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Flatness and normal forms of mechanical systems with 3 DOF and 2 inputs

IFAC-PapersOnLine 2024年第6期58卷 250-255页

作者： Florentina Nicolau Marcin Nowicki Witold Respondek Quartz EA7393 Laboratory ENSEA France Institute of Automatic Control and Robotics Poznan University of Technology Poznań Poland Institute of Automatic Control Lodz University of Technology Lódź Poland. Emeritus Professor at Normandie Université INSA de Rouen France

This paper introduces a new notion of Differential flatness for mechanical control systems, that we call mechanical flatness, and we study its relations with the mechanical structure of systems and with several variations of the notion of flatness. For the simplest nontrivial case of 3 DOF and 2-inputs, we give a complete Classification result in terms of normal forms, examining the interplay between mechanical flatness, config-flatness, and static mechanical feedback linearization.

关键词： mechanical systems flatness Differential difference normal forms

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Data-Efficient control Barrier Function Refinement

Data-Efficient Control Barrier Function Refinement

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American control Conference (ACC)

作者： Bolun Dai Heming Huang Prashanth Krishnamurthy Farshad Khorrami Electrical & Computer Engineering Department Control/Robotics Research Laboratory Tandon School of Engineering New York University Brooklyn NY

control barrier functions (CBFs) have been widely used for synthesizing controllers in safety-critical applications. When used as a safety filter, a CBF provides a simple and computationally efficient way to obtain safe controls from a possibly unsafe performance controller. Despite its conceptual simplicity, constructing a valid CBF is well known to be challenging, especially for high-relative degree systems under nonconvex constraints. Recently, work has been done to learn a valid CBF from data based on a handcrafted CBF (HCBF). Even though the HCBF gives a good initialization point, it still requires a large amount of data to train the CBF network. In this work, we propose a new method to learn more efficiently from the collected data through a novel prioritized data sampling strategy. A priority score is computed from the loss value of each data point. Then, a probability distribution based on the priority score of the data points is used to sample data and update the learned CBF. Using our proposed approach, we can learn a valid CBF that recovers a larger portion of the true safe set using a smaller amount of data. The effectiveness of our method is demonstrated in simulation on a two-link arm.

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Electric Vehicle Routing Problem with Capacitated Charging Stations and Dynamic Electricity Prices

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IEEE Internet of Things Journal 2025年

作者： He, Zhiye Tian, Yuning Miao, Haoyu Yao, Canqi Yang, Zaiyue Shenzhen Key Laboratory of Control Theory and Intelligent Systems Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities School of System Design and Intelligent Manufacturing Shenzhen518055 China The Hong Kong Polytechnic University Department of Logistics and Maritime Studies Hong Kong Hong Kong

With rapid electrification of transportation systems in recent years, the electric vehicle routing problem (EVRP) has received increasing attention. In order to serve a set of valuable transportation tasks using a fleet of electric vehicles, EVRP intends to jointly determine their routes and the charging schedules, with the aim of optimizing service reward and charging cost under state of charge (SOC) constraints of battery. EVRP is a difficult nonlinear integer program, and due to its intrinsic NP-hardness early EVRP studies often oversimplify the charging process and assume unlimited capacity of charging stations and constant electricity price. The contribution of this paper lies in twofold. First, to better characterize the practical charging process, this paper introduces a new graph model that can take the charging station capacity and dynamic electricity price into full consideration. Second, we design a series of transformation techniques, including reformulation SOC dynamics, Lagrangian relaxation, exact linear programming relaxation, etc, which eventually convert the original EVRP into an approximate linear program. Extensive simulations across 14 instances demonstrate that, the proposed approach is capable of solving large-scale instances over 500 nodes, and is 100 times faster than traditional analytic methods while achieving very close optimality. While comparing with the popular heuristic method ALNS (Adaptive Large Neighborhood Search), our method is several times faster and obtains much better optimality. © 2014 IEEE.

关键词： Charging stations

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NA-CPG: A robust and stable rhythm generator for robot motion control

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Biomimetic Intelligence & robotics 2022年第4期2卷 30-38页

作者： Ru Tong Changlin Qiu Zhengxing Wu Jian Wang Min Tan Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Central pattern generators(CPGs)have been widely applied in robot motion control for the spontaneous output of coherent periodic ***,the underlying CPG network exhibits good convergence performance only within a certain range of parameter spaces,and the coupling of oscillators affects the network output accuracy in complex topological ***,CPGs may diverge when parameters change drastically,and the divergence is irreversible,which is catastrophic for the control of robot ***,normalized asymmetric CPGs(NA-CPGs)that normalize the amplitude parameters of Hopf-based CPGs and add a constraint function and a frequency regulation mechanism are ***-CPGs can realize parameter decoupling,precise amplitude output,and stable and rapid convergence,as well as asymmetric output ***,it can effectively cope with large parameter changes to avoid network oscillations and *** optimize the parameters of the NA-CPG model,a reinforcement-learning-based online optimization method is further ***,a biomimetic robotic fish is illustrated to realize the whole optimization *** demonstrated that the designed NA-CPGs exhibit stable,secure,and accurate network outputs,and the proposed optimization method effectively improves the swimming speed and reduces the lateral swing of the multijoint robotic fish by 6.7%and 41.7%,*** proposed approach provides a significant improvement in CPG research and can be widely employed in the field of robot motion control.

