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检索条件"机构=Complex System Intelligent Control and Decision"

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High-Precision Admittance control of Mechanical Arm Based on Force Sensor Compensation

High-Precision Admittance Control of Mechanical Arm Based on...

引用

第34届中国控制与决策会议

作者： Yaohui Wu Jiangbo Zhao Junzheng Wang Xin Zhang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology Technical center Xinxing Cathay International Group Co.Ltd.

Admittance control is one of the important methods of compliance *** is performed by inputting force signals and outputting position *** control can achieve high accuracy,but the force signals have large errors,which is an important factor affecting its *** the force sensor collects force data,there are non-negligible initial deviations due to gravity,installation,and other factors,resulting in poor admittance control *** order to solve this problem,this paper takes the six-degree-of-freedom manipulator admittance control as the research *** to the mapping relationship between the end attitude and the sensor errors,we propose a method of obtaining the initial offset value of the sensor through data *** method traverses the initial values of the sensor in each working posture when the sensor has no external force input,and then performs secondary interpolation to obtain the offset values of the sensor in any posture,corrects the output values of the force/torque sensor,and then improve the accuracy of admittance *** experimental results show that this method can quickly and effectively improve the calculation accuracy of the sensor's initial deviation values and the admittance control accuracy.

关键词： Admittance control Force/torque sensor Quadratic interpolation Precision optimization

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Automated Assembly by Two-Fingered Microhand for Fabrication of Soft Magnetic Microrobots

Automated Assembly by Two-Fingered Microhand for Fabrication...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yue Zhao Xiaoming Liu Ruixi Wang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Department of Intelligent Manufacturing Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Materials Engineering Science Osaka University Osaka Japan Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Micro-assembly is an emerging method to fabricate microrobots with multiple modules or particles. However, there is always a lack of a flexible and efficient method to freely create the desired magnetic soft microrobots. In this paper, an automated assembly system based on a two-fingered microhand is presented for fabricating magnetic soft microrobots. Our proposed system can automatically pick and place components to assemble microrobots with a two-fingered micromanipulator, and orient these components through an external magnetic field. The automated assembly has the advantages of high accuracy, high speed, and high success rate. It can endow magnetic microrobots with flexible material selection, arbitrary geometry design, and programable magnetization profile. We can make full use of this system to fabricate multiple magnetic soft microrobots. The experiment results demonstrate that this system can efficiently fabricate microrobots with excellent mechanical properties, which have application potential in robotics, biomedical engineering, and environmental governance.

关键词： Three-dimensional displays Shape Micromanipulators Magnetization Manuals Three-dimensional printing Soft magnetic materials

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Deadbeat Predictive Current control of Permanent Magnet Synchronous Motors Based on Disturbance Compensation

Deadbeat Predictive Current Control of Permanent Magnet Sync...

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第33届中国控制与决策会议

作者： Wei Shen Huan Liu Luwei Shao Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology

The deadbeat predictive current control(DPCC) exhibits strong dynamic performance in the current control of permanent magnet synchronous motor(PMSM),whereas the performance of the traditional DPCC depends on the accuracy of model parameters to a great *** cope with this problem,parameter sensitivity of the traditional DPCC has been analyzed in detail,with a disturbance observation compensation method proposed to improve the robustness of the current control of ***,a method of non-singular terminal sliding mode disturbance observer(NTSMDO) which employs a novel reaching law,combined with the DPCC is put forward to enhance the parameters robustness of the current loop.A harmonic compensation(HC) term has been added to the output of the current control for ignoring the harmonic electromagnetic process in the mathematical model of the PMSM to further promote the performance of the current loop *** and experimental results demonstrate that the proposed method offers robustness against parameters mismatch and control precision compared with the traditional DPCC.

关键词： PMSM Predictive current control NTSMDO Parameter mismatch Harmonic compensation

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High-Precision Admittance control of Mechanical Arm Based on Force Sensor Compensation

High-Precision Admittance Control of Mechanical Arm Based on...

