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Chinese Control and Decision Conference, CCDC

作者： Chunhui He Qingxiang Wu Shuzhen Diao Ning Sun Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

In virtue of its excellent flexibility, high compliance, and convenient maintenance, pneumatic polishing equipment is widely used in the surface polishing of manufacturing products. However, due to the harsh working environment of polishing robots (e.g., high temperatures, humidity, and vibrations), the probability of inaccurate measurements is increased. At the same time, pneumatic systems have strong hysteresis and nonlinear characteristics because of the materials, friction, and gas resistance. The above issues will affect the accurate tracking performance of pneumatic control systems. Therefore, this paper proposes a force control framework considering hysteresis characteristics and sensor measurement sensitivity. Furthermore, an adaptive dynamic surface control method is designed to achieve precise force control under measurement sensitivity. In addition, the stability analysis is completed by using Lyapunov techniques, and all states of the closed-loop system are also guaranteed to be bounded. Finally, several groups of simulation results demonstrate the effectiveness of the proposed method.

关键词： Temperature measurement Sensitivity Force measurement Surface resistance Measurement uncertainty Pneumatic systems Robot sensing systems

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Backstepping-based adaptive control of indoor miniature airship

Backstepping-based adaptive control of indoor miniature airs...

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International Conference on Cybernetics, robotics and Control (CRC)

作者： Hongming Li Yongchun Fang Jinyang Dong Hai Yu Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

Recently, research on the flight control of indoor small unmanned airships has attracted much attention. Unmanned airship has characteristics of low manufacturing cost, long dwell time, low energy consumption and so on. Under the premise of ignoring the external wind interference, a controller is designed that makes the airship move to the preset point and stay in the air. The mathematical model of the unmanned airship is first introduced in this paper. A six-degree-of-freedom equation of motion is established after force analysis, and then it is simplified to a three-degree-of-freedom model according to the geometric symmetry of the airship. Subsequently, the motion process of the airship is disassembled into horizontal motion and vertical motion, the backstepping method is used to design the controller, and unknown parameters in the model are processed with adaptive control. Finally, computer simulation experiments are carried out to verify the correctness of the model and the effectiveness of the controller from a mathematical point of view. In this paper, a small unmanned airship motion control system is designed, and its feasibility from the perspective of computer simulation is verified. These studies provide initial exploratory work on control methods for indoor unmanned airships.

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Optimization-Based Tracking Method for Active Navigation in Orthopedic Surgeries

Optimization-Based Tracking Method for Active Navigation in ...

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第35届中国控制与决策会议

作者： Yiyang Meng Mengde Luo Jianda Han Yanding Qin the College of Artificial Intelligence (Tianjin Key Laboratory of Intelligent Robotics) Nankai University the Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

Intraoperative optical tracking system(OTS)plays an essential role to measure the position and orientation of the surgical tools via passive tools during surgery *** to the limited measurement volume(MV),the tracked tools might probably move out of the MV during the surgery,causing navigation *** addition,the accuracy of the OTS is influenced by several factors,i.e.,working distance and the relative orientation of the tracked *** the surgical tool is near the border of the MV,the tracking accuracy may degrade and the risk of a missing tool also *** address this challenge,this paper proposes an active navigation system where a navigation robot is utilized to adjust the pose of the OTS such that the tracked tools are kept near the center of the MV,maintaining the tracking accuracy.A distance margin is proposed to quantify the degree of danger of losing the tracked ***,a real-time optimization tracking method is formulated to plan the next pose of the OTS until the distance margin is lower than the ***,abundant simulations are performed on an active navigation system to demonstrate the effectiveness of the proposed optimization tracking method.

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基于细胞内应变评估的卵母细胞去核方法及在机器人化克隆中的应用

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Engineering 2023年第5期24卷 73-83,I0002页

作者： Ming-Zhu Sun Yao-Wei Liu Mao-Sheng Cui Qi-Li Zhao Xiang-Fei Zhao Yi-Di Zhang Jing-Jing Huang Gui-Zhang Lu Xin Zhao Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent RoboticsNankai UniversityTianjin 300071China Tianjin Animal Science and Veterinary Research Institute Tianjin 300201China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai UniversityShenzhen 518063China

自1996年第一只克隆羊诞生,克隆技术就由于其在动物育种方面的巨大潜力而得到了大量关注。体细胞核移植技术是动物克隆的核心,其操作过程非常复杂,不可避免地造成细胞内损伤。通常来说,只有不到1%的重构胚胎能够发育成克隆动物,克隆的... 详细信息

