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Formation Control of Unmanned Underwater Vehicles With Unknown Absolute Position Using Rigid Graph-Based MPC

IEEE Internet of Things Journal 2025年

作者： Fu, Bowen Zhu, Daqi Chen, Mingzhi Yang, Simon X. University of Shanghai for Science and Technology Shanghai200093 China University of Guelph Advanced Robotics and Intelligent Systems Laboratory School of Engineering GuelphONN1G2W1 Canada

Formation control of unmanned underwater vehicles (UUVs) is of great significance to the Internet of Underwater Things (IoUT). Currently, various methods are employed for UUV formation control. Among them, rigid graph-based approaches, which rely solely on relative information between UUVs, are particularly suitable for underwater environments. However, traditional rigid graph-based formation control methods often face challenges such as control jumps and weak robustness in dynamic underwater environments. To address these challenges, a novel rigid graph-based model predictive controller (RGMPC) is proposed in this paper. The proposed approach integrates model predictive control with traditional rigid graph-based methods, effectively avoiding issues such as control jumps and thrust saturation while enhancing robustness. Moreover, constraints are constructed using backstepping methods to theoretically ensure the closed-loop stability of the algorithm. Finally, the algorithm is validated through extensive simulations based on mathematical models and further tested in the Gazebo simulator, fully demonstrating its feasibility and effectiveness. © 2014 IEEE.

关键词： Predictive control systems

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An intelligent Trust Cloud Management Method for Secure Clustering in 5G enabled Internet of Medical Things

arXiv

引用

arXiv 2022年

作者： Yang, Liu Yu, Keping Yang, Simon X. Chakraborty, Chinmay Lu, Yinzhi Guo, Tan The School of Communication and Information Engineering Chongqing University of Posts and Telecommunications Chongqing China Global Information and Telecommunication Institute Waseda University Shinjuku Tokyo169-8050 Japan The Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph GuelphONN1G2W1 Canada Birla Institute of Technology Mesra India

5G edge computing enabled Internet of Medical Things (IoMT) is an efficient technology to provide decentralized medical services while Device-to-device (D2D) communication is a promising paradigm for future 5G networks. To assure secure and reliable communication in 5G edge computing and D2D enabled IoMT systems, this paper presents an intelligent trust cloud management method. Firstly, an active training mechanism is proposed to construct the standard trust clouds. Secondly, individual trust clouds of the IoMT devices can be established through fuzzy trust inferring and recommending. Thirdly, a trust classification scheme is proposed to determine whether an IoMT device is malicious. Finally, a trust cloud update mechanism is presented to make the proposed trust management method adaptive and intelligent under an open wireless medium. Simulation results demonstrate that the proposed method can effectively address the trust uncertainty issue and improve the detection accuracy of malicious devices. © 2022, CC BY.

关键词： Edge computing

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Angel's girl for blind painters: An efficient painting navigation system validated by multimodal evaluation approach

arXiv

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arXiv 2021年

作者： Liu, Hang Hu, Menghan Chen, Yuzhen Li, Qingli Zhai, Guangtao Yang, Simon X. Zhang, Xiao-Ping Yang, Xiaokang The Shanghai Key Laboratory of Multidimensional Information Processing East China Normal University The Key Laboratory of Articial Intelligence Ministry of Education The Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph The Department of Electrical Computer and Biomedical Engineering Ryerson University

