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Claudio Rossi

Universidad Politécnica de Madrid, Center of Automation and Robotics, Faculty Member

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Papers by Claudio Rossi

Functional Self-Awareness and Metacontrol for Underwater Robot Autonomy

by Claudio Rossi, Esther Aguado, and Zorana Milosevic

SENSORS, 2021

utonomous systems are expected to maintain a dependable operation without human intervention. The... more utonomous systems are expected to maintain a dependable operation without human intervention. They are intended to fulfill the mission for which they were deployed, properly handling the disturbances that may affect them. Underwater robots, such as the UX-1 mine explorer developed in the UNEXMIN project, are paradigmatic examples of this need. Underwater robots are affected by both external and internal disturbances that hamper their capability for autonomous operation. Long-term autonomy requires not only the capability of perceiving and properly acting in open environments but also a sufficient degree of robustness and resilience so as to maintain and recover the operational functionality of the system when disturbed by unexpected events. In this article, we analyze the operational conditions for autonomous underwater robots with a special emphasis on the UX-1 miner explorer. We then describe a knowledge-based self-awareness and metacontrol subsystem that enables the autonomous reconfiguration of the robot subsystems to keep mission- oriented capability. This resilience augmenting solution is based on the deep modeling of the functional architecture of the autonomous robot in combination with ontological reasoning to allow self-diagnosis and reconfiguration during operation. This mechanism can transparently use robot functional redundancy to ensure mission satisfaction, even in the presence of faults.

format_quoteThe UX-1 UUV enhances reliability through self-awareness and reconfiguration capabilities, improving adaptive resilience post-damage.format_quote

Nonlinear Attitude Control of a Spherical Underwater Vehicle

SENSORS, 2019

In this work, we present the design, implementation, and testing of an attitude control system ba... more In this work, we present the design, implementation, and testing of an attitude control system based on State Feedback Linearization (FL) of a prototype spherical underwater vehicle. The vehicle is characterized by a manifold design thruster configuration for both locomotion and maneuvering, as well as on a novel pendulum-based passive pitch control mechanism. First, the mechanical design and onboard electronics set up of the spherically shaped hull are introduced. Afterward, a high-fidelity dynamic model of the system is derived for a 6 degree-of-freedom (DOF) underwater vehicle, followed by several experiments that have been performed in a controlled environment to compare the performance of the proposed control method to that of a baseline Proportional-Integral-Derivative (PID) controller. Experimental results demonstrate that while both controllers were able to perform the specified maneuvers, the FL controller outperforms the PID in terms of precision and time response.

format_quoteThe spherical UV was tested with State Feedback Linearization control, showcasing its potential for underwater mine exploration applications.format_quote

Comparison of leg dynamic models for quadrupedal robots with compliant backbone

Nature Scientific Reports, 2022

Many quadrupeds are capable of power efficient gaits, especially trot and gallop, thanks to their... more Many quadrupeds are capable of power efficient gaits, especially trot and gallop, thanks to their flexible trunk. The oscillations of the system that includes the backbone, the tendons and musculature, store and release elastic energy, helping a smooth deceleration and a fast acceleration of the hindquarters and forequarters, which improves the dynamics of running and its energy efficiency. Forelegs and hindlegs play a key role in generating the bending moment in the trunk. In this paper we present our studies aimed at modeling and reproducing such phenomena for efficient quadrupedal robot locomotion. We propose a model, called mass-mass-spring model, that overcomes the limitation of existing models, and demonstrate that it allows studying how the masses of the legs generate a flexing force that helps the natural bending of the trunk during gallop. We apply our model to six animals, that adopt two different galloping patterns (called transverse and rotatory), and compare their energy efficiency.

format_quoteFlexible spine enables quadruped robots to achieve low energy consumption through energy storage/release during gait.format_quote

Motion Control of Underwater Mine Explorer Robot UX-1: Field Trials

IEEE ACCESS, 2019

In this paper, we present the results of a series of field trials conducted with an underwater ve... more In this paper, we present the results of a series of field trials conducted with an underwater vehicle in the increasingly complex underwater environments of the Kaatiala mine in Finland, the Idrija mine in Slovenia, and the Urgeiriça mine in Portugal. These field experiments have been performed to test and validate the motion control systems of the underwater explorer robot (UX-1), which are: a variable ballast system for buoyancy control, a variable pitch system for pitch control, and a propulsion system for depth and heading stabilization. The control method implemented is based on a state feedback linearization algorithm, previously tested and validated in a controlled water tank environment. Several experiments are shown which demonstrate the successful operation of the motion control systems in individual performance tests. Afterward, a full exploration and geo-scientific data collection mission is presented, where all of the motion control systems are active simultaneously during a deep dive to more than 100 m. The results obtained in the field tests demonstrate the effectiveness of the motion control systems and validate the UX-1 Robot platform as capable of performing the complex task of navigation and control in flooded mine environments.

