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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Li, Gang Ma, Xin Li, Zhi Li, Yibin Shandong University Center of Robotics School of Control Science and Engineering Jinan250061 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Rotary cranes usually transfer the heavy mass and large payloads with distributed mass beam in practice. As a typical underactuated system, the dynamic model is very complicated and challenging due to the actuated boom luffing motion and underactuated distributed mass beam payload swing vibration. To simplify the dynamic model, the existing control method regards the payload as the mass point, which ignores the geometry of the payload. This paper proposes an energy shaping based nonlinear anti-swing controller for double-pendulum rotary crane with distributed-mass beams. The rotary crane dynamic model is established based on the Lagrange's method. After analysis the energy function, a nonlinear anti-swing controller is designed for the rotary crane. It successfully solves the boom positioning and payload anti-swing problems with a distributed mass beam payload. LaSalle's invariance theorem and Lyapunov technology are helped to analysis the stability of the rotary crane control system. Finally, the proposed controller shows effective and robust control performance in the simulation verification. © 2022 IEEE.

关键词： controllers

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A Nonlinear Coupling-Based Motion Trajectory Planning Method for Double-Pendulum Rotary Crane Subject to State Constraints

A Nonlinear Coupling-Based Motion Trajectory Planning Method...

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International Conference on Applied Nonlinear Dynamics, Vibration and control, ICANDVC 2021

作者： Li, Gang Ma, Xin Li, Zhi Li, Yibin Center for Robotics School of Control Science and Engineering Shandong University Jinan250061 China

ISBN: (纸本)9789811659119

Fast and accurate positioning while suppressing swing is pivotal to efficient and safe operation for the rotary cranes. The problem becomes more complicated when a double-pendulum effect exists for some certain payloads. This paper proposes a nonlinear coupling-based motion trajectory planning method for double-pendulum rotary crane subject to state constraints. The proposed control method consists of two parts: a positioning reference component and a swing-eliminating component. The positioning reference angular acceleration trajectory is derived from a trapezoid-like function with suitable duration, which considers state constraints. The swing-eliminating angular acceleration trajectory is designed based on the nonlinear coupling relationship among the boom luffing motion, the hook swing and the payload swing. State constraints can be guaranteed by adjusting angular acceleration (deceleration) change duration, hold duration and constant velocity duration. The Lyapunov technique and LaSalle’s invariance theorem are used for stability analysis. Simulation results verify the control performance of the proposed nonlinear coupling-based motion trajectory planning method. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Trajectories

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Prediction of Wave Forces on Floating Body using Gated Recurrent Unit Network

Prediction of Wave Forces on Floating Body using Gated Recur...

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Wang, Kai Ma, Xin Yan, Mingwei Li, Zhi Li, Yibin Shandong University Center for Robotics School of Control Science and Engineering Jinan250061 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Wave-body interaction is an important problem for offshore crane lifting or lowering the payload in waves. Computational Fluid Dynamics (CFD) require high computational and time costs to deal with wave-body interaction problems, which cannot provide real-Time data for the deep-sea crane control systems in practical engineering. This paper proposes an efficient method for predicting wave forces on the moving floating bodies using Gated Recurrent Unit (GRU) networks. To obtain the accurate training dataset, the numerical wave tank (NWT) for simulating wave-body interactions is proposed by integrating OpenFOAM software and the waves2Foam library. The test cases of wave interaction with the floating body is first carried out to verify the NWT by comparing the numerical results against experimental data. The dataset is established by CFD simulation for training, testing, and validating of the GRU network. The procedures of training the neural network for predicting the wave force on the payload submerged in waves are presented in detail. The results show that the prediction network can accurately predict the dynamic response of wave-body interactions in a shorter time than CFD methods. © 2022 IEEE.

关键词： Forecasting

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Behavioral Dynamics-based Impedance control for Collision Avoidance of Human-Following Robots

Behavioral Dynamics-based Impedance Control for Collision Av...

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Tian, Haoyu Ma, Xin Shandong University Center of Robotics School of Control Science and Engineering Jinan250061 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Human-following is an important part of man-machine interaction and has wide application value. In Human-following, the following stability, human comfort and obstacle avoidance are considered comprehensively. To solve the above problems, we propose a human behavioral dynamics-based impedance control for collision avoidance of human-following robot, which take the comfort and the following stability into consideration. Specifically, an impedance control method combined with virtual interaction force is introduced to simulate the human social dynamic characteristics to improve the comfort of human-following. The uniformly ultimately bounded property of the impedance control is proved by using the Lyapunov stability theorem. Moreover, an obstacle component constructed by behavioral dynamics is proposed to extend the impedance controller for collision avoidance. Behavioral dynamics compared with an artificial potential field method possess better collision avoidance performance during humanfollowing. The simulation results validate that the human-following system integrated with collision avoidance is effective. © 2022 IEEE.

