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Summer School on Control and Robotics: Fundamentals for advanced research 23 - 24 Julho 2018

Porto


Summer School on Control and Robotics: Fundamentals for advanced research

Summer School on Control and Robotics: Fundamentals for advanced research

 

The goal of the Summer Course is to present in a tutorial and accessible way to the largest number of doctoral students and researchers key mathematics tools that supports advanced engineering in Robotics and Control.

 

Topics & Lecturers:

  • Nonlinear Control

António Pedro Aguiar

  • Functional Analysis

Fernando Lobo Pereira

  • Control of Robotic Manipulators

Rui Cortesão

  • Sparse Optimization and Image Processing

Mário Figueiredo

 

To Whom?

phD students and Researchers in Mathematics, Economics, Mechanical, Electrical or other Engineering or related fields.

 

How to apply?

Send a pre-registration email with your personal data, course graduation, and contact to:

João Miranda Lemos, jomlemos@gmail.com.

 

Deadlines

Pre-registration: 15 May 2018

Notification of acceptance: 31 May 2018

Send payment confirmation: 30 June 2018

 

How much?

50 euros fee

 

When?

23-24 July 2018

 

Where?

FEUP Room I-105 (9h-17h) Campus da FEUP

Rua Dr. Roberto Frias

4200 - 465 Porto, Portugal

 

 

 

 

 

 

 

 

 

Lecturers:

 

Nonlinear Control

António Pedro Aguiar

 

Link to personal page:

https://paginas.fe.up.pt/~apra/


Biographical note

A. Pedro Aguiar - PhD in Electrical and Computer Engineering from the Instituto Superior Técnico (IST), Lisbon, Portugal. Currently, Dr. Aguiar holds an Associate Professor position with Habilitation with the Department of Electrical and Computer Engineering (DEEC), Faculty of Engineering, University of Porto (FEUP). From 2002 to 2005, he was a post-doctoral researcher at the Center for Control, Dynamical-Systems, and Computation at the University of California, Santa Barbara (UCSB). From 2005 to 2012, he was a senior researcher with the Institute for Systems and Robotics at IST (ISR/IST), and an invited assistant professor with the DEEC at IST. His research interests are in the area of control systems and robotics (theory and applications), with particular emphasis on coordinated/cooperative navigation, planning, guidance and motion control of multiple robotic vehicles; decentralized control and estimation of large-scale networked systems; networked control systems; nonlinear control and estimation theory; optimal control; switched and hybrid systems; performance limitations; and the use of vision in feedback control. Dr. Aguiar has (co)-authored more than 200 publications in high prestigious conferences and journals in the area and is currently an Associate Editor of IFAC Automatica and IEEE L-CSS.

Summary of the Presentation:

This tutorial will cover the basics of analysis and design of nonlinear control systems. Topics include Lyapunov stability analysis techniques, stability of perturbed systems, and input-to-state stability. The last part of the talk is dedicated to nonlinear control design tools such as backstepping, sliding mode control, and Lyapunov based adaptive control illustrated with applications in domain of motion control of autonomous robotic vehicles.

 

 

 

 

Functional Analysis

Fernando Lobo Pereira

 

Link to personal page:

https://paginas.fe.up.pt/~flp/


Biographical note

Fernando Lobo Pereira is Full Professor at the Electrical Computer Engineering Department of Porto University, Scientific Coordinator of the SYSTEC Research Unit, and Director of the Institute for System and Robotics Porto. He received his Ph.D. degree in Control Theory from Imperial College of Science and Technology from London University, and the Habilitation Title in Automation and Control from Porto University.
He is a member of IEEE, SIAM, APCA, AMS, INFORMS, SPM, and OE. His research work falls in the following areas: Control Theory (Non-smooth Analysis, Dynamic Optimization, Impulsive Control), Hybrid Systems, and Coordinated Control, and their application towards cyber physical frameworks for networks of robotic vehicles and for advanced manufacturing systems.
He has been involved in a large number of European and national research problems and has been expert adviser of EU to follow up funded research projects and evaluator of EU R&D an national (FCT) research and grant proposals.
He participated in ca 250 international technical scientific meetings, in the organization or the IPC of several international workshops, and many international conferences. He has been editor of Journal of Optimization Theory and Applications, Journal of Computational and Applied Mathematics, TEMA, Journal of Mathematical Problems in Engineering, and several editions of the European Control Conference. He has been regularly reviewing scientific and technical articles for top international conferences and journals such as Automatica, SIAM J. control and Optimization, IEEE J. Robotics & Autom., Systems and Control Letters, Math. of Industrial Systems, Annals of Operations Res., IEEE Robotics and Autom. Mag., Int. J. of Intelligent Control & Systems. Besides numerous technical reports, he authored more than 350 scrutinized scientific and technical papers (of which 54 in journals) in highly reputed peer-reviewed international fora.

