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1st International Conference on Control systems, Mathematical Modelling, automation and Energy Efficiency, SUMMA 2019

作者： Malov, Dmitrii Shumskaya, Olga Laboratory of Autonomous Robotics Systems Saint-Petersburg Institute for Isnformatics and Automation Saint-Petersburg Russia

ISBN: (纸本)9781728149110

We analyzed modern approaches to fatigue recognition. Most of the methods are based on classical statistical analysis. Some of the methods are based on machine learning models, in particular artificial neural networks. We have tested independent models for every modality: images and audio and concluded there should be united model for both source of information. © 2019 IEEE.

关键词： Neural networks

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A policy gradient algorithm integrating long and short-term rewards for soft continuum arm control

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Science China(Technological Sciences) 2022年第10期65卷 2409-2419页

作者： DONG Xiang ZHANG Jing CHENG Long XU WenJun SU Hang MEI Tao School of Electrical Engineering and Automation Anhui UniversityHefei 230601China State Key Laboratory for Control and Management of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Robotics Research Center Peng Cheng LaboratoryShenzhen 518055China

The soft continuum arm has extensive application in industrial production and human life due to its superior safety and flexibility. Reinforcement learning is a powerful technique for solving soft arm continuous control problems, which can learn an effective control policy with an unknown system model. However, it is often affected by the high sample complexity and requires huge amounts of data to train, which limits its effectiveness in soft arm control. An improved policy gradient method, policy gradient integrating long and short-term rewards denoted as PGLS, is proposed in this paper to overcome this issue. The shortterm rewards provide more dynamic-aware exploration directions for policy learning and improve the exploration efficiency of the algorithm. PGLS can be integrated into current policy gradient algorithms, such as deep deterministic policy gradient(DDPG). The overall control framework is realized and demonstrated in a dynamics simulation environment. Simulation results show that this approach can effectively control the soft arm to reach and track the targets. Compared with DDPG and other model-free reinforcement learning algorithms, the proposed PGLS algorithm has a great improvement in convergence speed and performance. In addition, a fluid-driven soft manipulator is designed and fabricated in this paper, which can verify the proposed PGLS algorithm in real experiments in the future.

关键词： soft arm control Cosserat rod deep reinforcement learning policy gradient algorithm high sample complexity

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Construction of a specialized CNC system for thread grinding machines

Construction of a specialized CNC system for thread grinding...

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2018 International Russian automation Conference, RusAutoCon 2018

作者： Martinov, Georgi Kovalev, Ilya Khoury, Akram Al MSTU STANKIN Robotics Dept. Computer Control Systems Institute of Automation Moscow Russia

ISBN: (纸本)9781538649381

The aim of this research is to construct a specialized system of thread grinding machines considering the features of thread grinding and the requirements to increase accuracy, the original structure of the control system for a thread grinder is proposed. This research will present an example of programming a software-implemented programmable logic controller to process the key press of operator's panel. © 2018 IEEE.

关键词： Grinding (machining)

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Multichannel human motion similarity analysis based on information entropy and dynamic time warping

Multichannel human motion similarity analysis based on infor...

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2014 International Conference on Manufacturing Technology and Electronics Applications, ICMTEA 2014

作者： Zeng, Ming Yang, Zai Xin Ren, Hong Lin Meng, Qing Hao Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin China

ISBN: (纸本)9783038353287

Evaluating motion similarity between trainer and trainee is a key part in computer-assisted sports teaching system. Our similarity evaluation algorithm mainly contains four steps. Firstly, the multichannel 3D human motion data are captured using the Kinect, a depth sensor of Microsoft. Next, in order to greatly reduce the amount of data analysis, the piecewise extremum method (PEM) is applied to achieve this goal. Then, considering that doing the same motions the rhythms of different people are not synchronized, the Dynamic Time Warping algorithm (DTW) is selected to solve the problem of analyzing one channel unequal length motion sequences. Finally, the similarity between the two sets of multichannel human motion sequences can be evaluated using the combined method of the information entropy and DTW. The experimental results indicate that compared with other traditional methods, the proposed method not only accurately measures similarity degree of different motions, but also requires less computational time and memory storage capacity. © (2014) Trans Tech Publications, Switzerland.

关键词： Digital storage

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Development of Motion Controller Based on ARM Microcomputers by Supporting Different Strategies of Controlling CAN Servo Drives

Development of Motion Controller Based on ARM Microcomputers...

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2019 International Multi-Conference on Industrial Engineering and Modern Technologies, FarEastCon 2019

作者： Martinov, G. Lyubimov, A. Khoury, A.A. MSTU STANKIN Institute of Automation and Robotics Dept. Computer Control Systems Moscow Russia

ISBN: (纸本)9781728100616

All types of servo step drives motion controllers should guarantee the accuracy of control at all possible rotation speeds taking into consideration the application field of servo drive. Depending on the implementation of servo drives and dividing rotation speed into two ranges low speeds and high speeds, when it's important to have higher rotation speeds (using servo drive as spindle) the motion controller will use speed controlling mode but when it's important to use small values of rotation speeds (using servo drive as feed drive) then it's better to use position controlling mode to ensure the accuracy of the position and minimize the value of errors. Also, it is evidently that the traffic load on CAN bus will affect the stability and the accuracy of controlling CAN servo step drives. The aim of this work is to develop a motion controller that supports dynamically change of controlling strategies of CAN servo step drives depending on rotation speed, additionally will clarify how to reduce CAN bus traffic load. © 2019 IEEE.