Modeling and Control of Underwater Mine Explorer Robot UX-1

by Claudio Rossi and Alfredo Martins

IEEE ACCESS, 2019

This paper presents the design and experimental assessment of the control system for the UX-1 rob... more This paper presents the design and experimental assessment of the control system for the UX-1 robot, a novel spherical underwater vehicle for flooded mine tunnel exploration. Propulsion and maneuvering are based on an innovative manifold system. First, the overall design concepts of the robot are presented. Then, a theoretical six degree-of-freedom (DOF) dynamic model of the system is derived. Based on the dynamic model, two control systems have been developed and tested, one based on the principle of nonlinear state feedback linearization and another based on a finite horizon linear quadratic regulator (LQR). A series of experimental tests have been carried out in a controlled environment to experimentally identify the complex parameters of the dynamic model. Furthermore, the two proposed controllers have been tested in underwater path tracking experiments designed to simulate navigation in mine tunnel environments. The experimental results demonstrated the effectiveness of both the proposed controllers and showed that the state feedback linearization controller outperforms the finite horizon LQR controller in terms of robustness and response time, while the LQR appears to be superior in terms of fall time.

format_quoteExperimental identification of the thruster coefficient revealed a significant relationship between thrust and RPM, enhancing model validity.format_quote

Effects of Elastic Hinges on Input Torque Requirements for a Motorized Indirect-Driven Flapping-Wing Compliant Transmission Mechanism

IEEE ACCESS, 2019

This paper presents compliant transmission mechanisms for a flapping-wing micro air vehicle. The ... more This paper presents compliant transmission mechanisms for a flapping-wing micro air vehicle. The purpose of this mechanism is to reduce power consumption, a critical issue in this kind of vehicles, as well as to minimize the peak input torque required by the driving motor, which helps to maintain flight stability and reduces mechanical shocks of the structure. We first describe the development of pseudo-rigidbody model of the mechanism and the analysis of the corresponding kinematics. Second, we compute the required input torque for driving stable flapping motions, from the perspectives of work and energy. For this computation, two methods are applied, one based on the principle of virtual work and another one based on rigid-body dynamics. Our mathematical analysis demonstrates that both methods are consistent with each other in terms of the resulting input torque from the motor. Finally, according to the results from the input torque analysis, the main parameters characterizing the compliant joints, the torsional stiffness of virtual spring and initial neutral angular position, are optimized. The experimental results carried out with two different mechanical setups, one with rigid components, and another one with flexible components, demonstrate the relationship between the input voltage (that is directly related to flapping frequency) and power saving of the compliant mechanism. The average power consumption is reduced of up to 4%, and peak power consumption is reduced up to 25% using the compliant transmission mechanisms compared to the rigid mechanism. The experiments also show a clear relationship between flapping frequency and power savings. INDEX TERMS Compliant transmission mechanisms, compliant structures, virtual work, flapping-wing micro air vehicles, FWMAVs.

Soft dorsal/anal fins pairs for roll and yaw motion in robotic fish

Bioinspiration&Biomimetics, 2023

Fish has primarily served as a model for many bio-inspired underwater robots. However, most of th... more Fish has primarily served as a model for many bio-inspired underwater robots. However, most of the work on fish-inspired robots is focused on propulsion and turning in the horizontal plane. In this paper, we present our work on the 3D motion of bio-inspired underwater robots. A pair of actuated soft fins, mimicking the soft dorsal and anal fins of a live fish, have been designed and tested to generate lateral thrusts that aim to produce both roll and yaw motions. Furthermore, they can be used to provide vertical stabilization of the forward motion in the robot. These fins comprise shape memory alloy wires embedded in silicone. We demonstrate that these fins can provide a means for 3D maneuvering. In this work, we focus on roll and yaw motions. A key feature of the proposed design is that it is lightweight, compact, and waterproof.

