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Magnetic Microrobots Fabricated by Photopolymerization and Assembly

Cyborg and Bionic systems 2023年第1期4卷 41-46页

作者： Xiyue Liang Yue Zhao Dan Liu Yan Deng Tatsuo Arai Masaru Kojima Xiaoming Liu Key Laboratory of Biomimetic Robots and Systems Ministry of EducationState Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing Advanced Innovation Center for Intelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 182-8585Japan Department of Materials Engineering Science Osaka UniversityOsaka 560-8531Japan

Magnetic soft microrobots have great potential to access narrow spaces and conduct multiple tasks in the biomedical *** now,drug delivery,microsurgery,disease diagnosis,and dredging the blocked blood vessel have been realized by magnetic soft microrobots in vivo or in ***,as the tasks become more and more complex,more functional units have been embedded in the body of the developed magnetic *** magnetic soft microrobots with complex designed geometries,mechanisms,and magnetic orientation are now greatly challenging the fabrication of the magnetic *** this paper,we propose a new method combining photopolymerization and assembly for the fabrication of magnetic soft *** the micro-hand assembly system,magnetic modules with different shapes and materials are firstly arrayed with precise position and orientation ***,the developed photopolymerization system is employed to fix and link these modules with soft *** on the proposed fabrication method,3 kinds of soft magnetic microrobots were fabricated,and the fundamental locomotion was *** believe that the presented fabrication strategy could help accelerate the clinical application of magnetic microrobots.

关键词： Magnetic system precise

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Mean policy-based proximal policy optimization for maneuvering decision in multi-UAV air combat

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Neural Computing and Applications 2024年第31期36卷 19667-19690页

作者： Zheng, Yifan Xin, Bin He, Bin Ding, Yulong Department of Control Science and Engineering Tongji University Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai China School of Automation Beijing Institute of Technology Beijing China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

Autonomous maneuvering decision-making is a crucial technology for Unmanned Aerial Vehicles (UAVs) to take the air domination in modern unmanned warfare. With the advantage of balancing exploration and exploitation, as well as the immediacy of end-to-end output by combining with deep neural network, multi-agent reinforcement learning (MARL) has made remarkable achievements in multi-UAV autonomous air combat maneuvering decision-making (MUAAMD). However, the implementation of effective cooperative policy learning remains a challenging issue for MARL methods with centralized training decentralized execution (CTDE) paradigm. This paper proposes a MARL-based method to improve the performance of cooperation in MUAAMD. Firstly, considering the constraints of dynamic and limited perception for UAVs in the realistic air combat scenario, the MUAAMD problem is formulated based on partially observable Markov game (POMG) model. Secondly, a novel efficient MARL algorithm named the mean policy-based proximal policy optimization (MP3O) is introduced. Specifically, a joint policy optimization mechanism is constructed by estimating the policies of neighboring agents in group as a mean-field approximation while training, which enables both centralized evaluation and improvement of cooperative policy under the CTDE paradigm. Thirdly, by combining with three improvement techniques, a cooperative decision-making framework for MUAAMD based on MP3O is proposed. Empirically, results of simulations and comparative experiments validate the effectiveness of proposed method in promoting cooperative policy learning in resolving MUAAMD problem. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Decision making

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Incremental Model Predictive control for Velocity-controlled Robot Manipulators 50

Incremental Model Predictive Control for Velocity-Controlled...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Wang, Yongchao Li, Hengrui Li, Cong Liu, Fangzhou School of Aerospace Science and Technology Xidian University Xi’an China Research and Development Department Agile Robots Beijing China College of Intelligence Science and Technology National University of Defense Technology Changsha China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665464543

In this article, an incremental model predictive controller is proposed for the velocity-controlled robot manipulator. First, the time-delay estimation (TDE) technique is used to approximate the unknown discrepancy between the command and the real joint velocity due to velocity dynamics, and the equation of motion in the incremental form is obtained. Then, on the basis of the resulting equation of motion and taking into account joint position and velocity constraints, the incremental model predictive controller is developed by formulating a constrained optimal control problem (OCP). The constrained OCP is cast to a quadratic programming (QP) problem, making it possible to employ computationally efficient QP solvers to solve the constrained OCP. As a result, real-time control is guaranteed. Finally, experiments on a robot manipulator are implemented to verify the effectiveness of the developed incremental model predictive controller. © 2024 IEEE.

