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2023 International Conference on Ocean Studies, ICOS 2023

作者： Filaretov, Vladimir Katsurin, Alexey Institute of Automation and Control Processes Feb Ras Vladivostok State University Laboratory of Robotic Systems Laboratory of Automation and Robotics Vladivostok Russia Far Eastern Federal University M.D. Ageev Institute for Marine Technology Problems Feb Ras Laboratory of Intelligent Information Systems for Marine Robots Department of Automation and Robotics Vladivostok Russia

ISBN: (纸本)9798350382457

The paper discusses methods of coordinated operation of two autonomous underwater vehicles, one of which is equipped with a multi-link manipulator and a vision system, and the second - auxiliary - only a vision system. These methods ensure the joint operation of two autonomous underwater vehicles both in the mode of semi-automatic positional remote control, and in the mode of automatic execution of operations with various objects. At the same time, work is considered in situations when the vision system of the main underwater vehicle does not allow observing the object of work, which is nevertheless located in the working area of the manipulator. In this case, the auxiliary inspection underwater vehicle with its own vision system is used to monitor the object. In the semi-automatic remote control mode, the manipulator automatically takes into account the current spatial orientation of the optical axis of the vision system of the inspection underwater vehicle, as well as the spatial orientations of both underwater vehicles at yaw angles in the absolute coordinate system. And in automatic mode, an accurate transfer of the spatial location and orientation of the object, which are determined using the vision system of the inspection underwater vehicle, is additionally provided to the associated coordinate system of the main underwater vehicle. It is possible to identify and eliminate errors that occur during the operation of the vision system and navigation systems of both underwater vehicles. The results of experimental studies have confirmed the operability of the proposed methods. © 2023 IEEE.

关键词： Autonomous underwater vehicles

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Industrial Wireless Control Networks:From WIA to the Future

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Engineering 2022年第1期8卷 18-24页

作者： Haibin Yu Peng Zeng Chi Xu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China

*** Industrial automation is undergoing a significant innovation as information,communication,and operation technologies are deeply integrating with each *** this trend,industrial wireless control networks(IWCNs)are becoming increasingly attractive to industrial automation since they can help speed up production efficiency,reduce cost,enhance safety,and finally realize intelligent manufacturing[1].

关键词： attractive integrating becoming

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Model Predictive Control for Nonlinear Bilateral Teleoperation systems With Time Delay 41

Model Predictive Control for Nonlinear Bilateral Teleoperati...

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第41届中国控制会议

作者： Yu Liu Chuanzhi Zang Yuqi Liu Peng Zeng School of Artificial Intelligence Shenyang University of Technology 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 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Bilateral teleoperation systems have received extensive attention as a substitute for the human to perform tasks in remote and hazardous *** paper proposes a model predictive control strategy for nonlinear bilateral teleoperation systems based on Long-Short Term Memory(LSTM) ***,model predictive control is used to achieve good tracking performance in the presence of input constraints in the *** the same time,considering the influence of different proficiency operators operating the master manipulator on the system performance,the error between the actual master manipulator trajectory and the reference trajectory is introduced into a linear feedback term to compensate for the decrease in system control accuracy caused by the error of ***,the LSTM network is used to predict the trajectory of the master manipulator in the future time equivalent to the network transmission *** predictions are used to control the remote slave manipulator,thereby eliminating the impact of communication delay on the ***,in slave sides,the trajectory creators are applied to generate the desired trajectories to achieve good force feedback *** experiments are carried out to verify the proposed control strategy,which can guarantee good performance with both position tracking and force feedback under time delay.

关键词： Model predictive control bilateral teleoperation long-short term memory network communication delay

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Task planning for flexible manufacturing systems

Task planning for flexible manufacturing systems

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1990 IEEE Colloquium in South America, COLLOQ 1990

作者： Sanderson, Arthur C. IEEE Robotics and Automation Society Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY1218 United States

ISBN: (纸本)0879426101

The design and implementation of flexible manufacturing systems require the planning of task requirements to meet standards of reliability, cost, and throughput over a family of products. Tools for computer-aided engineering of manufacturing systems utilize automated planning and representation methods to enhance the capability of engineers to design better systems. Automated assembly sequence planning methods link product design to assembly system design and provide a basis for such interactive engineering tools. Methods for geometric reasoning, assembly plan representation, and automated assembly sequence selection will be discussed. © 1990 IEEE.

