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Bearing-Based Target Entrapping control of Multiple Uncertain Agents With Arbitrary Maneuvers

IFAC-PapersOnLine 2023年第2期56卷 8821-8826页

作者： Haifan Su Ziwen Yang Shanying Zhu Cailian Chen Wenbin Yu Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the leaders move with the predesigned trajectories, and the followers are steered by an estimation-based control method, integrating a distance estimator using bearing measurements and a stress matrix-based formation controller. The signum functions are used to compensate for the uncertainties so that the agents’ accelerations can be piecewise continuous and bounded to track the desired dynamics. With proper design of the leaders’ trajectories and a geometric configuration, an affine matrix is determined so that the inter-agent relative bearings can be persistently exciting since the bearing rates are related to different weighted combinations of the affine matrix vectors. The asymptotic convergence of the estimation and control error is proved using Filipov properties and cascaded system theories. A sufficient condition for inter-agent collision avoidance is also proposed. Finally, simulation results are given to validate the effectiveness of the method.

关键词： Target entrapping control bearing measurement persistent excitation uncertainty

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Blockchain-based Data Integrity and Privacy Protection Method for Swarm Robotics 17th

Blockchain-based Data Integrity and Privacy Protection Metho...

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17th Chinese Intelligent Systems Conference, CISC 2021

作者： Li, Bangyin Chen, Yutao Zuo, Zhiqiang Huang, Jie School of Electrical Engineering and Automation Fuzhou University Fuzhou350108 China School of Electrical and Information Engineering Tianjin University Tianjin300072 China Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian Province Fuzhou350108 China

ISBN: (纸本)9789811663192

Swarm robotics realize collaboration through information interaction among robots. One of the key aspects of stable and reliable operation of swarm robotics is protecting the privacy and content of the interactive data. Blockchain has been traditionally applied to digital currency due to its decentralization and high security features. Since robots can serve as a node in blockchain, and both swarm robotics and blockchain share the distributed architecture, there is great potential to apply blockchain technology to ensure the security of interactive data in swarm robotics. In this paper, a brief review of the current studies on the applying blockchain to swarm robotics is given. In addition, a blockchain data protection method is employed to protect the data integrity and privacy of swarm robotics. Finally, a simulation using the swarm robotics simulator and the Ethereum blockchain test network is conducted. Results demonstrate the effectiveness of the proposed method. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Blockchain

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Design and locomotion characteristic analysis of a novel tensegrity hopping robot

Design and locomotion characteristic analysis of a novel ten...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Mo, Jixue Gao, Changqing Fang, Hao Yang, Qingkai Peng Cheng Laboratory Department of Strategic and Advanced Interdisciplinary Research Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Beijing Institute of Technology School of Automation Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9798350325706

In consideration of the poor locomotion ability of most traditional tensegrity robot, a novel tensegrity hopping robot powered by push-pull electromagnets was proposed with better locomotivity. It is able to conduct stable consecutive progressing action and turning action through hopping. This paper covers the structural design, theoretical modeling of the robot's hopping process, as well as its self-righting analysis, simulation and experimental verification. The average moving speed and relative moving speed were measured to be 0.334m/s and 0.641 body length/s respectively, which obviously surpass the general moving ability of most traditional tensegrity robot. In addition, the robot was also validated to have good self-righting characteristic for stable consecutive hopping. Thus this robot can be potentially applied for search, rescue, detection, etc. in outdoor and unstructured environment. © 2023 IEEE.

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Non-Rigid 3D Point Set Registration With Reliable Hybrid Mixture Model

Non-Rigid 3D Point Set Registration With Reliable Hybrid Mix...

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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Huang, Haocheng Zhang, Zhengyan Min, Zhe Meng, Max Q.-H. Song, Shuang Wang, Jiaole Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Shandong University School of Control Science and Engineering Jinan250061 China Southern University of Science and Technology in Shenzhen Department of Electronic and Electrical Engineering China The Chinese University of Hong Kong Department of Electronic Engineering Hong Kong Shenzhen Research Institute of the Chinese University of Hong Kong Shenzhen China

ISBN: (纸本)9798350325706

Non-rigid point set registration is an essential technique in fields such as robotics, computer vision, image-guided surgery, and augmented reality. However, effectively addressing non-rigid deformations and handling noise interference remains a significant challenge in this context. This paper introduces a novel hybrid mixture model (HMM), combining a Gaussian mixture model (GMM) to describe positional features and a Fisher mixture model (FMM) to represent orientation features. This hybrid mixture model offers a solution to the non-rigid point set registration (PSR) problem. The proposed approach iteratively optimizes model parameters through the maximum expectation (EM) algorithm. It comprehensively explores registration performance, accounting for non-rigid deformations amidst isotropic and anisotropic positional noise. The proposed approach further incorporates reliable normal vectors for evaluating orientation features. Extensive experiments on non-rigid PSR demonstrates the improvements our algorithm offers in terms of both robustness and accuracy. © 2023 IEEE.

