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IEEE International Conference on robotics and automation (ICRA)

作者： Song Liu Yuyu Jia You-Fu Li Yao Guo Haojian Lu ShanghaiTech Automation and Robotics Center School of Information Science and Technology ShanghaiTech University Shanghai China City University of Hong Kong Kowloon Hong Kong Institute of Medical Robotics Shanghai Jiaotong University Shanghai China State Key Laboratory of Industrial Control and Technology and Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

Simultaneous assembly of multiple objects is a key technology to form solid connections among objects to get compact structures in precision assembly and micro-assembly. Dramatically different from traditional assembly of two objects, the interaction among multiple objects is more complicated on analysis and control. During simultaneous assembly of multiple objects, there are multiple mutually effected contact surfaces, and multiple force sensors are needed to perceive the interaction status. In this paper, a coordinated micro-robot manipulation strategy is proposed for simultaneous assembly problem, which is based on microscopic vision and force information. Taking simultaneous assembly of three objects as an instance, the proposed method is well articulated, including calibration of assembly system, force analysis for each contacting surface, and insertion control strategy for assembly process. The proposed method is applicable also to case with more objects. Experiment results demonstrate effectiveness of the proposed method.

关键词： automation Shape Microscopy Conferences Force Process control Robot sensing systems

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Edge computing-based defect identification model of power IoT edge side devices

Edge computing-based defect identification model of power Io...

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2020 IEEE International Conference on information Technology, Big Data and Artificial Intelligence, ICIBA 2020

作者： Li, Dawei Jia, Gengtao Song, Chunhe Yu, Shimao Start Grid Shanghai Information Telecommunication Company Shanghai200122 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang11016 China

ISBN: (纸本)9781728152240

There are various types of devices on the terminal side of the power Internet of Things, and the data collected through various sensors shows an exponential growth. The current in-depth application of edge computing technology can not only ease the pressure of network transmission, but also improve the timeliness of fault diagnosis. Edge computing technology is A new way to solve the fault diagnosis of equipment on the edge of the power grid. From the perspective of edge fault diagnosis, this paper expounds the fault diagnosis model of power IoT edge devices based on edge computing, and combines the isolated forest algorithm to design smart sensor data-based power IoT edge device fault diagnosis algorithms. Finally, the validity of the proposed framework model is verified by public sample data. © 2020 IEEE.

关键词： Failure analysis

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Distributed computing framework of intelligent sensor network for electric power internet of things 9

Distributed computing framework of intelligent sensor networ...

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9th IEEE Joint International information Technology and Artificial Intelligence Conference, ITAIC 2020

作者： Li, Dawei Yu, Ruimo Song, Chunhe Li, Shu Jia, Gengtao Zhou, Xiaoli Start Grid Shanghai Information Telecommunication Company Shanghai200122 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

The power IoT terminal environment is complex, and current smart sensor sensors have problems such as poor networking capabilities and large processing delays, and few specific edge-side automatic networking capabilities. This paper analyzes and elaborates the distributed intelligent sensor computing framework from the perspective of edge intelligent networking, designs a computing model for intelligent sensors of power Internet of Things terminals, and gives the edge-based deployment of convolutional neural network architecture, data aggregation, model training, and intelligent reasoning. Finally, the validity of the proposed framework model is verified by public sample data. © 2020 IEEE.

关键词： Internet of things

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information modeling and verification method for edge computing of power internet of things 9

Information modeling and verification method for edge comput...

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9th IEEE Joint International information Technology and Artificial Intelligence Conference, ITAIC 2020

作者： Li, Dawei Chen, Xiaolu Song, Chunhe Yu, Shimao Start Grid Shanghai Information Telecommunication Company Shanghai200122 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

There are various types of power Internet of Things terminals, and a unified edge-side information fusion model is the basis of data unification. This article describes the unified modeling method of power Internet of Things terminal information, and describes the construction method of the Internet of Things terminal information model from three aspects: attribute, message and service. Combined with the characteristics of the electric power Internet of Things information model, a model verification method is given. Finally, through the terminal data on the edge side of the power Internet of Things, the feasibility and effectiveness of the model verification method are verified. © 2020 IEEE.