关键词： Flexible manufacturing systems

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Uncover rock-climbing fish's secret of balancing tight adhesion and fast sliding for bioinspired robots

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National Science Review 2023年第8期10卷 222-231页

作者： Wenjun Tan Chuang Zhang Ruiqian Wang Yuanyuan Fu Qin Chen Yongliang Yang Wenxue Wang Mingjun Zhang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Histology and Embryology Basic Medical CollegeChina Medical University Chengdu Institute of Biology Chinese Academy of Sciences Department of Biomedical Engineering School of Medicine Tsinghua University Emerging Technologies Institute Department of Industrial and Manufacturing Systems EngineeringUniversity of Hong Kong

The underlying principle of the unique dynamic adaptive adhesion capability of a rock-climbing fish（Beaufortia kweichowensis） that can resist a pull-off force of 1000 times its weight while achieving simultaneous fast sliding(7.83 body lengths per second（BL/S）) remains a mystery in the literature. This adhesion-sliding ability has long been sought for underwater robots. However, strong surface adhesion and fast sliding appear to contradict each other due to the need for high surface contact stress. The skillfully balanced mechanism of the tight surface adhesion and fast sliding of the rock-climbing fish is disclosed in this work. The Stefan force（0.1 mN/mm2） generated by micro-setae on pectoral fins and ventral fins leads to a 70 N/m2adhesion force by conforming the overall body of the fish to a surface to form a sealing chamber. The pull-off force is neutralized simultaneously due to the negative pressure caused by the volumetric change of the chamber. The rock-climbing fish's micro-setae hydrodynamic interaction and sealing suction cup work cohesively to contribute to low friction and high pull-off-force resistance and can therefore slide rapidly while clinging to the surface. Inspired by this unique mechanism, an underwater robot is developed with incorporated structures that mimic the functionality of the rock-climbing fish via a micro-setae array attached to a soft self-adaptive chamber, a setup which demonstrates superiority over conventional structures in terms of balancing tight underwater adhesion and fast sliding.

关键词： bioinspired underwater adhesion crawling robots rock-climbing fish Stefan adhesion underwater robots

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Method of formation of reference control signals for redundant manipulators

Method of formation of reference control signals for redunda...

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2021 International Conference on Automatics and Energy, ICAE 2021

作者： Filaretov, V.F. Gubankov, A.S. Gornostaev, I.V. Far Eastern Federal University Department of Automation and Robotics Vladivostok690091 Russia Institute of Automation and Control Processes FEB RAS Robotics Laboratory Vladivostok690041 Russia Institute of Marine Technology Problems FEB RAS Laboratory of Robotic Systems Vladivostok690091 Russia

The paper is devoted to preservation of dynamic control accuracy of working tools of multilink manipulators when they move along arbitrary spatial trajectories, taking into account the design limits in all degrees of freedom and special cases of position of their links. Preservation of control accuracy is proposed to be ensured by eliminating reach of all degrees of freedom of the manipulators to the limits and to indicated special positions, characterized by ambiguity in solving the inverse kinematic problems of the manipulators, as well as excluding the reach of their working tools to boundaries of working area due to use of a redundant degree of freedom when approaching indicated undesirable positions. The performed simulation has confirmed efficiency of the proposed method. © 2021 institute of Physics Publishing. All rights reserved.

关键词： Degrees of freedom (mechanics)

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Synthesis of Diagnostic Observers for Linear systems Based on Optimal Control Methods

Synthesis of Diagnostic Observers for Linear Systems Based o...

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2022 International Conference on Control, automation and Diagnosis, ICCAD 2022

作者： Kabanov, Aleksey A. Zuev, Aleksandr V. Zhirabok, Aleksey N. Filaretov, Vladimir F. Department of Informatics and Control in Technical Systems Sevastopol State University Russia Laboratory of Intelligent Information Systems for Marine Robots Institute of Marine Technology Problems FEB RAS Russia Department of Automation and Robotics Far Eastern Federal University Russia Robotics Laboratory Institute of Automation and Control Processes FEB RAS Russia

ISBN: (数字)9781665497947

ISBN: (纸本)9781665497947

The paper considers the problem of fault identification in dynamic systems described by linear differential equations. To solve this problem, diagnostic observers constructed on the basis of optimal control methods are used. The proposed new method for the synthesis of such observers is based on the idea of introducing a new system with some auxiliary control which plays a role of an unknown vector function describing emerging faults. This control is proposed to be formed in such a way that it provides a minimum for the residual functional. Unlike popular approaches to solving the problem of fault identification based on observers operating in a sliding mode, the proposed method allows us to expand the class of systems for which the identification problem can be solved. It is known that the methods of sliding mode observers design impose certain restrictions on the systems under consideration. The suggested theory is illustrated by an example. The simulation results confirmed the operability of the diagnostic observers synthesized using the method proposed in the work. © 2022 IEEE.