自1996年第一只克隆羊诞生,克隆技术就由于其在动物育种方面的巨大潜力而得到了大量关注。体细胞核移植技术是动物克隆的核心,其操作过程非常复杂,不可避免地造成细胞内损伤。通常来说,只有不到1%的重构胚胎能够发育成克隆动物,克隆的低成功率是制约其广泛应用的主要原因之一。为此,本文提出了一种基于细胞内应变评估的卵母细胞去核方法,来减少体细胞核移植中的潜在细胞内损伤,从而提高克隆成功率。首先,论文根据细胞内速度场计算细胞内应变,进而将内应变作为评价标准来优化去核操作;在此基础上,开发了一套机器人批量体细胞核移植系统,用于实现机器人化克隆。实验结果表明,本文方法将体细胞核移植后的胚胎囊胚率从10.0%提高到20.8%,并成功获得17头克隆小猪,这是世界首批由机器人完成克隆操作获得的克隆动物。对比手动核移植操作,本文将克隆成功率从平均0.73%提升到了2.50%,大幅提升了克隆效率。与此同时,基于细胞内应变的去核方法有望应用于其他生物操作,并建立一种通用的减少细胞内损伤的细胞操作规范。

关键词：动物育种去核方法体细胞核移植克隆动物卵母细胞机器人化动物克隆克隆技术

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Adaptive Prediction Control for Parallel Robots Actuated by Pneumatic Artificial Muscles With Motion Constraints and Input Saturation

Adaptive Prediction Control for Parallel Robots Actuated by ...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Tong Yang Qihang Wang Shuzhen Diao Yongchun Fang Ning Sun College of Artificial Intelligence Institute of Robotics and Automatic Information Systems (IRAIS) Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

Benefitting from the inherent characteristics of high compliance, strong flexibility, and lightweight, pneumatic artificial muscles (PAMs), as a kind of soft actuators, are widely used in industrial logistics, medical rehabilitation, bionic engineering, etc. In addition to the basic issues in PAMs, e.g., unmodeled dynamics, input hysteresis, and unidirectional saturation constraints, parallel PAMs also suffer from more complex coupling relationships and antagonistic effects. Hence, it is necessary to ensure safety constraints for independent muscles and their input air pressure. To simultaneously deal with the above-mentioned problems, this paper proposes a dual-layer control structure for parallel PAM-actuated robot manipulators. The lower-layer controller handles uncertain dynamics and ensures accurate tracking of parallel PAMs, and the corresponding Lyapunov-based stability analysis also proves its effectiveness. Meanwhile, the lower-layer controller and parallel PAMs are approximated together by an optimal reference model, and necessary control parameters are flexibly adjusted during the optimization process, which make the upper-layer prediction controller not depend on any plant knowledge, to realize input/output constraints by multi-period motion prediction and horizon optimization. Moreover, experimental results in different cases are provided to illustrate the performance of the presented controller.

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robotic picking up of polar body for biopsy:localization and approach

Robotic picking up of polar body for biopsy:localization and...

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第42届中国控制会议

作者： Minghui Li Jinyu Qiu Ruimin Li Yidi Zhang Mingzhu Sun Xin Zhao Qili Zhao Institute of Robotics and Automatic Information System(IRAIS) Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

Polar body biopsy has been widely applied in the preimplantation genetic diagnosis and oocyte screen for assisted reproductive *** key step in the polar body biopsy is picking up the polar body using a ***,the almost transparent appearance of the polar body and its dynamic motion with the micropipette moving inside the oocyte makes it a challenging task to pick up the polar *** this paper,a defocus imaging method is proposed to locate the polar body with an almost transparent ***,the dynamic drift of the polar body with the micropipette moving inside the cell is analyzed to determine a trajectory of the micropipette suitable for picking up the polar ***,a PID-based motion control of the micropipette is developed to move the micropipette tip along the above trajectory to approach the polar *** experimental results on porcine oocytes show that the success rate of polar body localization based on defocus imaging technology reaches90%.Moving along the determined traj ectory inside the oocyte,the micropipette is capable of approaching the polar body with an average error less than 5 μm,success rate can reach 90%(18/20),paving the solid ground for robotic picking up of the polar body.

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Supermaneuverable Flipping Control and Planning Based on Multi-Rotor Mode of Tilt-Rotor UAVs

Supermaneuverable Flipping Control and Planning Based on Mul...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wang, Hongpeng Zhang, Qinghao Fei, Yue Deng, Kun Liang, Jun Sun, Chuanyu Xu, Li Civil Aviation University of China The Key Laboratory of Civil Aviation Smart Airport Theory and System China College of Artificial Intelligence Nankai University Tianjin300071 China National University of Defense Technology Laboratory of Science and Technology on Integrated Logistics Support Changsha410073 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute Nankai University Shenzhen518083 China China Nuclear Power Technology Research Institute Co. Ltd Shenzhen518000 China