关键词： Predictive control systems

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Synthesis of Diagnostic Observers for Linear systems Based on Optimal control Methods

Synthesis of Diagnostic Observers for Linear Systems Based o...

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2022 International Conference on control, Automation and Diagnosis, ICCAD 2022

作者： Kabanov, Aleksey A. Zuev, Aleksandr V. Zhirabok, Aleksey N. Filaretov, Vladimir F. Department of Informatics and Control in Technical Systems Sevastopol State University Russia Laboratory of Intelligent Information Systems for Marine Robots Institute of Marine Technology Problems FEB RAS Russia Department of Automation and Robotics Far Eastern Federal University Russia Robotics Laboratory Institute of Automation and Control Processes FEB RAS Russia

ISBN: (数字)9781665497947

ISBN: (纸本)9781665497947

The paper considers the problem of fault identification in dynamic systems described by linear differential equations. To solve this problem, diagnostic observers constructed on the basis of optimal control methods are used. The proposed new method for the synthesis of such observers is based on the idea of introducing a new system with some auxiliary control which plays a role of an unknown vector function describing emerging faults. This control is proposed to be formed in such a way that it provides a minimum for the residual functional. Unlike popular approaches to solving the problem of fault identification based on observers operating in a sliding mode, the proposed method allows us to expand the class of systems for which the identification problem can be solved. It is known that the methods of sliding mode observers design impose certain restrictions on the systems under consideration. The suggested theory is illustrated by an example. The simulation results confirmed the operability of the diagnostic observers synthesized using the method proposed in the work. © 2022 IEEE.

关键词： Linear systems

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Description and fault diagnosis in autonomous underwater vehicles based on ontologies

Description and fault diagnosis in autonomous underwater veh...

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2022 International Conference on Ocean Studies, ICOS 2022

作者： Alexander, Timoshenko Alexander, Zuev Eduard, Mursalimov Valeria, Gribova Alexander, Inzartsev Far Eastern Federal University Institute of Marine Technology Problems Feb Ras Laboratory of Intelligent Systems for Marine Robots Department of Automation and Robotics Vladivostok Russia Institute of Automation and Control Feb Ras Laboratory of Intelligent Systems Vladivostok Russia Institute of Marine Technology Problems Feb Ras Laboratory of Control Systems Vladivostok Russia

ISBN: (纸本)9781665473729

The paper proposes new ontologies for describing and diagnosing malfunctions of subsystems of autonomous underwater vehicles (AUV) as a part of the development of a previously created approach to the intelligent diagnosis of these vehicles using knowledge bases. To implement this approach, it is proposed to use two knowledge bases, one of which describes malfunctions, features for their identification and actions necessary to adapt to the negative consequences caused by the appearance of these malfunctions. The other database contains information about the main subsystems of the AUV, devices and replaceable modules, as well as the states they may be in. Knowledge bases are used in the work of the intelligent control-emergency system (ICES) on board the AUV, which allows for comprehensive functional diagnostics of all subsystems of the device, including payload modules, as well as adaptation to the consequences of emerging malfunctions, taking into account the actual cause-and-effect relationships between them. To test the system's operability, a prototype was developed. The results of the prototype simulation showed that ICES performs the tasks and can be implemented on the onboard computers of existing AUV using well-known programming technologies. © 2022 IEEE.

关键词： Autonomous underwater vehicles

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The System of Coordinated Operation of Two Underwater Vehicles in a Complex Environment

The System of Coordinated Operation of Two Underwater Vehicl...

