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第三十八届中国控制会议

作者： Jia-Cheng Sun Tao Jing Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University

This paper proposes a method to simulate odor diffusion process under the wing-in-ground aerodynamic olfactory effect for gas-sensitive rotorcrafts and verifies its correctness by experiments. When an aircraft is flying close to the ground,the flow characteristics will be affected by the ground, the induced drag and wake volocity will be changed, which is called the wing-in-ground effect. The diffusion of odor plume under the wing-in-ground effect is different from the normal *** this paper, the wing-in-ground effect is simulated by the opposite flow of two mirrored wakes. This method converts the influence of ground on wake vortexes into that of mirrored wake vortexes. Inspired by the PIV(particle image velocimetry)principle, a simple and easy-to-operate device that can be realized in the offices is designed and built to verify the accuracy of the simulation. The Hu invariant moments are used to compare the envelope lines of odor-plumes images in the simulation and experiment, and the results are converted into a number indicating the similarity between them. The comparison results show that the simulation model of the wing-in-ground aerodynamic olfactory effect is basically the same as the experimental one, that is to say, the proposed model is a reliable method to simulate the odor diffusion process under the wing-in-ground effect of rotorcrafts.

关键词： wing-in-ground effect aerodynamic olfactory effect gas-sensitive rotorcrafts odor diffusion plume simulation

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An Automatic Detection and Recognition Method for Pointer-type Meters in Natural Gas Stations

An Automatic Detection and Recognition Method for Pointer-ty...

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第三十八届中国控制会议

作者： Yan Huang Xu-Yang Dai Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University

Currently, pointer-type meters in natural gas stations are read manually, which causes a waste of human *** have proposed lots of methods to realize automatic reading of such meters. However, these methods need high quality source image rigorously so that they cannot perform well in real environments. To solve this problem, an automatic detection and recognition method for pointer-type meters is proposed, which consists of R-FCNs(region-based fully convolutional networks),an improved local threshold segmentation method and a probability-circle method. The experimental results show that the method performs well when the source image is blurred, the illumination is complex or the camera's angle is tilted. It has good robustness and accuracy to detect and recognize the pointer-type meters automatically.

关键词： Pointer-type meter automatic reading R-FCNs threshold segmentation probability-circle method

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Online collision avoidance for human-robot collaborative interaction concerning safety and efficient

TechRxiv

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TechRxiv 2020年

作者： Liu, Guoliang He, Haoyang Tian, Guohui Zhang, Jianhua Ji, Ze The School of Control Science and Engineering Shandong University Jinan250061 China School of Mechanical Engineering Hebei University of Technology Tianjin300131 China The Robotics and Autonomous Systems Laboratory School of Engineering Cardiff University CardiffCF10 3AT United Kingdom

With the development of robot technology and the arrival of industry 4.0 era, society pays more attention to collaboration and interaction between human and robots. However, safety is still main concern in the development of human-robot collaboration. In this paper, a novel real-time collision avoidance approach for mobile manipulator is proposed by considering the motion status of the human, which includes the relative minimum distance and velocity (both magnitude and direction) between the robot and the human. The distance and velocity of the human hand are first estimated online using a vision sensor, and then defined as danger factors in the potential function of the potential field. The novel potential function proposed in this paper considers not only the safety problem, but also the efficient problem, i.e., the manipulator can make smart control decision to avoid the collision according to the relative velocity in case of the cross over. To overcome the local minimum problem and choose a best motion direction, we propose a motion sampling mechanism for motion planning. For each sample, the robot calculates the potential function to evaluate the safety and efficiency, and chooses a direction which is best for avoidance. We finally demonstrate our idea on a real mobile manipulator platform in a simulated co-worker environment. © 2020, CC BY.

关键词： Collision avoidance

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An Infotaxis-based Odor Source Searching Strategy for a Mobile Robot Equipped with a TDLAS Gas Sensor

An Infotaxis-based Odor Source Searching Strategy for a Mobi...

