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检索条件"机构=Institute of Robotics and Automation Systems"

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A Novel Cyber-physical production systems (CPPS) Architecture for Rapid Reconfiguration 7

A Novel Cyber-physical production systems (CPPS) Architectur...

引用

7th International Symposium on Advances in Electrical, Electronics, and Computer Engineering

作者： Wang, Peng Wang, Zhongfeng Wang, Chu Hu, Kunyuan Li, Ligang Song, Chunhe Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781510656437

Cyber-physical production systems (CPPS) is of great importance for improving production efficiency. In this paper, first, the background and technical characteristics of CPPS are introduced. Aiming at dealing with the challenge of integration in traditional production management and control systems, a CPPS architecture that supports rapid reconfiguration is proposed. The architecture is based on service-oriented architecture, so it has the characteristics of peer-to-peer interaction and flexible integration. In this way, engineering data integration, business logic transformation and engineering process support can be achieved. Based on the proposed architecture, a reconfigurable CPPS prototype is developed, and the advantages of the architecture are tested and verified. © 2022 SPIE. All rights reserved.

关键词： Production efficiency

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A New Method for Automatic Planning of Cyber-Physical Production System's Control Logic based on State Space Method and Semantic Web Technology 7

A New Method for Automatic Planning of Cyber-Physical Produc...

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7th International Conference on Intelligent Computing and Signal Processing, ICSP 2022

作者： Wang, Peng Wang, Zhongfeng Li, Ligang Wang, Chu Hu, Kunyuan Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781665478571

Rapid reconfiguration is an important capability of flexible production system supporting personalized customization. When the product requirement change and the existing capacity configuration of the production system cannot meet the new requirement, the production system needs to be reconfigured. Aiming at automating the control logic planning process, this paper propose a new method based on state space and semantic web. Unified modelling concepts and relations between product, equipment and production system are built in an ontological model and different types of semantic queries are defined to process the ontology instance which will be leveraged by the process to construct the state space model. In addition, an linear programming method is used to drive the final control logic inside the generated space model. © 2022 IEEE.

关键词： State space methods

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Motion Capture and Gait Analysis of Ants with Leg Injuries

Motion Capture and Gait Analysis of Ants with Leg Injuries

引用

第42届中国控制会议

作者： Ming Zeng Yuanhao Li Chang Meng Shutong Zhong Zhijing Wang Feng Zhao Institute of Robotics and Automation Systems Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University

Many insects in nature, such as ants, recover quickly after sustaining leg injuries. If this capability could be imparted to multi-legged robots, it would drastically enhance their ability to resist destruction and adapt to the environment. In this paper, the Camponotus Japonicus is used as the research object, and its locomotive patterns are studied under different leg-loss *** facilitate this, a high-speed acquisition system, with a dual-view(bottom view and side view) setup, is designed to analyze the ant's linear gaits. Subsequently, the pivotal gait characteristics of the injured ants are extracted by keyframe annotation technology, including the gait phase diagram, duty factor, angle before support, angle before swing, and leg swing range. Lastly,according to the obtained gait characteristics, the general and specific laws of gait adjustment in the absence of one or two legs are systematically analyzed, which provides the basis for parametric settings and strategy optimization of robotic injured gait self-adjustment.

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Improved Contact Stability for Admittance Control of Industrial Robots with Inverse Model Compensation

Improved Contact Stability for Admittance Control of Industr...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Kangwagye Samuel Kevin Haninger Sami Haddadin Sehoon Oh Chair of Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University Munich Munich Germany Department of Mechanical and Production Engineering Kyambogo University Kampala Uganda Department of Automation Fraunhofer IPK Berlin Germany Department of Robotics and Mechatronics Engineering DGIST Daegu Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Industrial robots have increased payload, repeatability, and reach compared to collaborative robots, however, they have a fixed position controller and low intrinsic admittance. This makes realizing safe contact challenging due to large contact force overshoots in contact transitions and contact instability when the environment and robot dynamics are coupled. To improve safe contact on industrial robots, we propose an admittance controller with inverse model compensation, designed and implemented outside the position controller. By including both the inner loop and outer loop dynamics in its design, the proposed method achieves expanded admittance in terms of increasing both gain and cutoff frequency of the desired admittance. Results from theoretical analyses and experiments on a commercial industrial robot show that the proposed method improves rendering of the desired admittance while maintaining contact stability. We further validate this by conducting actual assembly tasks of plug insertion with fine positioning, switch insertion onto the rail, and colliding the robot end effector with random objects and surfaces, as seen at https://***/8XfkdHEdWDs.

