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第三十八届中国控制会议

作者： Chang-Hui Hu Meng-Jun Ye Jian Yu Shen Jing Guang-Liang Zhou College of Automation & College of Artificial Intelligence Nanjing University of Posts and Telecommunications College of Mechatronics and Control Engineering Hubei Normal University

In spired by the fact that a logarithm difference is the subtraction of two neighbor pixels, which may be a positive or negative numerical value, we divide a face local region into a positive region and a negative region, and the general logarithm difference model(GLDM) is developed by integrating positive and negative logarithm differences. Then, the multiscale logarithm difference edge-maps(MSLDE) [1] is employed as the test-bed, and the proposed GLDM is introduced into MSLDE to form General MSLDE(GMSLDE). Finally, the performance of GMSLDE is verified on the Extended Yale B and CMU PIE face databases with severe illumination variations. The experimental results indicate that the proposed GLDM can efficiently improve the performance of logarithm difference edge-map against severe illumination variations.

关键词： Logarithm difference,severe illumination variations,positive and negative logarithm differences illumination variation face recognition

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Real-time on-line parameter estimation of linear switched reluctance motor

Real-time on-line parameter estimation of linear switched re...

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International Conference on Electrical Machines, ICEM

作者： N.C. Cheung J.F. Pan Jin-quan Li Department of Electrical Engineering Hong Kong Polytechnic University Hong Kong China Department of Automation College of Mechatronics and Control Engineering Shenzhen University Shenzhen China

The on-line least-square identification method is applied for the linear switched reluctance motor (LSRM) based closed-loop control system. Since switched reluctance motors have severe nonlinear characteristics, on-line system identification for model parameters is the basis for precise modeling and effective control algorithms. By on-line parameter identification of LSRM with least-square scheme, the parameter characteristics can be predicted despite of operation variations. The experimental results demonstrate the identification scheme has fast response and converging speed and the capability of effective parameter prediction under different conditions.

关键词： Parameter estimation Switches Reluctance motors Mathematical model Electrical engineering Real time systems

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A direct expert controller design for speed control of DC motor

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Journal of Computational Information Systems 2015年第1期11卷 229-236页

作者： Gao, Hongliang Ma, Shuangbao Zhan, Xisheng College of Mechatronics and Control Engineering Hubei Normal University Huangshi China School of Energy and Power Engineering Huazhong University of Science and Technology Wuhan China College of Mechanical Engineering and Automation Wuhan Textile University Wuhan China

This article presents a direct expert controller for speed control of DC motor. The DC motor speed control system is selected as the controlled object. The transfer function model and the difference equation model of a separately excited DC motor are constructed for controller design. In controller design, four rules according to the error and change in error of motor speed are gained. By simulation experiments, the detailed parameters are determined for basic expert controller and direct expert controller. The simulation results demonstrate that the direct expert controller has the best control effect in transient response and steady state error than PID controller and basic expert controller. ©, 2014, Journal of Computational Information Systems. All right reserved.

关键词： Three term control systems

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Design and Modeling of a Biomimetic Wire-driven Soft Robotic Fish

Design and Modeling of a Biomimetic Wire-driven Soft Robotic...

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Chinese automation Congress (CAC)

作者： Yun Jiang Xiaocheng Liu Hong Chen Weijie Gong Yu Lu Weidong Zhang Department of Automation Shanghai Jiao Tong University Shanghai China College of Mechatronics and Control Engineering Shenzhen University Shenzhen China

This paper introduces a new type of soft robotic fish driven by a biomimetic propulsor. The propulsor is composed of a soft tail made of silica gel and two controlling wires. The soft tail can complete oscillatory motion by controlling the two wires. The barycenter control mechanism enables the soft robotic fish to float and sink. The kinematics model is built based on Lighthill's elongated body theory. The biomimetic wire-driven soft robotic fish is simple in structure and easy to manipulate. The simulation results show that this soft robotic fish well resembles the real fish swimming body curve and validate the performance of the wire-driven design.

关键词： Biomimetics Soft robotics Mobile robots Motion control Underwater vehicles

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System for Determining the Shape of the Wavefront of a Nonsinusoidal Periodic Acoustic Wave

System for Determining the Shape of the Wavefront of a Nonsi...

