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arXiv 2024年

作者： Tao, Qinghua Xi, Xiangming Xu, Jun Suykens, Johan A.K. STA-DIUS ESAT KU Leuven Belgium Research Center for Intelligent Robotics Zhejiang Lab Zhejiang Hangzhou China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

For the linear inverse problem with sparsity constraints, the l0 regularized problem is NP-hard, and existing approaches either utilize greedy algorithms to find almost-optimal solutions or to approximate the l0 regularization with its convex counterparts. In this paper, we propose a novel and concise regularization, namely the sparse group k-max regularization, which can not only simultaneously enhance the group-wise and in-group sparsity, but also casts no additional restraints on the magnitude of variables in each group, which is especially important for variables at different scales, so that it approximate the l0 norm more closely. We also establish an iterative soft thresholding algorithm with local optimality conditions and complexity analysis provided. Through numerical experiments on both synthetic and real-world datasets, we verify the effectiveness and flexibility of the proposed method. © 2024, CC BY-NC-SA.

关键词： Iterative methods

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Trajectory Tracking of Fractional order Quadrotor UAV Based on Adaptive Fuzzy Fractional Order PID Controller

Trajectory Tracking of Fractional order Quadrotor UAV Based ...

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Asian Control Conference

作者： Shiyu Xi Zhihuan Chen Zhiheng Chen Yang Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

In this paper, the trajectory tracking problem of the quadrotor UAV with fractional order characteristics is studied. First, an accurate fractional order mathematical model is innovatively established, addressing the deficiency of traditional integer order models in modeling precision. Secondly, the prediction-correction algorithm is applied to solve these complex fractional order differential equations. In design of the control system, the adaptive fuzzy fractional order PID (AFFOPID) control strategy is applied to the position subsystem and attitude subsystem of the quadrotor UAV, dealing effectively with the fractional order characteristics and also enhancing control flexibility. Since the AFFOPID controller does not require the integral term of the error as input, it can be more easily applied and tuned in practical situations. Finally, comparative simulation experiments are conducted to confirm the effectiveness of the proposed control strategy and the superiority of fractional order controllers.

关键词： Adaptation models Trajectory tracking Differential operators Autonomous aerial vehicles Control systems Prediction algorithms Mathematical models

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Design of an improved LADRC controller for a dual-joint robotic arm system

Design of an improved LADRC controller for a dual-joint robo...

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第40届中国控制会议

作者： Jiashun Dong Huaiyu Wu Zhihuan Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology School of Information Science and Engineering Wuhan University of Science and Technology

This paper designs an improved linear active disturbance rejection controller（LADRC） for a dual-joint robotic arm system. Firstly, the model of the dual-joint manipulator was established;Secondly, the manipulator control system based on traditional linear active disturbance rejection controller（LADRC） was designed, and the stability and rapidity of the linear active disturbance rejection control were analyzed. Then, in order to improve the tracking speed and the robustness of the system, an improved LADRC controller with proportional-derivative term（ILADRC PD） is designed for the first joint of the manipulator,and an improved LADRC controller with adaptive gain（ILADRC AG） is designed for the second joint of the ***, numerical simulation is presented via comparing the improved LADRC with the traditional method, which demonstrates that the controller proposed in this study has better performance.

关键词： LADRC dual-joint robotic arm system proportional-derivative item adaptive gain

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Logarithmic Sliding-Mode Control for High-Precision Rigid-Body Attitude Tracking

Logarithmic Sliding-Mode Control for High-Precision Rigid-Bo...

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Annual Conference of Industrial Electronics Society

作者： Hanlin Dong Xuebo Yang Zhongbo Chen Xiyao Liu School of Automation Northwestern Polytechnical University Xi'an China Research Institute of Intelligent Control Systems Harbin Institute of Technology Harbin China College of Control Science and Engineering Bohai University Jinzhou China Research Center for Intelligent Robotics Northwestern Polytechnical University Xi'an China

The problem of high-precision attitude tracking is studied in this paper under model uncertainty and external disturbance risk. First of all, the kinematics and dynamics model of rigid body is derived based on the quaternion theory. Then, a standard logarithmic sliding-mode function is constructed using the attitude quaternion and its derivatives of the rigid spacecraft, and the corresponding logarithmic sliding-mode controller is also derived. Finally, the stability of the controlled closed-loop system is demonstrated. Consistenting with theoretical proof, the numerical simulation results showed that the controlled rigid body can quickly track its desired attitude command, even if there are model uncertainty and external disturbance risks.

