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Admittance-Based Output Feedback Fuzzy Switching Control for PAM-Driven Parallel Robots via Nonsingular Terminal Sliding Mode

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 14248-14260页

作者： Zhang, Xinlin Liu, Gendi Diao, Shuzhen Yang, Tong Fang, Yongchun Sun, Ning Shenzhen Research Institute of Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen518083 China Nankai University Institute of Robotics and Automatic Information Systems College of Artificial Intelligence TBI Center Tianjin300350 China

As a kind of soft actuator with inherent compliance, pneumatic artificial muscles (PAMs) have great application potential in robots. However, some challenging issues, such as high nonlinearities, sensor noises, and external disturbances, inevitably bring enormous difficulties to the accurate control of PAM-driven robots. To this end, this paper proposes an adaptive output feedback fuzzy switching control method for switched-form PAM-driven parallel robot systems, utilizing admittance models to rebuild compliant trajectories. Specifically, based on the nonrecursive high-order sliding mode (HOSM) differentiators with fixed-time convergence, unmeasurable velocity signals can be reconstructed to eliminate the adverse effects of measurement noises, decreasing the time delay of feedback signals. Moreover, a soft switching strategy is designed to flexibly adjust the switching weights and intervals of fuzzy structures, maintaining smooth control commands. Further, by introducing a nonsingular terminal sliding manifold, tracking errors can rapidly converge to a small neighborhood around the origins within a finite time, and all closed-loop variables are proved to be bounded through the Lyapunov stability theory. Finally, several groups of experiments are carried out on a self-built PAM-driven parallel robot to verify the effectiveness of the suggested method. © 2004-2012 IEEE.

关键词： Pneumatic actuators

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Active-Model-based Precise Twist Steering for Autonomous robotic Flexible Endoscope

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 481-491页

作者： Wang, Xiangyu Liu, Chong Fang, Yongchun Yu, Ningbo Qin, Yanding Wang, Hongpeng Han, Jianda Tianjin300350 China Shenzhen Research Institute of Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen518083 China

In natural orifice transluminal endoscopic surgery (NOTES), the twist steering of the flexible endoscope plays an important role in tracking the preoperative path during cavity intervention. However, the flexible endoscope's twisting motion has high nonlinearity and uncertainty, which bring challenges for accurate modeling and controller design. In this study, a novel active modeling-based improved control (AMIC) scheme is proposed, which achieves precise control of the robotic flexible endoscope's twisting motion. First, the Coleman-Hodgdon (C-H) model is modified to serve as the reference model to describe the twist steering. Then, the model error in the C-H model is introduced as an extended state. Upon this, an active modeling algorithm is developed by using the unscented Kalman filter. The proposed model estimates both the twisting angle and the model error in real time. Based on the proposed model, the AMIC strategy is developed to enhance the tracking performance of a proportional-integral-derivative (PID) controller for a reference trajectory. Finally, comparative experiments were conducted on a self-built robotic flexible endoscope under various insertion depths and tip-part configurations. Compared to the PID controller, the experimental results demonstrate that the proposed AMIC scheme achieves a 63.1% reduction in tracking error under a sinusoidal trajectory. © 2018 IEEE.

关键词： Endoscopy

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Design and Accuracy Assessment of NOR2CORS: Navigation-Operation Dual-Robot Collaborative robotic System for Orthopedic Surgery

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 502-513页

作者： Geng, Pengxiu Luo, Mengde Liu, Jianpeng Li, Tianyao Wang, Hongpeng Qin, Yanding Han, Jianda Nankai University College of Artificial Intelligence Tianjin300350 China Shenzhen Research Institute of Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen518083 China

Optical navigation is the mainstream technology used in intraoperative navigation for the orthopedic surgical robot. The information loss problem in optical navigation system (OTS) seriously affects the surgical process. Different from the conventional orthopedic surgical robot systems, we propose to use an additional navigation robot to adjust the viewpoint of the OTS. In this navigation-operation dual-robot collaborative robotic system for orthopedic surgery (NOR2CORS), a comprehensive range of functions are realized, including CT image segmentation, path planning, intraoperative operation, and active navigation. In this paper, pedicle screw placement is adopted as an example to assess the effectiveness and performance of the NOR2CORS. An assessment criterion is also proposed to assess the accuracy of pedicle screw placement based on the widely-used Gertzbein and Robbins classification. Experiments are conducted on a human spine model (24 pedicles) and ex-vivo porcine spine (10 pedicles). According to the proposed assessment criterion, 96% pedicles on human spine model can be classified as grade A and 4% grade B, with 67% of them as grade A2 and above. In the ex-vivo porcine spine experiment, all pedicle screw placements can be classified as grade A, with 80% of them as grade A2 and above. In the surgical process, all positioning targets can be observed without any interruption in navigation. These results demonstrated the efficiency and accuracy of the NOR2CORS. © 2018 IEEE.

