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Design and analysis of a whole-body controller for a velocity controlled robot mobile manipulator

Science China(Information Sciences) 2020年第7期63卷 98-112页

作者： Mantian LI Zeguo YANG Fusheng ZHA Xin WANG Pengfei WANG Ping LI Qinyuan REN Fei CHEN State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen Academy of Aerospace Technology Key Laboratory of Industrial Control Technology Zhejiang University

Mobile manipulators, which are intrinsically redundant when the manipulator and mobile base are moving together, are known for their capabilities to carry out multiple tasks at the same time. This paper presents a whole-body control framework, inspired by legged bio-robots, for a velocity controlled non-holonomic mobile manipulator based on task priority. control primitives, such as manipulability optimization, trajectory tracking of the end-effector and mobile base, and collision avoidance, are considered in the framework and arranged at different priorities. Lower priority tasks are projected into the null space of control tasks with higher priorities. As a result, lower level tasks are completed without affecting the performance of higher priority tasks. Several experiments are implemented to verify the effectiveness of the proposed controller. The proposed method is proved to be an effective way to solve the whole-body control problem of velocity controlled mobile manipulators.

关键词： mobile manipulator whole-body control velocity controlled task priority null-space projection

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Feasibility Evaluation of Quadratic Programs for Constrained control

arXiv

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arXiv 2025年

作者： Rousseas, Panagiotis Panagou, Dimitra Control Systems Laboratory School of Mechanical Engineering National Technical University of Athens Greece Department of Robotics Department of Aerospace Engineering University of Michigan MI United States

This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic Programs (QPs) for online constrained control. Based on the duality principle, we first show that the feasibility of a QP can be determined by the solution of a properly-defined Linear Program (LP). Our analysis yields a LP that can be solved more efficiently compared to the original QP problem, and more importantly, is simpler in form and can be solved more efficiently compared to existing methods that assess feasibility via LPs. The computational efficiency of the proposed method compared to existing methods for feasibility evaluation is demonstrated in comparative case studies as well as a feasible-constraint selection problem, indicating its promise for online feasibility evaluation of optimization-based controllers. © 2025, CC BY.

关键词： Quadratic programming

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Development of an Industrial Real-time Ethernet Protocol Stack Based on SoC

Development of an Industrial Real-time Ethernet Protocol Sta...

引用

2022 International Symposium on Networks, Computers and Communications, ISNCC 2022

作者： Zhang, Bo Yan, Bingjun Liu, Mingzhe Hu, Bo Xu, Aidong Wang, Kai Key Laboratory of Networked Control Systems Chinese Academy of Sciences China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China

ISBN: (数字)9781665485449

ISBN: (纸本)9781665485449

In order to improve the real-time and reliability of network communication in intelligent ship system, this paper analyzes the requirements of ship-borne network, and develops a real-time Ethernet protocol stack based on Zynq7000 series SoC chip. The development of the protocol stack includes the software layer and the firmware layer. As the main part of the protocol stack, the software layer adds real-time communication entities upon the data link layer of the Ethernet reference model, and the timing of communication is controlled by the synchronous precise measurement clock to realize the real-time scheduling and transmission of data. On the other hand, the PTP message timestamp function of clock synchronization and the redundant function of zero recovery time based on PRP algorithm is realized on the firmware layer. Finally, the real-time, reliability and synchronization accuracy of the protocol stack are tested and verified on the developed real-time Ethernet cards. © 2022 IEEE.

关键词： System-on-chip

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Landing Area Prediction in Complex Terrains for Walking-assisted Lower-limb Exoskeleton Robot

引用

Procedia Computer Science 2023年 226卷 120-126页

作者： Yuexun Liu Du-Xin Liu Yue Ma Sheng Guo Xinyu Wu Robotics Research Center School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing 100044 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China

With the expansion of application scenarios, the walking-assisted lower-limb exoskeleton robot urgently needs to improve its walking ability in complex terrains. However, due to the lack of environmental understanding ability and decision-making ability, the exoskeleton can not meet the need of people with lower-limb disability in complex terrains. To improve the walking abillity, this paper proposes a method of predicting the landing area in complex terrains for walking-assisted lower-limb exoskeleton robot. Multiple sensors were used to obtain the terrain information, step length, and stride length of human walking, and a multi-type input convolutional network was built to establish the mapping relationship to learn the decision-making mechanism of human standing in a complex environment. The result shows that the established network effectively predicts the landing area. Under the condition of full training, the predicted position deviation of the landing area is controlled within 6%, and the prediction rationality of the landing area can reach 90%.