 

Summary of the Presentation:

This introductory course concerns infinite-dimensional vector spaces and mappings between them.
These mappings are called operators. If the range is on the real line, they are designated by functionals.
Given the vastness of this field - even at the introductory level - we will remain focused in the essential concepts and results. To make up for the lack of opportunity to properly dissecate the issues, we will seek the help of geometric insight, examples, as well as the motivation of abstract applications.
We will present and discuss sets of definitions and results on:
1) Linear spaces. We start with general vector spaces and, then, move to normed linear spaces, notably, Banach spaces. Here, we will address linear operators and functionals on finite dimensional spaces and introduce the notion of dual spaces.
2) Inner product and Hilbert spaces. Besides the basic definitions, we focus on applications to
approximations in functional spaces and to some specific minimum norm problems.
3) Fundamental theorems for Banach spaces. We will overview the Hahn-Banach (separation), Uniform  boundedness, Open  mapping, and Closed  graph theorems, and, as an application, we will focus on theBanach fixed point theorem.
4) Dual spaces. With a view to the foundations of optimization theory, we will deepen the duality concepts introduced earlier. This will encompass the extension and geometric versions of the Hahn Banach Theorem, the notions of weak and weak* convergence, and a few results concerning supporting hyperpanes, cones and dual cones. As application, these results will enable to assert abstract necessary extremum conditions.
 

 

 

Control of Robotic Manipulators

Rui Cortesão

 

Link to personal page:

http://home.isr.uc.pt/~cortesao/

Biographical note

Rui Cortesão received the B.Sc. ("Licenciatura") degree in Electrical Engineering, M.Sc. degree in Systems and Automation and Ph.D. degree in Control and Instrumentation from the University of Coimbra, Portugal, in 1994, 1997 and 2003, respectively. He was visiting researcher at the German Aerospace Center - DLR (1998-2003), where he did his Ph.D. work, Stanford University (2002), LIRMM-CNRS (2004, 2006, 2008), and Barrett Technologies (2007), having worked on surgical robotics, haptic tele-manipulation, compliant motion control, data fusion and human-robot skill transfer. Rui Cortesão is the Head of the medical robotics group with the Institute of Systems and Robotics - University of Coimbra, Professor of the University of Coimbra and Director of IPN-LAS.

 

Summary of the Presentation:

This talk addresses the foundations of computed torque control of robot manipulators, for both free space and constrained motions. Dynamic modelling, resolved acceleration control, non-linear feedback linearization, and compliance control techniques will be discussed. Medical applications will be presented, showing the relevance of robot manipulators in emerging areas.

 

 

 

Sparse Optimization and Image Processing

Mário Figueiredo

 

Link to personal page:

http://www.lx.it.pt/~mtf/

Biographical note

Mário A. T. Figueiredo received a PhD degree in electrical and computer engineering, from Instituto Superior Técnico (IST), the engineering school of the University of Lisbon, in 1994. He has been with the faculty of the Department of Electrical and Computer Engineering, IST, since 1994, where he is now a Professor. He is also area coordinator and group leader at Instituto de Telecomunicações.

His research interests include image processing and analysis, machine learning, and optimization. He is a Fellow of the IEEE and of the IAPR and has been included, since 2014, in the Highly Cited Researchers list produced Clarivate Analytics and formerly by Thomson Reuters. He received several awards, namely the 2011 IEEE Signal Processing Society Best Paper Award, the 2014 IEEE W. R. G. Baker Award, the 2016 EURASIP Individual Technical Achievement Award, and the 2016 IAPR Pierre Devijver Award.

 

Summary of the Presentation:

This tutorial will cover the mathematical foundations of the convex optimization tools and methods that are used to deal with the optimization problems that arise in image processing with sparsity-inducing regularizers. These problems are characterized by high dimensionality and non-smoothness, which has stimulated a large amount of research and advances in this area.