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Fixed Time Synchronization for Heterogeneous Complex Network with Time Delay by Soft Variable Structure Control Method

Fixed Time Synchronization for Heterogeneous Complex Network...

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Asian Control Conference

作者： Jie Wei Zhihuan Chen Tinghao Shi XiuJuan Zheng Zhenhua Zhu Mian Hu Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

Ahstract-This study focuses on the fixed-time synchronization problem of drive-response complex networks with time delay. Distinguish from most of previous works, a more practical complex network is introduced, whose nodes and dimension between drive-response system are different. To achieve fixed time synchronization of the network, a dynamic soft variable structure control with fixed-time strategy is proposed, aiming to achieve higher regulation rate and shorter settling time. Then, the stability of the controller is rigorously proven through mathematical analysis and numerical simulations validate the effectiveness of presented results.

关键词： Delay effects Power system dynamics Stability criteria Complex networks Power system stability Numerical simulation Robustness

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Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy

Robotic Electrospinning Actuated by Non-Circular Joint Conti...

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2021 IEEE International Conference on robotics and automation, ICRA 2021

作者： Wu, Zicong Lou, Chuqian Jin, Zhu Huang, Shaoping Liu, Ning Zou, Yun Kovac, Mirko Gao, Anzhu Yang, Guang-Zhong The Institute of Medical Robotics Department of Bioengineering Shanghai Jiao Tong University Shanghai200240 China Imperial College London Empa-Swiss Federal Laboratories for Materials Science and Technology United Kingdom Limited 999077 Hong Kong Aerial Robotics Laboratory Imperial College London LondonSW7 2AZ United Kingdom The Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781728190778

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal therapy. The platform consists of a continuum manipulator, the electrospinning device, and the actuation unit. The continuum manipulator has two bending sections to facilitate the steering of the tip needle for a controllable spinning direction. Non-circular joint profile is carefully designed to enable a constant length of the centreline of a continuum manipulator for stable fluid transmission inside it. Experiments are performed on a bronchus phantom, and the steering ability and bending limitation in each direction are also investigated. The endoluminal electrospinning is also fulfilled by a trajectory following and points targeting experiments. The effective adhesive area of the produced fibre is also illustrated. The proposed robotic electrospinning shows its feasibility to precisely spread more therapeutic drug to construct fibrous structure for potential endoluminal treatments. © 2021 IEEE

关键词： Electrospinning

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Pointly-Supervised Panoptic Segmentation

arXiv

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arXiv 2022年

作者： Fan, Junsong Zhang, Zhaoxiang Tan, Tieniu Center for Research on Intelligent Perception and Computing Institute of Automation Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China Centre for Artificial Intelligence and Robotics HKISI CAS Hong Kong

In this paper, we propose a new approach to applying point-level annotations for weakly-supervised panoptic segmentation. Instead of the dense pixel-level labels used by fully supervised methods, point-level labels only provide a single point for each target as supervision, significantly reducing the annotation burden. We formulate the problem in an end-to-end framework by simultaneously generating panoptic pseudo-masks from point-level labels and learning from them. To tackle the core challenge, i.e., panoptic pseudo-mask generation, we propose a principled approach to parsing pixels by minimizing pixel-to-point traversing costs, which model semantic similarity, low-level texture cues, and high-level manifold knowledge to discriminate panoptic targets. We conduct experiments on the Pascal VOC and the MS COCO datasets to demonstrate the approach’s effectiveness and show state-of-the-art performance in the weakly-supervised panoptic segmentation problem. Codes are available at https://***/BraveGroup/***. Copyright © 2022, The Authors. All rights reserved.

关键词： Pixels

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Indoor robot/human localization using dynamic triangulation and wireless Pyroelectric Infrared sensory fusion approaches

Indoor robot/human localization using dynamic triangulation ...

