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1st International Symposium on Systems Modelling and Simulation, SMS 2024

作者： Mohamad Ali, Nur Husnina Jaafar, Hazriq Izzuan Ghazali, Rozaimi Ghani, Muhamad Fadli Soon, Chong Chee Has, Zulfatman Fakulti Teknologi dan Kejuruteraan Elektrik Universiti Teknikal Malaysia Melaka Melaka Malaysia Center for Robotics and Industrial Automation Universiti Teknikal Malaysia Melaka Melaka Malaysia Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Penang Branch Campus Pulau Pinang Malaysia Electrical Engineering Department University of Muhammadiyah Malang Malang Indonesia

ISBN: (纸本)9789819646128

In motion control applications, the precise regulation of Industrial Hydraulic Actuators (IHA) is essential for properly ascertaining the position of the actuator rod. This research used a Hammerstein-Wiener (HW) model to characterize the system, integrating a dead zone to account for nonlinearities and using an open-loop methodology. A grey-box modelling technique is used for estimating the discrete-time model of the system and identifying its parameters. The System Identification toolbox in MATLAB functions as the principal instrument for model estimation, using input-output data acquired via experimental procedures. The validation of the input-output data demonstrated a promising best-fit percentage of 88.21%, indicating a robust connection between the HW model and the real system. To assess the trajectory tracking efficacy of the system, Proportional-Integral-Derivative (PID) and Fractional Order PID (FOPID) controllers developed and evaluated using both simulation and experimental data based on a multi-sinusoidal trajectory. The findings indicate that the FOPID controller surpasses the traditional PID controller, producing reduced Mean Square Error (MSE) and Root Mean Square Error (RMSE) values. In simulations, the FOPID control technique enhanced MSE by 32.8% and RMSE by 18.0% relative to the PID controller, although the experimental findings indicated improvements of 31.9% and 17.5%, respectively. The results highlight the superior efficacy of the FOPID controller in improving trajectory tracking performance owing to its greater complexity and flexibility. Future research may concentrate on developing more sophisticated controllers, including intelligent or nonlinear variants, to enhance the tracking precision of the IHA system. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Three term control systems

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Small-diameter drilling by ultrasonic vibration workpiece - Effects of biting behavior and cutting edge wear - 10

Small-diameter drilling by ultrasonic vibration workpiece - ...

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10th International Conference on Leading Edge Manufacturing Technologies in 21st Century, LEM 2021

作者： Tsuji, Naofumi Sakurada, Akira Miyawaki, Kazuto Isobe, Hiromi Information Science and Control Engineering Nagaoka University of Technology Japan Technology Education Support Center National Institute of Technology Akita college Japan Department of Mechanical Engineering and Robotics National Institute of Technology Akita college Japan Department of Mechanical Engineering Nagaoka University of Technology Japan

Effects of chisel biting property improvement and cutting force reduction in the thrust direction have been reported for ultrasonic vibration (UV)-assisted drilling. This study was conducted confirm the effectiveness of UV-assisted drilling for a workpiece. We propose a new method "suitable ultrasonic vibration-assisted drilling (SUVD)" by which the UV condition is changed appropriately at the depth position, and examine the effects of SUVD. From observation of the chisel biting behaviour, the strain circle was clarified as generated when the relative speed to the chisel and the workpiece is less than 5 m/min. Furthermore, for UV-assisted drilling, the cutting edge wear increased about 1.8 times compared with that related to conventional drilling. However, it became equivalent by the application of SUVD. © 2021 The Japan Society of Mechanical Engineers.