format_quoteSMA wires can achieve 6% contraction under higher currents, providing effective fin bending for maneuverability.format_quote

BB2018 Watermark

Bioinspiration&Biomimetics, 2018

In this paper, we present a fish-like underwater robot inspired by the black bass fish. This robo... more In this paper, we present a fish-like underwater robot inspired by the black bass fish. This robot is composed of a deformable structure and muscle-like linear actuators based on shape memory alloy wires. Such actuators are used to bend a continuous structure representing the backbone of the fish. The prototype is also equipped with a bio-inspired synthetic skin made of liquid silicone rubber and Lycra microfiber mesh. We present the mechatronics of the prototype and its control scheme, which take advantage of flex sensors for proprioception. Experiments under different conditions (in air and in water) assess the effectiveness of the mechatronics design and demonstrate that a relatively simple PID controller provides high precision of the muscles' position control. Here, the implementation of biomimetic kinematics and silent actuation technology in bio-inspired underwater robotics are demonstrated. Progress in this technology could provide multiple applications, including fish farming, coastal protection and live animal monitoring where silent robotics are necessary.

Experimental simulation of satellite relative navigation using computer vision

by Miguel A Salichs and Claudio Rossi

Proceedings of 2nd International Conference on Recent Advances in Space Technologies, 2005. RAST 2005., 2005

Abstract This paper presents a general description of a mechatronics experimental testbed develop... more Abstract This paper presents a general description of a mechatronics experimental testbed developed to simulate relative autonomous navigation between satellites using computer vision. Since the experimental tests of relative navigation is not feasible in real systems for the costs and risks that implies, it was decided to construct an experimental platform that simulates the spatial mission scenario. The mission to simulate deals with the recognition and inspection of a satellite by means of another autonomous satellite (Chaser), which ...

Aerial remote sensing in agriculture: A practical approach to area coverage and path planning for fleets of mini aerial robots

In this paper, a system that allows applying precision agriculture techniques is described. The a... more In this paper, a system that allows applying precision agriculture techniques is described. The application is based on the deployment of a team of unmanned aerial vehicles that are able to take georeferenced pictures in order to create a full map by applying mosaicking procedures for postprocessing. The main contribution of this work is practical experimentation with an integrated tool. Contributions in different fields are also reported. Among them is a new one-phase automatic task partitioning manager, which is based on negotiation among the aerial vehicles, considering their state and capabilities. Once the individual tasks are assigned, an optimal path planning algorithm is in charge of determining the best path for each vehicle to follow. Also, a robust flight control based on the use of a control law that improves the maneuverability of the quadrotors has been designed. A set of field tests was performed in order to analyze all the capabilities of the system, from task negotiations to final performance. These experiments also allowed testing control robustness under different weather conditions.

Simultaneous versus incremental learning of multiple skills by modular robots

This paper is concerned with the problem of learning multiple skills by modular robots. The main ... more This paper is concerned with the problem of learning multiple skills by modular robots. The main question we address is whether it is better to learn multiple skills simultaneously (all-at-once) or incrementally (oneby-one). We conduct an experimental study with modular robots of various morphologies that need to acquire three different but correlated skills, efficient locomotion, navigation towards a target point, and obstacle avoidance, using a real-time, on-board evolution as the learning method. The results indicate that the one-by-one strategy is more efficient and more stable than the all-at-once strategy.

An Air-Ground Wireless Sensor Network for Crop Monitoring

Sensors, 2011

This paper presents a collaborative system made up of a Wireless Sensor Network (WSN) and an aeri... more This paper presents a collaborative system made up of a Wireless Sensor Network (WSN) and an aerial robot, which is applied to real-time frost monitoring in vineyards. The core feature of our system is a dynamic mobile node carried by an aerial robot, which ensures communication between sparse clusters located at fragmented parcels and a base station. This system overcomes some limitations of the wireless networks in areas with such characteristics. The use of a dedicated communication channel enables data routing to/from unlimited distances.

Robotic Fish to Lead the School

Swimming Physiology of Fish, 2012

This chapter explores the possibility of using robotics technology in order to aid fish farming. ... more This chapter explores the possibility of using robotics technology in order to aid fish farming. The main idea is to use biomimetic robots that can lead the school and control its swimming behavior. Such approach has several advantages over other technological means, and poses interesting challenges, both as far as robotics technology and fish biology is concerned. In this chapter, such technological challenges are discussed.