关键词： Robot programming

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Robust Safety Critical Control Under Multiple State and Input Constraints: Volume Control Barrier Function Method

arXiv

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arXiv 2025年

作者： Dong, Jinyang Wu, Shizhen Liu, Rui Liang, Xiao Lu, Biao Fang, Yongchun Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300071 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

In this paper, the safety-critical control problem for uncertain systems under multiple control barrier function (CBF) constraints and input constraints is investigated. A novel framework is proposed to generate a safety filter that minimizes changes to reference inputs when safety risks arise, ensuring a balance between safety and performance. A nonlinear disturbance observer (DOB) based on the robust integral of the sign of the error (RISE) is used to estimate system uncertainties, ensuring that the estimation error converges to zero exponentially. This error bound is integrated into the safety-critical controller to reduce conservativeness while ensuring safety. To further address the challenges arising from multiple CBF and input constraints, a novel Volume CBF (VCBF) is proposed by analyzing the feasible space of the quadratic programming (QP) problem. To ensure that the feasible space does not vanish under disturbances, a DOB-VCBF-based method is introduced, ensuring system safety while maintaining the feasibility of the resulting QP. Subsequently, several groups of simulation and experimental results are provided to validate the effectiveness of the proposed controller. © 2025, CC BY.

关键词： Quadratic programming

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Optimization-free Smooth Control Barrier Function for Polygonal Collision Avoidance

arXiv

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arXiv 2025年

作者： Wu, Shizhen Fang, Yongchun Sun, Ning Lu, Biao Liang, Xiao Zhao, Yiming Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300353 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

Polygonal collision avoidance (PCA) is short for the problem of collision avoidance between two polygons (i.e., polytopes in planar) that own their dynamic equations. This problem suffers the inherent difficulty in dealing with non-smooth boundaries and recently optimization-defined metrics, such as signed distance field (SDF) and its variants, have been proposed as control barrier functions (CBFs) to tackle PCA problems. In contrast, we propose an optimization-free smooth CBF method in this paper, which is computationally efficient and proved to be nonconservative. It is achieved by three main steps: a lower bound of SDF is expressed as a nested Boolean logic composition first, then its smooth approximation is established by applying the latest log-sum-exp method, after which a specified CBF-based safety filter is proposed to address this class of problems. To illustrate its wide applications, the optimization-free smooth CBF method is extended to solve distributed collision avoidance of two underactuated nonholonomic vehicles and drive an underactuated container crane to avoid a moving obstacle respectively, for which numerical simulations are also performed. © 2025, CC BY.

关键词： Magnetic levitation vehicles

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Hysteresis compensation and decoupling control of a parallel XYΘ nanopositioning system in linear and angular coupled positioning

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Mechanical systems and Signal Processing 2025年 234卷

作者： Qin, Yanding Yuan, Jie Wu, Haitao Shirinzadeh, Bijan Han, Jianda College of Artificial Intelligence Nankai University Tianjin300071 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China Department of Mechanical and Aerospace Engineering Monash University MelbourneVIC3800 Australia

Piezoelectric actuator actuated XYΘ nanopositioning system can provide in-plane 3 degrees-of-freedom (DOFs) actuation for micro/nano manufacturing. The challenges in the positioning control of this multi–input–multi–output (MIMO) system include the hysteresis of the actuators, the input couplings, and the output couplings. In this paper, a decoupling generalized predictive controller is proposed to account for the above hysteresis and couplings. First, an inverse Prandtl-Ishlinskii model is used to construct the feedforward compensator. Consequently, the compensated system can be treated as a linear MIMO system with input and output couplings. Subsequently, for the compensated system, a MIMO controller is constructed using generalized predictive control. Multi-DOF positioning results demonstrate that the proposed controller can effectively improve the transient and steady-state positioning performance of the XYΘ nanopositioning system. © 2025 Elsevier Ltd

关键词： Predictive control systems

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robotic Improved Micropipette Aspiration Method for Accurate Measurement of Cellular Mechanical Properties

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IEEE Transactions on Instrumentation and Measurement 2025年

作者： Liu, Mengya Li, Minghui Qiu, Jinyu Li, Ruimin Fu, Shaojie Zhang, Detian Zhao, Xin Zhao, Qili China Ministry of Education Nankai University Engineering Research Center of Trusted Behavior Intelligence China Shenzhen Research Institute of Nankai University Institute of Intelligence Technology and Robotic Systems China Nankai University National Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases China

For the first time, an improved robotic micropipette aspiration (MA) method considering the effects of the intra-cellular pressure, friction between cell and micropipette, and the micropipette opening size was proposed for improving the measurement accuracy of the cell elasticity properties in this paper. First, an elastic energy model of the aspirated cell was established to analyze the effects of intracellular pressure on MA results. Then a force analysis of MA process was conducted to evaluate the influences of the friction force between the cell surface and micropipette opening as well as the inner diameter of the micropipette opening to MA results. Based on the above work, an improved robotic MA process was developed for reducing the cell elasticity measurement errors through automated release of intracellular pressure, micropipette opening polishing and inner diameter control of the micropipette. The effectiveness of the above work was validated by both finite elemental model (FEM) and MA experiments. The MA results on porcine oocytes demonstrate that our proposed MA method can rectify the 20.11%, 35.08% and 6.80% measure errors of cell Young’s modulus caused by the above three factors, respectively. Our research may provide a more objective evaluation of cell mechanical properties in the related research. © 1963-2012 IEEE.