关键词： Infill drilling

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Design and Analysis of Individually Demagnetized Power Converter for Switched Reluctance Motors

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 8439-8449页

作者： Liu, Hemiao Chen, Hao Wang, Xing Gorbounov, Yassen Wheeler, Patrick Anuchin, Alecksey Demidova, Galina Korovkin, Nikolay Liudmila, Sakhno Shenzhen Research Institute China University of Mining and Technology Shenzhen515100 China China University of Mining and Technology School of Electrical Engineering Xuzhou221116 China Xinjiang Institute of Engineering Ürümqi830000 China International Joint Research Center of Central and Eastern European Countries on New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China International Cooperation Joint Laboratory of New Energy Power Generation and Electric Vehicles of Jiangsu Province Colleges and Universities Xuzhou221008 China Xuzhou Key Laboratory of New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China Mining Production University of Mining and Geology "St. Ivan Rilski " Department of Automation Sofia1700 Bulgaria The University of Nottingham Power Electronics Machines and Control Group NottinghamNG7 2RD United Kingdom Electric Drives Department Moscow111250 Russia Saint-Petersburg National Research University of Information Technologies Mechanics and Optics Faculty of Control Systems and Robotics Engineer Saint Petersburg197101 Russia Peter the Great St. Petersburg Polytechnic University Institute of Energy Saint Petersburg195251 Russia

Switched reluctance motors (SRMs) are capable of operating at high speeds and high loads. The large back EMF results in the excitation winding current being demagnetized more slowly, which, in turn, reduces the efficiency and output of the motor system. This study proposes a novel individually demagnetization power converter (IDPC) specifically designed for SRMs to effectively use the demagnetization energy through an independent demagnetization circuit. Compared with traditional converters, the IDPC can accept direct current (dc) and high-frequency ac inputs while achieving fast demagnetization and energy recovery. The topology and working principle of the IDPC are analyzed in detail in this article using a three-phase 12/8 SRM as the research object. In addition, the influence of the winding demagnetization voltage on the negative torque during the demagnetization phase was studied, as well as the functional implementation and logic control strategy of the IDPC. Simulation and experimental results confirm the validity of the proposed topology and high-frequency ac drive characteristics, as well as their advantages in terms of efficiency, output capacity, and dynamic performance. © 2015 IEEE.

关键词： Reluctance motors

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T3: Multi-modal Tailless Triple-Flapping-Wing Robot for Efficient Aerial and Terrestrial Locomotion

arXiv

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arXiv 2025年

作者： Xu, Xiangyu Zheng, Zhi Wang, Jin Chen, Yikai Huang, Jingyang Wu, Ruixin Yu, Huan Lu, Guodong The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310058 China Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems Zhejiang University Hangzhou310058 China Robotics Research Center of Yuyao City Ningbo315400 China College of Control Science and Engineering Zhejiang University Hangzhou310027 China

Flapping-wing robots offer great versatility;however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of T3, a novel tailless flapping-wing robot with three pairs of independently actuated wings. Inspired by juvenile water striders, T3 incorporates bio-inspired elastic passive legs that effectively transmit vibrations generated during wing flapping, enabling ground movement without additional motors. This novel mechanism facilitates efficient multi-modal locomotion while minimizing actuator usage, reducing complexity, and enhancing performance. An SE(3)-based controller ensures precise trajectory tracking and seamless mode transition. To validate T3’s effectiveness, we developed a fully functional prototype and conducted targeted modeling, real-world experiments, and benchmark comparisons. The results demonstrate the robot’s and controller’s outstanding performance, underscoring the potential of multi-modal flapping-wing technologies for future aerial-ground robotic applications. Copyright © 2025, The Authors. All rights reserved.

关键词： Antenna grounds

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An Improved A-star Algorithm for Path Planning Based on Ant Colony Optimization

An Improved A-star Algorithm for Path Planning Based on Ant ...