关键词： Nonrigid point set registration partial hybrid mixture model surgical navigation

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High-Entropy Oxide of (BiZrMoWCeLa)O2 as a Novel Catalyst for Vanadium Redox Flow Batteries

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ACS Applied Materials and Interfaces 2024年第8期16卷 10019-10032页

作者： Demeku, Aknachew Mebreku Kabtamu, Daniel Manaye Chen, Guan-Cheng Ou, Yun-Ting Huang, Zih-Jhong Hsu, Ning-Yih Ku, Hung-Hsien Wang, Yao-Ming Wang, Chen-Hao Department of Materials Science and Engineering National Taiwan University of Science and Technology Taipei106335 Taiwan Department of Chemistry Debre Berhan University Debre Berhan000000 Ethiopia Chemistry Division National Atomic Research Institute Taoyuan325207 Taiwan Maritime Innovation & Industry Promotion Department Metal Industries Research & Development Centre Kaohsiung811160 Taiwan Research Center National Cheng Kung University Tainan701401 Taiwan Center of Automation and Control National Taiwan University of Science and Technology Taipei106335 Taiwan

In this study, new fluorite high-entropy oxide (HEO), (BiZrMoWCeLa)O2, nanoparticles were produced using a surfactant-assisted hydrothermal technique followed by calcination and were used as novel catalytic materials for vanadium redox flow batteries (VRFBs). The HEO calcined at 750 °C (HEO-750) demonstrates superior electrocatalytic activity toward V3+/V2+ and VO2+/VO2+ redox couples compared to those of cells assembled with other samples. The charge-discharge tests further confirm that VRFBs using the HEO-750 catalyst demonstrate excellent Coulombic efficiency, voltage efficiency, and energy efficiency of 97.22, 87.47, and 85.04% at a current density of 80 mA cm-2 and 98.10, 74.76, and 73.34% at a higher current density of 160 mA cm-2, respectively. Moreover, with 500 charge-discharge cycles, there is no discernible degradation. These results are attributed to the calcination heat treatment, which induces the formation of a new single-phase fluorite structure, which facilitates the redox reactions of the vanadium redox couples. Furthermore, a high surface area, wettability, and plenty of oxygen vacancies can give more surface electroactive sites, improving the electrochemical performance, the charge transfer of the redox processes, and the stability of the VRFBs’ electrode. This is the first report on the development of fluorite structure HEO nanoparticles in VRFBs, and it opens the door to further research into other HEOs. © 2024 The Authors. Published by American Chemical Society.

关键词： Entropy

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Tensorized Timeline Alignment for Neural Dynamical Systems in Irregularly Sampled Time Series Prediction

Tensorized Timeline Alignment for Neural Dynamical Systems i...

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Chinese control Conference (CCC)

作者： Linxiao Qin Tao Sun Shuo Zhang Xi-Ming Sun School of Control Science and Engineering Dalian University of Technology Dalian Department of Automation Tsinghua University Beijing

For many real-world scenarios, time series prediction needs to be performed on irregularly sampled data. Neural ordinary differential equations have successfully introduced neural dynamical system (NDS) methods into such tasks. However, these models suffer from a large computational cost, and cannot effectively utilize the temporal information in mini-batches, due to mismatched timestamps of samples. In this work, a unified architecture for NDS is developed, with two novel implementations on discrete input sequences (named TDINDS) and continuous sequences (named TCINDS). The reuse of network modules effectively reduces the scale of parameters and time consumption, while maintaining accuracy. In addition, a tensorized timeline alignment method is proposed, which preserves the temporal information of each training sample via reversible mappings, improving prediction performance and reducing time complexity by at least one order of magnitude. Experiments are conducted on the GoogleStock dataset, where we evaluate model accuracy and computational cost by predicting irregular future sequences. The model robustness is tested using incomplete inputs. The results demonstrate the superior performance of TDINDS and TCINDS, with mean square error reduced by 44% and 50% respectively. Robustness evaluation shows that tensorized timeline alignment is also a key factor to enhance irregular time series prediction ability.

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Comparison of nano-silver solder joints and SAC305 based on ANSYS simulation and life prediction

Comparison of nano-silver solder joints and SAC305 based on ...

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作者： Yang, Hui Xu, Zhengyu Key Laboratory of Advanced Manufacturing and Automation Technology Guilin University of Technology Education Department of Guangxi Zhuang Autonomous Region Guilin541006 China College of Mechanical and Control Engineering Guilin University of Technology Guangxi Guilin541004 China

With the rapid development of microelectronic interconnection technology, the reliability requirements of electronic products are becoming higher and higher. Among them, temperature has the greatest impact on electronic devices. Due to the different coefficients of thermal expansion (CTE) between the many materials of a chip, the inside of a solder joint is subjected to cyclic temperature action. Under the effect of cyclic temperature, the solder joints are subject to internal fracture resulting in the failure of the solder joint. Therefore, it is necessary to find a more reliable material for the solder joint. In this paper, the advantages and disadvantages of pure silver material and low silver material are compared by finite element simulation analysis of nano-silver pure silver material and SAC305 low silver material, and the fatigue life prediction of nano-silveris predicted by a life prediction model. Then, using the Electric Power Research Institute estimation method to estimate the fatigue life of solder joints, the results are compared with those calculated by the finite element method. © 2023 Author(s).

