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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Hean Hua Hang Zhong Hui Zhang Yongchun Fang Yaonan Wang College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center for Robot Visual Perception and Control Technology Changsha China School of Robotics Hunan University Changsha China Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

This paper presents a learning-based high-speed trajectory tracking control strategy for quadrotors, which achieves efficient learning and strong reliability by the collaboration of deep reinforcement learning (RL) and self-tuning mechanism. Different from existing methods, the proposed strategy is designed to explore optimal control performance by taking advantage of model-based self-tuning mechanism and deep reinforcement learning. Specifically, the self-tuning guided deep RL scheme is put forward for quadrotors, with superior learning efficiency and strong adaptability. Firstly, a novel self-tuning mechanism is constructed and some auxiliary variables are introduced to enhance the tracking performance. Then, based on the model-driven self-tuning design, the deep RL is proposed to achieve model-guided learning, where the tuning actions are adopted in the evaluation process during training, aiming at removing the bad explorations by the carefully designed parallel evaluation. Finally, the convergence is analyzed based on the proposed learning framework, which indicates the efficient cooperation of exploration and self-tuning mechanism. To verify the effectiveness of the proposed controller, the guided training and hardware experiments are implemented to show efficient cooperation and satisfactory high-speed trajectory tracking control of the proposed method.

关键词： Training Adaptation models Trajectory tracking Heuristic algorithms Optimal control Deep reinforcement learning Hardware

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MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile robot Local Planning Approaches

MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile R...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jian Wen Xuebo Zhang Qingchen Bi Zhangchao Pan Yanghe Feng Jing Yuan Yongchun Fang Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Marine Science and Technology Northwestern Polytechnical University Xi’an China Faculty of Robot Science and Engineering Northeastern University Shenyang China College of Systems Engineering National University of Defense Technology Changsha China

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website [1] contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code.

关键词： Measurement Industries Service robots Dynamics Benchmark testing Planning Safety

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A Calibration Method of Navigation system Integrated with Kinect and Laser Scanner

A Calibration Method of Navigation System Integrated with Ki...

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

作者： Lu Zhou Xiujuan Bao Xinwei Chen Institute of Robotics and Automatic Information System (IRAIS) Tianjin Key Laboratory of Intelligent Robotics (tjKLIR) Nankai University Tianjin China College of Artificial Intelligence Nankai University Tianjin China Industrial Robot Application of Fujian University Engineering Research Center Minjiang University Fuzhou China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

This paper presents a new calibration method, which combines the advantages of Kinect large measurement range and high accuracy of laser scanner measurement. The proposed method innovatively designs a calibration objects with special shapes to complete the calibration of laser scanner. To achieve effective fusion between two kinds of sensor information, the laser scanner and Kinect are jointly calibrated to obtain the relative coordinate transform between them. Finally, a particle filter (PF) with the optimal importance function and importance weights is designed to fuse the measurements of the target's range and bearing from the laser scanner and Kinect. The experimental results show that the proposed method can achieve satisfactory tracking performances.

关键词： Calibration Cameras Distortion robots robot kinematics Laser radar Lasers

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MRPB 1.0: A unified benchmark for the evaluation of mobile robot local planning approaches

arXiv

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arXiv 2020年

作者： Wen, Jian Zhang, Xuebo Bi, Qingchen Pan, Zhangchao Feng, Yanghe Yuan, Jing Fang, Yongchun The Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China The Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China The School of Marine Science and Technology Northwestern Polytechnical University Xi'an710072 China The Faculty of Robot Science and Engineering Northeastern University Shenyang110000 China The College of Systems Engineering National University of Defense Technology Changsha410073 China

关键词： Mobile robots

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A novel trajectory prediction approach for table-tennis robot based on nonlinear output feedback observer

A novel trajectory prediction approach for table-tennis robo...

