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第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive Systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Miao, Zibo Pan, Yu Gao, Qing School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Guangdong Key Laboratory of Intelligent Morphing Mechanisms Shenzhen518055 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

ISBN: (纸本)9781665410205

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique. © 2024 IEEE.

关键词： Poles

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Minimizing Long-Term Energy Consumption in RIS-Assisted UAV-Enabled MEC Network

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IEEE Internet of Things Journal 2025年第12期12卷 20942-20958页

作者： Yao, Zheng Zhu, Qiwu Zhang, Yanhui Huang, Haibo Luo, Min Hubei University of Automotive Technology School of Robotics and Automation Shiyan442002 China Hong Kong Polytechnic University National Rail Transit Electrification and Automation Engineering Technology Research Center Hong Kong Branch Hongkong999077 Hong Kong Chinese Academy of Sciences Shenzhen Institute of Advanced Technology Shenzhen517085 China

In recent years, Unmanned Aerial Vehicles (UAVs) are increasingly becoming flight-based communicative and computing platforms, but the scarcity of communication resources can significantly hinder their performance and scalability. Therefore, this paper proposes a Reconfigurable Intelligent Surface (RIS)-assisted UAV-enabled Mobile Edge Computing (MEC) network, aiming to reduce long-term energy consumption while maintaining system stability by jointly optimizing computing resources, time slot allocation, transmit power, RIS phase angles, and UAV trajectory. By applying the Lyapunov method, we transform the long-term stochastic optimization problem into manageable deterministic online subproblems, and obtain approximate optimal solutions using successive convex approximation, penalty functions, and convex optimization techniques. Simulation results show that compared to the baseline scheme, the proposed scheme approximately reduces energy consumption by 10%, improves system stability by approximately 16%, and maintains computational efficiency. © 2014 IEEE.

关键词： Aircraft communication

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Design and Development of IoT Based Weather and Air Quality Monitoring Station

Design and Development of IoT Based Weather and Air Quality ...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Haris Bilal Ubaid Uzma Bibi Ameer Said Syed Najm us Saqib Shahbaz Khan Muhammad Tufail Advanced Robotics and Automation Lab National Center of Robotics and Automation Peshawar Pakistan Department of Mechatronics Engineering University of Engineering and Technology Peshawar Pakistan Institute of Manufacturing Engineering Management University of Engineering and Applied Sciences Swat Swat Pakistan

This paper presents the Design and Development of IoT Based Weather and Air Quality Monitoring stations that provide weather-related information for agriculture, and aviation climate forecasting purposes. The prototype is made up of an outdoor unit that consistently monitors numerous climatic variables such as temperature, humidity, barometric pressure, wind speed, wind direction, rainfall, and air quality using sensors with high accuracy. The air quality index(AQI) is also calculated using the sensors values which tell us whether the atmosphere is safe or polluted. ESP32(Microcontroller) which has a WiFi module is used to gather and send the sensor data through the Internet of things (IoT) to a ThingSpeak channel (IoT cloud), an internet platform where the data is saved, analyzed and read the data remotely. The weather station makes use of photovoltaic power and a rechargeable lead-acid battery to sustain the system. This paper also discusses the obvious strengths and shortcomings of the system and suggests plausible upgrades to assist the system in obtaining higher and long-term performance.

关键词： Temperature sensors Cloud computing Wind speed Transportation Air quality Sensors Internet of Things

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Zero-Shot Kidney Stone Segmentation Based on Segmentation Anything Model for Robotic-Assisted Endoscope Navigation 16th

Zero-Shot Kidney Stone Segmentation Based on Segmentation A...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Meng, Hui Chen, Lingkai Zhu, Shiqiang Fei, Chentao Zhang, Yong Zheng, Miaojuan Han, Jianda Song, Wei School of Intelligent Science and Technology Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences 1 Sub-lane Xiangshan Hangzhou310024 China Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Hangzhou ElephantChain Network Technology Co. Ltd. Hangzhou China Faculty of Mechanical Engineering and Automation Zhejiang Sci-Tech University Hangzhou310018 China College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information Systems Nankai University Tianjin300350 China