ISBN: (纸本)9781665481090

Maneuverability is a critical factor for UAV s to survive in high-intensity combat scenarios. Traditional UAV s typically operate in a stable motion state to ensure flight safety. However, in highly contested environments, special missions require high mobility while maintaining safety. Tilt-rotor UAV s, which combine the characteristics of fixed-wing and multi-rotor UAVs, can perform extreme maneuvers, such as high angles of attack and post-stall maneuvers, to rapidly change posture and complete tasks like positioning and defense. Therefore, integrating and optimizing safety and maneuverability metrics is necessary for enabling UAV s to achieve extreme maneuverability. In this paper, extreme maneuver planning and control for tilt-rotor UAV s are realized through a method based on third-order Bezier curve planning of body angular velocity. Experimental results demonstrate tilt-rotor UAVs can perform extreme super-maneuverable flips while maintaining overall process control. © 2024 IEEE.

关键词： Maneuverability

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Kinematics and Dynamics Modeling of Bionic Variable Structure UAVs

Kinematics and Dynamics Modeling of Bionic Variable Structur...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Huanhuan Lou Qingxiang Wu Hai Wang Tong Yang Huawang Liu Ning Sun Institute of Robotics and Automatic Information Systems (IRAIS) College of Artificial Intelligence Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

In recent years, quadrotors have been widely used in many fields, and the requirements for rescue and exploration in narrow and limited environments have gradually increased. In order to improve the adaptability of quadrotors for limited environments, this paper establishes the kinematics and dynamics of bionic variable structure unmanned aerial vehicle (BVS-UAVs). Specifically, the four arms of BVS-UAVs can rotate independently around the central body frame to realize the configuration change during flight, which enhances the adaptation for limited environments and complex tasks, such as narrow space and close scanning vertical surfaces. However, compared with fixed-wing UAVs, the control of variable structure and asymmetric for BVS-UAV is full of challenges, and the modeling of kinematics and dynamics is intuitively important. Therefore, kinematics and dynamics for BVS-UAVs considering the change of center of gravity (CoG) and the moment of inertia (MoI) are established. We also calculated the control allocation matrix. Besides, the prototype of BVS-UAVs is built and the hover performance is fully verified.

关键词： Biological system modeling Prototypes Kinematics Aerospace electronics Real-time systems Resource management Vehicle dynamics

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Design and optimisation of bio-inspired robotic stochastic search strategy

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International Journal of Reasoning-based Intelligent systems 2020年第3期12卷 187-192页

作者： Maroofkhani, Farhad Ali Forough Nassiraei, Amir Ishii, Kazuo Department of Human Intelligence Systems Kyushu Institute of Technology 2-4 Hibikino Wakamatsu Kitakyushu Fukuoka808-0196 Japan Department of Electrical and Computer Engineering Space Robotic Lab Concordia University 1515 St. Catherine St. W. EV-5.139 MontrealQCH3G 2W1 Canada

An autonomous robot's search strategy is the set of rules that it employs while looking for targets in its environment. Biological systems (e.g., foraging animals) provide useful inspirations for designing optimal stochastic search algorithms for autonomous robots. Due to the complexity of interaction between the robot and its environment, optimisation must be performed in high-dimensional parameter space. We analyse the dependence of search efficiency on environmental parameters and robot characteristics using response surface methodology (RSM), a technique originally developed for experimental design. In this study, the efficiency of a strategy focuses on Lévy walk search strategies on two-dimensional landscapes with clumped resource distributions. We show how RSM techniques can be used to identify optimal parameter values and to describe how sensitive is the efficiency to the changes in these values. © 2020 Inderscience Enterprises Ltd.

关键词： Robots

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robotic Single-Micropipette Enucleation Method for Zona-free Oocytes

Robotic Single-Micropipette Enucleation Method for Zona-free...

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第42届中国控制会议

作者： Yidi Zhang Yaowei Liu Minghui Li Dong Sun Xin Zhao Department of Biomedical Engineering City University of Hong Kong Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

Somatic cell nuclear transfer is a mammalian cloning method that involves replacing the oocyte nucleus with a somatic cell *** of the most critical steps in this process is the efficient production of large numbers of enucleated *** a single-micropipette-based manual enucleation method has been widely used in manual cloning,it is still a manual operation that requires exceptional technical skills and ***,it is difficult to accurately control the amount of enucleation and to meet the demand for high-throughput ***,we propose a robotic enucleation method using a single micropipette for zona-free oocytes,which allows for the detection and control of the amount of enucleation,as well as continuous enucleation on a large scale.A single oocyte enucleation can be completed in less than 13 *** robotic enucleation method provides a solution for enhancing the operational efficiency of robotic somatic cell nuclear transfer.

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