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Chinese control and decision Conference, CCDC

作者： Yaohui Wu Jiangbo Zhao Junzheng Wang Xin Zhang Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing China Technical Center Xinxing Cathay International Group Co. Ltd. Beijing China

ISBN: (纸本)9781665478977

Admittance control is one of the important methods of compliance control. It is performed by inputting force signals and outputting position signals. Position control can achieve high accuracy, but the force signals have large errors, which is an important factor affecting its accuracy. When the force sensor collects force data, there are non-negligible initial deviations due to gravity, installation, and other factors, resulting in poor admittance control accuracy. In order to solve this problem, this paper takes the six-degree-of-freedom manipulator admittance control as the research object. According to the mapping relationship between the end attitude and the sensor errors, we propose a method of obtaining the initial offset value of the sensor through data interpolation. This method traverses the initial values of the sensor in each working posture when the sensor has no external force input, and then performs secondary interpolation to obtain the offset values of the sensor in any posture, corrects the output values of the force/torque sensor, and then improve the accuracy of admittance control. The experimental results show that this method can quickly and effectively improve the calculation accuracy of the sensor’s initial deviation values and the admittance control accuracy.

关键词： Interpolation Attitude control Force Dynamics Position control Robot sensing systems Real-time systems

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Spirometer and sEMG respiratory patterns for clinical decision support system

Spirometer and sEMG respiratory patterns for clinical decisi...

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IEEE Instrumentation and Measurement Technology Conference

作者： Amit Krishan Kumar Mansour H. Assaf Voicu Z. Groza Emil M. Petriu Faculty of Electrical-Electronic Engineering Duy Tan University Da Nang Vietnam Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China School of Information Technology Engineering Mathematics and Physics The University of the South Pacific Suva Republic of Fiji School of Electrical Engineering and Computer Science University of Ottawa Ottawa Canada

To improve support system for subjects with respiratory ailments, this work analyses the respiratory patterns from spirometer and surface electromyography (sEMG). The patterns are integrated with risk and biochemical systems model to optimise the clinical decision support system (CDSS). The work considers terminal events for the spirometer and sEMG. The events and their associated patterns are correlated and projected on a hyperspace prior implementing it in decision support system. The proposed method shows that the different characteristics of breathing indicate some essential hidden information which when used as 4D scattered projection, optimises the decision making in CDSS. The analysis shows the effectiveness of bimodal respiratory patterns for different breathing capacities, which is promising for the modelled conditions.

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Target tracking algorithm with adaptive learning rate complementary filtering

Target tracking algorithm with adaptive learning rate comple...

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第三十九届中国控制会议

作者： Yulei Pan Yongqiang Bai Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

The Correlation filtering algorithm is not effective for fast deformation and fast movement. It is easy to lose when encountering problems such as occlusion. However, it has a good advantage of dealing with situations such as motion blur and lighting changes. A tracking algorithm based on color statistical features has a good effect on the rotation and translation of *** Staple algorithm combines the two algorithms to track using complementary fusion, but it also does not handle the occlusion and other issues well. In this paper, based on the Staple algorithm, the average peak correlation energy（APCE） and the maximum response are introduced. The value is used as the tracking confidence, and a detector using a support vector machine（SVM） is *** the tracking confidence is low, the target is blocked or moved violently. At this time, the detector works,and the search area is expanded around the original area for the target. At the same time, because the traditional tracking algorithm uses a fixed learning rate to update the template, this paper uses an adaptive tracking learning rate. When the tracking confidence is low, the update speed of the target model is reduced, which can effectively deal with the occlusion deformation in the tracking process. OTB100 benchmark experiments show that this method can solve the occlusion problem during target tracking. The degree of change is robust and stability.

关键词： Target Tracking Complementary Filtering Re-detection Adaptive Learning Rate

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Research on the High-Precision Unmanned Operation control Algorithm of theVibroseis Vehicle

Research on the High-Precision Unmanned Operation Control Al...

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第40届中国控制会议

作者： LI Bin WANG Shoukun WANG Shuai WANG Junzheng LIU Shangfei State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology Beijing Institute of Technology

In order to meet the demand for high-precision operation of the vibroseis vehicle in the case of unmanned driving, an unmanned operation system that meets the working characteristics of the vibroseis vehicle is designed, and the key technical problems are studied, so that the vibroseis vehicle can operate in the complex environment of the field and improve the efficiency of geological exploration greatly. Firstly, the coordinate system and the kinematic model without sideslip of the articulated vehicle are established successively. Secondly, in order to improve the path tracking accuracy of the vibroseis vehicle, a model predictive control algorithm based on the kinematic model is designed for vehicle path tracking. In order to improve the positioning accuracy of the working point, a compensation algorithm for positioning error is proposed to reduce the positioning error caused by terrain factors. Finally, the unmanned operation platform is built and the path tracking algorithm and the compensation algorithm for positioning error are verified on the platform. The real vehicle test data shows that the path tracking algorithm proposed in this paper can control the average lateral error of the path tracking of the vibroseis vehicle within 22 *** with the PID control method, its path tracking accuracy can be improved by 59%. The average positioning error of working point is controlled within about 15 cm by adopting the compensation algorithm for positioning error.

