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arXiv 2025年

作者： Lin, Ken Ye, Qi Lam, Tin Lun Li, Zhibin Chen, Jiming Li, Gaofeng College of Control Science and Engineering Zhejiang University Hangzhou China Robotics and Artificial Intelligence Laboratory The Chinese University of Hongkong Shenzhen China Department of Computer Science University College London London United Kingdom

The unconditioned reflex (e.g., protective reflex), which is the innate reaction of the organism and usually performed through the spinal cord rather than the brain, can enable organisms to escape harms from environments. Accordingly, it is essential to endow robots the highly-dynamic unconditioned reflexes to humans and/or environments, such that it can work collaboratively with humans or serve people in daily life. Although various sampling-based and optimization-based motion planning methods have been developed for robots, their limited computational speed is not suitable for rapid motion planning in highly-dynamic environments. In this paper, we propose an online, highly-dynamic motion planning algorithm to enable highly-dynamic unconditioned reflexes for manipulators. Our method is based on a chained version of Signed Distance Functions (SDFs), which can be pre-computed and stored. Our proposed algorithm is divided into two stages. In the offline stage, we create 3 groups of local SDFs to store the geometric information of the manipulator and its working environment. The SDFs in the first group are to describe the geometric information of the static environment. The SDFs in the second group are to describe the geometric information of each link. While the SDFs in the last group are to describe the reachability of each link’s end of the manipulator. In the online stage, the precomputed local SDFs are chained together according the configuration of the manipulator, to provide global geometric information about the environment. While the point clouds of the dynamic objects serve as query points to look up these local SDFs for quickly generating escape velocity. Then we propose a modified geometric Jacobian matrix and use the Jacobian-pseudo-inverse method to generate real-time reflex behaviors to avoid the static and dynamic obstacles in the environment. The benefits of our method are validated in both static and dynamic scenarios. In the static scenario, our meth

关键词： Jacobian matrices

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Design and Characterization of a Flexure-Based Hybrid Mechanism for Precise Micro/Nano Positioning

Design and Characterization of a Flexure-Based Hybrid Mechan...

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International Conference on Mechatronics Technology (ICMT)

作者： Kim Sang Tran Kai Zhong Lai Bijan Shirinzadeh Armin Ehrampoosh Yanling Tian Dawei Zhang Yanding Qin Department of Mechanical and Aerospace Engineering Monash University Robotics and Mechatronics Research Laboratory (RMRL) Melbourne Australia School of Engineering University of Warwick Conventry UK Control and Systems Engineering Tianjin University Tianjin China

This paper presents a hybrid mechanism for micro/nano positioning and manipulation by combining a piezoelectric actuator (PEA) and a voice coil motor (VCM) using a flexure bridge. The research investigates the behavior of the hybrid mechanism, designs the amplification mechanism, and characterizes and compares the dominant parameters through modal and finite element analysis. The models were designed using Solidworks software and optimized using response surface in ANSYS. The hybrid mechanism provides both long-range displacement and precision movement capabilities, making it suitable for micro-assembly, micro-manipulation, and microfluidics applications. The results illustrate that the amplification ratio of the flexure mechanism obtained by modal analysis was 4.38, which was 3.42% larger than that simulated by finite element model. The input stiffness of the flexure mechanism was 2231.81 N/mm, which is slightly lower than the figure calculated by Finite element analysis (FEA) at 2325.58 N/mm. However, the difference between the two output stiffnesses of this mechanism obtained by the two methods is close, standing at 1.60%.

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Design and Validation of Tunable Stiffness Actuator using Soft-Rigid Combined Layer Jamming Mechanism

Design and Validation of Tunable Stiffness Actuator using So...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Seoyeon Ham Brian Byunghyun Kang Kevin Abishek Hyunglae Lee Wansoo Kim Department of Interdisciplinary Robot Engineering Systems Hanyang University Gyeonggi-do Republic of Korea Neuromuscular Control and Human Robotics Lab. Arizona States University AZ USA Department of Intelligent Mechatronics Engineering Sejong University Seoul Republic of Korea Robotics Department Ansan-si Gyeonggi-do Republic of Korea