For people who ardently love painting but unfortunately have visual impairments, holding a paintbrush to create a work is a very difficult task. People in this special group are eager to pick up the paintbrush, like Leonardo da Vinci, to create and make full use of their own talents. Therefore, to maximally bridge this gap, we propose a painting navigation system to assist blind people in painting and artistic creation. The proposed system is composed of cognitive system and guidance system. The system adopts drawing board positioning based on QR code, brush navigation based on target detection and bush real-time positioning. Meanwhile, this paper uses human-computer interaction on the basis of voice and a simple but efficient position information coding rule. In addition, we design a criterion to efficiently judge whether the brush reaches the target or not. According to the experimental results, the thermal curves extracted from the faces of testers show that it is relatively well accepted by blindfolded and even blind testers. With the prompt frequency of 1s, the painting navigation system performs best with the completion degree of 89% ± 8.37% and overflow degree of 347% ± 162.14%. Meanwhile, the excellent and good types of brush tip trajectory account for 74%, and the relative movement distance is 4.21 ± 2.51. This work demonstrates that it is practicable for the blind people to feel the world through the brush in their hands. In the future, we plan to deploy "Angle's Eyes" on the phone to make it more portable. The demo video of the proposed painting navigation system is available at: https://***/10.6084/***.9760004.v1. © 2021, CC BY.

关键词： Cognitive systems

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An intelligent Deterministic Scheduling Method for Ultra-Low Latency Communication in Edge Enabled Industrial Internet of Things

arXiv

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arXiv 2022年

作者： Lu, Yinzhi Yang, Liu Yang, Simon X. Hua, Qiaozhi Sangaiah, Arun Kumar Guo, Tan Yu, Keping The School of Communication and Information Engineering Chongqing University of Posts and Telecommunications Chongqing400065 China The Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph GuelphONN1G2W1 Canada The Computer school Hubei University of Arts and Science Xiangyang441000 China The National Yunlin University of Science and Technology Taiwan The Graduate School of Science and Engineering Hosei University Tokyo184-8584 Japan The RIKEN Center for Advanced Intelligence Project RIKEN Tokyo103-0027 Japan

Edge enabled Industrial Internet of Things (IIoT) platform is of great significance to accelerate the development of smart industry. However, with the dramatic increase in real-time IIoT applications, it is a great challenge to support fast response time, low latency, and efficient bandwidth utilization. To address this issue, Time Sensitive Network (TSN) is recently researched to realize low latency communication via deterministic scheduling. To the best of our knowledge, the combinability of multiple flows, which can significantly affect the scheduling performance, has never been systematically analyzed before. In this article, we first analyze the combinability problem. Then a non-collision theory based deterministic scheduling (NDS) method is proposed to achieve ultra-low latency communication for the time-sensitive flows. Moreover, to improve bandwidth utilization, a dynamic queue scheduling (DQS) method is presented for the best-effort flows. Experiment results demonstrate that NDS/DQS can well support deterministic ultra-low latency services and guarantee efficient bandwidth utilization. © 2022, CC BY.

关键词： Scheduling

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Micro Robotic Manipulation System for the Force Stimulation of Muscle Fiber-like Cell Structure

Micro Robotic Manipulation System for the Force Stimulation ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Xie Chen Qing Shi Shingo Shimoda Tao Sun Huaping Wang Qiang Huang Toshio Fukuda Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Intelligent Behavior Control Collaboration Unit RIKEN Center of Brain Science Nagoya Japan Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

Many previous works have facilitated muscle cell (C2C12) alignment to form fiber-like cell structures. However, there still remains a challenge how to induce C2C12 myoblasts in the cell structures to differentiate into matured myocytes to form a functional muscle tissue, while external mechanical stimulation has been proved to have good effects on proliferation and differentiation of myoblasts. In this paper, we proposed a vision-based micro robotic manipulation system to achieve automatic mechanical stimulation for one single muscle fiber-like cell structures (MFCS). A tube, which is attached to a three degree-of-freedom (DOF) manipulator, and a probe are employed to apply the uniaxial mechanical stimulation to train the MFCS. To measure the force applied on MFCS, a vision-based measuring and correction method is utilized, which decrease the error by 74%. Moreover, based on the viscoelastic property of the MFCS, a feedback control algorithm has been applied to compensate for the force loss to realize the force stimulation. And the final value of force remains 699 ± 1μN after 110s experiment.

