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DESIGN, KINEMATICS AND MANIPUlabILITY ANALYSES OF A SERIAL-LINK robot FOR MINIMALLY INVASIVE TREATMENT IN FEMORAL SHAFT FRACTURES

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JOURNAL OF MECHANICS IN MEDICINE AND BIOLOGY 2022年第9期22卷

作者： Zhu, Qing Tian, Mengqian Liu, Qingyun Wang, Xingsong Anhui Univ Technol Sch Mech Engn Maanshan 243002 Anhui Peoples R China Anhui Prov Key Lab Special Heavy Load Robot Maanshan 243032 Anhui Peoples R China Anhui Prov Engn Lab Intelligent Demolit Equipment Maanshan 243032 Anhui Peoples R China Southeast Univ Sch Mech Engn Nanjing 211189 Jiangsu Peoples R China

The application of robot in orthopedic clinical surgery is more and more accepted. A femoral fracture reduction robot is described in the paper. The mechanism of the manipulator comprises a six-DOF serial-link robot, referred to as a 3P3R robot, with three prismatic joints and three rotational joints (including one for the knee). The manipulability of the system was analyzed, and its operability over the entire whole work space was verified. In addition, the existence of an inverse kinematic solution of the system was established, and the same was analytically implemented with physical meaningfulness. The kinematic analysis and investigation of the workspace confirmed the feasibility of the mechanism for the given design parameters. The joint displacements and rotation angles required to achieve the desired posture of the end-effector of the mechanism were also determined. The results of simulation substantiated the effectiveness of the developed robotic system, and its prospect for practical application through further research.

关键词： Femoral shaft fracture intramedullary fixation robotic-assisted surgery mechanical analysis

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Funnel function-based adaptive prescribed performance output feedback control of hydraulic systems with disturbance observers

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ISA TRANSACTIONS 2023年 136卷 701-714页

作者： Xu, Zhangbao Liu, Qingyun Yao, Jianyong Anhui Univ Technol Sch Mech Engn Maanshan 243002 Peoples R China Anhui Univ Technol Anhui Prov Key Lab Special Heavy Load Robot Maanshan 243002 Peoples R China Nanjing Univ Sci & Technol Sch Mech Engn Nanjing 210094 Peoples R China

This study structures an adaptive prescribed performance output feedback controller for hydraulic systems with large uncertainties including disturbances and parametric uncertainties. Adaptive control is structured to approximate real system parameters. Based on estimated parameters, a nonlinear disturbance observer for largely mismatched disturbance and an extended state observer for matched disturbance and unmeasurable system states are integrated. Then, to guarantee prescribed tracking performance, an output feedback controller is proposed with uncertainty compensation based on the funnel function using the backstepping method. In addition, to avoid the occurrence of complex analytical calculations and "complexity explosion"in the backstepping method, a differentiator is adopted. Then, the Lyapunov method is utilized to prove the stability of the closed-loop system with estimation errors. Finally, experimental results were obtained to demonstrate that the proposed controller is valid. (c) 2022 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： Hydraulic systems Prescribed performance Funnel control Output feedback control Uncertainty compensation

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Multimode fusion perception for transparent glass recognition

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INDUSTRIAL robot-THE INTERNATIONAL JOURNAL OF robotICS RESEARCH AND APPLICATION 2022年第4期49卷 625-633页

作者： Zhang, Shixin Shan, Jianhua Sun, Fuchun Fang, Bin Yang, Yiyong China Univ Geosci Beijing Sch Engn & Technol Beijing Peoples R China Anhui Univ Technol Anhui Prov Key Lab Special Heavy Load Robot Maanshan Peoples R China Tsinghua Univ Dept Comp Sci & Technol Beijing Peoples R China