ISBN: (纸本)9789819964888

Biomedical robotics has had a significant impact on flexible ureteroscopy (FURS) for the management of nephrolithiasis. The biomedical robots provide a suitable and safe platform for FURS. However, operating the robots expertly still represents a challenge for surgeons. Vision-based navigation is an effective means to simplify the operations of robots by surgeons, which has great potential to improve surgical efficiency. To achieve vision-based navigation, the localization of kidney stones in endoscopic images is the first step. In this paper, we propose a stone segmentation method (SSM) based on zero-shot learning, which consists of segmentation anything model (SAM), an image preprocessing module, and a mask postprocessing module. The SAM segments all objects in endoscopic images, which lack semantic information. The preprocessing module is designed to suppress interference of reflective area in endoscopic images, and the mask postprocessing module is used to filter noise masks. The experimental results on our collected endoscopic images indicate that our method achieves close accuracy on stone segmentation compared with supervised U-Net and VGG_U-Net, which significantly outperforms the Ostu and the SAM. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Endoscopy

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A Real- Time Multi-Camera Auto-Adjustment Framework for Infrastructure Inspections

A Real- Time Multi-Camera Auto-Adjustment Framework for Infr...

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IEEE/SICE International Symposium on System Integration

作者： Chuong Phuoc Le Charles Ellison Steven Bunkley Hung La Anton Netchaev Department of Computer Science and Engineering Advanced Robotics and Automation (ARA) Lab University of Nevada Reno NV USA USACE Engineer Research and Development Center (ERDC) Information Technology Lab Vicksburg MS USA

In this paper, we proposed a novel multi-camera auto-adjustment framework for infrastructure inspections, specifically 3D point cloud mapping via lidar-camera fusion. Our method uses a single controller for consensus target brightness and adaptive lighting. In addition, a vignette correction filter was created to apply to images outputted from cameras to avoid dark strips on the point cloud data. This approach is designed to be a versatile, real-time friendly, and platform agnostic software stack.

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AMR Navigation Based on Dynamic Control Sampling Space

AMR Navigation Based on Dynamic Control Sampling Space

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Advances in Electronics, Control and Communication Systems (ICAECCS), International Conference on

作者： Sara Bouraine Idriss Hasani Alla Djoudi Ahmed Gourine Boualem Kazed Division Robotics and Industrial Automation Center for Development of Advanced Technologies Baba Hassen Algeria Electronic and Automation department University BLIDA-1 Blida Algeria University of Science and Technology Houari Boumedienne Bab ezzouar Algeria

This paper addresses the problem of local navigation for autonomous mobile robots in partially observable dynamic environments. The main contribution of this work is the expansion of a sampling based approach to deal with the robot and environment dynamic constraints and integrate a safety distance to keep the robot away from collisions. The developed algorithm has been implemented on a robotic platform with a Robot Operating System based embedded architecture, where it has been tested and validated in an indoor environment.

关键词： Navigation Service robots Operating systems Heuristic algorithms Control systems Safety Planning

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CushionCatch: A Compliant Catching Mechanism for Mobile Manipulators via Combined Optimization and Learning

arXiv

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arXiv 2024年

作者： Chen, Bingjie Fan, Keyu Yang, Qi Cheng, Yi Liu, Houde Dong, Kangkang Xia, Chongkun Han, Liang Liang, Bin Center for Artificial Intelligence and Robotics Shenzhen International Graduate School Tsinghua University Shenzhen518055 China Jianghuai Advanced Technology Center Hefei230000 China University of Science and Technology of China Hefei23000 China School of Advanced Manufacturing Sun Yat-Sen University Shenzhen518055 China School of Electrical and Automation Engineering Hefei University of Technology Hefei230009 China Navigation and Control Research Center Department of Automation Tsinghua University Beijing100084 China

Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework that combines optimization and learning to achieve compliant catching on mobile manipulators (CCMM). First, we propose a high-level capture planner for mobile manipulators (MM) that calculates the optimal capture point and joint configuration. Next, the pre-catching (PRC) planner ensures the robot reaches the target joint configuration as quickly as possible. To learn compliant catching strategies, we propose a network that leverages the strengths of LSTM for capturing temporal dependencies and positional encoding for spatial context (P-LSTM). This network is designed to effectively learn compliant strategies from human demonstrations. Following this, the post-catching (POC) planner tracks the compliant sequence output by the P-LSTM while avoiding potential collisions due to structural differences between humans and robots. We validate the CCMM framework through both simulated and real-world ball-catching scenarios, achieving a success rate of 98.70% in simulation, 92.59% in real-world tests, and a 28.7% reduction in impact torques. The open source code will be released for the reference of the community1 Copyright © 2024, The Authors. All rights reserved.

关键词： Open source software

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An Untethered Soft Robotic Gripper with Adjustable Grasping Modes and Force Feedback

An Untethered Soft Robotic Gripper with Adjustable Grasping ...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yang, Yang Zhu, Honghui Liu, Jia Li, Yingtian Zhou, Jianshu Ren, Tao Ren, Yi School of Automation Nanjing University of Information Science and Technology Jiangsu Nanjing210044 China Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Hong Kong Hong Kong Center for Logistics Robotics Hong Kong Hong Kong School of Mechanical and Electrical Engineering Chengdu University of Technology Chengdu610059 China Advanced Manufacturing Lab Huawei Technologies Shenzhen China

ISBN: (纸本)9781665481090

In this paper, we propose a three-finger soft robotic gripper, which adopts an untethered and under-actuated design with simple structure and easy operation. The rotation of two servomotors is used to control the positions of the fingers, which provides the fingers with adjustable grasping modes and improves the adaptation of the gripper to objects with different shapes. A pressure sensor is integrated at the end of the finger to provide force feedback, which is used to detect the contact force when grasping the object and enables the gripper to provide the proper grasping force. The experimental section characterizes the bending of the soft robotic finger, and the gripper is integrated at the end of a collaborative robotic arm to demonstrate its adjustable grasping posture and force feedback function. The soft robotic gripper is expected to be used in a variety of scenarios, such as service robot, food industry or garbage sorting. © 2022 IEEE.

关键词： Grippers

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Diagnosis of Localized Bearing Defects using Texture Analysis of Vibration Envelope Signals and Machine Learning

Diagnosis of Localized Bearing Defects using Texture Analysi...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Cong Dai Nguyen Fazal E Nasir Shahbaz Khan Sheraz Ali Khan Jong-Myon Kim Faculty of Radio-Electronic Engineering Le Quy Don Technical University Hanoi Vietnam Advanced Robotics and Automation Lab National Center for Robotics and Automation Peshawar Pakistan Institute of Manufacturing University of Engineering and Applied Sciences Swat Pakistan Department of Mechatronics Engineering University of Engineering and Technology Peshawar Pakistan Department of IT Convergence University of Ulsan Ulsan South Korea PD Technology Ulsan South Korea

Bearings are important because they play a critical role in the operation of many machines and devices by reducing friction and enabling smooth motion between two moving parts. They are commonly used in rotating machinery, such as electric motors, turbines, pumps, and gearboxes, where they support and guide the rotating shafts. The primary cause of failure in wind turbines and induction motors is bearing faults, resulting in significant downtime and economic losses. Detecting these faults accurately and promptly is crucial to preventing unexpected shutdowns. Most of the existing methods for bearing fault detection rely on envelope analysis, which involves filtering and demodulating the raw signal, and Fourier analysis of the envelope signal to identify defect frequencies. Recent research has focused on improving the visibility of these frequencies by selecting an optimal band for filtering, using sub-band analysis and spectral kurtosis, which is a complex process and can be time-consuming. This paper presents a new approach to envelope signal analysis using texture analysis of the envelope signals that are projected as 2D grayscale images where each fault generates a unique texture. These textures are encoded using the local binary pattern operator and then used for fault classification. The method is tested on a publicly available seeded fault dataset.

关键词： Vibrations Fault diagnosis Shafts Time-frequency analysis Filtering Pumps Machine learning

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