关键词： Force measurement Force Measurement uncertainty Muscles Manipulators Feedback control Electron tubes

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Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM

Enhanced Visual Feedback with Decoupled Viewpoint Control in...

引用

IEEE-RAS International Conference on Humanoid Robots

作者： Yang Chen Leyuan Sun Mehdi Benallegue Rafael Cisneros-Limón Rohan P. Singh Kenji Kaneko Arnaud Tanguy Guillaume Caron Kenji Suzuki Abderrahmane Kheddar Fumio Kanehiro School of Integrative and Global Majors (SIGMA) University of Tsukuba Japan CNRS-AIST JRL (Joint Robotics Laboratory) IRL National Institute of Advanced Industrial Science and Technology (AIST) Department of Intelligent and Mechanical Interaction Systems Graduate School of Science and Technology University of Tsukuba Japan MIS lab Universite de Picardie Jules Verne Amiens France Faculty of Engineering and Center for Cybernetics Research University of Tsukuba Japan

ISBN: (数字)9798350309799

ISBN: (纸本)9798350309805

In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: (i) the lag between the motion of the operator's and robot's head due to network communication delays or slow robot joint motion. This latency could cause a noticeable delay in the visual feedback, which jeopardizes the embodiment quality, can cause dizziness, and affects the interactivity resulting in operator frequent motion pauses for the visual feedback to settle; (ii) the mismatch between the camera's and the headset's field-of-views (FOV), the former having generally a lower FOV; and (iii) a mismatch between human's and robot's range of motions of the neck, the latter being also generally lower. In order to leverage these draw-backs, we developed a decoupled viewpoint control solution for a humanoid platform which allows visual feedback with low-latency and artificially increases the camera's FOV range to match that of the operator's headset. Our novel solution uses SLAM technology to enhance the visual feedback from a reconstructed mesh, complementing the areas that are not covered by the visual feedback from the robot. The visual feedback is presented as a point cloud in real-time to the operator. As a result, the operator is fed with real-time vision from the robot's head orientation by observing the pose of the point cloud. Balancing this kind of awareness and immersion is important in virtual reality based teleoperation, considering the safety and robustness of the control system. An experiment shows that the effectiveness of our solution.

关键词： Point cloud compression Visualization Simultaneous localization and mapping Humanoid robots Virtual reality Real-time systems Robustness

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Abnormal Data Cleaning for Wind Turbines by Image Segmentation Based on Active Shape Model and Class Uncertainty

SSRN

引用

SSRN 2022年

作者： Liang, Guoyuan Su, Yahao Wu, Xinyu Ma, Jiajun Long, Huan Song, Zhe Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Technology Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China School of Electrical Engineering Southeast University Jiang Su Province Nanjing China School of Business Nanjing University Jiang Su Province Nanjing China

Wind power curve describes the relationship between wind speed and output power of wind turbine, which may be contaminated due to various unexpected factors. Following the idea of image segmentation in our previous work, in this paper, we propose a novel image-based abnormal data cleaning algorithm aiming to provide high quality data for wind power curve modeling and relevant applications. For image binarization, a multiscale space is built to determine the optimal scale at which the most stable as well as informative shape representations are extracted. The Active Shape Model is utilized to model the power curve shape and generate a set of segmentation candidates for filtering abnormal data. To measure the cost of each candidate, the Class Uncertainty map based on dual feature images is built. And eventually the optimal segmentation boundary is determined by the optimization in the energy space. A series of comparative experiments conducted over the real-world datasets of 37 wind turbines have validated the superior performance of the proposed algorithm. © 2022, The Authors. All rights reserved.

关键词： Wind power

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Magnetically Actuated Pick-and-place Operations of Cellular Micro-rings for High-speed Assembly of Micro-scale Biological Tube

Magnetically Actuated Pick-and-place Operations of Cellular ...