Purpose The purpose of this paper is to present a novel tactile sensor and a visual-tactile recognition framework to reduce the uncertainty of the visual recognition of transparent objects. Design/methodology/approach A multitask learning model is used to recognize intuitive appearance attributes except texture in the visual mode. Tactile mode adopts a novel vision-based tactile sensor via the level-regional feature extraction network (LRFE-Net) recognition framework to acquire high-resolution texture information and temperature information. Finally, the attribute results of the two modes are integrated based on integration rules. Findings The recognition accuracy of attributes, such as style, handle, transparency and temperature, is near 100%, and the texture recognition accuracy is 98.75%. The experimental results demonstrate that the proposed framework with a vision-based tactile sensor can improve attribute recognition. Originality/value Transparency and visual differences make the texture of transparent glass hard to recognize. Vision-based tactile sensors can improve the texture recognition effect and acquire additional attributes. Integrating visual and tactile information is beneficial to acquiring complete attribute features.

关键词： Visual-tactile recognition Multitask learning Vision-based tactile sensor LRFE-Net

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AE-RRT*: Adaptive Ellipse-Based Optimal Path Planning 36

AE-RRT*: Adaptive Ellipse-Based Optimal Path Planning

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36th Chinese Control and Decision Conference (CCDC)

作者： Cao, Xu Shen, Hao Wang, Jing Zhao, Yangxin Wang, Kang Fei, Xihong Anhui Prov Key Lab Special Heavy Load Robot Maanshan 243032 Peoples R China Anhui Univ Technol Sch Elect & Informat Engn Maanshan 243002 Peoples R China

ISBN: (纸本)9798350387780;9798350387797

Rapidly-exploring Random Tree Star (RRT*) is a well-known sampling-based planning approach, an improvement over the traditional Rapidly Exploring Random Tree (RRT) algorithm. It is suitable for high-dimensional spaces, dynamic environments, and various complex geometric structures. However, the primary challenge of RRT* is its significant computational complexity, especially in high-dimensional spaces. To address these limitations, we propose an improved optimal path planning algorithm, namely the Adaptive Ellipse RRT* (AE-RRT*). The AE-RRT* builds on the RRT* algorithm, integrating heuristic search principles, dynamic ellipse optimization strategies, and phased exploration strategies to improve the performance of the path planning algorithm. In the random sampling phase, heuristic principles generate specific random points, significantly reducing the search space. The dynamic ellipse optimization strategy adjusts the shape of the ellipse dynamically, aligning the sampling region more closely with potential paths. The phased exploration strategy thoroughly explores the search space in the initial stages and focuses energy on path optimization in the later stages. Simulation results indicate that, compared to commonly used traditional algorithms and their enhancements, AE-RRT* can achieve superior convergence performance.

关键词： Optimal path planning sampling based planning approach RRT RRT

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Formulation of unified kinematics for overconstrained Schonflies parallel mechanism using vectorial algebra

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 2022年第17期236卷 9558-9567页

作者： Zhang, Xing Yang, Mingxing Mu, Dejun Wang, Hongrui Anhui Univ Technol Sch Mech Engn Xiushan CampusRoom 515Maxiang Rd Maanshan 243032 Peoples R China Anhui Univ Technol Anhui Prov Key Lab Special Heavy Load Robot Maanshan Peoples R China Yanshan Univ Key Lab Parallel Robot & Mechatron Syst Qinhuangdao Hebei Peoples R China Yanshan Univ Key Lab Ind Comp Control Engn Hebei Prov Qinhuangdao Hebei Peoples R China

This study establishes unified kinematics of Schonflies parallel manipulators (PMs) considering the constraint matrix. Based on vectorial algebra, the kinematics of 4-RRRRR PM is solved using the geometric relation between the links, which solves the PM problem that the vector method could not solve using several kinematic pairs and links. First, the overall Jacobian and Hessian matrices of the Schonflies PM are derived. Then, a complex 4-RRRRR PM was selected and the inverse displacement analysis is performed using a new strategy. The 6 x 6 Jacobian and 6 x 6 x 6 Hessian matrices of the mechanism are deduced. Finally, the kinematics is derived and the results are used to demonstrate the proposed method.