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Filaretov, Vladimir Katsurin, Alexey Institute of Automation and Control Processes Feb Ras Vladivostok State University Laboratory of Robotic Systems Laboratory of Automation and Robotics Vladivostok Russia Far Eastern Federal University M.D. Ageev Institute for Marine Technology Problems Feb Ras Laboratory of Intelligent Information Systems for Marine Robots Department of Automation and Robotics Vladivostok Russia

ISBN: (纸本)9798350382457

The paper discusses methods of coordinated operation of two autonomous underwater vehicles, one of which is equipped with a multi-link manipulator and a vision system, and the second - auxiliary - only a vision system. These methods ensure the joint operation of two autonomous underwater vehicles both in the mode of semi-automatic positional remote control, and in the mode of automatic execution of operations with various objects. At the same time, work is considered in situations when the vision system of the main underwater vehicle does not allow observing the object of work, which is nevertheless located in the working area of the manipulator. In this case, the auxiliary inspection underwater vehicle with its own vision system is used to monitor the object. In the semi-automatic remote control mode, the manipulator automatically takes into account the current spatial orientation of the optical axis of the vision system of the inspection underwater vehicle, as well as the spatial orientations of both underwater vehicles at yaw angles in the absolute coordinate system. And in automatic mode, an accurate transfer of the spatial location and orientation of the object, which are determined using the vision system of the inspection underwater vehicle, is additionally provided to the associated coordinate system of the main underwater vehicle. It is possible to identify and eliminate errors that occur during the operation of the vision system and navigation systems of both underwater vehicles. The results of experimental studies have confirmed the operability of the proposed methods. © 2023 IEEE.

关键词： Autonomous underwater vehicles

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Resilient Time-Varying Formation-Tracking of Multi-UAV systems Against Composite Attacks: A Two-Layered Framework

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 969-984页

作者： Xin Gong Michael V.Basin Zhiguang Feng Tingwen Huang Yukang Cui School of Cyber Science and Engineering Southeast UniversityNanjing 210096the School of AstronauticsNorthwestern Polytechnical UniversityXi’an 710072 Department of Mechanical Engineering The University of Hong KongHong Kong 999077China School of Physical and Mathematical Sciences the Autonomous University of Nuevo LeonNaevo Leon 66455Mexico Ningbo Institute of Intelligent Equipment Technology Ningbo 315299China College of Intelligent Systems Science and Engineering Harbin Engineering UniversityHarbin 150001China Texas A&M University at Qatar Doha 23874Qatar Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots the College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060 Peng Cheng Laboratory Shenzhen 518000China

This paper studies the countermeasure design problems of distributed resilient time-varying formation-tracking control for multi-UAV systems with single-way communications against composite attacks,including denial-of-services(DoS)attacks,false-data injection attacks,camouflage attacks,and actuation attacks(AAs).Inspired by the concept of digital twin,a new two-layered protocol equipped with a safe and private twin layer(TL)is proposed,which decouples the above problems into the defense scheme against DoS attacks on the TL and the defense scheme against AAs on the cyber-physical ***,a topologyrepairing strategy against frequency-constrained DoS attacks is implemented via a Zeno-free event-triggered estimation scheme,which saves communication resources *** upper bound of the reaction time needed to launch the repaired topology after the occurrence of DoS attacks is ***,a decentralized adaptive and chattering-relief controller against potentially unbounded AAs is ***,this novel adaptive controller can achieve uniformly ultimately bounded convergence,whose error bound can be given *** practicability and validity of this new two-layered protocol are shown via a simulation example and a UAV swarm experiment equipped with both Ultra-WideBand and WiFi communication channels.