关键词： Service robots Contacts Dynamics Cutoff frequency Observers Industrial robots Stability analysis Admittance Thermal stability Payloads

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Fractional-Order Fast Terminal Sliding Mode Control for Quadrotor UAV under Actuator Saturation

Fractional-Order Fast Terminal Sliding Mode Control for Quad...

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2023 China automation Congress, CAC 2023

作者： Li, Changjun Chen, Zhihuan Zhu, Zhenhua Wuhan University of Science and Technology Eng. Res. Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China

ISBN: (纸本)9798350303759

In this study, a delicate fractional-order fast terminal sliding mode controller is proposed for the position and attitude tracking of a quadrotor UAV under actuator saturation. In this controller, the fractional order calculus is incorporated to the fast terminal sliding mode surface design, which can enhance the convergence speed of the controlled UAV system. Meanwhile, to solve the problem of actual control input limitation, a RBF-based estimator is designed to evaluate the error between the virtual control input and actual control output. The stability of the controlled system is proved by using Lyapunov theorem, where the validity and effectiveness of the proposed controllers and estimator are verified by a detailed numerical simulation. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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A fault detection method for AUV based on multi-scale spatiotemporal feature fusion 5

A fault detection method for AUV based on multi-scale spatio...

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5th International Conference on Computer Information Science and Artificial Intelligence, CISAI 2022

作者： Xia, Shaoxuan Zhou, Xiaofeng Shi, Haibo Li, Shuai Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781510662520

Autonomous underwater vehicles (AUVs) are important equipment for ocean development and exploration. To ensure the task implementation of AUV, faults shall be detected in time. We propose a fault detection method based on multi-scale spatiotemporal feature fusion (MSF) for the time-varying characteristics and multiple correlation characteristics of AUV monitoring data. First, we apply a variety of sampling and data processing methods to generate monitoring windows with different scales along the time axis. Then, a composite feature extraction method is proposed to obtain temporal and spatial features simultaneously, and a feature pyramid of temporal and spatial information is formed. We use bidirectional long short-term memory (BiLSTM) to obtain the time-series characteristics of a single monitoring variable, and convolutional neural networks (CNN) to obtain the implicit spatial relationship characteristics among multiple monitoring variables. Next, we use an adaptive feature fusion method to solve the inconsistency in different feature scales, which can adaptively suppress the possible conflict information of different scale features. Finally, we use a fully connected network to detect the fault of the fused features. The fault detection experiment of Haizhe AUV shows the effectiveness and superiority of the proposed method. © 2023 SPIE.

关键词： Autonomous underwater vehicles

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A Deep Reinforcement Learning Approach for Pre-Planning Problems in Robotic Intra-Operative Ultrasound: a Virtual Environment-Based Analysis 3

A Deep Reinforcement Learning Approach for Pre-Planning Prob...

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3rd IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2023

作者： Lin, Haichuan Xie, Yiping Wang, Ziqi Wang, Shuangyi Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing China Chinese Academy of Sciences Hong Kong Science Park Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Hong Kong Hong Kong University of Chinese Academy of Sciences School of Artificial Intelligence Beijing China

ISBN: (纸本)9798350318470

Robotic intra-operative ultrasound has the potential to improve the routine practice of diagnosis and procedure guidance that is currently performed manually. One of the common challenges towards standardization and intelligence in robotic ultrasound is pre-planning, which uses pre-operative data from the patient and computes the desired input and target pose of the robot given a desired view of the ultrasound image. In this paper, we present a deep reinforcement learning-based approach to solving the problem of pre-planning the ultrasound image for a four-degree-of-freedom intra-operative cardiac ultrasound robot. Evaluation in a virtual environment demonstrates the feasibility and robustness of the proposed method. The mean squared error representing the distance of the standard ultrasound view was found to be 5.70 ± 0.33 mm for the given task. As this is done in a semi-automatic way, it is believed that the proposed method can effectively reduce the operational difficulties for medical staff and improve the accuracy of future ultrasound view acquisition and scanning. © 2023 IEEE.