关键词： Speed

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Learnins how to grasp under supervision

Learnins how to grasp under supervision

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1992 International Joint Conference on Neural Networks, IJCNN 1992

作者： Sánchez A., V. David Hirzinger, G. Institute for Flight Dynamics Systems Robotics and Automation Group WeßlingW-8031 Germany

ISBN: (纸本)0780305590

In this paper a supervised learning approach using a multilayer neural network for learning the position in 3-D space and the radius of a generic sphere is introduced. Learning is based on laser range finder measurements of the surface of spheres of known radii at known positions. The problem is first formulated. An analytical solution for a set of four laser range finders and a solution based on supervised learning are then given. Both solutions are compared. Experimental results are reported showing the feasibilty and novelty of the approach. © 1992 institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Radar equipment

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Advances in atomic force microscopy for single-cell analysis

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Nano Research 2019年第4期12卷 703-718页

作者： Mi Li Ning Xi Yuechao Wang Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110016 China Department of Industrial and Manufacturing Systems Engineering The University of Hong Kong Hong Kong 999077 China

Single-cell analysis has been considered as a promising way to uncover the underlying mechanisms guiding the mysteries of life activities, which con siderably complements traditio nal en semble assays and yields novel in sights into cell biology. The adve nt of atomic force microscopy (AFM) provides a potent tool for investigati ng the structures and properties of n ative biological samples at the micro/na no scale un der near-physiological conditions, which promotes the studies of single-cell behaviors. In the past decades, AFM has achieved great success in single-cell observation and manipulation for biomedical applications, demonstrating the excellent capabilities of AFM in addressing biological issues at the single-cell level with unprecedented spatiotemporal resolution. In this article, we review the recent advances in single-cell analysis that has been made with the utilization of AFM, and provide perspectives for future progression.

关键词： atomic force microscopy single-cell analysis cellular morphology cellular mechanics cellular manipulation

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Extremum Seeking Control for Time-varying Scalar Signal

Extremum Seeking Control for Time-varying Scalar Signal

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第三十二届中国控制会议

作者： Jia Hua Meng Qing-Hao Wang Yang Zeng Ming Zhang Su-Lin Li Wei Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University

ISBN: (纸本)9781479900305

This paper considers the problem of designing controllers to steer a mobile robot,modeled as a nonholonomic unicycle,to the maximum of a signal field,assuming that the field is completely unknown to the robot and the robot has no knowledge of its own *** measurements of the signal field at the vehicle's position are *** paper proposes the extremum seeking algorithm which controls the forward velocity and keeps the angular velocity *** extremum seeking control methods consider time-independent input-to-output mappings,however,time-varying scalar signal is considered in this *** prove local exponential convergence to a small neighborhood near the maximum of the *** theoretical results are verified with simulations.

关键词： Extremum seeking nonholonomic unicycle time-varying scalar signal local exponential convergence

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Atomic force microscopy studies on cellular elastic and viscoelastic properties

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Science China(Life Sciences) 2018年第1期61卷 57-67页

作者： Mi Li Lianqing Liu Ning Xi Yuechao Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Industrial and Manufacturing Systems Engineering The University of Hong Kong Hong Kong China

In this work, a method based on atomic force microscopy (AFM) approach-reside-retract experiments was established to simultaneously quantify the elastic and viscoelastic properties of single cells. First, the elastic and viscoelastic properties of normal breast cells and cancerous breast cells were measured, showing significant differences in Young’s modulus and relaxation times between normal and cancerous breast cells. Remarkable differences in cellular topography between normal and cancerous breast cells were also revealed by AFM imaging. Next, the elastic and viscoelasitc properties of three other types of cell lines and primary normal B lymphocytes were measured; results demonstrated the potential of cellular viscoelastic properties in complementing cellular Young’s modulus for discerning different states of cells. This research provides a novel way to quantify the mechanical properties of cells by AFM, which allows investigation of the biomechanical behaviors of single cells from multiple aspects.

关键词： atomic force microscopy cell mechanical properties viscoelastic properties Young＇s modulus relaxation time

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Extremum seeking control for time-varying scalar signal

Extremum seeking control for time-varying scalar signal

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32nd Chinese Control Conference, CCC 2013

作者： Hua, Jia Meng, Qing-Hao Yang, Wang Ming, Zeng Zhang, Su-Lin Wei, Li Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China

ISBN: (纸本)9789881563835

This paper considers the problem of designing controllers to steer a mobile robot, modeled as a nonholonomic unicycle, to the maximum of a signal field, assuming that the field is completely unknown to the robot and the robot has no knowledge of its own position. Only measurements of the signal field at the vehicle's position are used. This paper proposes the extremum seeking algorithm which controls the forward velocity and keeps the angular velocity constant. Most extremum seeking control methods consider time-independent input-to-output mappings, however, time-varying scalar signal is considered in this paper. We prove local exponential convergence to a small neighborhood near the maximum of the signal. The theoretical results are verified with simulations. © 2013 TCCT, CAA.

关键词： Vehicles

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