This paper presents a tunable stiffness actuator with a soft-rigid combined layer jamming mechanism. The tunable stiffness actuator is aimed to be integrated into an exosuit to prevent ankle sprain and avoid or mitigate the development of chronic ankle instability. The main purpose of the soft-rigid layer jamming mechanism is to produce large stiffness with a small volume and achieve a linear stiffness characteristic. To this end, the actuator is designed to include rigid retainer pieces within the soft silicone layers, and each soft-rigid layer is jammed to induce stiffness changes. To validate the stiffness characteristics of the proposed soft-rigid actuator, a series of experiments were performed and stiffness changes were investigated for varying jamming states from unjammed to fully jammed states. Increasing the number of jamming layer effectively increased the actuator stiffness, which was consistent with expected results from the analytical model. Soft-rigid actuator's stiffness at the fully jammed state was 212.1% and 123.1% higher than the unjammed state for one-side and both sides anchored conditions, respectively. Compared to the soft actuator without the rigid retainer, the soft-rigid actuator exhibited a more linear characteristic (Pearson correlation coefficient = 0.990 and 0.997 for one-side and both sides anchored conditions, respectively). Moreover, the soft-rigid actuator achieved significantly higher stiffness than the soft actuator in all jamming states (at least 41.3% increase in each jamming state). The results suggest a potential use of the tunable stiffness actuator to develop a soft ankle exosuit with highly variable but linear stiffness characteristics.

关键词： Correlation coefficient Actuators Analytical models Composite materials Mechanical cables Soft robotics Jamming

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Combined Filters Design, Using the Principle of Internal Models

Combined Filters Design, Using the Principle of Internal Mod...

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International Russian Automation Conference (RusAutoCon)

作者： Anatoly Gaiduk Darya Denisenko Nikolay Prokopenko Department of Automatic Control Systems Southern Federal University Scientific Design Office Robotics and Control Systems Taganrog Rostov-on-Don Russia Department of scientific research Department of Automatic Control Systems Don State Technical University Southern Federal University Rostov-on-Don Russia Department of Information Systems and Radio Engineering Don State Technical University Rostov-on-Don Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

To design active analog, discrete-analog and digital filters a new method is suggested, taking into account the conditions of selective invariance and using the internal models principle of the dynamic systems. For this purpose, the structure of each basic filter ensures the presence of an explicit spectral model of the filtered signal. Such a filter is selectively invariant, and this property depend only on the spectrum-setting parameters and do not depend on other parameters. It is suggest-ed to carry out the design of the combined selective filters by integration of the suggested basic second-order filters, focusing on the log magnitude plot of the latter. This makes possible to minimize the order of the combined both analog and digital filters. The combined selective filters are distinguished by high stability of selective properties and can be used in the systems for measurement, signal processing, data transmission, as well as automatic and automated control of various social, production and special facilities.

关键词： Automation Filtering Focusing Production Signal processing Stability analysis Data communication Digital filters Dynamical systems

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Simulated Scattering of a Beam Carrying Orbital Angular Momentum from a Microparticle

Simulated Scattering of a Beam Carrying Orbital Angular Mome...

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Conference on Lasers and Electro-Optics (CLEO)

作者： John E. McCarthy Svetlana Avramov-Zamurovic Matthew B. Hart Vasanthi Sivaprakasam Weapons Robotics and Control Engineering Department United States Naval Academy Optical Sciences Division United States Naval Research Laboratory Annapolis Maryland USA

We use multiphysics software COMSOL to simulate and evaluate interactions between structured light carrying orbital angular momentum and a single microparticles. We investigate the impact of particle location with res... 详细信息

ISBN: (纸本)9781957171258

关键词： Beam scattering In field scattering Light beams Light intensity Structured light Vortex beams

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Nash Pursuit Strategy for Nonzero-Sum MPC Game via Inverse Optimal control 13

Nash Pursuit Strategy for Nonzero-Sum MPC Game via Inverse O...

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13th Asian control Conference, ASCC 2022

作者： Qiu, Tianyu Zhang, Han Wang, Jingchuan Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9788993215236

In this paper, a traditional one v.s. one pursuit and evasion scenario is considered. The evader aims to reach her target and avoid being captured by the pursuer, while the pursuer, without the knowledge of the evader's cost function, intends to capture the evader before she successfully escapes. We formulate this problem as a Model Predictive control Decoupled Pursuit and Evasion Game (MPC-DPEG) model with incomplete information. We apply Inverse Optimal control (IOC) technique to estimate the evader's cost function and give a Nash pursuit strategy for MPC-DPEG as the optimal strategy for the pursuer. Numerical examples reveal the improvement of pursuit performance of the Nash pursuit strategy based on the estimated cost function over naive pursuit strategies. © 2022 ACA.

关键词： Simulation Optimal control Games Predictive models Cost function Numerical models Predictive control

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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic Systems over a Lossy Communication Channel

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Journal of Systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

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High–Frequency Transformer Development for Compact Dual Active Bridge Converters

High–Frequency Transformer Development for Compact Dual Act...