关键词： Linear systems

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Atomic force microscopy for revealing micro/nanoscale mechanics in tumor metastasis:from single cells to microenvironmental cues

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中国药理学报（英文版） 2021年第3期42卷 323-339页

作者： Mi Li Ning Xi Yue-chao Wang Lian-qing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Department of Industrial and Manufacturing Systems Engineering The University of Hong KongHong KongChina

Mechanics are intrinsic properties which appears throughout the formation,development,and aging processes of biological *** have been shown to play important roles in regulating the development and metastasis of tumors,and understanding tumor mechanics has emerged as a promising way to reveal the underlying mechanisms guiding tumor *** particular,tumors are highly complex diseases associated with multifaceted factors,including alterations in cancerous cells,tissues,and organs as well as microenvironmental cues,indicating that investigating tumor mechanics on multiple levels is significantly helpful for comprehensively understanding the effects of mechanics on tumor ***,diverse techniques have been developed for probing the mechanics of tumors,among which atomic force microscopy(AFM)has appeared as an excellent platform enabling simultaneously characterizing the structures and mechanical properties of living biological systems ranging from individual molecules and cells to tissue samples with unprecedented spatiotemporal resolution,offering novel possibilities for understanding tumor physics and contributing much to the studies of *** this review,we survey the recent progress that has been achieved with the use of AFM for revealing micro/nanoscale mechanics in tumor development and *** and future progress are also discussed.

关键词： atomic force microscopy tumor mechanics cancerous cell tumor microenvironment exosome extracellular matrix

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Water Indicator Measurement and Data Processing From Internet of Things Modules

Water Indicator Measurement and Data Processing From Interne...

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2024 International Conference on Electrical Engineering and Photonics, EExPolytech 2024

作者： Altay, Yeldos A. Bazarbay, Lashin Uskenbayeva, Raisa K. Fedorov, Alexey V. Kalpeyeva, Zhuldyz B. Satbayev University Department of Robotics and Technical Means of Automation Almaty Kazakhstan Satbayev University Almaty Kazakhstan Itmo University Faculty of Control Systems and Robotics Saint-Petersburg Russia Satbayev University Institute of Automation and Information Technologies Almaty Kazakhstan

ISBN: (纸本)9798350388879

This article presents the results of the implementation of a measuring system based on an IoT module for remote transmission of aggregate measurement data obtained during analytical monitoring of five water parameters via a wireless communication channel. A model of an experimental setup is presented and discussed, demonstrating the operability and consistency of the model for monitoring physical parameters during aggregate measurements. The obtained results of remote data transmission via a wireless communication channel revealed a statistically significant correlation between spring water parameters and the most influential predictor of acidity, conductivity, turbidity and oxidation-reduction potential is water temperature. The discovered relationship between the measured parameters is mainly associated with the effect of temperature on the processes occurring with an increase and decrease in the temperature of the analyzed water samples. © 2024 IEEE.

关键词： Data transfer

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A Manta Ray-Inspired Biosyncretic Robot with Stable Controllability by Dynamic Electric Stimulation

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Cyborg and Bionic systems 2022年第1期2022卷 314-326页

作者： Chuang Zhang Yiwei Zhang Wenxue Wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Inst itute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang 110159China Emerging Technologies Institute Department of Industrial Manufacturing Systems Engineering University of Hong KongPokfulamChina

Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in *** as the main operation mechanism relates to the robotic overall ***,biosyncretic robots actuated by living biological actuators have attracted increasing ***,innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic *** this work,a muscle tissue-based biosyncretic swimmer with a manta *** propelling mode has been *** is more,to improve the stable controllability of the biosyncretic swimmer,a dynamic control method based on circularly distributed multiple electrodes(CDME)has been *** this method,the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the adtuation tissue of the dynamic ***,the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be ***,the biosyncretic robot has demonstrated stable,controllable,and efective swimming,by adjusting the electric stimulation pulse direction,amplitude,and *** work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering.

关键词： Robot robot Dynamic

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