关键词： Composite attacks multi-UAV systems resilient control time-varying formation-tracking

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Development of a 3-RRS Micromanipulator Based on Origami-Inspired Spherical Joint

Development of a 3-RRS Micromanipulator Based on Origami-Ins...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Haoqi Han Xiaoming Liu Yan Chen Hao Pang Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Micro-Nano Electronics Shanghai Jiao Tong University China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In recent years, micromanipulation technology has achieved extensive applications in industry and life science. Improving the precision and bandwidth of the micromanipulator and simultaneously reducing size, weight, and cost pose significant challenges to the existing micromanipulator design and fabrication methods. Here, we propose a 3-RRS micromanipulator with an origami-inspired spherical joint based on the PC-MEMS process, aiming for miniaturization and cost-effectiveness. The spherical joint allows rotations of 140° around the x-axis approximately, 140° around the y-axis approximately, and 20° around the z-axis approximately. The micromanipulator has weights of 0.8 g, dimensions of 16 mm × 16 mm × 22 mm, and workspace of 0.7 mm 3 . The end platform of the micromanipulator can be equipped with various effectors to accomplish different kinds of tasks. Experimental results validated its high precision and bandwidth, exhibiting its potential to perform intricate micromanipulation tasks.

关键词： Industries Fabrication Costs Micromanipulators Design methodology Bandwidth Life sciences

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Hierarchical Multi-Objective Optimization for Precise Performance Design of Closed-Chain Legged Mechanisms

arXiv

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arXiv 2025年

作者： Guo, Long Zhang, Ying Qin, Qi Liu, Guanjun Chen, Hanyu Yao, Yan-An Institute of Intelligent Robots and Systems School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China Department of Mechanical Engineering Tsinghua University Beijing100084 China School of Mechanical and Electrical Engineering Shanxi Datong University Shanxi 037003 China

Over the past decades, the performance design of closed-chain legged mechanisms (CLMs) has not been adequately addressed. Most existing design methodologies have predominantly relied on trajectory synthesis, which inadvertently prioritizes less critical performance aspects. This study proposes a hierarchical multi-objective optimization strategy to address this limitation. First, the numerical performance-trajectory mapping is derived based on a foot-ground contact model, aiming to decouple the performance characteristics. Subsequently, a hierarchical optimization strategy is employed for two CLM design scenarios: In trajectory shape-constrained scenarios, a coarse-to-fine optimization process, integrating Fourier descriptors, refines the design from overall shape to local features. In scenarios without trajectory shape constraints, a stepwise optimization process is proposed for reconfigurable CLMs to transition from primary motion to auxiliary motion. The robustness of the proposed design strategy is validated across three configurations and seven algorithms. The effectiveness of the proposed design strategy is verified by comparison with other existing CLM design methods. The applicability of the proposed strategy is confirmed through simulation and prototype experiments. The results demonstrate that the hierarchical strategy effectively addresses the challenges of precise performance design in CLMs. Our work provides a general framework for the CLM design and offers insights for the optimization design of other closed-chain linkages. © 2025, CC BY-NC-ND.

关键词： Trajectories

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Automated Assembly by Two-Fingered Microhand for Fabrication of Soft Magnetic Microrobots

Automated Assembly by Two-Fingered Microhand for Fabrication...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yue Zhao Xiaoming Liu Ruixi Wang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Department of Intelligent Manufacturing Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Materials Engineering Science Osaka University Osaka Japan Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Micro-assembly is an emerging method to fabricate microrobots with multiple modules or particles. However, there is always a lack of a flexible and efficient method to freely create the desired magnetic soft microrobots. In this paper, an automated assembly system based on a two-fingered microhand is presented for fabricating magnetic soft microrobots. Our proposed system can automatically pick and place components to assemble microrobots with a two-fingered micromanipulator, and orient these components through an external magnetic field. The automated assembly has the advantages of high accuracy, high speed, and high success rate. It can endow magnetic microrobots with flexible material selection, arbitrary geometry design, and programable magnetization profile. We can make full use of this system to fabricate multiple magnetic soft microrobots. The experiment results demonstrate that this system can efficiently fabricate microrobots with excellent mechanical properties, which have application potential in robotics, biomedical engineering, and environmental governance.

关键词： Three-dimensional displays Shape Micromanipulators Magnetization Manuals Three-dimensional printing Soft magnetic materials

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