Control as an Enabler for Electrified Mobility

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Andrew G. Alleyne ◽  
Christopher T. Aksland
Keyword(s):  
Online Publication ◽  
Autonomous Systems ◽  
Annual Review ◽  
Publication Date ◽  
Hierarchical Approach ◽  
Computationally Efficient ◽  
Physical Systems ◽  
The Third ◽  
Regulation And Tracking ◽  
And Control

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.

Design and Control of Drones

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Mark W. Mueller ◽  
Seung Jae Lee ◽  
Raffaello D’Andrea
Keyword(s):  
Energy Consumption ◽  
Motion Planning ◽  
Recent Progress ◽  
Scaling Laws ◽  
Autonomous Systems ◽  
Annual Review ◽  
Publication Date ◽  
Trade Offs ◽  
Active Research ◽  
And Control

The design and control of drones remain areas of active research, and here we review recent progress in this field. In this article, we discuss the design objectives and related physical scaling laws, focusing on energy consumption, agility and speed, and survivability and robustness. We divide the control of such vehicles into low-level stabilization and higher-level planning such as motion planning, and we argue that a highly relevant problem is the integration of sensing with control and planning. Lastly, we describe some vehicle morphologies and the trade-offs that they represent. We specifically compare multicopters with winged designs and consider the effects of multivehicle teams. 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.

scholarly journals Model Reduction Methods for Complex Network Systems

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
X. Cheng ◽  
J.M.A. Scherpen
Keyword(s):  
Autonomous Systems ◽  
High Dimensional ◽  
Annual Review ◽  
Publication Date ◽  
Network Systems ◽  
Modeling And Control ◽  
Reduced Order ◽  
Reduction Methods ◽  
The Stability ◽  
And Control

Network systems consist of subsystems and their interconnections and provide a powerful framework for the analysis, modeling, and control of complex systems. However, subsystems may have high-dimensional dynamics and a large number of complex interconnections, and it is therefore relevant to study reduction methods for network systems. Here, we provide an overview of reduction methods for both the topological (interconnection) structure of a network and the dynamics of the nodes while preserving structural properties of the network. We first review topological complexity reduction methods based on graph clustering and aggregation, producing a reduced-order network model. Next, we consider reduction of the nodal dynamics using extensions of classical methods while preserving the stability and synchronization properties. Finally, we present a structure-preserving generalized balancing method for simultaneously simplifying the topological structure and the order of the nodal dynamics. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Mechanisms for Robotic Grasping and Manipulation

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Vincent Babin ◽  
Clément Gosselin
Keyword(s):  
Online Publication ◽  
Autonomous Systems ◽  
Robotic Manipulation ◽  
Annual Review ◽  
Publication Date ◽  
Robotic Grasping ◽  
Grasp Planning ◽  
Grasping And Manipulation

This article reviews the literature on the design of robotic mechanical grippers, with a focus on the mechanical aspects, which are believed to be the main bottleneck for effective designs. Our discussion includes gripper architectures and means of actuation, anthropomorphism and grasp planning, and robotic manipulation, emphasizing the complementary concepts of intrinsic and extrinsic dexterity. We also consider interactions of robotic grippers with the environment and with the objects to be grasped and argue that the proper handling of such interactions is key to the development of grasping and manipulation tools and scenarios. Finally, we briefly present examples of recent designs to support the discussion. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

scholarly journals Autonomy in Surgical Robotics

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Aleks Attanasio ◽  
Bruno Scaglioni ◽  
Elena De Momi ◽  
Paolo Fiorini ◽  
Pietro Valdastri
Keyword(s):  
Online Publication ◽  
Autonomous Systems ◽  
Surgical Robotics ◽  
Annual Review ◽  
Publication Date ◽  
Surgical Robots ◽  
Level 3 ◽  
Level 1 ◽  
Level 2 ◽  
Task Level

This review examines the dichotomy between automatic and autonomous behaviors in surgical robots, maps the possible levels of autonomy of these robots, and describes the primary enabling technologies that are driving research in this field. It is organized in five main sections that cover increasing levels of autonomy. At level 0, where the bulk of commercial platforms are, the robot has no decision autonomy. At level 1, the robot can provide cognitive and physical assistance to the surgeon, while at level 2, it can autonomously perform a surgical task. Level 3 comes with conditional autonomy, enabling the robot to plan a task and update planning during execution. Finally, robots at level 4 can plan and execute a sequence of surgical tasks autonomously. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Toward a Criminology of Sexual Harassment

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Christopher Uggen ◽  
Ráchael A. Powers ◽  
Heather McLaughlin ◽  
Amy Blackstone
Keyword(s):  
Sexual Harassment ◽  
Violence Against Women ◽  
Online Publication ◽  
Prevention And Control ◽  
Criminological Theory ◽  
Annual Review ◽  
Publication Date ◽  
Public Attention ◽  
And Control ◽  
Advance Knowledge

Public attention to sexual harassment has increased sharply with the rise of the #MeToo movement, although the phenomenon has sustained strong scientific and policy interest for almost 50 years. A large and impressive interdisciplinary scholarly literature has emerged over this period, yet the criminology of sexual harassment has been slow to develop. This review considers how criminological theory and research can advance knowledge on sexual harassment—and how theory and research on sexual harassment can advance criminological knowledge. We review classic and contemporary studies and highlight points of engagement in these literatures, particularly regarding life-course research and violence against women. After outlining prospects for a criminology of sexual harassment that more squarely addresses perpetrators as well as victims, we discuss how criminological insights might contribute to policy efforts directed toward prevention and control. Expected final online publication date for the Annual Review of Criminology, Volume 4 is January 13, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Motion Control in Magnetic Microrobotics: From Individual and Multiple Robots to Swarms