关键词： Reinforcement learning

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Identification of PMSM Moment of Inertia based on Model Reference Adaptive Algorithm 4

Identification of PMSM Moment of Inertia based on Model Refe...

引用

4th IEEE International Conference on Power, Intelligent Computing and systems, ICPICS 2022

作者： Ding, Fan Zhang, Tao Jia, Danping Zhang, Hualiang Pei, Quanshen Huang, Haoran School of Information Science and Engineering Shenyang University of Technology Shenyang China 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 Dalian China 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 Shenyang China

ISBN: (数字)9781665467735

ISBN: (纸本)9781665467735

A method that can identify the rotational inertia in a timely manner is proposed because the performance of a permanent magnet synchronous motor servo system is easily affected by the rotational inertia. Firstly, principles of model-referenced adaptive recognition algorithm is introduced, and the influence of the adaptive gain on the identification results is analyzed. Then, design a suitable range of adaptive gain value, use the set error value to compare the identification error with the set value, and then select the appropriate gain for identification. Finally, through simulation verification, this method has fast identification convergence speed, high precision and strong anti-disturbance. © 2022 IEEE.

关键词： Adaptive algorithms

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TASF: Terrestrial-Aerial Synergistic Framework for a New Generation of Intelligent Transportation 27

TASF: Terrestrial-Aerial Synergistic Framework for a New Gen...

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27th IEEE International Conference on Intelligent Transportation systems, ITSC 2024

作者： Wang, Cong Nie, Dujun Zhang, Ruijun Teng, Siyu Chen, Long Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Hong Kong Baptist University Kowloon Hong Kong Waytous Inc. Beijing China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems The State Key Laboratory of Management and Control for Complex Systems Beijing100190 China Shenzhen518107 China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an710049 China

ISBN: (纸本)9798331505929

Terrestrial-Aerial Synergistic Framework (TASF) represents a novel approach to intelligent transportation, integrating terrestrial and aerial vehicles to enhance urban transportation efficiency and capacity. In this paper, we offer an in-depth analysis of TASF, emphasizing its innovative applications in urban transportation, parcel delivery, and emergency response services. TASF incorporates a five-layer architecture comprising perception, communication, planning, control, and interaction. With the five-layer architecture, TASF can achieve effective collaboration among terrestrial and aerial vehicles, encompassing two principal features: terrestrial-aerial synergistic parallel perception and multi-agent parallel management. Parallel perception results from fusing Bird's Eye View (BEV) representations from Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), whereas decentralized multi-agent management employs foundational models to enhance decision-making capabilities. Additionally, we consider challenges and potential solutions related to TASF, including safety, reliability, energy efficiency, management and integration. TASF marks a paradigm-shifting leap in the realm of intelligent transportation systems, providing a scalable and efficacious solution tailored to the dynamic requirements of urban mobility and emergency services. © 2024 IEEE.

关键词： Decision making

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A Distributed Energy Sharing Framework for Communities with PV Prosumers and Aggregate EV Prosumers

A Distributed Energy Sharing Framework for Communities with ...

引用

Chinese Control and Decision Conference, CCDC

作者： Fan Chen Huaiyu Wu Mian Hu Yang Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

Under the energy policy that encourages local consumption of renewable energy, energy sharing between neighboring prosumers is more effective compared with the case of independent operation of each prosumer. This paper proposes a new energy sharing framework of community prosumers, considering that the energy sharing operator (ESO) is equipped with two types of energy storage devices (batteries and powerto-gas devices) and the two types of prosumers (photovoltaic prosumers and aggregate electric vehicle prosumers) have both electricity and hydrogen loads. The Stackelberg game framework is designed with the ESO as leader and the two types of prosumers as followers. The ESO aims to maximize its revenue and coordinate the energy sharing between community prosumers by setting dynamic electricity prices. Each prosumer maximizes its payoff through optimal response. A distributed bi-level iterative algorithm is designed to solve the Stackelberg game equilibrium strategy, which can protect the privacy information of prosumers effectively. Simulation results are provided to show that the proposed community prosumer energy sharing framework can not only increase the benefits of the ESO and all prosumers, but also reduce the load pressure of the main grid.

关键词： Photovoltaic systems Privacy Renewable energy sources Electricity Simulation Aggregates Hydrogen

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