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第三十八届中国控制会议

作者： Xu-Yang Dai Jia-Ying Wang Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University

As a source searching method, infotaxis has been used in mobile olfactory robots equipped with contact-type MOS(metal oxide semiconductor) gas sensors. This method navigates a robot to explore more cues in the global space and therefore costs much time at the early stage. To solve this problem, this paper presents a line integral infotaxis(LII) algorithm which is realized by applying a remote-type TDLAS(tunable diode laser absorption spectroscopy) gas sensor to the infotaxis. In addition, the robot often gets stuck in the place of high concentration during the infotaxis searching process, so an odor source declaration procedure which is implemented by calculating the odor particle flux on a closed curve is added to the LII. Simulation results show that the LII algorithm can enormously save time of exploration and solve the local convergence problem.

关键词： Olfactory robots TDLAS gas sensor line integral infotaxis odor source declaration odor particle flux

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Hierarchical Task Impedance control of a Serial Manipulator for Minimally Invasive Surgery

Hierarchical Task Impedance Control of a Serial Manipulator ...

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IEEE International Conference on Human-Machine systems

作者： Hang Su Chenguang Yang Jiehao Li Yiming Jiang Giancarlo Ferrigno Elena De Momi Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano Milan Italy Bristol Robotics Laboratory University of the West of England Bristol United Kingdom State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China National Engineering Laboratory for Robot Visual Perception and Control Hunan University Changsha China Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano Milano Italy

ISBN: (数字)9781728158716

ISBN: (纸本)9781728158723

Flexibility and robustness have become key points in the development of surgical robot controller for physical interactions. However, the conventional impedance control schemes unaware of the actual surgical scenario, including complex physical interaction on the robot arm, lead to the loss of accuracy. In this paper, a hierarchical task impedance control scheme is proposed for Minimally Invasive Surgery (MIS) based on an operational space formulation of a 7 DoFs redundant robot. Its redundancy is exploited to guarantee a remote center of motion (RCM) constraint and to provide a flexible workspace for the medical staff to assist physicians. In addition to the achievement of the classical whole-body impedance control, the issue of uncertain disturbances will be addressed by a decoupled adaptive approximation based on a radial basis function neural network (RBFNN) within the control framework. Task performances under the hierarchical task impedance controller were validated and compared with previous work in the literature. Experimental results showed its improved performance in terms of positional error and RCM constraint, regardless of the existing uncertain physical interaction.

关键词： Task analysis Impedance Manipulators Tools Surgery Jacobian matrices

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Distributedly Solving Boolean Equations over Networks

Distributedly Solving Boolean Equations over Networks

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IEEE Conference on Decision and control

作者： Hongsheng Qi Bo Li Rui-Juan Jing Alexandre Proutiere Guodong Shi Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing China Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China Faculty of Science Jiangsu University Zhenjiang China KTH Royal Institute of Technology Stockholm Sweden Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW Australia

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

关键词： Signal processing algorithms Heuristic algorithms Consensus algorithm Distributed algorithms Approximation algorithms Signal processing Convergence

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Adaptive safe distance prediction using MPC for bridge cranes considering anti-swing in dynamic environment

TechRxiv

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TechRxiv 2020年

作者： Chen, Huili Liu, Guoliang Tian, Guohui Zhang, Jianhua Ji, Ze The School of Control Science and Engineering Shandong University Jinan250061 China School of Mechanical Engineering Hebei University of Technology Tianjin300131 China The Robotics and Autonomous Systems Laboratory School of Engineering Cardiff University CardiffCF10 3AT United Kingdom

In dynamic environment, the suddenly appeared human or other moving obstacles can affect the safety of the bridge crane. For such dangerous situation, the bridge crane must predict potential collisions between the payload and the obstacle, keep safe distance while the swing of the payload must be considered in the mean time. Therefore, the safe distance is not a constant value, which must be adaptive to the relative speed of the bridge crane. However, as far as we know, the mathematical model between the safe distance and the relative speed of the bridge crane has never been fully discussed. In this paper, we propose a safe distance prediction method using model prediction control (MPC), which can make sure that the crane can stop before the obstacle, and avoid possible collisions, while the relative speed and anti-swing are both considered. The experimental results prove the effectiveness of our idea. © 2020, CC BY.