关键词： Vibroseis vehicle Unmanned operation Path tracking Positioning compensation

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Robust Output Synchronization of Discrete-Time Linear-Time-Invariant Multi-Agent systems Using Phase Tool

Robust Output Synchronization of Discrete-Time Linear-Time-I...

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European control Conference (ECC)

作者： Xin Mao Dan Wang Wei Chen Li Qiu School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Department of Mechanics and Engineering Science State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China Southern University of Science and Technology Shenzhen China Hong Kong University of Science and Technology Hong Kong S.A.R. China

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

In this paper, the output synchronization in large-scale discrete-time networks is examined by utilizing the novel phase tool, where the agent dynamics are allowed to be significantly heterogeneous. The synchronization synthesis problem is formulated and thoroughly investigated, with the goal of characterizing the allowable heterogeneity among the agents to ensure synchronization under a uniform controller. The solvability condition is provided in terms of the phases of the residue matrices of the agents at the persistent modes. When the condition is satisfied, a design procedure is given, producing a low-gain synchronizing controller. Numerical examples are given to illustrate the results.

关键词： Sufficient conditions Europe Heterogeneous networks Synchronization Multi-agent systems

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Self-Attention based Temporal Intrinsic Reward for Reinforcement Learning

Self-Attention based Temporal Intrinsic Reward for Reinforce...

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Chinese Automation Congress (CAC)

作者： Zhuo Jiang Daiying Tian Qingkai Yang Zhihong Peng School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Peng Cheng Laboratory Shenzhen China

ISBN: (纸本)9781665426480

This paper proposes a self-attention based temporal intrinsic reward model for reinforcement learning (RL), to synthesize the control policy for the agent constrained by the sparse reward in partially observable environments. This approach can solve the problem of temporal credit assignment to some extent and deal with the low efficiency of exploration. We first introduce a sequence-based self-attention mechanism to generate the temporary features, which can effectively capture the temporal property of the task for the agent. During the training process, the temporary features are employed in each sampled episode to elaborate the intrinsic rewards, which is combined with the extrinsic reward to help the agent learn a feasible policy. Then we use the meta-gradient to update this intrinsic reward model in order that the agent can achieve better performance. Experiments are given to demonstrate the superiority of the proposed method.

关键词： Training Automation Reinforcement learning Task analysis

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Cross-Membrane Penetration to Nucleus of Adherent Cells Using Micropipettes Made by Borosilicate Glass and Quartz 17

Cross-Membrane Penetration to Nucleus of Adherent Cells Usin...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Xu, Xinyue Liu, Xiaoming Lin, Yuqing Li, Pengyun Liu, Fengyu Tang, Xiaoqing Huang, Qiang Arai, Tatsuo Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineering Beijing100081 China

ISBN: (纸本)9781728164151

In the biomicromanipulation field, single-cell manipulation is receiving attention due to its potential applications in many aspects of biomedicine. Cell injection, as a typical cell micromanipulation technique, is devoted to introducing foreign substances into living cells by penetrating a fine micropipette into cell membranes. Direct access to the intracellular environment, especially the nucleus, provides an ideal way to gain insight into the dynamic processes of living cells. This paper presents the comparison of controlled penetrations of two types of adherent cells and their nuclei by two types of micropipettes, made of borosilicate glass and quartz respectively. Due to the differences in the cell properties (e.g., height, adhesion strength), two corresponding penetration strategies optimizing the puncture angle and puncture height, are proposed to improve the success rate of the puncture process and the survival rate of cells after the puncture. Real nucleus puncture experiments adopting the optimal puncture strategy for each type of cells and carried out by a semi-automatic system, indicated a better puncture effect by quartz pipettes. Through this method, functional materials such as peptides and nanoparticles can be potentially introduced to perturb the cell activities and then realize its full automation. © 2020 IEEE.

关键词： Quartz

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