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21st Polish control Conference, PCC 2023

作者： Bieda, Robert Jaskot, Krzysztof Jaworski, Marcin Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology ul. Akademicka 16 room 625 Gliwice44-100 Poland OPTOMED Ophthalmological Center for Children and Adults Chorzów Poland

ISBN: (纸本)9783031351723

The article is an introduction to quantitative analysis retinal blood vessels. The analysis uses an active contouring system to isolate blood vessels obtained by scanning with an Angio-OTC device. It should bring possibility to make therapeutic decisions and determine the treatment prognosis that are based on the results of quantitative analysis of neovascular changes. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Blood vessels

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KNTU-RoboGlove: Design of a Pneumatic Soft Robotic Glove 11

KNTU-RoboGlove: Design of a Pneumatic Soft Robotic Glove

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11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Boka, Tanin Nikkhah, M. Navid Moosavian, S. Ali A. Toosi University of Technology Tehran Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Dept of Mechanical Engineering K. N. Tehran Iran K. N. Toosi University of Technology Tehran Dept of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798350308105

This paper introduces an innovative advancement in the field of wearable assistive technology by presenting a revolutionary portable soft robotic glove designed to assist individuals with hand impairments during rehabilitation exercises and daily tasks. The glove offers both active finger flexion and passive extension to aid in hand support and rehabilitative training. It achieves this by utilizing integrated soft actuators, including a variable stiffness layer and a pneumatic-driven layer, which guide specific bending, twisting, and extending movements when air pressure is applied. Notably, the variable stiffness layer takes inspiration from pangolins, whose scales are pliable during daily activities but become rigid when facing threats. To provide increased power with enhanced stiffness, a toothed pneumatic actuator is specially designed. The three-finger soft glove is manufactured by molding super-elastic material, creating the actuator mold using a 3D printer. The glove's grasping abilities have been thoroughly tested, and experimental results demonstrate that, when compared to previously developed elastomeric-based actuators, these actuators can generate substantial force and torque to facilitate finger flexion even at lower air pressure levels. This capability allows the glove to grasp a wide range of objects, assisting individuals in their rehabilitative training. Furthermore, a control system for grasping has been developed, which includes motion processing unit sensors for collecting feedback signals aligned with the actuators, along with a closed-loop controller for regulating the pressure. In contrast to existing devices, this glove, thanks to its portable design, has the potential to significantly enhance user autonomy and independence. © 2023 IEEE.

关键词： Pneumatic actuators

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Modulating surface cation vacancies of nickel-cobalt oxides as efficient catalysts for lithium-oxygen batteries

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Journal of Materials Science & Technology 2023年第8期139卷 147-155页

作者： Yuan Yang Linna Dai Jianwei Qiu Zhibiao Hu Peng Wang Yongtao Zhao Huanhuan Guo Pengchao Si Rui Song Center for Robotics School of Control Science and EngineeringShandong UniversityJinan 250061China Research Center for Carbon Nanomaterials Key Laboratory for Liquid-Solid Structural Evolution and Processing of Materials(Ministry of Education)School of Materials Science and EngineeringShandong UniversityJinan 250061China School of Mechanical Electrical and Information EngineeringShandong UniversityWeihai 264209China College of Chemistry and Chemical Engineering Xingtai UniversityXingtai 054001China

Rechargeable lithium-oxygen batteries(LOBs)have received incremental attention owing to their high energy density and applicability to mobile devices and electric ***,the lack of robust,low-cost,and environmentally benign bifunctional catalysts is a major impediment to the commercial *** introduction of vacancies is one of the effective strategies to enhance the performance of cathode catalysts for lithium-oxygen batteries,but the preparation is *** this work,needle-like microsphere cathode catalysts of nickel-cobalt oxide containing cationic vacancies are constructed by controlling the annealing *** is demonstrated that the presence of cationic vacancies can modulate the electronic structure of the catalyst,reduce the energy barrier for the oxygen electrode re-action,meanwhile enhance the bifunctional catalytic ***,the nickel-cobalt oxide-based LOB with cationic vacancies exhibits large specific capacity(12,205 mAh g^(-1)at 200 mA g^(-1))and good *** work provides worthwhile insight into the formation and catalytic enhancement mech-anism of transition metal oxide catalysts with cationic vacancies,and to some extent,the creation of efficient and low-cost oxygen electrocatalysts for LOBs.

