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Proceedings of 2004 International Conference on Machine Learning and Cybernetics

作者： Lei, Xu-Sheng Su, Jian-Bo Department of Automation Res. Center of Intelligent Robotics Shanghai Jiaotong University Shanghai 200030 China Environ. Adaptive Robotic System Lab Bio-Mimetic Control Research Center RIKEN Anagahora Shimoshidami Moriyama-ku Nagoya 463-0003 Japan

ISBN: (纸本)0780384032

In this paper, using minimum energy function as an optimization tool, a stable trajectory for a humanoid robot to run is achieved with the genetic algorithm. Compared with other methods, it can reduce consumed energy during the whole process. The proposed method is adaptive to various step lengths and step times for running and could be applied in other missions, such as walking, overcoming obstacles. The system stability is improved by controlling shoulders and elbows to compensate the errors. The performance of the proposed method is validated by simulation of a 28 DOF humanoid robot model with ADAMS.

关键词： robotics

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Simulation of magnetization process and Faraday effect of magnetic bilayer films

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Chinese Physics B 2024年第9期33卷 590-597页

作者： Sheng Gao An Du Lei Zhang Tian-Guang Li Da-Cheng Ma Department of Basic and General Studies Shenyang Institute of Science and TechnologyShenyang 110167China College of Science Northeastern UniversityShenyang 110819China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern UniversityShenyang 110819China Office of Academic Research Shenyang Institute of Science and TechnologyShenyang 110167China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy ofSciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110016China

We described ferromagnetic film and bilayer films composed of two ferromagnetic layers coupled through antiferromagnetic interfacial interaction by classical Heisenberg model and simulated their magnetization state,magnetic permeability,and Faraday effect at zero and finite temperature by using the Landau–Lifshitz–Gilbert(LLG)*** results indicate that in a microwave field with positive circular polarization,the ferromagnetic film has one resonance peak while the bilayer film has two resonance ***,the resonance peak disappears in ferromagnetic film,and only one resonance peak emerges in bilayer film in the negative circularly polarized microwave *** the microwave field’s frequency exceeds the film’s resonance frequency,the Faraday rotation angle of the ferromagnetic film is the greatest,and it decreases when the thickness of the two halves of the bilayer is *** the microwave field’s frequency remains constant,the Faraday rotation angle fluctuates with temperature in the same manner as spontaneous magnetization *** a DC magnetic field is applied in the direction of the anisotropic axis of the film,the Faraday rotation angle varies with the DC magnetic field and shows a similar shape of the hysteresis loop.

关键词： magnetic bilayer films magnetic permeability hysteresis loop Faraday effect Landau-Lifshitz-Gilbert(LLG)equation

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Robotic uncalibrated hand-eye coordination based on the extended state observer

Robotic uncalibrated hand-eye coordination based on the exte...

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2004 5th Asian Control Conference

作者： Su, Jianbo Ma, Hongyu Luo, Zhiwei Res. Center of Intelligent Robotics Department of Automation Shanghai Jiao Tong University Shanghai 200030 China Environ. Adaptive Robotic Syst. Lab Bio-mimetic Control Research Center RIKEN Moriyama-ku Nagoya 463-0003 Japan

ISBN: (纸本)0780388739

This paper proposes a standard control method to approach the uncalibrated robotic hand-eye coordination problem, which is system configuration- and task-independent. The coordination problem is first modeled by a dynamic system, where the unknown hand-eye relationship is regarded as system's modeling errors. An extended state observer is then designed to estimate impacts of this modeling error together with the system's external disturbances. With the estimation results as the compensation, the system control is thus accomplished based on a nonlinear combination of the system state errors. Experimental results are presented to verify the efficacy of the proposed approach and highlight the satisfactory performance.

关键词： Robotic arms

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On Networked Dynamical Systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

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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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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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Usability Evaluation of FURS Robot Control Panel Interface Design Based on SUS 16th

Usability Evaluation of FURS Robot Control Panel Interface D...

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

作者： You, Yong Wei, Lai Zhu, Shiqiang Yu, Yongwu Jiang, Yunxiang Liu, Xiaolei Han, Jianda Chen, Lingkai Song, Wei Design Innovation Center China Academy of Art Hangzhou310024 China L’École de Design Nantes Atlantique China Academy of Art Hangzhou310024 China Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Hangzhou Yunphant Network Technology Co. Ltd. Hangzhou China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 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)9789819964949

The objective of this study is to compare the interfaces of two FURS (Flexible Ureterorenoscopy) robotic operation consoles across generations. Analyzing functional requirements during surgery, the first-generation interface was designed. Evaluation of the first-generation interface, combined with user needs and design principles, informed the design of the second-generation interface, which aimed to improve the usability of the console during surgery. Both interface generations were assessed for usability and user experience using the System Usability Scale (SUS).The results indicate improvement in usability and user satisfaction following interface iteration. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Surgery

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Multi-model Fusion on Real-time Drowsiness Detection for Telemetric robotics Tracking Applications

Multi-model Fusion on Real-time Drowsiness Detection for Tel...

