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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang 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 School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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A surface defect detection method for steel pipe based on improved YOLO

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Mathematical Biosciences and Engineering 2024年第2期21卷 3016-3036页

作者： Wang, Lili Song, Chunhe Wan, Guangxi Cui, Shijie 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 Shenyang110169 China College of Information Liaoning University Shenyang110036 China

Surface defect detection is of great significance as a tool to ensure the quality of steel pipes. The surface defects of steel pipes are charactered by insufficient texture, high similarity between different types of defects, large size differences, and high proportions of small targets, posing great challenges to defect detection algorithms. To overcome the above issues, we propose a novel steel pipe surface defect detection method based on the YOLO framework. First, for the problem of a low detection rate caused by insufficient texture and high similarity among different types of defects of steel pipes, a new backbone block is proposed. By increasing high-order spatial interaction and enhancing the capture of internal correlations of data features, different feature information for similar defects is extracted, thereby alleviating the false detection rate. Second, to enhance the detection performance for small defects, a new neck block is proposed. By fusing multiple features, the accuracy of steel pipe defect detection is improved. Third, for the problem of a low detection rate causing large size differences in steel pipe surface defects, a novel regression loss function that considers the aspect ratio and scale is proposed, and the focal loss is introduced to further solve the sample imbalance problem in steel pipe defect datasets. The experimental results show that the proposed method can effectively improve the accuracy of steel pipe surface defect detection. © 2024 American institute of Mathematical Sciences. All rights reserved.

关键词： Aspect ratio

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The System of Coordinated Operation of Two Underwater Vehicles in a Complex Environment

The System of Coordinated Operation of Two Underwater Vehicl...

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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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Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment

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Journal of Dynamic systems, Measurement and Control 2025年第4期147卷 041003页

作者： Sun, Ping Shan, Rui Chang, Hongbin Wang, Shuoyu School of Artificial Intelligence Shenyang University of Technology Shenyang110870 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Department of Intelligent Mechanical Systems Engineering Kochi University of Technology Kochi7828502 Japan

This study proposes a data-driven safety controller with velocity constraints for a cushion robot. We constructed a mathematical description of the human-machine interaction environment by decomposing the generalized input force and coefficient matrix in the dynamic model. We established a new equivalent data model, which considered various human-machine interaction environments using a pseudo-Jacobian matrix. A stochastic configuration network (SCN) estimation method for variations in the human-machine interaction environment was proposed, with hidden layer nodes added at random. We designed a safe autonomous navigation path and proposed a data-driven control method that limited the actual velocity while stabilizing the tracking error system. In addition, the desired motion velocity of the robot was designed. This approach has the advantage of ensuring safety at a specified velocity. We also demonstrated and validated the effectiveness of the proposed data-driven algorithm using simulation-based comparative analysis and an experimental study. Copyright © 2024 by ASME.

关键词： Stochastic systems

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PCEB-YOLOV8: An Improved PCB Defect Detection Method Based on YOLOV8 8

PCEB-YOLOV8: An Improved PCB Defect Detection Method Based o...

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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Li, Meihui Song, Chunhe Yu, Xia Chu, Mengmeng Li, Rui Shenyang University of Technology State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China Shenyang University of Technology Shenyang China

ISBN: (纸本)9798331506230

Printed circuit board defect recognition is of great significance to ensuring the quality of electronic products. This paper proposes an improved PCB defect detection method based on YOLOV8. Firstly, the data augmentation method PredMix (prediction mix) is adopted to simulate scenarios such as overlapping and occlusion in images, where the displays are incomplete or blurred, thereby enhancing the robustness of the network model. Secondly, BiFPN is used to replace PAN-FPN in the fusion layer to strengthen the feature fusion capability. Finally, the CESE_C2f module is employed in the Backbone part, leveraging a lightweight attention mechanism to improve the detection effect while reducing the number of parameters. Experimental results show that compared with the original YOLOV8, the MAP value of this improved algorithm reaches 92.6%, with a 2.3% increase in accuracy. © 2024 IEEE.