关键词： Normalized asymmetric CPGs Rhythm generator Motion control Robotic fish

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Enhanced cathodic activity by tantalum inclusion at B-site of La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.6)O_(3)based on structural property tailored via camphor-assisted solid-state reaction

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Journal of Advanced Ceramics 2022年第8期11卷 1330-1342页

作者： Dingyu XIONG Sefiu Abolaji RASAKI Yangpu LI Liangdong FAN Changyong LIU Zhangwei CHEN Additive Manufacturing Institute Shenzhen UniversityShenzhen 518060China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics Shenzhen UniversityShenzhen 518060China Department of Chemical and Petroleum Engineering University of CalgaryCalgary T2N1N4Canada College of Chemistry and Environmental Engineering Shenzhen UniversityShenzhen 518060China

Lanthanum strontium cobalt ferrite(LSCF)is an appreciable cathode material for solid oxide fuel cells(SOFCs),and it has been widely investigated,owing to its excellent thermal and chemical ***,its poor oxygen reduction reaction(ORR)activity,particularly at a temperature of≤800℃,causes setbacks in achieving a peak power density of>1.0 W·cm^(-2),limiting its application in the commercialization of *** improve the ORR of LSCF,doping strategies have been found ***,the porous tantalum-doped LSCF materials(La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.5)7Ta_(0.03)O_(3)(LSCFT-0),La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.5)4Ta0.06O_(3),and La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.5)Ta0.1O_(3))are prepared via camphor-assisted solid-state reaction(CSSR).The LSCFT-0 material exhibits promising ORR with area-specific resistance(ASR)of 1.260,_(0.5)80,0.260,0.100,and 0.06Ω·cm^(2)at 600,650,700,750,and 800℃,*** performance is about 2 times higher than that of undoped La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.6)O_(3)with the ASR of 2.515,1.191,_(0.5)96,0.320,and 0.181Ω·cm^(2)from the lowest to the highest *** material characterization,it was found that the incorporated Ta occupied the B-site of the material,leading to the enhancement of the ORR *** the use of LSCFT-0 as the cathode material for anode-supported single-cell,the power density of>1.0 W·cm^(-2)was obtained at a temperature<800℃.The results indicate that the CSSR-derived LSCFT is a promising cathode material for SOFCs.

关键词： tantalum-doped lanthanum strontium cobalt ferrite(LSCF) solid oxide fuel cell(SOFC) oxygen reduction reaction(ORR) solid-state synthesis reaction clean energy conversion

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MGL4QGR: Multi-Gait Locomotion of Quadruped Guide Robot via Teacher-Student Learning

MGL4QGR: Multi-Gait Locomotion of Quadruped Guide Robot via ...

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IEEE International Conference on robotics and Biomimetics

作者： Baoping Ma Yuanxiang Wang Wenrui Wang Feng Chen Hongwei Kan Qirong Tang Laboratory of Robotics and Multibody System School of Mechanical Engineering Tongji University Shanghai China Shanghai Institute of Aircraft Mechanics and Control Yangpu District Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

To address the locomotion control issue of quadruped guide robots across multiple terrains, a teacher-student framework is adopted to learn the multi-gait locomotion policy. Specifically, the interaction forces between the individual and the guide robot are treated as privileged information for the teacher's policy, and the multi-gait stylized unit serves as proprioceptive information for the student's policy. The trained agent policy is then deployed in a zero-shot and no-tuning manner. The experimental results demonstrate that the quadruped guide robot can efficiently climb 25-degree slopes and 20-cm high steps and exhibit excellent omnidirectional tracking capability in trotting, walking, and pacing gaits.