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International Conference on engineering of Modern Electric Systems (EMES)

作者： Adrian Codoban Laura Coroiu Eugen Gergely József Sárosi Department Control Systems Engineering and Management University of Oradea Oradea Romania Department of Mechatronics and Automation University of Szeged Szeged Hungary

The shape of the wavefront is important for the most realistic reproduction of the acoustic wave. In acoustics, the wave front (or wave surface) is defined as the totality of points in the space of the propagating medium that have the same instantaneous elongation amplitude. In the ideal case, in a homogeneous and isotropic propagation medium without other disturbances, the wave has a spherical symmetry, i.e. the shape of the wavefront is circular and at large distances from the wave source, due to dispersion, the shape of the wavefront can be considered plan. In practice, however, due to the multiple component harmonics, reflections and possible summations of the primary acoustic wave, the elongation has a non-sinusoidal shape, and the wavefront may have an irregular random shape. Moreover, if the source of the wave or bodies from which it is reflected are in motion, the shape of the wavefront may even be variable in time. The paper presents a method for determining the shape of the wave front of a non-sinusoidal periodic plane acoustic wave, resulting from the addition of several harmonic components, reflected waves, etc. It uses an array of omnidirectional capacitive microphones arranged in line, at equal distances between them. At each of the microphones, the acoustic wave is captured out of phase depending on the position of the microphone in space and the shape of the wave front. These phase shifts placed next to each other give an image of the shape of the wavefront captured by the microphone system. The method presented in this paper reproduces sounds very realistically and can be used in Active Noise Cancel systems, in open spaces, with one or more mobile noise sources. One of the benefits is the increase in hearing comfort in noisy environments. Another is to record sounds with high fidelity.

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Design, Kinematic and Variable Stiffness Analysis of a Tensegrity-Based Joint

Design, Kinematic and Variable Stiffness Analysis of a Tense...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Wu, Jinlong Liu, Gang Li, Ke Zhang, Niansong Yu, Zhiyuan Wu, Haiteng Liu, Yixiang Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China School of Mechanical Engineering Nanjing University of Science and Technology Nanjing210094 China School of Mechatronics Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China Hangzhou Shenhao Technology Co. Ltd Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou311121 China Jilin University Key Laboratory of Bionic Engineering Ministry of Education Jilin130022 China

ISBN: (纸本)9781665481090

In this paper, a new compact, low-inertia, and flexible tensegrity joint is proposed, which aims to overcome the shortcomings of traditional collaborative robots and tendon-driven robots. The joint is composed of two circular frames, and is connected by three surrounding pneumatic muscles and an intermediate spring. The stiffness of the joint is changed by inflating and releasing air to the pneumatic muscles, which is also the principle of the joint's variable stiffness. Firstly, a detailed kinematic analysis of the proposed tensegrity joint was carried out to explore its position change in multi-axis motion. Secondly, the stiffness analysis was carried out to evaluate the deformation response and stiffness characteristics of the joint under different loads, which provided an important reference for its design optimization. Finally, the performance of the model is verified by simulation analysis, and the reliability and practicability of the model in dynamic work are verified by comparison with actual data. This study provides a theoretical and experimental basis for the promotion of new tensegrity joints in robot applications, and provides new design ideas and methods for the development and innovation of future robotics technology. © 2024 IEEE.

关键词： Collaborative robots

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Interaction-Aware Cut-In Trajectory Prediction and Risk Assessment in Mixed Traffic

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1752-1762页

作者： Xianglei Zhu Wen Hu Zejian Deng Jinwei Zhang Fengqing Hu Rui Zhou Keqiu Li Fei-Yue Wang the College of Intelligence and Computing Tianjin UniversityTianjin 300350 the China Automotive Technology and Research Center Co.Ltd. Tianjin 300300China the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China the Department of Mechanical and Mechatronics Engineering University of WaterlooWaterlooON N2L3G1Canada the School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China the Macao University of Science and Technology MacaoChina the Waytous Inc. Qingdao 266000China IEEE the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Accurately predicting the trajectories of surrounding vehicles and assessing the collision risks are essential to avoid side and rear-end collisions caused by *** improve the safety of autonomous vehicles in the mixed traffic,this study proposes a cut-in prediction and risk assessment method with considering the interactions of multiple traffic *** integration of the support vector machine and Gaussian mixture model(SVM-GMM)is developed to simultaneously predict cut-in behavior and *** dimension of the input features is reduced through Chebyshev fitting to improve the training efficiency as well as the online inference *** on the predicted trajectory of the cut-in vehicle and the responsive actions of the autonomous vehicles,two risk measurements are introduced to formulate the comprehensive interaction risk through the combination of Sigmoid function and Softmax ***,the comparative analysis is performed to validate the proposed method using the naturalistic driving *** results show that the proposed method can predict the trajectory with higher precision and effectively evaluate the risk level of a cut-in maneuver compared to the methods without considering interaction.