关键词： Forecasting

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Seeking the Analytical Approximation of the Stance Dynamics of the 3D Spring-Loaded Inverted Pendulum Model By Using Perturbation Approach

Seeking the Analytical Approximation of the Stance Dynamics ...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Haitao Yu Shengjun Wang Kaizheng Shan Jun Li Lixian Zhang Haibo Gao State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

The Spring-Loaded Inverted Pendulum (SLIP) has been widely exploited in both biomechanical and robotics research due to its simple form in mathematics and high accuracy in fitting experimental biology data. However the intrinsic nonlinearity of the SLIP dynamics makes accurate analytical representation unavailable. Traditional methods take advantage of numerical integration to handle this issue while several existing analytical approximations focusing on 2D-SLIP model. The 3D-SLIP suitable to physical reality is rarely investigated. This paper presents a novel perturbation-based approach to obtain the closed-form analytical approximations of the 3D-SLIP model in stance phase. In contrast to existing work ignoring the gravitational forces, the proposed approach just relies on assumptions of small leg compression and small leg swept angle. The performance of the derived approximations has been evaluated via comprehensive numerical analysis. The quality of accurate apex prediction promises the approximation as an advantageous and reliable tool for locomotion control of legged robots.

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Distributed algorithms that solve boolean equations with local and differential privacies

arXiv

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arXiv 2020年

作者： Qi, Hongsheng Li, Bo Jing, Rui-Juan Wang, Lei Proutiere, Alexandre Shi, Guodong Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Faculty of Science Jiangsu University Zhenjiang212013 China Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW2006 Australia Department of Automatic Control Kth Royal Institute of Technology Stockholm100-44 Sweden

In this paper, we propose distributed algorithms that solve a system of Boolean equations over a network, where each node in the network possesses only one Boolean equation from the system. The Boolean equation assigned at any particular node is a private equation known to this node only, and the nodes aim to compute the exact set of solutions to the system without exchanging their local equations. We show that each private Boolean equation can be locally lifted to a linear algebraic equation under a basis of Boolean vectors, leading to a network linear equation that is distributedly solvable using existing distributed linear equation algorithms as a subroutine. A number of exact or approximate solutions to the induced linear equation are then computed at each node from different initial values. The solutions to the original Boolean equations are eventually computed locally via a Boolean vector search algorithm. We prove that given solvable Boolean equations, when the initial values of the nodes for the distributed linear equation solving step are i.i.d selected according to a uniform distribution in a high-dimensional cube, our algorithms return the exact solution set of the Boolean equations at each node with high probability. Furthermore, we present an algorithm for distributed verification of the satisfiability of Boolean equations, and prove its correctness. Finally, we show that by utilizing linear equation solvers with differential privacy to replace the in-network computing routines, the overall distributed Boolean equation algorithms can be made differentially private. Under the standard Laplace mechanism, we prove an explicit level of noises that can be injected in the linear equation steps for ensuring a prescribed level of differential privacy. Copyright © 2020, The Authors. All rights reserved.

关键词： Linear equations

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Method of Formation of Reference control Signals for Redundant Manipulators

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Journal of Physics: Conference Series 2021年第1期2096卷

作者： V F Filaretov A S Gubankov I V Gornostaev Far Eastern Federal University Department of Automation and Robotics Vladivostok 690091 Russian Federation Institute of Automation and Control Processes FEB RAS Robotics Laboratory Vladivostok 690041 Russian Federation Institute of Marine Technology Problems FEB RAS Laboratory of Robotic Systems Vladivostok 690091 Russian Federation

The paper is devoted to preservation of dynamic control accuracy of working tools of multilink manipulators when they move along arbitrary spatial trajectories, taking into account the design limits in all degrees of freedom and special cases of position of their links. Preservation of control accuracy is proposed to be ensured by eliminating reach of all degrees of freedom of the manipulators to the limits and to indicated special positions, characterized by ambiguity in solving the inverse kinematic problems of the manipulators, as well as excluding the reach of their working tools to boundaries of working area due to use of a redundant degree of freedom when approaching indicated undesirable positions. The performed simulation has confirmed efficiency of the proposed method.

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