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Neural Dynamics for Cooperative Motion control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao Jiliang Zhang Long Jin Junzhi Yu Zhongbo Sun the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

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Nonconvex Noise-Tolerant Neural Model for Repetitive Motion of Omnidirectional Mobile Manipulators

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1766-1768页

作者： Zhongbo Sun Shijun Tang Jiliang Zhang Junzhi Yu the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE College of Information Science and Engineering Northeastern UniversityShenyang 110819China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

Dear Editor,Quadratic programming problems(QPs)receive a lot of attention in various fields of science computing and engineering applications,such as manipulator control[1].Recursive neural network(RNN)is considered t... 详细信息

关键词： directional programming hardware

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Discussion of Teleoperation Support System Design Guideline for Working Robot in Radiation Narrow Environment 23

Discussion of Teleoperation Support System Design Guideline ...

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23rd International Conference on control, Automation and systems, ICCAS 2023

作者： Kobayashi, R. Yoshimi, T. Graduate School of Engineering and Science Shibaura Institute of Technology Functional Control Systems Course Tokyo135-8548 Japan College of Engineering Shibaura Institute of Technology Department of Electrical Engineering Tokyo135-8548 Japan

ISBN: (纸本)9788993215274

In this work, we propose a design guideline of teleoperation support system for working robots in radiation narrow environments. The proposed guideline is discussed to configure the robot system with as few sensors as possible because of decreasing the sensor failure risk by high radiation. This paper describes discussion results of the guideline candidate, focusing on relationship between the required information for robot teleoperation and number of sensors that consists of the support system. Additionally, we present some support systems that were developed for an inspection or an investigation of nuclear power plants as development cases. As a result of the guideline calculation for each development cases, we confirmed that the proposed guideline increases as the required radiation tolerance is high, and the support system is classified by the guideline. In case that the torelance is more than 200 Gy, available sensors are limited, and a sensor-saving configuration is adopted to decrease the robot failur risk by using in combination with a sensor for the robot operation. © 2023 ICROS.

关键词： Remote control

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On tuning of ADRC with competing design indices:a quantitative study

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control Theory and Technology 2023年第1期21卷 16-33页

作者： Yutao Zhao Yi Huang Zhiqiang Gao Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China Department of Electrical Engineering and Computer Science Center for Advanced Control TechnologiesCleveland State UniversityClevelandOH 44115USA

controller optimization has mostly been done by minimizing a certain single cost *** practice,however,engineers must contend with multiple and conflicting considerations,denoted as design indices(DIs)in this *** to account for such complexity and nuances is detrimental to the applications of any advanced control *** paper addresses this challenge heads on,in the context of active disturbance rejection controller(ADRC)and with four competing DIs:stability margins,tracking,disturbance rejection,and noise *** this end,the lower bound for the bandwidth of the extended state observer is first established for guaranteed closed-loop ***,one by one,the mathematical formula is meticulously derived,connecting each DI to the set of controller *** our best knowledge,this has not been done in the context of *** formulas allow engineers to see quantitatively how the change of each tuning parameter would impact all of the DIs,thus making the guesswork *** example is given to show how such analytical methods can help engineers quickly determine controller parameters in a practical scenario.

关键词： Uncertain systems Active disturbance rejection control(ADRC) Design indices(DIs) Extended state observer(ESO)

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Fabric Defect Detection System using YOLO 14

Fabric Defect Detection System using YOLO

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14th IIAI International Congress on advanced Applied Informatics, IIAI-AAI 2023

作者： Kawaguchi, Masashi Morimitsu, Yuta Watanabe, Ryusei Ikuta, Chihiro Ishii, Naohiro Umeno, Masayoshi National Institute of Technology Suzuka College Department of Electrical and Electronic Engineering Suzuka Japan Advanced Institute of Industrial Technology Information Systems Architecture Course Tokyo Japan Chubu University Department of Electronic Engineering Kasugai Japan

ISBN: (纸本)9798350324228

In textile processing companies, after purchasing fabric, dyeing, and other treatments, such as surface finishing are carried out before shipping. Defect detection technology is one of the most important issues in this field. Because if we ship a defective fabric without noticing the defect, it will cause damage to the delivery destination. Previously, defect detection of fabric has been performed using methods such as CNN. However, conventional methods such as general multilayer neural networks require two separate processing stages: object detection and identification. Therefore, there is a problem that sufficient real-time performance cannot be guaranteed in the inspection process on an actual manufacturing line. Therefore, in this study, we construct a fabric defect detection system using YOLO which is capable of real-time object detection. In the future, we aim to realize the automation of textile defect detection systems by the construction of an image recognition system using machine learning. It is expected that this will result from reduced detection errors by the human eye, improve detection accuracy, and reduce labor costs. © 2023 IEEE.