关键词： Internet of things

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Design of Double-Body Car-Snake Hybrid Transformable Robot

Design of Double-Body Car-Snake Hybrid Transformable Robot

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Chinese Control Conference (CCC)

作者： Guan-nan Li Ming Zeng Yu Ma Qi Li Wen-kang Xu Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin University Tianjin P. R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

Transformable robots are attracting increasing interest because of their ability of strong environmental adaptability. In this paper, a double-body car-snake hybrid transformable robot with flexible movement and strong environmental adaptability was developed to meet the needs of automatic inspection in complex industrial environments. A special connecting rod with aid of the digital steering gear was designed for the transformable robot, which enables it to quickly switch between car-shaped and snake-shaped moving postures. The transformable robot was also equipped with special mecanum wheels, which allow it to move quickly and omnidirectionally in open areas with the car-shaped posture. In addition, the mecanum wheels can provide the critical axial driving force for the robot in the snake-shaped posture, and with the help of angle control of the digital steering gear, the robot can easily cross the narrow curved channels with different radians. The details of the mechanical and electrical control system design were provided in this paper. Moreover, various motion modes of the transformable robot in different scenarios were demonstrated through experiments.

关键词： Mobile robots Wheels Gears Force Wireless communication Switches

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PublicGarbageNet : A Deep Learning Framework for Public Garbage Classification

PublicGarbageNet : A Deep Learning Framework for Public Garb...

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Chinese Control Conference (CCC)

作者： Ming Zeng Xiangzhe Lu Wenkang Xu Tongxi Zhou Yinbo Liu Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin University Tianjin P. R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

Intelligent garbage classification is an important technique for garbage harmless, reducing and recycling treatment. In this paper, we propose a public garbage classification algorithm based on the CNN architecture, namely PublicGarbageNet. The proposed algorithm is a multi-task classification algorithm in which one task identifies four major categories of domestic garbage, and the other task achieves recognition of 10 subclasses garbage. The two classification tasks are related to each other, and the joint loss function is helpful to improve the accuracy of garbage recognition. Considering the fact that the existing garbage datasets are incomplete in classes and small in quantity, we constructed a new pubic garbage dataset including 10 subclasses and a total of 10624 images. In order to obtain better performance, systematically studies such as backbone optimization selection, data augmentation, learning rate optimization, and label smoothing have been made, and finally the accuracy of the optimized model reaches 96.35%.

关键词： Training Task analysis Plastics Metals Glass Machine learning Smoothing methods

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Sensor-less Complex System Control of PMSM Based on Improved SMO

Sensor-less Complex System Control of PMSM Based on Improved...

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作者： Yingjie Xiong Anna Wang Tao Zhang College Of Information Science and Engineering Northeastern University Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Electrical Engineering Dalian University of Technology

The sensor-less control system of PMSM is complicated,and it is of great significance to carry out accurate mathematical modeling and simulation *** is small in size,high in efficiency,and low in noise,so it is very popular in AC motor *** have been widely used in various electrical appliances such as machine tools,robots,and household *** order to reduce the high-frequency chatter of the sensor-less control strategy of permanent magnet synchronous motors,a sensor-less control method based on improved SMO is *** back-EMF component in the static coordinate system is obtained through the *** backEMF component undergoes closed-loop feedback to eliminate the high-frequency *** back-EMF component is calculated by an improved PLL to obtain the position and speed of the rotor to improve system *** the end of the article,the feasibility is proved by comparing it with the simulation of conventional SMO-PLL.

关键词： PMSM SMO with closed-loop feed back improved PLL

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Position control of XY precision planar motion table based on input shaping filter

Position control of XY precision planar motion table based o...

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作者： HuaLiang Zhang Xu Lu DanPing Jia BingJie Zhao Tao Zhang Yang Liu HongYu Yan Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Artificial Intelligence Shenyang University of Technology School of Information Science and Engineering Shenyang University of Technology

In order to solve the vibration problem of mining equipment,a Simulink simulation model of current loop,speed loop and position loop of permanent magnet synchronous motor was established to track the input position signal of the motor system.[1] At the same time,the input shaper is introduced into the motor three loop control model to study the vibration suppression effect of the input shaper.[2] The essence of the input shaper is to filter the input ***,the parameters of the input shaper need to be accurately identified and the detailed parameters of the system need to be ***,the problem that the identification accuracy of the system is not enough often makes the parameters of the shaper *** view of the problem that the system identification is not accurate,a method of adjusting and setting input shaper parameters is designed,which is not very dependent on the *** results show that the optimal parameters of the shaper can be selected by the *** with the parameters of the shaper selected according to the identification model,the vibration suppression effect is better.