关键词： Velocity measurement

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Polytope Volume Monitoring Problem: Formulation and Solution via Parametric Linear Program Based Control Barrier Function

arXiv

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arXiv 2025年

作者： Wu, Shizhen Dong, Jinyang Fang, Xu Sun, Ning Fang, Yongchun Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300353 China The Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology Dalian116024 China

Motivated by the latest research on feasible space monitoring of multiple control barrier functions (CBFs) as well as polytopic collision avoidance, this paper studies the Polytope Volume Monitoring (PVM) problem, whose goal is to design a control law for inputs of nonlinear systems to prevent the volume of some state-dependent polytope from decreasing to zero. Recent studies have explored the idea of applying Chebyshev ball method in optimization theory to solve the case study of PVM;however, the underlying difficulties caused by nonsmoothness have not been addressed. This paper continues the study on this topic, where our main contribution is to establish the relationship between nonsmooth CBF and parametric optimization theory through directional derivatives for the first time, so as to solve PVM problems more conveniently. In detail, inspired by Chebyshev ball approach, a parametric linear program (PLP) based nonsmooth barrier function candidate is established for PVM, and then, sufficient conditions for it to be a nonsmooth CBF are proposed, based on which a quadratic program (QP) based safety filter with guaranteed feasibility is proposed to address PVM problems. Finally, a numerical simulation example is given to show the efficiency of the proposed safety filter. © 2025, CC BY.

关键词： Chebyshev filters

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Duality-Based Optimization of Occlusion Avoidance for Active Optical Navigation System in robotic Orthopedic Surgeries

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IEEE Transactions on Automation Science and Engineering 2025年

作者： Geng, Pengxiu Luo, Mengde Li, Tianyao Wang, Hongpeng Qin, Yanding Han, Jianda Nankai University College of Artificial Intelligence Tianjin 300350 China Shenzhen Research Institute of Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen 518083 China Dongfeng Motor Corporation R&D Institute Wuhan 430056 China

In robotic orthopedic surgery, the optical tracking system (OTS) is typically placed in a fixed location. In surgery, the OTS’s line of sight is likely to be blocked. This will interrupt the navigation and affect surgical safety. To solve this occlusion problem, an RGB-D camera is used to detect possible occluders and a navigation robot is utilized to actively adjust the OTS viewpoint before occlusion occurs. To guarantee the applicability, the occluder is enveloped using a convex polytope, and a two-phase optimization method is proposed based on duality of convex optimization. The effectiveness of the proposed method is verified via simulations and experiments. Experimental results show that the proposed method can avoid occlusion between the OTS and the occluder, and the targets are located near the center of the measurement volume. This active navigation guarantees the continuity of intraoperative navigation, and thus helps to improve the safety in robotic orthopedic surgery. © 2004-2012 IEEE.

关键词： active navigation duality-based optimization occlusion avoidance robotic orthopedic surgery

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Cross-Frequency Aware Network for Camouflaged Object Detection with Octave-Transformer

SSRN

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SSRN 2025年

作者： Dong, Feng Zhu, Jinchao Wang, Hongpeng College of Artificial Intelligence Nankai University Tianjin300000 China Software College Nankai University Tianjin300000 China Department of Automation BNRist Tsinghua University Beijing100089 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

Camouflaged object detection (COD) aims to identify objects that are fully blended into their surrounding environments. Current mainstream COD methods primarily focus on pixel-level optimization using convolutional neural networks (CNNs), without sufficiently addressing the significance of frequency interactions between candidate targets and noisy backgrounds, which are crucial for obtaining accurate edge and localization information. This paper explores the integration of multi-frequency features, and constructs a cross-frequency aware network (CFANet). The proposed network utilizes precisely learned deep-layer low-frequency features to guide other layers, achieving coarse localization. To further refine segmentation, the network employs both Transformer and CNN structures to facilitate the interaction and optimization of high- and low-frequency features at local and global *** model adopts a localization-guided decoder structure (LGS) that allows deep-layer low-frequency features to play a key role in guiding localization. The discussion module (DM) comprises three feature extraction experts, who engage in a teacher-student learning framework to derive more accurate deep-layer low-frequency features. In the Octave-Transformer module (OTM), the high- and low-frequency fused features based on octave convolution (OctConv) and Transformer deeply mine semantic features and detailed *** to previous approaches, the proposed network outperforms 28 state-of-the-art algorithms on benchmark datasets. Additionally, the network demonstrates excellent performance in other downstream tasks, such as polyp segmentation, surface defect detection. © 2025, The Authors. All rights reserved.

关键词： Decoding

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