关键词： Cut-in behavior interaction-aware mixed traffic risk assessment trajectory prediction

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TensWheBot: A Double Wheeled Rolling Robot Based on Tensegrity Structures

TensWheBot: A Double Wheeled Rolling Robot Based on Tensegri...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zhang, Niansong Liu, Gang Li, Yiqing Li, Ke Yu, Zhiyuan Wu, Haiteng Liu, Yixiang Li, Yibin Nanjing University of Science and Technology School of Mechanical Engineering Nanjing210094 China Chengdu Aeronautic Polytechnic School of Automotive Engineering Chengdu610100 China Harbin Institute of Technology School of Mechatronics Engineering and Automation Shenzhen Shenzhen518055 China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China Hangzhou Shenhao Technology Co. Ltd Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou311121 China Shandong University School of Control Science and Engineering Jinan250061 China Jilin University Key Laboratory of Bionic Engineering Ministry of Education Jilin130022 China

ISBN: (纸本)9781665481090

Tensegrity structure constitutes a self-supporting and self-stressed spatial grid framework, comprising distinct compression components and continuous tension components, which integrates the benefits of rigid structure and flexible structure. This paper introduces TensWheBot, a robot designed with deformable wheels based on tensegrity structure. Based on the force density method, the form-finding of the tensegrity module is accomplished. The tensegrity module can actively alter its shape through the central driving compression rod, thereby modifying the width and the wheel diameter of the robot. The robot's motion law is derived from kinematic modeling. The assembly of the prototype, the establishment of the robot model, and the results of related simulation experiments have validated the effectiveness of the robot. The tensegrity wheeled robot meets the needs of complex and variable environments, as well as diverse tasks such as disaster rescue and terrain exploration. © 2024 IEEE.

关键词： Wheels

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Simulation and Experimental Research on the Thread Turning of Planetary Roller Screw Mechanism

Simulation and Experimental Research on the Thread Turning o...

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IEEE International Conference on mechatronics and automation

作者： Xinhua Zhang Xijian Huo Xiaobin Li Xiaoshuai Duan Minghui Hao Beijing Institute of Automation and Control Equipment Beijing China School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Aiming at the problem of the thread processing process of the planetary roller screw mechanism (PRSM), the theory, simulations and experiments of the thread turning are studied in this paper. Firstly, the unit cutter model and the main cutting force model of thread turning of PRSM are established based on the minimum energy method. And the finite element simulations calculation of thread turning of PRSM are performed, which analyze the influence of cutting parameters (cut depth, speed of cutting and the lathe) on the cutting force, the cutting temperature and the tool wear. Finally, the turning experiments of the screw rod are performed. The results show that the finite element simulations can effectively ensure thread processing process PRSM.

关键词： Analytical models Instruction sets Force Fasteners Tools Turning Finite element analysis

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Reliability Analysis of Assembly Processes Performed by Human-Robot Interaction

Reliability Analysis of Assembly Processes Performed by Huma...

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International Symposium on Multidisciplinary Studies and Innovative Technologies (ISMSIT)

作者： Mustafa Çoban Özgür Turay Kaymakçı Gökhan Gelen Department of Mechatronics Engineering Bursa Technical University Bursa Turkey Faculty of Electric Electronic Control and Automation Engineering Yıldız Technical University İstanbul Turkey

Together with innovations in robot technologies and the emergence of the fourth industrial revolution called Industry 4.0, collaborative robot applications have improved. Collaborative robots are the robots that provide the safe handling of many processes such as assembly, pick and place, palletizing in factories. The reliability analysis of the system has great importance in order to determine the failure conditions and failure possibilities that will occur in the systems enabling these operations. In this study, reliability analysis of assembly processes performed by human-robot interaction is presented. The reliability block diagram of the system is created and the reliability value of the system over time is determined. Then, Markov model indicating the fault conditions in the system is created and the probability of occurrence of these fault conditions is determined. The results show that if the system operates continuously for five years, the reliability will drop below 10% and the reasons that decrease the reliability are discussed in the last section.

关键词： Reliability Service robots Safety Robotic assembly Sensors Relays

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