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Dynamic modelling and PFL-based trajectory tracking control for underactuated cable-driven truss-like manipulator

Journal of Central South University 2021年第10期28卷 3127-3146页

作者： DING Shu-chen PENG Li QIAO Shang-ling LIU Rong-qiang JOSEPHAT Bundi School of IoT Engineering Jiangnan UniversityWuxi 214122China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

In recent years,an innovative underactuated robot was developed,named as underactuated cable-driven trusslike manipulator(UCTM),to be suitable in aerospace ***,there has been strong consensus that the stabilization of planar underactuated manipulators without gravity is a great challenge since the system includes a second order nonholonomic constraint and most classical control methods are not suitable for this kind of ***,the complexity of the truss-like structure results in tremendous difficulty of computational complicacy and high nonlinearity during dynamic modelling in addition to controller *** is paramount to solve these difficulties for UCTM's future *** solve the above difficulties,this paper presents a dynamic modelling method for UCTM and a trajectory tracking control method based on partial feedback linearization(PFL)that fulfills the control goal of moving UCTM from its original position to a desired position by tracking a given trajectory of the joint *** achieve this,a model equivalent method is proposed to make UCTM equivalent with a three-link manipulator in the sense of dynamic *** the Lagrangian equation combined with complex vector method is proposed in the dynamic modelling process of UCTM,which simplifies the derivation *** on the established dynamic model,a coordinate transformation method is proposed to transform the control force matrix into the conventional form of an underactuated system,so that the control force can be separated from the unactuated *** PFL method in combination with the LQR control method is then proposed to realize the targets that the joint angles can track given desired *** experiments are conducted to verify the correctness and effectiveness of the proposed methods.

关键词： underactuated robot trajectory tracking control partial feedback linearization non-linear control

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An Acoustic Activated Nozzle for Microdroplet Generation and Dispensing

SSRN

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SSRN 2023年

作者： Yin, Qiu Li, Xiuyuan Ma, Zhichao Zhang, Wenming State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China Institute of Medical Robotics School of Biomedical Engineering Shanghai Jiao Tong University No.800 Dongchuan Road Shanghai200240 China

Droplet-based microfluidic has emerged as a versatile tool for widespread applications such as biochemical analysis and synthesis, for which the generation and manipulation of the microdroplets are the fundamental. Acoustic based droplet control has shown its advantages of good biocompatibility and widescale tunability. Here, we demonstrate an acoustic controlled nozzle that is integrated with both generation and directed dispensing of microdroplets. The system can generate monodisperse microdroplets with tunable sizes (50 μm – 641 μm) at a highest throughput of 2000 droplets per second. Besides, by tuning the acoustic frequency, the droplets can be steered to different directions after their formation, realizing on-demand dispensing of the microdroplets. The controlled microdroplet generation and dispensing are both attributed to the acoustic streaming effect induced by the nozzle vibration. Two basic mechanisms for the droplet control were studied: (1) the correlation between the droplet size and the acoustic actuation time, (2) the dependence of the droplet dispensing direction on the acoustic frequency. This work paves the way towards programmable control over acoustic generation and dispensing of microdroplets, which has great potential in the applications of bio-chemical analysis and synthesis. © 2023, The Authors. All rights reserved.

关键词： Biocompatibility

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Mechanism Design and Motion Analysis of Heavy⁃Load Transfer Robot with Parallel Four⁃Bar Mechanism

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Transactions of Nanjing University of Aeronautics and Astronautics 2022年第5期39卷 606-618页

作者： ZHANG Jing WANG Dongbao WU Guangping GUO Hongwei LIU Rongqiang College of Mechanical and Vehicle Engineering Taiyuan University of TechnologyTaiyuan 030024P.R.China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production *** order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed in this paper,which consists of parallel four-bar *** Jacobian matrix referring to the mapping matrix from the joint velocity to the operating space velocity of the transfer robot can be solved by the differential-vector *** mean value of the Jacobian matrix condition number in the workspace is used as the global performance index of the robot velocity and the optimization *** constraint condition is established based on the actual working *** the linkage length optimization is carried out to decrease the length of the linkage and to increase the global performance index of *** total length of robot rods is reduced by 6.12%.The global performance index of velocity is improved by 45.15%.Taking the optimized rod length as the mechanism parameter,the distribution of the motion space of the transfer robot is ***,the results show that the proposed method for establishing the Jacobian matrix of the lower-mobility robot and for the optimization of the rods based on the velocity global performance index is accurate and *** workspace distribution of the robot meets the design requirements.

关键词： parameter optimization motion analysis mechanism design transfer robot heavy-load

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Design and preliminary testing of a piezoelectric-based sole energy harvester

Design and preliminary testing of a piezoelectric-based sole...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Wang, Yidi Zhao, Xuan Shi, Qiuyu Liao, Haisu Wu, Xinyu Gao, Fei Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin999077 Hong Kong

ISBN: (纸本)9781665481090

Harvesting energy from the human body to replenish existing energy sources is receiving substantial attention. Recently scientists have been focusing on harvesting biomechanical energy from human feet during walking. This paper develops a piezoelectric-based sole energy harvester that is designed to be worn on the bottom of shoes to harvest energy, thus powering wearable electronic devices. Specifically, a cam with piezoelectric(PZT) stacks is mounted on the heel to scavenge energy during the heel strike. The cam can change the input's direction from the vertical direction to the horizontal direction. In addition, the output power of this part can be optimized or improved by generating a specified cam profile. A bimorph piezoelectric plate is installed on the forefoot to convert the toes' bending deformation into electricity. Herein, piezoelectric Macro Fiber Composites (MFC) are employed to capture the large deformation. Preliminary testing on a healthy subject is conducted to validate this design. The average power output of the harvester is 8.83 m W. © 2022 IEEE.