关键词： Li-O_(2)batteries Metal oxides Cation vacancies Catalytic kinetic

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Editorial:special issue on frontiers of control and automation,dedicated to *** *** 60th birthday

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control Theory and Technology 2023年第3期21卷 263-264页

作者： Jie Chen Jie Huang Lihua Xie Department of Control Science and Engineering Tongji UniversityShanghaiChina Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong KongChina Center for Advanced Robotics Technology Innovation School of Electrical and Electronic EngineeringNanyang Technological UniversitySingaporeSingapore

It is our great pleasure and honor to organize this special issue"Frontiers of control and Automation"in honor of the 60th birthday of our long-time colleague and friend Professor Ben *** Chen obtained his *** in mathemat-ics and computer science in 1983 from Xiamen University,China;*** in electrical engineering in 1988 from Gonzaga University,Spokane,Washington,USA;and *** in electrical and computer engineering in 1991 from Washington State University,Pullman,Washington,USA.

关键词： computer Xiamen frontier

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Nonlinear Adaptive control for 3-D Ship-mounted Cranes with Double-pendulum Effect Without Velocity Feedback

Nonlinear Adaptive Control for 3-D Ship-mounted Cranes with ...

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第43届中国控制会议

作者： Ling Yang Kai Wang Xin Ma Zizhong Wei Jiankang Zhang Center for Robotics School of Control Science and EngineeringEngineering Research Center of Intelligent Unmanned SystemMinistry of EducationShandong University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Unmeasurable velocities and noise amplification by numerical differentiators are difficult problems for crane *** this paper,an adaptive controller,without velocity feedback,is proposed for 3-D ship-mounted cranes to achieve swing suppression and accurate boom positioning. Auxiliary variables are designed to substitute for velocities that cannot be obtained directly. Additionally,bounded functions are utilized to constrain the input torque for safety. The stability of the control system is rigorously proven using Lyapunov's method. Furthermore,simulations validate the effectiveness of the proposed method.

关键词： Adaptive control Ship-mounted Cranes Wave Disturbances

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A survey on robustness in trajectory prediction for autonomous vehicles

arXiv

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arXiv 2024年

作者： Hagenus, Jeroen Mathiesen, Frederik Baymler Schumann, Julian F. Zgonnikov, Arkady Department of Cognitive Robotics Delft Center for Systems and Control TU Delft Delft2628 CB Netherlands

Autonomous vehicles rely on accurate trajectory prediction to inform decision-making processes related to navigation and collision avoidance. However, current trajectory prediction models show signs of overfitting, which may lead to unsafe or suboptimal behavior. To address these challenges, this paper presents a comprehensive framework that categorizes and assesses the definitions and strategies used in the literature on evaluating and improving the robustness of trajectory prediction models. This involves a detailed exploration of various approaches, including data slicing methods, perturbation techniques, model architecture changes, and post-training adjustments. In the literature, we see many promising methods for increasing robustness, which are necessary for safe and reliable autonomous driving. Copyright © 2024, The Authors. All rights reserved.

关键词： Autonomous vehicles

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A dual-robot collaborative coverage path planning method for complex surfaces based on a 2.5D grid map

A dual-robot collaborative coverage path planning method for...

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第43届中国控制会议

作者： Hui Gao Qihang Zhang Xin Ma Center for Robotics School of Control Science and EngineeringShandong UniversityEngineering Research Center of Intelligent Unmanned SystemMinistry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The coverage path planning(CPP) for complex three-dimensional(3 D) surfaces is one of the challenging problems in the field of path *** this paper,we propose a dual-robot collaborative coverage path planning method based on a 2.5-dimensional(2.5 D)grid map to address the CPP problem for complex ***,to effectively describe the CPP problem for complex surfaces,we establish a new model called the Generalized Traveling Salesman Problem(GTSP).Secondly,we develop a 2.5 D grid map that better conforms to the shape of complex surfaces by preserving their height ***,an adaptive Vertex Reward-based Coverage Path Planning(VR-CPP) algorithm is proposed to solve GTSP,which can achieve a coverage path with shorter length,fewer transitions,and lower robot energy *** tests are carried out on complex surface and the results validate the effectiveness of the proposed approach.