关键词： Legged locomotion Training Imitation learning Biomimetics Supervised learning Propioception Dogs Angular velocity Quadrupedal robots Immune system

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DDH-Net:A Dual Dynamic Head Network for Transmission Line Inspection

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IEEE Transactions on Instrumentation and Measurement 2025年

作者： Yu, Junlong Mao, Jianxu Wang, Yaonan He, Zhenyu Yi, Junfei Tao, Ziming Zhang, Hui Wang, Shaoyuan Hunan University College of Electrical and Information Engineering Hunan Changsha410012 China Hunan University National Engineering Laboratory of Robot Visual Perception and Control Technology College of Robotics Hunan Changsha410082 China

Transmission lines are a critical component of an electrical grid, and ensuring their effective detection is of utmost importance. However, problems such as fine-grained identification, target occlusion, and background complexity in aerial transmission line images challenge existing transmission line detection methods. This paper presents a dual dynamic head network (DDH-Net) to address the aforementioned issues. This network incorporates a dual dynamic head (DDH) composed of a multifeature fusion module (MFFM) and deformable convolution. DDH leverages deformable convolution to enhance the network's focus on the target of interest. Subsequently, the MFFM enhances the feature representation capabilities for individual targets, leading to discriminative feature extraction and improving the network's accuracy in detecting similar targets. Furthermore, we introduce the wise area intersection over union (WAIoU) loss, which reduces the network's attention on detection boxes that contain only partial target content through the adaptive allocation of loss weights to anchor boxes to mitigate occlusion-induced interference. Additionally, we incorporate area as a constraint to further enhance the network's localization accuracy. Finally, extensive experiments were conducted on a power transmission line dataset. The results demonstrated the superiority of the proposed module over other state-of-the-art (SOTA) methods. © 1963-2012 IEEE.

关键词： Convolution

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Unmatched control Barrier Functions: Certainty Equivalence Adaptive Safety

Unmatched Control Barrier Functions: Certainty Equivalence A...

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American control Conference (ACC)

作者： Brett T. Lopez Jean-Jacques E. Slotine Verifiable and Control-Theoretic Robotics Laboratory University of California Los Angeles Los Angeles CA Nonlinear Systems Laboratory Massachusetts Institute of Technology Cambridge MA

This work applies universal adaptive control to control barrier functions to achieve safe control of dynamical systems with parametric model uncertainties. The proposed approach utilizes the certainty equivalence principle to methodically select a model-parameterized control barrier function and corresponding safety controller from an allowable set with instantaneous parameter estimates. While such a combination does not necessarily yield forward invariance without additional requirements on the barrier function, we show that safety can indeed be established by simply adjusting the adaptation gain online. Simulation results demonstrate the approach.

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Improved Detection of Transmission Tower Equipment Using YOLOv7 with Saliency Data Augmentation

Improved Detection of Transmission Tower Equipment Using YOL...

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Clean Energy and Electric Power Engineering (ICCEPE), International Conference on

作者： Yingying Xu Chunhe Song Yong Sun Shimao Yu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350390315

ISBN: (纸本)9798350390322

Transmission towers are critical infrastructure for power transmission, and the reliable operation of their equipment is essential to ensure electricity supply. However, the detection of transmission tower equipment faces challenges such as target overlap, large variations in size, small targets, and class imbalance due to the characteristics of the equipment. To tackle the identified issues, this study introduces a method based on YOLOv7 for the detection of transmission tower components, utilizing saliency-based data augmentation. Initially, an approach focusing on importance is employed to augment the sample size in categories with limited numbers, thereby enhancing the effectiveness of detection. Secondly, an adaptive adjustment module is introduced into the multi-head self-attention mechanism to dynamically adjust attention allocation based on the actual size of the targets and integrate contextual information, thus better handling targets with large size variations and overlaps. Finally, incorporating dynamic convolution within the backbone network significantly improves the ability to extract features from small objects. The outcomes of the experiments confirm the efficiency of the suggested approach in the smart surveillance of devices within intricate transmission settings, offering a reliable solution for maintaining power supply dependability.

关键词： Surveillance Poles and towers Data enhancement Power transmission Object detection Manuals Data augmentation Feature extraction Reliability Saliency detection

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Development and Optimization of a WebGL-Based Mechanical Model Simulation Platform 4th

Development and Optimization of a WebGL-Based Mechanical Mod...

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4th International Conference on Mechanical Design and Simulation, MDS 2024

作者： Wang, Xintong Tian, Hao Fang, Jingzhe Zhang, Hualiang Zhang, Tao Software College Shenyang University of Technology Liaoning Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China School of Electrical Engineering Shenyang University of Technology Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9789819778867

The need for mechanical model simulation platforms is growing as a result of the ongoing advancements in digital technology and the mechanical manufacturing sector. The application scope and efficacy of simulation platforms are severely limited by the issue of sluggish rendering performance, which frequently arises when obtaining high-quality rendering. When drawing high demand mechanical models, a lot of processing power is frequently needed, which makes real-time rendering speed unsatisfactory for practical purposes. In order to achieve real-time rendering and simulation of 3D robots, this experiment built and implemented a WebGL-based 3D simulation platform. Additionally, the simulation platform can be optimized by increasing frame rate and rendering speed without sacrificing rendering effect by building a mixed bounding box. © The Author(s) 2025.

关键词： Digital elevation model

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