturbances that reduce the flow carrying capacity of the links. In particular, we characterize various margins of resilience of the network with respect to the topology, 'pre-disturbance' equilibrium, and agents' local route-choice behavior. We show that the cooperative route choice behavior is maximally resilient in this setting. We also setup a simple convex optimization problem to find the most resilient 'pre-disturbance' equilibrium for the network and determine link-wise tolls that yield such an equilibrium. Finally, we extend our analysis to link-wise outflow functions that accommodate the possibility of cascaded failures and study the effect of such phenomena on the margins of resilience of the network.

**This work is done in collaboration with Giacomo Como, Ketan Savla, Daron Acemoglu, and Emilio Frazzoli.



 

 

Optimization in Design of Automated Machining Systems

Alexandre Dolgui
IMT Atlantique
France
 

Brief Bio

Dr. Alexandre Dolgui is a Distinguished Professor (Full Professor of Exceptional Class in France) and the Head of Automation, Production and Computer Sciences Department at the Ecole des Mines de Nantes, France.

His research focuses on manufacturing line design, production planning and supply chain optimization. His main results are based on the exact mathematical programming methods and their intelligent coupling with heuristics and metaheuristics algorithms. He is the co-author of 5 books, the co-editor of 15 books or conference proceedings, the author of 220 refereed journal papers, editorials and book chapters as well as over 370 papers in conference proceedings.

He is the Editor-in-Chief of the International Journal of Production Research, an Area Editor of Computers & Industrial Engineering, and an Associate Editor of Journal Européen des Systèmes Automatisés, past Associate Editor of International Journal of Systems Science (2005-2008), IEEE Transactions on Industrial Informatics (2006-2009) and Omega-the International Journal of Management Science (2009-2012), consulting Editor of the International Journal of Systems Science (2009- ).

He is Member of the Editorial Boards for 22 other journals, including the International Journal of Production Economics, International Journal of Manufacturing Technology & Management, International Journal of Simulation & Process Modelling, International Journal of Engineering Management & Economics, Journal of Decision Systems, Journal of Mathematical Modelling & Algorithms, Journal of Operations and Logistics, Journal of Industrial Engineering and Management & Production Engineering Review, etc. Fellow of the European Academy for Industrial Management, Member of the Board of the International Foundation for Production Research, Chair of IFAC TC 5.2 Manufacturing Modelling for Management and Control, Member of IFIP WG 5.7 Advances in Production Management Systems, IEEE System Council Analytics and Risk Technical Committee, Guest editor of special issues of Journal of Intelligent Manufacturing, International Journal of Production Research, International Journal of Production Economics, Journal of Mathematical Modeling and Algorithms, European Journal of Operational Research and Annual Reviews in Control; he was General Scientific Chair of the 12th IFAC symposium INCOM'06, Chairman of International Program Committee of SCM’02, MOSIM’04, INCOM'09, INCOM'12, IESM'13, MIM'13, and INCOM'15, Chairman of Organizing Committee of the International Conference MOSIM’01 and ROADEF'2011; last ten years, he was Member of Program Committees of over 170 International Conferences, etc. He has been responsible of the French national CNRS working group on Design of Production Systems (with about 336 individual members) and the regional project on Design and Management of Reconfigurable Manufacturing Systems.

More information about me at www.emse.fr/~dolgui.


Abstract
The aim is to develop advances optimization techniques from the perspective of combinatorial design of automated manufacturing systems. The suggested methodology is based upon advanced line balancing methods and process planning and equipment selection algorithms. The main results are based on exact mathematical programming methods and their intelligent coupling with heuristics and metaheuristics. A decision-aid system based on these methods will be presented. This system is employed for the design of mass production dedicated machining lines as well as for reconfigurable manufacturing systems.



 

 

Space Robotics - Guidance, Navigation and Control Challenges

Jurek Sasiadek
Carleton University
Canada
 

Brief Bio


Abstract
This keynote presents methods and technologies used in guidance, navigation and control of space robotics. It addresses some basic issues related to control of space manipulators and autonomous flying and ground travelling vehicles. Space manipulators such as, Remote Manipulator System (RMS), Space Station Remote manipulator System (SSRMS) and Special Purpose Dextrous Manipulator (SPDMD) were used successfully for variety of space tasks.
Robotic manipulators in Space pose several navigation and control challenges. Robots structures and joints are flexible and highly nonlinear and their designs include several degrees
of freedom (DOF). Each degree of freedom has to be controlled with high accuracy to achieve satisfactory positioning.

Planetary rovers are used in space to explore the planets and moons. There are many types of robotics vehicles. Their main objective is to explore the planets, take samples of ground and rocks at desired location. Often robotics rovers are directed to take images of the surroundings, mapping, as well as, performing other scientific measurements. Accurate localization of autonomous robots in featureless environment is very difficult and often requires advanced methods of guidance and navigation. It is worth noting that existing sensor as gyroscopes, accelerometers and other inertial systems may not work properly when robot is travelling with low speed. Moreover, odometric sensors such as, encoders and tachometers may also not work properly in the hostile environment of outer planets. In such environment, sensor fusion becomes one of the most important technologies used for guidance, localization, and navigation of planetary robotic vehicles. Integrating several measurements and several types of sensors to retrieve accurate data is one of the most successful technologies used in autonomous robotics.

Free – flying and orbiting robots also will play an important role in Space exploration and servicing. De‐orbiting satellites and servicing space floating vehicles on orbit is an important
part of robotics activities in Space. Although, there are not too many successful applications of such types of robots, it is expected that in future they will play much more important role.
General methods of navigation are shown and discussed and their possible application in Space are presented and discussed.



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