关键词： Deep learning

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Vibrational Feedback for a Teleoperated Continuum Robot with Non-contact Endoscope Localization

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Current Directions in Biomedical Engineering 2024年第1期10卷 17-20页

作者： Fischer, Jonas Andreas, Daniel Beckerle, Philipp Mathis-Ullrich, Franziska Marzi, Christian Friedrich-Alexander-University of Erlangen-Nuremberg Autonomous Systems and Mechatronics Paul-Gordan-Strase 3/5 Erlangen91052 Germany Friedrich-Alexander-University of Erlangen-Nuremberg Autonomous Systems and Mechatronics Erlangen91052 Germany Friedrich-Alexander-University of Erlangen-Nuremberg Surgical Planning and Robotic Cognition Lab Erlangen91052 Germany Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics - Intelligent Process Automation & Robotics Karlsruhe76131 Germany

Limited or absent haptic feedback is reported as a factor hindering the continued adoption of surgical robots. This article presents a proof of concept for vibrotactile feedback integrated into a continuum robot to explore whether such feedback improves spatial perception in surgical settings. The robot is equipped with a capacitive sensor for noncontact endoscope localization, enabling spatial awareness of the robot's tool center point (TCP) within the surgical environment. The data from the sensor is processed and transmitted to a bracelet worn by the user, which generates vibrotactile feedback. The bracelet contains four vibration motors providing tactile cues for navigation and positioning of the robot's TCP. All subsystems are integrated into a unified system to deliver vibrotactile feedback to the user. When the user maneuvers the TCP of the robot near an object, they receive vibrotactile feedback via the bracelet. Thereby, the intensity of vibration increases as the TCP approaches the object, and the direction of the obstacle is mapped on the bracelet. Initial functional tests were performed and prove the functionality of the proposed system. © 2024 by Walter de Gruyter Berlin/Boston.

关键词： Capacitive sensors

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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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Attitude Tracking Control for Rigid Spacecraft with Arbitrary Convergence Time

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Journal of systems Science & Complexity 2024年第6期37卷 2579-2594页

作者： XU Yu-Tian WU Ai-Guo Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology(Shenzhen)Shenzhen 518055China Key University Laboratory of Mechanism&Machine Theory and Intelligent Unmanned Systems of Guangdong Harbin Institute of Technology(Shenzhen)Shenzhen 518055China Department of Automation Harbin Institute of Technology(Shenzhen)Shenzhen 518055China HIT Wuhu Robot Technology Research Institute Wuhu 241060China

In this paper,attitude tracking control with arbitrary convergence time for rigid spacecraft is ***,a novel time-varying sliding function is proposed to achieve free-will arbitrary time convergence when the system states reside on the sliding *** such a sliding function,an attitude tracking controller is designed to guarantee that the states of the closed-loop system converge to the sliding surface within a predetermined time in the presence of external *** free-will arbitrary time convergences of the closed-loop system and sliding function are illustrated by numerical simulations.

关键词： Attitude tracking free-will arbitrary time stability rigid spacecraft sliding mode control

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Signal Processing for Acoustic Emission Signature Analysis and Defect Detection 26

Signal Processing for Acoustic Emission Signature Analysis a...

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26th International Conference on Digital Signal Processing and its Applications, DSPA 2024

作者： Altay, Yeldos A. Kuzivanov, Dmitry O. Altay, Dinara A. Fedorov, Alexey V. Satbayev University Department of Robotics and Technical Means of Automation Almaty Kazakhstan ITMO University Faculty of Control Systems and Robotics Saint-Petersburg Russia Military Engineering Institute of Radio Electronics and Communications Department of Natural Sciences Almaty Kazakhstan

ISBN: (纸本)9798350361728

This article presents the results of implementing a digital signal processing method for analyzing the acoustic emission (AE) signature and detecting defects such as cracks and pores. The signal processing method is based on a cascade connection of digital high-pass filters and ensures the selection of informative signals and increases the signal-to-interference ratio. In order to control the formation of defects in the process of selective laser melting, the paper presents the results of experimental testing of the cascade filtration method for detecting defects in the internal structure such as cracks and pores. The signal components recorded during the development of defects during the growth of additive manufacturing products were extracted. AE signatures were analyzed and statistical relationships were assessed. The relationship between the parameters of the AE signal and the values of laser radiation power has been identified, which characterizes the process of defect formation. © 2024 IEEE.

关键词： High pass filters

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Leakage Source Localization Based on Improved-Infotaxis 16th

Leakage Source Localization Based on Improved-Infotaxis

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16th International Conference on Modelling, Identification and Control, ICMIC 2024

作者： Tao, Xiang Cheng, Lei Yao, Tianxiao Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Eduction Wuhan430081 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China

ISBN: (纸本)9789819617760

In recent years, with the rapid development of the chemical industry, the risks in this field are also increasing, in which the leakage of hazardous gases can cause serious harm to both people and the environment, so it is crucial to locate the leakage source quickly and accurately. For pollution source traceability, the traditional gradient algorithm is prone to fall into local optimization, and the infotaxis algorithm is biased towards exploration, which is prone to waste time cost and control cost. We propose a new strategy to balance the exploration and utilization in the search process by studying the effects of multiple algorithms and setting different experimental parameters (gas release rate and wind speed) on the overall performance, and the experimental results show that the algorithm has a strong performance under different environmental variables with strong robustness. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Chemical industry

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