Simultaneous task subdivision and allocation for teams of heterogeneous robots

by Antonio Barrientos and Claudio Rossi

In this paper, we present a negotiation protocol for simultaneous task subdivision and allocation... more In this paper, we present a negotiation protocol for simultaneous task subdivision and allocation for heterogeneous multi-robot systems. An abstraction of the concept of task is presented that allows to apply the protocol on a variety of tasks. The negotiation adopts Rubinstein's alternate offers protocol, where offers are evaluated and generated using a heuristic search step. The protocol has been tested on computer simulations.

Recent Developments in Bit-Parallel Algorithms

Tools in Artificial Intelligence, 2008

Pose Estimation with Multiple Sources Using Evolutionary Algorithms

2007 IEEE International Symposium on Intelligent Signal Processing, 2007

Aerial remote sensing in agriculture: A practical approach to area coverage and path planning for fleets of mini aerial robots

Journal of Field Robotics, 2011

In this paper, a system that allows applying precision agriculture techniques is described. The a... more In this paper, a system that allows applying precision agriculture techniques is described. The application is based on the deployment of a team of unmanned aerial vehicles that are able to take georeferenced pictures in order to create a full map by applying mosaicking procedures for postprocessing. The main contribution of this work is practical experimentation with an integrated tool. Contributions in different fields are also reported. Among them is a new one-phase automatic task partitioning manager, which is based on negotiation among the aerial vehicles, considering their state and capabilities. Once the individual tasks are assigned, an optimal path planning algorithm is in charge of determining the best path for each vehicle to follow. Also, a robust flight control based on the use of a control law that improves the maneuverability of the quadrotors has been designed. A set of field tests was performed in order to analyze all the capabilities of the system, from task negotiations to final performance. These experiments also allowed testing control robustness under different weather conditions.

Evolutionary Algorithms for the Satisfiability Problem

Evolutionary Computation, 2002

Several evolutionary algorithms have been proposed for the satisfiability problem. We review the ... more Several evolutionary algorithms have been proposed for the satisfiability problem. We review the solution representations suggested in literature and choose the most promising one the bit string representation for further evaluation. An empirical comparison on commonly used benchmarks is presented for the most successful evolutionary algorithms and for WSAT, a prominent local search algorithm for the satisfi-ability problem. The key features of successful evolutionary algorithms are identified, thereby providing useful methodological guidelines for designing new heuristics. Our results indicate that evolutionary algorithms are competitive to WSAT.

Tracking Moving Optima Using Kalman-Based Predictions

Evolutionary Computation, 2008

The dynamic optimization problem concerns finding an optimum in a changing environment. In the fi... more The dynamic optimization problem concerns finding an optimum in a changing environment. In the field of evolutionary algorithms, this implies dealing with a time-changing fitness landscape. In this paper we compare different techniques for integrating motion information into an evolutionary algorithm, in the case it has to follow a time-changing optimum, under the assumption that the changes follow a nonrandom law. Such a law can be estimated in order to improve the optimum tracking capabilities of the algorithm. In particular, we will focus on first order dynamical laws to track moving objects. A vision-based tracking robotic application is used as testbed for experimental comparison.

Bending continuous structures with SMAs: a novel robotic fish design

Bioinspiration & Biomimetics, 2011

In this paper, we describe our research on bio-inspired locomotion systems using deformable struc... more In this paper, we describe our research on bio-inspired locomotion systems using deformable structures and smart materials, concretely shape memory alloys (SMAs). These types of materials allow us to explore the possibility of building motor-less and gear-less robots. A swimming underwater fish-like robot has been developed whose movements are generated using SMAs. These actuators are suitable for bending the continuous backbone of the fish, which in turn causes a change in the curvature of the body. This type of structural arrangement is inspired by fish red muscles, which are mainly recruited during steady swimming for the bending of a flexible but nearly incompressible structure such as the fishbone. This paper reviews the design process of these bio-inspired structures, from the motivations and physiological inspiration to the mechatronics design, control and simulations, leading to actual experimental trials and results. The focus of this work is to present the mechanisms by which standard swimming patterns can be reproduced with the proposed design. Moreover, the performance of the SMA-based actuators' control in terms of actuation speed and position accuracy is also addressed.