关键词： Landing area prediction Walking-assisted lower-limb exoskeleton robot Complex terrains

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Natural Gas Load Forecasting Based on Multi-Stage Model Identification 14

Natural Gas Load Forecasting Based on Multi-Stage Model Iden...

引用

14th IEEE International Conference on Cyber Technology in Automation, control, and Intelligent Systems, CYBER 2024

作者： Zhang, Pengbin Wang, Hongrui Xing, Kunpeng Yuan, Mingzhe Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Guangzhou Institute of Industrial Intelligence Guangzhou511458 China China Nuclear Power Engineering Co. Ltd. Shenzhen518124 China

ISBN: (纸本)9798331506056

Natural gas load forecasting is crucial for the safe operation of urban natural gas. Based on the system identification method, the short-term natural gas load forecasting is studied in the paper. Employing a multi-stage identification framework, the initial values of the model parameters using the least squares and the instrumental variables method, while the model parameters are further optimized by the prediction error method to improve the accuracy of the model identification. The proposed method is validated by the simulation based on the public natural gas data in the U.S., demonstrating the algorithm's effectiveness in forecasting the daily natural gas load effectively. © 2024 IEEE.

关键词： Prediction models

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Safety-Aware Trajectory Tracking using High-Order control Barrier Functions

Safety-Aware Trajectory Tracking using High-Order Control Ba...

引用

IEEE Conference on Decision and control

作者： Panagiotis Rousseas Dimitra Panagou Kostas Kyriakopoulos Control Systems Laboratory School of Mechanical Engineering National Technical University of Athens Greece Department of Robotics and the Department of Aerospace Engineering University of Michigan MI USA Center of AI & Robotics (CAIR) New York University Abu Dhabi

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

A novel method on safety-aware trajectory tracking is presented in this work. The proposed scheme employs control Barrier Functions (CBFs) along with a latent-space representation over the barrier and its derivatives. While such representations have also been employed in the literature, the innovation of the proposed method lies in formulating a novel tracking problem on the latent space, enabling for the shape of linear class $-\mathcal{K}$ functions that are included in the safety condition induced by the control barrier function to be chosen constructively. Additionally, the aforementioned safety condition is modified based on the latent-space tracking through the addition of an extra term. This enables maintaining safety guarantees and is demonstrated to provide decreased tracking errors compared to the nominal control barrier function scheme. Numerical simulations validate the efficacy of the proposed scheme, as well as its ability for online implementation.

关键词： Technological innovation Trajectory tracking Shape Aerospace electronics Numerical simulation Safety

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Kuhn-Munkres Algorithm Based Hybrid Beamforming for Wideband Millimeter Wave MIMO Systems With Dynamic Subarrays 15

Kuhn-Munkres Algorithm Based Hybrid Beamforming for Wideband...

引用

15th IEEE International Conference on Wireless Communications and Signal Processing, WCSP 2023

作者： Wang, Gengshan Yang, Zhijia Gong, Tierui Zheng, Meng Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Singapore University of Technology and Design Singapore

ISBN: (纸本)9798350324662

Dynamic subarrays (DSs) is an energy-efficient and cost-effective hybrid beamforming structure for millimeter wave (mmWave) multiple-input multiple-output (MIMO) communications. In this paper, we investigate the nonconvex hybrid beam-forming problem of maximizing the average spectral efficiency of the point-to-point wideband mmWave MIMO system with DSs, where the beam squints are also considered. To address the nonconvexity of this hybrid beamforming problem, we first exploit the singular value decomposition of each subcarrier channel and water-filling strategy to get the optimal fully-digital beamforming. We then propose to leverage the Kuhn-Munkres algorithm to get the hybrid beamforming from the obtained fully-digital solutions, aiming to guarantee that every radio-frequency chain is connected to at least one antenna. Besides, we analyze the computational complexity of the proposed design. Numerical results demonstrate the superiority of this work over the state of the art. © 2023 IEEE.