关键词： system identification input shaping oscillation suppression

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A multimode soft gripper with an inflatable toroid for robotic gentle grasping: Swallowing, enveloping, and expansion

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Sensors and Actuators A: Physical 2025年 393卷

作者： Sheng Xiang Muye Niu Zhong Wei Jia Liu Yang Yang Zhen Liu School of Automation Nanjing University of Information Science and Technology Nanjing 210044 PR China Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology Nanjing 210044 PR China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 PR China

Soft grippers offer inherent adaptability to objects of varying shapes due to the compliance of their constituent materials. In this study, we present a novel multimode soft gripper based on an inflatable toroidal structure that supports swallowing, enveloping, and expansion grasping modes. By enabling seamless transitions between these modes, the gripper accommodates a wide range of object geometries, facilitates continuous multi-object grasping, and enhances load-bearing capacity and tolerance to positional misalignment. The design features a soft toroid integrated with V-shaped pleats, which enable dual-mode deformation through coordinated material stretching and pleat unfolding. The design of the gripper and an analytical model capturing its geometric characteristics are presented, along with detailed descriptions of its structural configuration and fabrication process. Experiments were conducted analyzing the characteristics and grasping capabilities of the gripper. Results demonstrate its ability to successfully grasp various objects, including delicate items such as potato chips and jelly, a mesh pen holder, and a bucket of water weighing 12 kg. Experimental studies on the tolerance of different grasping modes to an initial grasp position and angle reveal that switching to an enveloping grasping mode after swallowing exhibits increased load capacity and enhanced tolerance towards grasp misalignment. Experimental results demonstrate the gripper’s shape adaptability and its ability to gently and reliably handle fragile items, highlighting its potential for applications in robotic delicate object grasping.

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Development in the application of laser-induced breakdown spectroscopy in recent years:A review

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Frontiers of physics 2021年第2期16卷 45-69页

作者： Lian-Bo Guo Deng Zhang Lan-Xiang Sun Shun-Chun Yao Lei Zhang Zhen-Zhen Wang Qian-Qian Wang Hong-Bin Ding Yuan Lu Zong-Yu Hou Zhe Wang Wuhan National Laboratory for Optoelectronics(WNLO) Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesSheyang 110016China School of Electric Power South China University of TechnologyGuangzhou 510640China State Key Laboratory of Quantum Optics and Quantum Optics Devices Institute of Laser SpectroscopyShanxi UniversityTaiyuan 030006China State Key Laboratory of Multiphase Flow in Power Engineering Xi'an Jiaotong UniversityXi'an 710049China Key Laboratory of Photonic Information Technology School of Optics and PhotonicsBeijing Institute of TechnologyBeijing 100081China School of Physics Dalian University of TechnologyNo.2 Linggong RoadGanjingzi DistrictDalian 116024China Optics and Optoelectronics Laboratory Ocean University of ChinaQingdao 266100China State Key Lab of Power Systems Department of Energy and Power EngineeringTsinghua UniversityBeijing 100084China

Laser-induced breakdown spectroscopy(LIBS)has been widely studied due to its unique advantages such as remote sensing,real-time multi-elemental detection and none-to-little *** the efforts of researchers around the world,LIBS has been developed by leaps and ***,in recent years,more and more Chinese LIBS researchers have put tremendous energy in promoting LIBS *** is worth mentioning that the application of LIBS in a specific field has its special application background and technical difficulties,therefore it may develop in different stages.A review summarizing the current development status of LIBS in various fields would be helpful for the development of LIBS technology as well as its applications especially for Chinese LIBS community since most of the researchers in this field work in *** the present work,we summarized the research status and latest progress of main research groups in coal,metallurgy,and water,*** on the current research status,the challenges and opportunities of LIBS were evaluated,and suggestions were made to further promote LIBS applications.

关键词： laser-induced breakdown spectroscopy application

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