关键词： Coverage path planning(CPP) Dual-robot Complex surfaces Vertex Reward-based Coverage Path Planning

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A policy gradient algorithm integrating long and short-term rewards for soft continuum arm control

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Science China(Technological Sciences) 2022年第10期65卷 2409-2419页

作者： DONG Xiang ZHANG Jing CHENG Long XU WenJun SU Hang MEI Tao School of Electrical Engineering and Automation Anhui UniversityHefei 230601China State Key Laboratory for Control and Management of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Robotics Research Center Peng Cheng LaboratoryShenzhen 518055China

The soft continuum arm has extensive application in industrial production and human life due to its superior safety and flexibility. Reinforcement learning is a powerful technique for solving soft arm continuous control problems, which can learn an effective control policy with an unknown system model. However, it is often affected by the high sample complexity and requires huge amounts of data to train, which limits its effectiveness in soft arm control. An improved policy gradient method, policy gradient integrating long and short-term rewards denoted as PGLS, is proposed in this paper to overcome this issue. The shortterm rewards provide more dynamic-aware exploration directions for policy learning and improve the exploration efficiency of the algorithm. PGLS can be integrated into current policy gradient algorithms, such as deep deterministic policy gradient(DDPG). The overall control framework is realized and demonstrated in a dynamics simulation environment. Simulation results show that this approach can effectively control the soft arm to reach and track the targets. Compared with DDPG and other model-free reinforcement learning algorithms, the proposed PGLS algorithm has a great improvement in convergence speed and performance. In addition, a fluid-driven soft manipulator is designed and fabricated in this paper, which can verify the proposed PGLS algorithm in real experiments in the future.

关键词： soft arm control Cosserat rod deep reinforcement learning policy gradient algorithm high sample complexity

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Research on Trajectory Planning Method Applied to Intersecting Line Smooth Cutting

Research on Trajectory Planning Method Applied to Intersecti...

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Intelligent control, Measurement and Signal Processing and Intelligent Oil Field (ICMSP), International Conference on

作者： Zhongyi Wang Xingwang Zhao Xincheng Tian Center for Robotics School of Control Science and Engineering Shandong University Jinan China

The cutting quality of intersecting lines can be affected by cutting model and cutting process. To improve that, this paper builds a round pipe-intersecting cutting model connected by branch pipe internally without groove according to the principle of intersecting, and it uses the smooth transition algorithm for the cutting start point to avoid the generation of cutting gaps. Finally, the model's trajectory planning algorithm is verified through robot simulation experiments. The result shows that this method can improve the cutting quality by the established model and has good significance in reality.

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HCRI: A ROS2 Human Collision Object Interface for Robotic Manipulation Planning

HCRI: A ROS2 Human Collision Object Interface for Robotic Ma...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Wang, Changcong Wei, Chongyi Bai, Shaoping Li, Yibin Tian, Xincheng Zhou, Lelai Shandong University The Center for Robotics School of Control Science and Engineering Jinan250061 China The Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Aalborg University Department of Materials and Production Aalborg9220 Denmark

ISBN: (纸本)9798350327182

Human-Robot Collaboration (HRC) is people and robots work together in the same workspace to achieve shared goals. To ensure safety, robots need to perceive the position of the human body for planning purposes. However, there is no universal method for converting the human body into collision objects. To solve this problem, we propose an interface to convert the human body segments into collision objects in the robot planning scene. The interface estimates the human body Skinned Multi-Person Linear model (SMPL) by RGB image and measures the collision object size of the corresponding body segment. The corresponding size of collision objects are added to the corresponding positions of the human pose estimated by different types of sensors. The accuracy of human size estimation is verified on TotalMocap of AMASS. The interface with OctoMap is compared to evaluate the efficiency and the validity on interface is verified on the robot UR5e. © 2023 IEEE.

关键词： Image segmentation

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