关键词： Machine learning

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Modeling of an external force estimator for an end-effector of a robot by neural networks

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Journal of the Chinese Institute of Engineers, Transactions of the Chinese Institute of Engineers,Series A 2023年第8期46卷 895-904页

作者： Junplod, Goragod Kornmaneesang, Woraphrut Chen, Shyh-Leh Wongsa, Sarawan Department of Control Systems and Instrumentation Engineering King Mongkut’s University of Technology Thonburi Bangkok Thailand International Bachelor Program in Engineering Yuan Ze University Taoyuan Taiwan Department of Mechanical Engineering National Chung Cheng University Chiayi Taiwan Advanced Institute of Manufacturing with High-Tech Innovations National Chung Cheng University Chiayi Taiwan

This paper proposes a method to estimate external forces at the tip of a robot end-effector by using a neural network model. In order to avoid the use of an expensive force sensor in the training purpose, the proposed method implements the indirect training method by including the inverse dynamic model of the robot manipulator to the training algorithm with available information from a default robot system. In this method, the robot dynamics equations are necessary for the training, therefore a disturbance observer is adopted to deal with the existing uncertainties and errors. The performance of the proposed estimation method is evaluated through experiments of a 5-DOF robotic experimental platform, comparing to another existing estimation method using recurrent neural network with a type-1 disturbance observer for the external force estimation. The estimation results show that the behavior of the estimated external forces strongly correlates with the applied external forces and the proposed method is superior to the other method. © 2023 The Chinese Institute of Engineers.

关键词： Recurrent neural networks

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Online controller Tuning Method Using Fictitious Reference Iterative Tuning Based on Recursive Least-Squares Method for Quadrotor Flight control

Online Controller Tuning Method Using Fictitious Reference I...

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2023 IEEE International Conference on Industrial engineering and engineering Management, IEEM 2023

作者： Sato, Ayumu Tanaka, Ryo Advanced Engineering School National Institute of Technology Kurume College Fukuoka Japan National Institute of Technology Kurume College Department of Control and Information Systems Engineering Fukuoka Japan

ISBN: (纸本)9798350323153

This paper proposes an online controller tuning method using fictitious reference iterative tuning (FRIT) design method based on recursive least-squares (RLS) method for quadrotor flight control. FRIT is a method of directly adjusting controller parameters such as PID gains using input/output data without using a mathematical model of the controlled object. This paper compares the performance of conventional discrete PID control with that of discrete PID control implementing RLS-FRIT by simulation. The results show that the proposed RLS-FRIT has better control performance than the conventional method. The robustness against disturbances was also found to be superior to that of the conventional method. © 2023 IEEE.

关键词： Fictitious Reference Iterative Tuning (FRIT) Recursive Least-Squares (RLS)

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A Method for Solving Camera Pose Estimation Problems Considering the Pairwise Constraints and Polar Coordinates 8

A Method for Solving Camera Pose Estimation Problems Conside...

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8th International Conference on Computer and Communication systems, ICCCS 2023

作者： Uematsu, Kohta Matsushima, Kousuke Advanced Engineering School National Institute of Technology Kurume College Fukuoka Japan National Institute of Technology Department of Control and Information Systems Engineering Kurume College Fukuoka Japan

ISBN: (纸本)9781665456128

The camera pose estimation problem using correspondences involves outliers in most cases. In recent years, Random Sample Consensus (RANSAC) is often used as a well-known outlier removal method, however, RANSAC does not guarantee to generate an optimal model due to the characteristics of its processing. Therefore, a method that separates rotation and translation parameters by using the Pairwise Constraints has been proposed. Since this method has no randomness, it can estimate the optimal rotation parameters. In the conventional method, the rotation parameters are expressed in terms of the rotation axis, and estimated using the Branch-and-Bound method. In the proposed method, the rotation parameters are expressed in polar coordinates and searched for. Experimental results show that the proposed method achieves better accuracy in most cases than the conventional methods on synthetic data. The proposed method also succeeded in reducing the execution time. © 2023 IEEE.

关键词： Branch and bound method

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Magnetic Microrobots Fabricated by Photopolymerization and Assembly

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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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Mn-based MXene with high lithium-ion storage capacity

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Nano Research 2024年第5期17卷 4181-4191页

作者： Yanyan Wu Dongqing Liu Xiaonan Wang Usman Ghani Muhammad Asim Mushtaq Jinfeng Yang Huarui Sun Panagiotis Tsiakaras Xingke Cai School of Science and Ministry of Industry and Information Technology Key Laboratory of Micro-Nano Optoelectronic Information System Harbin Institute of Technology ShenzhenShenzhen 5180552 China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China Institute for Advanced Study Shenzhen UniversityShenzhen 518060China College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060China Laboratory of Alternative Energy Conversion Systems Department of Mechanical EngineeringSchool of EngineeringUniversity of ThessalyPedion Areos 38834Greece

3d-transition metal(Fe,Co,Ni,and Mn)-based MXene materials have been predicted to demonstrate exceptional electrochemical performance because of their good electrical conductivity and the presence of metallic atoms with multiple charge ***,until now,there have been no reports on MXenes based on Fe,Co,Ni,and Mn,due to the lack of 3d-metal-layered ***,we successfully synthesized the first 3d-transition metal-based MXenes,Mn_(2)CT_(x) by exfoliating a layered precursor derived from the anti-perovskite bulk *** as-prepared Mn_(2)CT_(x) MXene nanosheets were employed as anode materials in lithium-ion batteries,which exhibited stable storage capacity of 764.7 mAh·g^(-1) at 0.5 C,placing its storage capacities at an upper-middle level compared with other reported MXene materials as well as other Mn-based anode ***,this study opens a new avenue for MXene research by synthesizing 3d-transition metal-based MXenes for electrochemical applications.

关键词： Mn_(3)GaC Mn_(2)CT_(x) MXenes lithium-ion battery anode materials negative fading capacity

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