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IEEE International Conference on robotics and Biomimetics

作者： Wang, Yingshi Sun, Lei Liu, Jingtai Yang, Qi Zhou, Lu He, Shan Institute of Robot and Automatic Information System Nankai University 300071 Tianjin China

ISBN: (纸本)9781424493173

It is a key issue for table tennis robot that the flight trajectory of ball could be rapidly predicted within a certain precision. Due to the nonlinear model of the ball's flight, only all state including the position and velocity at each event are catched, could its whole trajectory be obtained. However, since only the position could be measurable by cameras, the velocity should be predicted by the measured position. To solve this problem, this paper employs a novel output feedback observer to the ball's flight trajectory prediction for the velocity estimated. The stability and performance of the observer with exponential convergence is proven by Lyaponov method, and conditions for the stability of the observer are given. Compared with the traditional method, the approach proposed in the paper has some advantages of fast convergence and high precision. Finally, he experimental results shows the performance of the proposed approach. © 2010 IEEE.

关键词： Sports

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A novel trajectory prediction approach for table-tennis robot based on nonlinear output feedback observer

A novel trajectory prediction approach for table-tennis robo...

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IEEE International Conference on robotics and Biomimetics

作者： Yingshi Wang Lei Sun Jingtai Liu Qi Yang Lu Zhou Shan He Institute of Robot & Automatic Information System Nankai University 300071 Tianjin China

关键词： Trajectory robots Observers Atmospheric modeling Frequency modulation Accuracy Aerodynamics

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A robot-Assisted system for Minimally Invasive Spine Surgery of Percutaneous Vertebroplasty Based on CT Images

A Robot-Assisted System for Minimally Invasive Spine Surgery...

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IEEE Conference on robotics, Automation and Mechatronics

作者： Hao Ju Jianxun Zhang Gang An Xiaoxu Pei Guansheng Xing Institute of Robot and Information Automatic System Nankai University Tianjin China

This paper presents a robot-assisted system developed for spine surgery of percutaneous vertebroplasty. The system plays roles of assisting surgeon for puncture. Compared to navigation systems as well as conventional methods for percutaneous vertebroplasty, it is able to achieve better accuracy. With the help of the surgical planning system based on CT images, the surgeon could easily obtain the information of the target point, orientation, and depth of the surgical needle. Unlike other system based on vision, this robot system could achieve the target point with the desired angle without optical tracking system. A new method of coordinate transformation from the CT images to the robot is developed to cope with the orientation for the robot-assisted system.

关键词： Minimally invasive surgery Computed tomography robot kinematics Surges Navigation Needles Machine vision robot vision systems Biomedical optical imaging Target tracking

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Method of path planning for home security robots based on genetic algorithm

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Gaojishu Tongxin/Chinese High Technology Letters 2007年第9期17卷 924-928页

作者： Ju, Hao Niu, Heming Zhang, Jianxun Institute of Robot and Information Automatic System Nankai University Tianjin 300071 China

By combining the field knowledge with the genetic algorithm, a path planning method was proposed for home security robots. The algorithm used an improved grid method to represent home environments, redefined the evaluation method for the fitness function of path planning, and designed the effective path genetic operators. The simulation result indicated that this method was valid and effective. It realized the path planning and dynamic obstacle-avoidance of home security robots under actual home environment.

关键词： Genetic algorithm Home security robots Path planning

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robot assistant microsurgery system

Robot assistant microsurgery system

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6th World Congress on Intelligent Control and Automation, WCICA 2006

作者： Jianxun, Zhang Huan, Tan Wenqin, Luo Tian, Yang Shumei, Wang Institute of Robot and Automatic Information System Nankai University Tianjin 300071 China

ISBN: (纸本)1424403324

robot technology is being broadly applied in medical area. Assistant microsurgery robot is an important branch of medical robot. This paper introduces the architecture of a robot assistant microsurgery system (RAMS) which is developed by University of Nankai and explains the design of the control software of the system. The architecture of electrical and electronic control sub-system of the robot assistant microsurgery system is emphasized and detailed in this paper. Moreover, some clinical experiment results of microsurgery on animals are reported which demonstrate that the RAMS satisfies the requirements of assistant microsurgeries with a high moving precision and high working reliability. © 2006 IEEE.

关键词： Surgical equipment

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robot Assistant Microsurgery system

Robot Assistant Microsurgery System

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World Congress on Intelligent Control and Automation (WCICA)

作者： Jianxun Zhang Huan Tan Wenqin Luo Tian Yang Shumei Wang Institute of Robot and Automatic Information System Nankai University Tianjin China

关键词： robots Microsurgery Surgery Medical robotics robotics and automation Read-write memory Control systems Force feedback Manipulators Computer architecture

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