关键词： Collision avoidance

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Deep Neural Networks for Gait Cycle Percentage Prediction in Frail Older Adults Using a Foot-Mounted IMU

Deep Neural Networks for Gait Cycle Percentage Prediction in...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wang, Jiachen Guan, Zeyang Cai, Jinghao Li, Xiang Wu, Chuanyan Ma, Xin Li, Yibin Song, Rui Zhang, Huanghe Center for Robotics School of Control Science and Engineering Shandong University Jinan Shandong250100 China School of Intelligent Engineering Shandong Management University Jinan Shandong250357 China

ISBN: (纸本)9781665481090

Accurate gait phase prediction is crucial for effective gait training interventions, which are essential for preventing falls in the elderly. This study introduces a novel gait cycle percentage prediction method using end-to-end deep learning networks (DNNs) through a foot-mounted inertial measurement unit (IMU). The model is trained and tested on the GSTRIDE database, comprising data from 158 frail older adults with a total of 176,470 recorded strides. Utilizing 10-fold cross-validation, the model demonstrates a mean absolute error (MAE) of 0.04 and a root mean square error (RMSE) of 0.11. The proposed architecture enables real-time prediction, analyzing each stride in under 0.007 seconds. This demonstrates its potential for integration into wearable devices, allowing continuous monitoring and feedback for gait training. © 2024 IEEE.

关键词： Deep neural networks

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Realization of indoor and outdoor localization and navigation for quadruped robots

Realization of indoor and outdoor localization and navigatio...

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2022 International Symposium on Biomimetic Intelligence and robotics, ISBIR 2022

作者： Chen, Xin Liu, Dayu Luo, Jiangtao Chen, Teng Zhang, Guoteng Rong, Xuewen Li, Yibin Center for Robotics School of Control Science and Engineering Shandong University China Shandong Youbaote Intelligent Robotics Co. Ltd Shandong China

The quadruped robot has the advantages of flexible movement and large load because of the bionic leg structure. In order to improve their intelligence and autonomy in the complex environment, we build a highly integrated sensing system with lidar and an inertial measurement unit (IMU) on a quadruped robot. After the robot completes the construction of the map, point clouds are aligned using Normal Distribution Transform(NDT) registration to realize the localization of the robot. In the experimental part, we quantitatively tested the accuracy of outdoor localization and also completed indoor-outdoor navigation experiments for the quadruped robot. The experimental results validate the effectiveness of the perception system. © 2022 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0) Peer-review under responsibility of the scientific committee of the Proceedings of International Symposium on Biomimetic Intelligence and robotics.

关键词： Navigation

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Multi-Vision Sensor Fusion Localization and Navigation of Robot in Unstructured Environment

Multi-Vision Sensor Fusion Localization and Navigation of Ro...

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2023 China Automation Congress, CAC 2023

作者： Shang, Fuhao Zhou, Lelai Li, Yibin Zhang, Chen School of Control Science and Engineering Shandong University Center for Robotics Jinan250061 China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China

ISBN: (纸本)9798350303759

Robots that have the ability to work in complex natural environments have broad application prospects. Focusing on the lack of autonomous navigation ability of the robot in the wild environment, this paper respectively proposes the improved localization and trajectory tracking methods. The multi-vision sensor fusion localization method is based on dual-factor graph optimization, which realizes the rapid processing of asynchronous sensor information. The dual-factor graph optimization can improve the localization accuracy and fault tolerance of the system under outdoor environments. Meanwhile, the multi-fine granularity MPC-based trajectory tracking method for unstructured terrain. Under the large-scale global path, a refined map is built around the robot. And the elevation difference is introduced to impose new constraints at the omni-directional velocity. The proposed methods in this study are implemented in actual environment. Experiments and simulations in representative terrain environments have verified the effectiveness of the improved methods. © 2023 IEEE.

关键词： Navigation

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Yu, Guanfeng Zhang, Han Wang, Zehao Wang, Jingchuan Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities. © 2024 IEEE.

关键词： Iterative methods

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The Extended Optimal control Problem and Numerical Techniques of Its Solving 9

The Extended Optimal Control Problem and Numerical Technique...

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9th International Conference on control, Decision and Information Technologies, CoDIT 2023

作者： Diveev, Askhat Barabash, Artem Russian Academy of Sciences Federal Research Center 'Computer Science and Control' Department of Robotics Control Vavilova str. 44 Moscow119333 Russia Federal Research Center 'Computer Science and Control' of the Russian Academy of Sciences Vavilova str. 44 Moscow119333 Russia

ISBN: (纸本)9798350311402

A new numerical method for solving the optimal control problem in class practically implemented solutions is presented. The method uses an approach of the synthesized control and takes account uncertainties of initial states. Like as synthesized control the method move a control object changing location of stable equilibrium point. As a result it chooses from all possible optimal synthesized controls such, that less sensitive to changes of initial states. As an example, the optimal control problem of quadcopter with complex phase constraints in the form of obstacle areas and narrow bottle neck is considered. To solve this problem firstly the synthesis control problem is solved for obtaining stable equilibrium point in the state space by symbolic regression. After that positions of stable equilibrium points are searched according to source functional from the optimal control problem. As an example, the optimal control problem of quadcopter with complex phase constraints in the form of obstacle areas and narrow bottle neck is considered. To solve this problem firstly the synthesis control problem is solved for obtaining stable equilibrium point in the state space by symbolic regression. After that positions of stable equilibrium points are searched according to source functional from the optimal control problem. Additionally at the search of equilibrium point positions the goal functional is calculated as a sum of fuctional values for all given points of initial states. © 2023 IEEE.

关键词： Bottles

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