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On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Yingbo Luo Meibao Yao Xueming Xiao Bo Zheng Intelligent Robotics Lab (IRL) School of Artificial Intelligence Jilin University Changchun China Engineering Research Center of Knowledge-Driven Human-Machine Intelligence Ministry of Education China CVIR Lab Changchun University of Science and Technology Changchun China Shanghai Aerospace Control Technology Institute Shanghai China

Mobile robots are widely used in industrial manufacturing, agricultural production, health care, home services, transportation, and other fields. As the most basic and important research topic in the field of mobile robots, path planning technology has always been the focus of attention. To solve the problems caused by the traditional A* algorithm that the path length is too long and the trajectory is not smooth, This paper proposes an improved A* algorithm based on Ant Colony Optimization. Firstly, use the A* algorithm to roughly find a constrained shortest path. Secondly, extract the key nodes of the shortest path and calculate the distribution of obstacles between these key nodes. Finally, use the improved ant colony algorithm to optimize the searched path to generate the final path. Simulation experiments show that the time complexity and space complexity of the improved A* algorithm are reasonable. The generated path length is shorter, the total turning angle is smaller, the trajectory is smoother, and it is more suitable for the real environment. Compared with the traditional A* algorithm, it has obvious advantages.

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Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

arXiv

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arXiv 2025年

作者： Liu, Jian Sun, Wei Yang, Hui Deng, Pengchao Liu, Chongpei Sebe, Nicu Rahmani, Hossein Mian, Ajmal National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China Department of Information Engineering and Computer Science University of Trento Trento38123 Italy School of Computing and Communications Lancaster University LA1 4YW United Kingdom Department of Computer Science The University of Western Australia WA6009 Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance. Our code will be made public at https://***/CNJianLiu/Diff9D. Copyright © 2025, The Authors. All rights reserved.

关键词： Augmented reality

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Admittance Based Robot Force control Framework for Server Board Assembly

Admittance Based Robot Force Control Framework for Server Bo...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Yunlong Ma Yaonan Wang Yiming Jiang Xianen Zhou Ge Zhu Qing Zhu Institute of Artificial Intelligence University of Science and Technology Beijing Beijing China Xiangjiang Laboratory Hunan China College of Electrical and Information Engineering Hunan University Changsha China School of Robotics Hunan University Changsha China National Engineering Research Center for Robot Vision Perception and Control Technology Hunan University Changsha China ZTE Corporation Shenzhen China

ISBN: (数字)9798350340266

ISBN: (纸本)9798350340273

In server board assembly tasks, the effect of vision-based robot assembly schemes is not ideal due to the small installation gap and the blocking of vision. Adding force sensors and force controllers can be a good solution to the above problems and increase the flexibility in the assembly process. In this paper, we propose a force control strategy applied to a server board assembly task. The method is divided into two main parts. In the first part, the zero offset of the force sensor and the load gravity are calibrated and compensated, so that the external force on the load is accurately obtained. In the second part, the admittance controller is designed to achieve compliant behavior between the robot and the environment. Finally, the experimental verification of the board insertion is carried out on the experimental platform. Experimental results verify the effectiveness and practicability of the proposed method.

关键词： Process control Robot sensing systems Manipulators Servers Force sensors Admittance Force control

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Robust Finite-Time Containment of Networked Heterogeneous Nonlinear Systems with Intermittent Measurement Only

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IEEE Transactions on Network Science and Engineering 2025年

作者： Tian, Biao Zhang, Hao Cui, Peiyu Wang, Zhuping Yan, Huaicheng Shanghai Key Laboratory of Wearable Robotics and Human-Machine Interaction Tongji University College of Electronic and Information Engineering Department of Control Science and Engineering Shanghai201804 China Ministry of Education Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems China East China University of Science and Technology School of Information Science and Engineering Shanghai200237 China

The robust finite-time containment problem of fully heterogeneous multiagent systems with uncertainties is often challenging, especially when only intermittent output measurement is used. To address the issue posed by the nonidentical system dynamics of multiple leaders, which makes the traditional distributed estimator form for the convex hull inapplicable, a distributed finite-time estimator is constructed for each follower to extract the system matrices and states of leaders. Then, in the output-triggering setting, a finite-time extended state observer driven by intermittent output measurement is developed to reconstruct the uncertainties and unmeasurable states of followers. Meanwhile, the non-continuous output measurement will lead to the differentiation of virtual control laws undefined. To solve this issue, a filtering compensation scheme-based finitetime controller via the backstepping technique is developed for nonlinear followers, ensuring practical finite-time stability (PFTS) of the closed-loop system. It is shown that the proposed algorithm steers each follower into the preset convex combination spanned by the positions of multiple leaders. The capability of the exploited control protocol is verified through simulations and experiments. 2013 IEEE.