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International Conference on Advanced robotics and intelligent Systems (ARIS)

作者： Ren C. Luo Chin Hao Hsu Yu-Cheng Wen International Center of Excellence in Intelligent Robotics and Automation Research (NTU-iCeiRA) National Taiwan University Taipei Taiwan

ISBN: (数字)9781728198231

ISBN: (纸本)9781728198248

Drowsiness of driver is one of the common causes resulting in road crashes. According to the research, there have been twenty percent of the road accidents which are related to the drowsiness of drivers. Nowadays, with the development technology, various approaches are introduced to detect the drowsiness of drivers. In this paper, we propose a multi-model fusion system which is composed of the three models to capture driver's face and detect drowsiness in the real-time for telemetric robotics tracking applications. The sensor device we used is an RGB camera which is mounted in front of driver to obtain the facial image. Then, we combine the results based on the state of the eye blink, yawn and head deviation to determine whether the driver is drowsy. We test our models to obtain the weighting factors in drowsy value. In the experiment, we show that our system has the high accuracy of detection.

关键词： Vehicles Mouth Faces Computational modeling Electroencephalography Feature extraction

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Neural Predictor for Flight Control with Payload

arXiv

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arXiv 2024年

作者： Jin, Ao Li, Chenhao Wang, Qinyi Liu, Ya Huang, Panfeng Zhang, Fan Research Center for Intelligent Robotics School of Automation Northwestern Polytechnical University Xi’an710072 China Research Center for Intelligent Robotics Shaanxi Province Innovation Team of Intelligent Robotic Technology School of Astronautics Northwestern Polytechnical University Xi’an710072 China

Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the prior information of the payload, such as the mass, is always hard to obtain accurately in practice. The force/torque caused by payload and residual dynamics will introduce unmodeled perturbations to the system, which negatively affects the closed-loop performance. Different from estimation-like methods, this paper proposes Neural Predictor, a learning-based approach to model force/torque caused by payload and residual dynamics as a dynamical system. It results a hybrid model including both the first-principles dynamics and the learned dynamics. This hybrid model is then integrated into a MPC framework to improve closed-loop performance. Effectiveness of proposed framework is verified extensively in both numerical simulations and real-world flight experiments. The results indicate that our approach can capture force/torque caused by payload and residual dynamics accurately, respond quickly to the changes of them and improve the closed-loop performance significantly. In particular, Neural Predictor outperforms a state-of-the-art learning-based estimator and has reduced the force and torque estimation errors by up to 66.15% and 33.33% while using less samples. Copyright © 2024, The Authors. All rights reserved.

关键词： Predictive control systems

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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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Surgeon's third hand: An assistive robot endoscopic system with intuitive maneuverability for laparoscopic surgery

Surgeon's third hand: An assistive robot endoscopic system w...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Ren C. Luo Jui Wang Chih Kang Chang Yi Wen Perng Center for Intelligent Robotics and Automation Research National Taiwan University Taipei Taiwan National Taiwan University Taipei TW

Laparoscopic surgery has to be operated with an assistant during surgery, which requires training and high cooperation work between the surgeon and assistants. The objective of this study is to develop a laparoscopic system providing intuitive maneuverability. We develop a Robotic Flexible Laparoscope System (RFLS) with compliance effect including adaptive impedance and velocity control to assist in laparoscopic surgery. The system is controlled by the surgeon's head movements, so that the surgeon can use his/her hands to manipulate the laparoscopic instruments while maneuvering the laparoscope intuitively, and thus replace the assistant and enhance the efficiency of the surgery. The laparoscope movements are controlled by adaptive impedance control approach, the compliance effect, the impedance with the integral and derivative control design, and the reaction torque observer. We also add zero-point-correcting algorithm and singular situation elimination algorithm. Furthermore, scalable ratio adjustment of head movement with respect to laparoscope movement is also included in our system. This system makes surgeon-in-charge maneuver the laparoscope intuitively without communication and coordination with assistant needed in conventional way. As a result, it is expected to reduce manpower and time during surgery. Experimental results demonstrate that the articulated laparoscope can always follow user's head motion in all necessary orientations.

关键词： Laparoscopes Surgery Gyroscopes Robots Impedance Torque Head

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