关键词： parallel manipulator Hessian matrix Jacobian matrix kinematics vectorial algebra

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A novel accurate positioning method for object pose estimation in robotic manipulation based on vision and tactile sensors

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2021年第9-10期116卷 2999-3010页

作者： Zhao, Dan Sun, Fuchun Wang, Zongtao Zhou, Quan Tsinghua Univ Beijing Natl Res Ctr Informat Sci & Technol Dept Comp Sci & Technol Beijing 100083 Peoples R China Yanshan Univ Key Lab Ind Comp Control Engn Hebei Prov Qinhuangdao 066000 Hebei Peoples R China Anhui Univ Technol AnHui Prov Key Lab Special Heavy Load Robot Maanshan Peoples R China

The high positioning accuracy of robotic systems is fundamental and critical for dexterous and precise manipulation. In this paper, a novel accurate positioning method based on vision and tactile sensors for object pose estimation in robotic manipulation is proposed to improve the positioning accuracy of robotic systems. The proposed methodology mainly includes two stages of vision-based rough positioning stage and tactile-based precise positioning stage which makes full use of the multimodal information for positioning and object pose estimation in robotic systems. In the vision-based rough positioning stage, the position and orientation of the target object can be obtained by RGB and depth images, and the robot approaches the target object considering a safe distance. In the tactile-based precise positioning stage, the tactile images are captured by the designed tactile sensor through the touch movement of the robot, and the position and orientation of the target object can be precisely calculated further to complete the positioning process. Finally, the experiments have been conducted to verify the proposed method in a real application platform, and achieved positioning accuracies of 0.138 mm and 0.203 degrees have shown great improvement of 96.1% and 93.9% from 3.552 mm and 3.343 degrees which can meet the demands for robotic precise positioning and manipulation.

关键词： robotic manipulation Tactile sensor Positioning accuracy Object pose estimation

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Non-fragile output feedback control for PDT-switched fuzzy systems under weighted try-once-discard protocol and its application

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INFORMATION SCIENCES 2023年 626卷 390-406页

作者： Shen, Hao Liu, Xinmiao Wang, Jing Shi, Kaibo Anhui Univ Technol An Hui Prov Key Lab Special Heavy Load Robot Maanshan 243002 Peoples R China Anhui Univ Technol Sch Elect & Informat Engn Maanshan 243002 Peoples R China Chengdu Univ Sch Informat Sci & Engn Chengdu 610106 Peoples R China

In this work, the non-fragile output feedback control problem is discussed for persistent dwell-time switched nonlinear systems. In order to make full use of the bandwidth in communication networks, the weighted try-once-discard protocol is adopted to connect only one sensor with communication networks at a instant via the maximum-error-first policy. It is worth noticing that via using the weighted try-once-discard protocol, the information received by the controller becomes less such that the gains of the controller may be more susceptible to the internal and external environment. Therefore, the non-fragile outputfeedback fuzzy control scheme is employed for maintaining the performance of controllers under such a protocol. Then, based on suitable augmented multiple Lyapunov-like functions, sufficient conditions are derived to ensure the stochastically globally uniform exponential stability and a fixed H1 performance for the resulted closed-loop system. Furthermore, through solving those conditions, the design approach of the desired controller can be developed. The feasibility of the established approach is illustrated via a example and a truck-trailer model. (c) 2023 Elsevier Inc. All rights reserved.