关键词： Backstepping

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Computational Imaging for Machine Perception: Transferring Semantic Segmentation beyond Aberrations

arXiv

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arXiv 2022年

作者： Jiang, Qi Shi, Hao Gao, Shaohua Zhang, Jiaming Yang, Kailun Sun, Lei Ni, Huajian Wang, Kaiwei The State Key Laboratory of Extreme Photonics and Instrumentation The National Engineering Research Center of Optical Instrumentation Zhejiang University Hangzhou310027 China The Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe76131 Germany The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China Shanghai SUPREMIND Technology Company Ltd Shanghai201210 China

Semantic scene understanding with Minimalist Optical Systems (MOS) in mobile and wearable applications remains a challenge due to the corrupted imaging quality induced by optical aberrations. However, previous works only focus on improving the subjective imaging quality through the Computational Imaging (CI) technique, ignoring the feasibility of advancing semantic segmentation. In this paper, we pioneer the investigation of Semantic Segmentation under Optical Aberrations (SSOA) with MOS. To benchmark SSOA, we construct Virtual Prototype Lens (VPL) groups through optical simulation, generating Cityscapes-ab and KITTI-360-ab datasets under different behaviors and levels of aberrations. We look into SSOA via an unsupervised domain adaptation perspective to address the scarcity of labeled aberration data in real-world scenarios. Further, we propose Computational Imaging Assisted Domain Adaptation (CIADA) to leverage prior knowledge of CI for robust performance in SSOA. Based on our benchmark, we conduct experiments on the robustness of classical segmenters against aberrations. In addition, extensive evaluations of possible solutions to SSOA reveal that CIADA achieves superior performance under all aberration distributions, bridging the gap between computational imaging and downstream applications for MOS. The project page is at https://***/zju-jiangqi/CIADA. Copyright © 2022, The Authors. All rights reserved.

关键词： Aberrations

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Autonomous inverse encoding guides 4D nanoprinting for highly programmable shape morphing

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International Journal of Extreme Manufacturing 2025年第03期 472-488页

作者： Shuaiqi Ren Zhiang Zhang Ruokun He Jiahao Fan Guangming Wang Hesheng Wang Bing Han Yong-Lai Zhang Zhuo-Chen Ma Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Engineering University of Cambridge Institute of Medical Robotics School of Biomedical Engineering Shanghai Jiao Tong University State Key Laboratory of Integrated Optoelectronics College of Electronic Science and EngineeringJilin University

Highly programmable shape morphing of 4D-printed micro/nanostructures is urgently desired for applications in robotics and intelligent systems. However, due to the lack of autonomous holistic strategies throughout the target shape input, optimal material distribution generation,and fabrication program output, 4D nanoprinting that permits arbitrary shape morphing remains a challenging task for manual design. In this study, we report an autonomous inverse encoding strategy to decipher the genetic code for material property distributions that can guide the encoded modeling toward arbitrarily pre-programmed 4D shape morphing. By tuning the laser power of each voxel at the nanoscale, the genetic code can be spatially programmed and controllable shape morphing can be realized through the inverse encoding process. Using this strategy, the 4D-printed structures can be designed and accurately shift to the target morphing of arbitrarily hand-drawn lines under stimulation. Furthermore, as a proof-of-concept, a flexible fiber micromanipulator that can approach the target region through pre-programmed shape morphing is autonomously inversely encoded according to the localized spatial *** strategy may contribute to the modeling and arbitrary shape morphing of micro/nanostructures fabricated via 4D nanoprinting, leading to cutting-edge applications in microfluidics, micro-robotics, minimally invasive robotic surgery, and tissue engineering.

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