关键词： dynamic subarrays hybrid beamforming Kuhn-Munkres algorithm MIMO spectral efficiency Wideband millimeter wave

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Transfer Learning: An Approach on the Riemannian Manifold for Multiclass Motor Imagery EEG Brain-Computer Interface

Transfer Learning: An Approach on the Riemannian Manifold fo...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Xu Sun Yaqi Chu Yang Luo Xingang Zhao Department of Control Engineering Northeastern University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation (SIA) Chinese Academy of Sciences (CAS) Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences (CAS) Shenyang China

ISBN: (数字)9798350391916

ISBN: (纸本)9798350391923

Motor imagery (MI) EEG-based brain-computer interface (BCI) facilitates direct communication between the brain’s intentions and a computer. In essence, it allows a person to control external equipment by decoding EEG signals during the mental imagery of limb movements. However, due to the intricate individual variances in EEG signals, creating a general decoding model with parameters applicable to all subjects is exceptionally challenging. Consequently, a prolonged calibration process is necessary to gather labeled subject-specific data for each individual, making it less user-friendly. A potential solution to this problem is transfer learning, a methodology that transfers knowledge from related domains to a target domain. To tackle the problem, this paper proposes a novel transfer learning approach on the Riemannian manifold framework in the context of multiclass MI EEG-based BCI classification. Particularly, a user-specific frequency band selection (FBS) method with MI EEG class distinctiveness is utilized to improve the accuracy and efficiency of Riemannian space calculations, which is measured using the inter-class distance and intra-class variance on the manifold. Then, the Riemannian space Alignment (RA) strategy is used to calibrate the MI EEG variances of different subjects. The comparative experiments between the proposed approach and baseline/conventional methods are conducted on a public dataset with four-class motor imagery EEG, including two-class transfer learning scenario and four-class transfer learning scenario. proposed transfer learning approach is outperformed. Compared with the baseline/conventional methods using a fixed wide frequency band, the preliminary results suggests that the proposed approach can significantly improve the transfer learning performance for the MI EEG signals from different subjects in Riemannian space.

关键词： Manifolds Mechatronics Machine vision Transfer learning Motors Particle measurements Electroencephalography Brain-computer interfaces Frequency measurement Decoding

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A Portable and Integrated Traveling-Wave Electroosmosis Microfluidic Pumping System Driven by Triboelectric Nanogenerator

SSRN

引用

SSRN 2024年

作者： Zhou, Jian Tao, Ye Liu, Weiyu Sun, Tie Wu, Fangyu Shi, Changrui Ren, Yukun State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China School of Electronics and Control Engineering Chang'an University Xi’an710064 China

The lab-on-a-chip system can simultaneously complete the preparation, reaction, separation, and detection of samples on a centi-scale platform by manipulating trace fluids. Traveling-wave electroosmosis (TWEO) technology, with the merit of electric signal-based flexible control over the fluid behavior, can achieve precise driving of fluids, which is an important requirement of the lab-on-a-chip system. However, the peripheral power equipment such as function generator required for TWEO limits the application in some occasions lacking power supply facilities, due to its large size and high cost. In this paper, we developed a brand-new portable and integrated TWEO microfluidic pumping system, wherein a front-end module of triboelectric nanogenerator (TENG) is in serial connection with the back-end microfluidic pumping chip, which greatly improves portability and reduces costs. The TENG can output a stable four consecutively 90°-phase-shifted alternating current voltage signals in a continuous rotational motion originated by its novel electrode structure. And the four-phase traveling potential waves are applied to four sets of electrode strips alternately distributed in the microchannel and thereby induce nonlinear electroosmotic slip on the electrode surface. Compared with traditional mechanical pumps, this system achieves stable pumping of electrolyte in the microchannel, but also realizes the almost instantaneous start, stop, and directional switching in response to a turn on, turn off, and turn in reverse of TENG, respectively. Finally, this system is integrated into a droplet microfluidic chip for the efficient fabrication of single emulsion droplets. This study presents a promising solution for the miniaturization, integration, and commercialization of lab-on-a-chip system. © 2024, The Authors. All rights reserved.

关键词： Lab-on-a-chip

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Confidence-Aware Safe and Stable control of control-Affine Systems

arXiv

引用

arXiv 2024年

作者： Wei, Shiqing Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Department of Electrical and Computer Engineering NYU Tandon School of Engineering 5 Metrotech Center BrooklynNY11201 United States

Designing control inputs that satisfy safety requirements is crucial in safety-critical nonlinear control, and this task becomes particularly challenging when full-state measurements are unavailable. In this work, we address the problem of synthesizing safe and stable control for control-affine systems via output feedback (using an observer) while reducing the estimation error of the observer. To achieve this, we adapt control Lyapunov function (CLF) and control barrier function (CBF) techniques to the output feedback setting. Building upon the existing CLF-CBF-QP (Quadratic Program) and CBF-QP frameworks, we formulate two confidence-aware optimization problems and establish the Lipschitz continuity of the obtained solutions. To validate our approach, we conduct simulation studies on two illustrative examples. The simulation studies indicate both improvements in the observer’s estimation accuracy and the fulfillment of safety and control requirements. © 2024, CC BY.

关键词： Lyapunov functions

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