关键词： Networked switched fuzzy systems Non-fragile fuzzy control Persistent dwell-time switching rule Weighted try-once-discard protocol

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Generalized dissipative state estimation for discrete-time nonhomogeneous semi-Markov jump nonlinear systems

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JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 2022年第4期359卷 1689-1705页

作者： Zhang, Yigang Chen, Xiangyong Wang, Jing Shi, Kaibo Shen, Hao Anhui Univ Technol AnHui Prov Key Lab Special Heavy Load Robot Maanshan 243002 Peoples R China Linyi Univ Sch Automat & Elect Engn Linyi 276005 Shandong Peoples R China Chengdu Univ Sch Informat Sci & Engn Chengdu 610106 Peoples R China

The problem of generalized dissipative state estimation for discrete-time nonhomogeneous semiMarkov jump nonlinear systems is concerned in this paper. In this paper, we consider the semi-Markov renewal chain is nonhomogeneous and the states of the system are inaccessible. The aim of this paper is to propose the estimator-designed method to ensure that the system is sigma-mean-square stable and satisfy extended dissipative performance. By using the semi-Markov kernel method and polytopic approach, and constructing a new type of Lyapunov function, which not only depends on the sojourn-time but also on the stochastic switching rules, the state estimator gains can be obtained. At last, a numerical example is adopted to verify the superiority of the presented control strategy. (C) 2022 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

关键词： State estimation

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Dynamic Characteristic Analysis of Pneumatic Soft Actuator with High Expansion Ratio 9

Dynamic Characteristic Analysis of Pneumatic Soft Actuator w...

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9th International Forum on Electrical Engineering and Automation (IFEEA)

作者： Zhu, Qing Chen, WuJie Tu, DeYu Liu, QingYun Anhui Univ Technol Sch Mech Engn Maanshan Peoples R China Anhui Prov Key Lab Special Heavy Load Robot Maanshan Peoples R China Anhui Prov Engn Lab Intelligent Demolit Equipment Maanshan Peoples R China

ISBN: (纸本)9781665464215

To meet the flexible clamping requirements such as fruit picking and fragile object transfer, a pneumatic soft actuator with high expansion ratio (hereinafter referred to as soft actuator) composed of latex airbag and fiber cloth was designed as the driving and clamping part of the manipulator. The structural characteristics of soft actuator was analyzed theoretically, and the experimental platform of soft actuator was set up. The mathematical model of dynamic characteristics of soft actuator was established by combining theory with experiment. Through MATlab software, the dynamic characteristics of the pressure and displacement in the cavity of the soft actuator under different inlet pressures and external loads were calculated and compared with the experimental results. The results show that the experimental results are basically consistent with the simulation results, which lays a foundation for the application of the soft actuator in the flexible clamping mechanism.

关键词： pneumatics soft actuator dynamic characteristics flexible clamping

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Event-triggered gain-scheduling dissipative synchronization control for switched neural networks under state-dependent switching

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JOURNAL OF THE FRANKLIN INSTITUTE 2023年第4期360卷 2617-2634页

作者： Wu, Tianyu Zhang, Ziwei Wang, Jing Hu, Xingliu Shen, Hao Anhui Univ Technol AnHui Prov Key Lab Special Heavy Load Robot Maanshan 243002 Peoples R China Anhui Univ Technol Sch Elect & Informat Engn Maanshan 243002 Peoples R China Jinling Inst Technol Coll Intelligent Sci & Control Engn Nanjing 211169 Jiangshu Peoples R China

The dissipative synchronization problem of delayed Markov jump switched neural networks (MJSNNs) under state-dependent switching by the event-triggered gain-scheduling control scheme is studied in this paper. By the introduction of a Markov jump model, which is used to depict the random variation wherein the connection of MJSNNs, the issues we study can take more generality. Via constructing suitable Lyapunov-Krasovskii functionals (LKFs) and applying some matrix inequality scaling methods, sufficient conditions for dissipative synchronization of delayed MJSNN are established. According to such criteria, the event-triggered gain-scheduling control scheme is adopted to design a controller with less terminal communication costs. Finally, a numerical example is given to demonstrate the effectiveness of the proposed method. (c) 2022TheFranklinInstitute. Published by ElsevierLtd. All rights reserved.

关键词： Synchronization

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