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IEEE International Conference on robotics and automation (ICRA)

作者： Ren C. Luo Ogst Chen Pei Hsien Lin National Taiwan University Taipei TW Department of Electrical Engineering National Chung Cheng University Chia-yi Taiwan Center for Intelligent Robotics and Automation Research National Taiwan University Chia-yi Taiwan

Indoor localization and monitoring system of robots and people are essential issues in robotics research. Several monitoring systems are currently under development by different investigators but they do encounter significant difficulties. For instance, a Pyroelectric Infrared (PIR) system provides less accurate information of human location and is restricted when there are multiple targets. Furthermore, a Radio Frequency (RF) localization system is constrained by its limited accuracy. In this study, we develop a system which combines PIR and RF localization system as wireless pyroelectric infrared sensory fusion system to monitor the location information of robots and people. We will reduce the error of RF localization information through tile proposed dynamic triangulation (DTN) method. We also develop a sensory fusion algorithm called the WPIR inference algorithm. This algorithm determines the fused position from both the PIR localization system and radio frequency signal localization system which utilize tile received signal strength (RSS) propagation model. We have developed and experimentally demonstrated a WPIR sensory fusion system which can be successfully applied in locating targets such as people and robot. With an accurate localization mechanism for tile indoor environment, tile provision of appropriate services to people can be realized.

关键词： Radio frequency Cameras Robot vision systems Monitoring Computer architecture

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Hybrid Vision/Force Control for Interaction with the Bottle-like Object

Hybrid Vision/Force Control for Interaction with the Bottle-...

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IEEE International Conference on robotics and automation (ICRA)

作者： Lijun Han Hesheng Wang Weidong Chen Jingchuan Wang Jianjun Yuan Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Shanghai Robotics Institute School of Mechatronic Engineering and Automation Shanghai University Shanghai China

This study proposes a hybrid vision/force control scheme for interaction with the inner surface of the bottle-like object. Based on the geometry of the object, a new generalized constraint called the bottleneck (BN) constraint is proposed, which ensures the tool passes through a fixed 3-D region and avoid collisions with the boundary of the region. To realize the hybrid vision/force control under the BN constraint, a novel dynamic controller is designed inspired by the hierarchical operational space, which can complete the different tasks defined in the decoupled subspace. To enhance the robustness of the algorithm, we develop a data-driven method and an adaptive method to estimate the Jacobian matrix online in force space and image space, respectively. The asymptotic stability of the closed-loop system is rigorously proved by the Lyapunov theory. Experiments are conducted to validate the performance of the proposed method.

关键词： Jacobian matrices Geometry Heuristic algorithms Robot vision systems Force Aerospace electronics Tools

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research on Robot Path Planning Algorithm for Filter Plate Cleaning of Plate and Frame Filter Press

Research on Robot Path Planning Algorithm for Filter Plate C...

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Artificial Intelligence and intelligent Manufacturing (AIIM), International Symposium on

作者： Jie Xu Long Cui Yongguo Zhao Xincheng Tian Center for Robotics School of Control Science and Engineering Shandong University Jinan China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Shandong Academy of Sciences Institute of Automation Qilu University of Technology Jinan China

ISBN: (数字)9798331541729

ISBN: (纸本)9798331541736

Plate and frame filter press is an important solid-liquid separation equipment that plays an important role in many fields. The filter plate is one of the core components of the frame filter press, and its main function is to support the filter cloth and form a filter chamber. After the filtration process of the filter press is completed, a large number of impurities are often attached to the filter plate, so it is of great value to study the impurity cleaning problem of the filter plate of the plate and frame filter press. In this paper, aiming at the cleaning process of the filter plate of the plate and frame filter press, the image information of the filter plate is obtained by visual means, and then the image is analyzed and processed to obtain the position information of the impurities of the filter plate, the path planning of the obtained position information is carried out, and finally the robot is made to complete the cleaning task efficiently and accurately according to the planned path, which has certain practical value.

关键词： Presses Visualization Impurities Image processing Filtering algorithms Information filters Cleaning Path planning Manufacturing Robots

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