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International Conference on Actual Problems of Electronic Instrument engineering (APEIE)

作者： Galina Demidova Nikolai Poliakov Aleksandr Lukin Dmitry Lukichev Aleksandr Usolchev Jackson J. Justo Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Department of Electrical Engineering University of Dar es Salaam Dar es Salaam Tanzania

This paper presents a methodology for designing high–frequency transformers operating at 20 kHz made for operation in dual active bridge converter with a voltage setup of 600V/3x100V. The paper begins by explaining the calculation process for the transformer's design, focusing on crucial aspects such as leakage and magnetizing inductances. Specific techniques for the transformer winding process are discussed, ensuring accuracy and efficiency. Furthermore, the paper analyzed into calculating the parameters that make up the transformer's equivalent circuit, offering insights into its electrical characteristics. It also explores the impact of transformer leakage inductance on the converter's active power performance. To ensure the transformer's robust thermal performance, a thorough thermal analysis using Ansys software is conducted by considering various cooling methods. Finally, the construction details of the transformer, bridging the gap between theoretical design and practical realization are presented. The research concludes with the development of the final transformer construction, harmonizing the theoretical design with practical realization. This study contributes to the field of high–frequency transformer design and highlights the significance of design considerations, particularly in applications where compact and highly efficient power conversion solutions are required.

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Optimal Stabilization of Periodic Orbits

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IFAC-PapersOnLine 2023年第2期56卷 7509-7515页

作者： Fabian Beck Noboru Sakamoto Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Department of Mechanical Engineering and System Control Nanzan University Yamzato-cho 18 Showa-ku Nagoya 466-8673 Japan

In this contribution the optimal stabilization problem of periodic orbits is studied in a symplectic geometry setting. For this, the stable manifold theory for the point stabilization case is generalized to the case of periodic orbit stabilization. Sufficient conditions for the existence of a normally hyperbolic invariant manifold (NHIM) of the Hamiltonian system are derived. It is shown that the optimal control problem has a solution if the related periodic Riccati equation has a unique periodic solution. For the analysis of the stable and unstable manifold a coordinate transformation is used which is moving along the orbit. As an example, an optimal control problem is considered for a spring-mass oscillator system, which should be stabilized at a certain energy level.

关键词： Hamiltonian Dynamics Nonlinear control Periodic Orbit Optimal control

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On performing non-prehensile rolling manipulations: Stabilizing synchronous motions of Butterfly robots⋆

On performing non-prehensile rolling manipulations: Stabiliz...

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

作者： Maksim O. Surov Stepan S. Pchelkin Anton S. Shiriaev Sergei V. Gusev Leonid B. Freidovich Department of Information Technologies and AI Sirius University of Science and Technology Sochi Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway Department of Applied Physics and Electronics Robotics and Control Group Umeå University Umeå Sweden

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The paper explores the challenging task of performing a non-prehensile manipulation of several balls synchronously rolling on the curved hands of Butterfly robots. Each Butterfly robot represents a standard benchmark hardware setup, comprising a DC motor rotating a butterfly-shaped frame in a vertical plane, with a ball moving freely upon it, equipped with integrated computer vision, communication, programmable control, and computation interfaces. The combined dynamics of the considered system, consisting of N ≥ 2 such robots, is inherently underactuated, characterized by N active and N passive degrees of freedom, as well as N independent unilateral constraints that model the interactions between the frames and the balls, assuming no slipping. We focus on designing a model-based centralized feedback controller to achieve synchronized rotations of the balls. We assume the accuracy of our mathematical model and the feasibility of implementing a discretized version of the proposed continuous-time controller with a sufficiently small sampling time, that, in particular, is necessary for numerical differentiation. Relying on orbital stability of nominal periodic solution of the closed-loop system, we will experimentally check robustness to various inevitable challenges such as noises, disturbances, uncertainties, and communication delays. Hence, our concentration lies in designing an orbitally stabilizing controller for the underactuated models. The primary contribution is proposing one set of transverse coordinates, enabling transverse-linearization-based controller design, accompanied by pertinent closed-loop system analysis tools, thereby enhancing the efficacy of solving the manipulation task. Analytical and model-based arguments are validated through successful simulations and experiments conducted on two Butterfly robots, thereby emphasizing the validity and practicality of the proposed approach.

关键词： Analytical models Uncertainty Robot kinematics Mathematical models Orbits Stability analysis Numerical models Closed loop systems Synchronization Standards

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