关键词： Silver

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Integration of Hand Tracking and Process Mining to Improve Knowledge Transfer on the Shoopfloor

Integration of Hand Tracking and Process Mining to Improve K...

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International Conference on control, automation and Robotics (ICCAR)

作者： Yannick Dassen Yan Zhao Oliver Petrovic Werner Herfs Department Automation and Control Laboratory for Machine Tools and Production Engineering Aachen Germany Chair of Machine Tools Laboratory for Machine Tools and Production Engineering Aachen Germany

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

For many small and medium-sized companies in Germany, maintaining best practices on the shopfloor is essential for competitiveness. Due to the impending wave of retirements and the changing employment patterns of the younger generations, there is a risk that knowledge will be lost when employees leave. This calls for innovative solutions for the digital capture, storage and provision of knowledge. This article presents a method that uses machine learning to capture hand movements and thus generate event logs for evaluation based on process mining. Using an example from manual assembly, it is shown how this system can be used to record the actions of different employees and analyze them from an efficiency and ergonomic point of view in order to gain an insight into the individual strategies, routines and tricks of the employees during assembly and make them usable for everyone.

关键词： Ergonomics Employment Manuals Machine learning Companies Assembly Robots

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Dynamic Motion/Force control of Mobile Manipulators via Extended UDE

arXiv

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arXiv 2024年

作者： Gao, Songqun Ding, Wendi Cheng, Maotong Ren, Qinyuan Chen, Ben M. Department of Mechanical and Automation Engineering The Chinese University of Hong Kong 999077 Hong Kong College of Control Science and Engineering Zhejiang University Hangzhou310027 China

Mobile manipulators are known for their superior mobility over manipulators on fixed bases, offering promising applications in smart industry and housekeeping scenarios. The dynamic coupling nature between the mobile base and the manipulator presents challenges for force interactive tasks of the mobile manipulator. However, current strategies often fail to account for this coupling in such scenarios. To address this, this paper presents a dynamic coupling-integrated manipulator model that requires only the manipulator dynamics and the mobile base kinematics, which simplifies the modeling process. In addition, embedding the dynamic model, an extended uncertainty and disturbance estimator (UDE) is proposed for the mobile manipulator, which separately estimates the dynamic coupling terms and other unmodeled uncertainties, incorporating them into the feedforward and feedback control loops, respectively. The proposed approach increases the speed of response of the system and improves the dynamic robot-environment interaction (REI) performance of the mobile manipulator. A series of simulations and experiments of a wall-cleaning task are conducted to verify the effectiveness of the proposed approach. Ablation studies demonstrate that the proposed approach significantly improves the motion/force tracking performance when the mobile base is in dynamic motion. Copyright © 2024, The Authors. All rights reserved.

关键词： Feedback control

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Interfacial Heterogeneous Microstructure and Subsequent Machinability of 316L/CuSn10 Bimetallic Structure Manufactured by Laser Powder Bed Fusion

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Additive Manufacturing Frontiers 2024年第3期3卷 100-112页

作者： Jie Chen Zhongpeng Zheng Di Wang Guijun Bi Yuchao Bai Institute of Intelligent Manufacturing Guangdong Academy of SciencesGuangzhou510070China Guangdong Key Laboratory of Modern Control Technology Guangzhou510070China State Key Laboratory of Tribology in Advanced Equipment Department of Mechanical EngineeringTsinghua UniversityBeijing100084China School of Mechanical and Automotive Engineering South China University of TechnologyGuangzhou510640China School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen518052China

Additively manufactured bimetallic structures combine the advantages of dissimilar materials and can achieve localized properties through a customized composition ***,additively manufactured parts may still lack the dimensional accuracy and surface integrity essential for precision mechanical assemblies that the post-machining process can ***,this study aims to systematically investigate the microstructure and machinability of 316L/CuSn10 bimetallic structures fabricated using laser powder bed *** results show that the fusion zone of the bimetallic structure had refined grains of microscale size owing to the mixture of the primary elements of the bimetals,which resulted in the highest microhardness of 3.4 *** difference in microstructure and microhardness between the single-material and fusion zones also causes significant differences in the cutting response during the ultraprecision *** 316L stainless steel side exhibited the highest cutting force and more severe material accumulation in the *** cutting force drops when cutting through the fusion zone,with an observable fracture in the chips and separation of dissimilar materials on the machined grooves,indicating that the heterogeneous properties of additively manufactured 316L/CuSn10 bimetallic structures pose challenges to the improvement of surface *** simulation results also showed that stress accumulation occurred in the tool path through the fusion zone owing to the higher yield strength and hardness of stainless steel,indicating that lower cutting speeds and depths of cut are favorable for reducing cutting force and improving surface *** study provides deep insight into the microstructure evolution mechanism and a theoretical basis for improving the surface quality of additively manufactured bimetallic structures using an ultraprecision machining process.

关键词： Laser powder bed fusion Bimetallic structure Heterogeneous microstructures Ultra-precision machining Machinability

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