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Lidong Yang ◽  
Li Zhang
Keyword(s):  
Motion Control ◽  
Autonomous Systems ◽  
System Structure ◽  
Future Research ◽  
Annual Review ◽  
Publication Date ◽  
Current Feedback ◽  
Loop Control ◽  
Planning And Control ◽  
And Control

Magnetic microrobotics has undergone approximately 20 years of development, and the robotics and control communities have contributed significant theoretical and practical results to the motion control aspects of this field. This article introduces fundamental motion principles covering individual, multiagent, and swarm control and critically reviews the state of the art along with representative results. It then describes closed-loop control (an important part of this field), including the system structure, current motion planning and control methods, and current feedback approaches. As the development of motion control in magnetic microrobotics is far from complete, especially for swarm control, its current limitations are discussed. Finally, we conclude with several challenges and future research directions. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Koopman Operators for Estimation and Control of Dynamical Systems

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Samuel E. Otto ◽  
Clarence W. Rowley
Keyword(s):  
Numerical Methods ◽  
Autonomous Systems ◽  
The State ◽  
Annual Review ◽  
Publication Date ◽  
Control Input ◽  
Koopman Operator ◽  
Estimation And Control ◽  
And Control ◽  
Theoretical Foundations

A common way to represent a system's dynamics is to specify how the state evolves in time. An alternative viewpoint is to specify how functions of the state evolve in time. This evolution of functions is governed by a linear operator called the Koopman operator, whose spectral properties reveal intrinsic features of a system. For instance, its eigenfunctions determine coordinates in which the dynamics evolve linearly. This review discusses the theoretical foundations of Koopman operator methods, as well as numerical methods developed over the past two decades to approximate the Koopman operator from data, for systems both with and without actuation. We pay special attention to ergodic systems, for which especially effective numerical methods are available. For nonlinear systems with an affine control input, the Koopman formalism leads naturally to systems that are bilinear in the state and the input, and this structure can be leveraged for the design of controllers and estimators. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

COVID-19 Vaccines: Adenoviral Vectors

2021 ◽  
Vol 73 (1) ◽  
Author(s):  
Catherine Jacob-Dolan ◽  
Dan H. Barouch
Keyword(s):  
Severe Acute Respiratory Syndrome ◽  
Online Publication ◽  
Prevention And Control ◽  
Large Scale ◽  
Adenoviral Vectors ◽  
Annual Review ◽  
Publication Date ◽  
Vaccine Platform ◽  
The Past ◽  
And Control

The worldwide pandemic of coronavirus disease 2019 (COVID-19) caused by severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) has led to the unprecedented pace of development of multiple vaccines. This review evaluates how adenovirus (Ad) vector platforms have been leveraged in response to this pandemic. Ad vectors have been used in the past for vaccines against other viruses, most notably HIV and Ebola, but they never have been produced, distributed, or administered to humans at such a large scale. Several different serotypes of Ads encoding SARS-CoV-2 Spike have been tested and found to be efficacious against COVID-19. As vaccine rollouts continue and the number of people receiving these vaccines increases, we will continue to learn about this vaccine platform for COVID-19 prevention and control. Expected final online publication date for the Annual Review of Medicine, Volume 73 is January 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

scholarly journals What Is Robotics? Why Do We Need It and How Can We Get It?

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Daniel E. Koditschek
Keyword(s):  
Dynamical Systems ◽  
Systems Theory ◽  
Programming Languages ◽  
Online Publication ◽  
Autonomous Systems ◽  
Annual Review ◽  
Publication Date ◽  
Diverse Populations ◽  
Intellectual Foundations ◽  
Fundamental Physical

Robotics is an emerging synthetic science concerned with programming work. Robot technologies are quickly advancing beyond the insights of the existing science. More secure intellectual foundations will be required to achieve better, more reliable, and safer capabilities as their penetration into society deepens. Presently missing foundations include the identification of fundamental physical limits, the development of new dynamical systems theory, and the invention of physically grounded programming languages. The new discipline needs a departmental home in the universities, which it can justify both intellectually and by its capacity to attract new diverse populations inspired by the age-old human fascination with robots. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Stability and Control of Power Grids

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Tao Liu ◽  
Yue Song ◽  
Lipeng Zhu ◽  
David J. Hill
Keyword(s):  
Critical Infrastructure ◽  
Autonomous Systems ◽  
Modern Society ◽  
Power Grids ◽  
Annual Review ◽  
Publication Date ◽  
New Paradigm ◽  
Stability And Control ◽  
The Stability ◽  
And Control

Power grids are critical infrastructure in modern society, and there are well-established theories for the stability and control of traditional power grids under a centralized paradigm. Driven by environmental and sustainability concerns, power grids are undergoing an unprecedented transition, with much more flexibility as well as uncertainty brought by the growing penetration of renewable energy and power electronic devices. A new paradigm for stability and control is under development that uses graph-based, data-based, and distributed analysis tools. This article surveys classic and novel results on the stability and control of power grids to provide a perspective on this both old and new subject. 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.

Sign in / Sign up

Export Citation Format

Share Document