引用

2020 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Yang Wu Tao Sun Qing Shi Huaping Wang Qiang Huang Toshio Fukuda Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and system Ministry of Education School of Mechatronical Engineering Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Tissue engineering is trying to use modular tissue micro-rings to construct artificial biological microtubes as substitute of autologous tissue tubes to alleviate the shortage of donor sources. However, because of the lack of effective assembly strategies, it is still challenging to achieve high-speed fabrication of biological microtubes with high cell density. In this paper, we proposed a robotic-based magnetic assembly strategy to handle this challenge. We first encapsulated magnetic alginate microfibers into micro-rings formed by cell self-assembly to enhance the controllability. Afterwards, a 3D long-stroke manipulator with visual servoing system was designed to achieve magnetic pick-and-place operations of micro-rings for 3D assembly. Moreover, we developed a mathematical model of the motion of micro-ring in solution environments. Based on visual feedback, we analyzed the feasibility of automatic assembly and following response of micro-rings with the moving magnets, which shows our proposed method has great potential to achieve high-speed bio-assembly. Finally, we successfully assembled multi-micro-rings into a biological microtube with high cell density.

关键词： Robotic assembly Fabrication Three-dimensional displays Visual servoing Magnetic analysis Electron tubes Mathematical model

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Real-Time Visual Perception System for a Robotic Rat

Real-Time Visual Perception System for a Robotic Rat

引用

IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Guanglu Jia Qing Shi Chen Chen Yi Xu Chang Li Mengchao Ma Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China the Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

The visual sensing ability of the robotic rat will be conducive to the biomimetic interaction between the robot and rats. However, most of the existing small-sized robotic rats do not have perception system, limiting their ability to perceive their surroundings or tracing the object. To address this problem, we developed a visual perception system for the robot, which included a control and drive system, a stereo camera integrated in the robot's head, and a wireless image transmission system. We also analyzed wheel odometry model and integrate it into the robot. The whole system can achieve real-time data acquisition and processing. In the experimental scene, we extracted the number of dynamic rats feature points and analyzed the impact on environment modeling, and these feature points were easy to interfere with the robot's perception and modeling of the environment. Additionally, our system was capable of SLAM (Simultaneous Localization and Mapping) when tested by using the RTAB-Map (Real-Time Appearance-Based Mapping) algorithm. The experimental results showed that the trajectory was basically coherent and finally returns to the origin with less drift.

关键词： Robots Real-time systems Conferences

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Automatic Operating Method of Robot Dexterous Multi-fingered Hand Using Heuristic Rules 4th

Automatic Operating Method of Robot Dexterous Multi-fingered...

引用

4th International Conference on Cognitive systems and Information Processing, ICCSIP 2018

作者： Wang, Wei Zhang, Qiangbing Sun, Zeyuan Chen, Xi Jiang, Zhihong IRI School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robotics and Systems Beijing China

ISBN: (纸本)9789811379826

Automatic grasp planning of robotic hand is always a difficult problem in robotics. Although researchers have developed underactuated hands with less degrees of freedom, automatic grasp planning is still a difficult problem because of the huge number of possible hand configurations. But humans simplify this problem by applying several usual grasp starting postures on most of grasp tasks. In this paper, a method for grasping planning is presented which can use a set of heuristic rules to limit the possibilities of hand configurations. By modeling the object as a set of primitive shapes and applying appropriate grasp starting postures on it, many grasp samples can be generated. And this is the basic content of the heuristic rules. Then, given grasp samples in finite number, a Simulink and Adams co-simulator is built to simulate these discrete grasp samples. The main purpose of the co-simulator is to simulate the dynamic behavior of robotic hand when grasping and measure the grasp quality using force closure and grasp measurement of largest-minimum resisted wrench. Last, a grasp library with force closure grasps is built where all items of grasp are sorted by the function value of grasp measurement. With the library, it’s easy to plan a grasp for certain object by just selecting an appropriate grasp from the library. © 2019, Springer Nature Singapore Pte Ltd.

关键词： Simulink

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