关键词： Cams

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Compliance Control and Simulation of a Next-Generation Chewing Robot

Compliance Control and Simulation of a Next-Generation Chewi...

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Chinese Control Conference (CCC)

作者： Xudong Wang Weiliang Xu Jaspreet Dhupia John Bronlund Jianda Han Department of Mechanical & Mechatronics Engineering the University of Auckland Auckland New Zealand Reddit Institute Palmerston North New Zealand School of Food and Advanced Technology Massey University Palmerston North New Zealand Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China

The aim of the development of the chewing robots is to study the biomechanics of chewing process or produce the bolus for further research by in vitro experiments. Some chewing robots are open loop controlled and couldn't behave like a human. However, to make the chewing robots more bin-mimic, force feedback based closed loop control is required. To improve the efficiency of the in-vitro chewing experiments, a next generation chewing robot with cam-follower based multi-chambers was developed previously, which can be used test the effect of different chewing parameters on the chewing performance and food texture changes simultanously. In this paper, modified admittance control based on the force feedback was applied to the chewing robot. At first, to improve food particle size reduction to a distribution which closely matches that produced by human and protect the components of the robot from breakage or impact damage, a spring mass based system, called remote center compliance (RCC), was developed and applied to the robot to control the chewing force. Then, based on the knowledge of human chewing process, power-based algorithm, and modified admittance control method were used as the feedback to adjust the angular velocity of the motor and corresponding chewing velocity of the teeth. The performance of the control model was also simulated, results showed that the model is reliable to control the robot and make it bio-mimic.

关键词：

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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic systems over a Lossy Communication Channel

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Journal of systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

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Direction-of-Arrival and Range Estimation of Near-Field Sources Based on Subspace Fitting

Direction-of-Arrival and Range Estimation of Near-Field Sour...

引用

2021 China Automation Congress, CAC 2021

作者： Tong, Yingnan Zuo, Weiliang Xin, Jingmin Zheng, Nanning Sano, Akira Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an710049 China National Engineering Laboratory for Visual Information Processing and Applications Xi'an Jiaotong University Xi'an710049 China Department of System Design Engineering Keio University Yokohama223-8522 Japan

ISBN: (纸本)9781665426473

A new algorithm is proposed to address the problem of near-field source localization using weighted subspace fitting (WSF) in this paper. Through separating the two parameters of bearings and ranges, the two-dimensional parameter estimation problem is first transformed into one-dimensional parameter estimation problem. The specific method is to construct a Toeplitz-like correlation matrix by using the anti-diagonal elements of the near-field source signal covariance matrix. Then the subspace fitting algorithm of sparse recovery is used to estimate the direction of arrival (DOA). The estimated direction is substituted back to the original near-field source model. After that, the sparse recovery algorithm based on singular value decomposition can be used to calculate the estimated value of the ranges. Computer simulations verify the excellent performance of the algorithm. In addition, the algorithm has lower requirements for SNR and snapshots. © 2021 IEEE

关键词： Singular value decomposition

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A Novel Non-cooperative Target Capture Tool for Defunct Satellite 17

A Novel Non-cooperative Target Capture Tool for Defunct Sate...

引用

17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Sun, Yongjun Liu, Yiwei Jin, Minghe Liu, Rongqiang Liu, Hong Harbin Institute of Technology School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

With the increase of defunct satellites, the orbit resource of the Earth is becoming more and more shortage. As one of the key technologies, the capture of non-cooperative targets has become a research hotspot. Due to its obvious characteristics, easy identification, high strength and high stiffness, the Launch Adapter Ring (LAR) has become a capture object on the defective and tumbling satellite. In this paper, a novel LAR capture tool is developed, and the LAR capture tool is designed, manufactured and tested. In order to improve the probability of grasp, the direct drive was adopted. The main research contents are as follows: overall design of the capture tool, design of electromagnetic brake, analysis of kinematics, and test the prototype. © 2020 IEEE.

关键词： Orbits

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SFDA-rPPG: Source-Free Domain Adaptive Remote Physiological Measurement with Spatio-Temporal Consistency

arXiv

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arXiv 2024年

作者： Xie, Yiping Yu, Zitong Wu, Bingjie Xie, Weicheng Shen, Linlin Computer Vision Institute School of Computer Science & Software Engineering Shenzhen Institute of Artificial Intelligence and Robotics for Society Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen518060 China School of Computing and Information Technology Great Bay University Dongguan523000 China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen518060 China Singapore

Remote Photoplethysmography (rPPG) is a non-contact method that uses facial video to predict changes in blood volume, enabling physiological metrics measurement. Traditional rPPG models often struggle with poor generalization capacity in unseen domains. Current solutions to this problem is to improve its generalization in the target domain through Domain Generalization (DG) or Domain Adaptation (DA). However, both traditional methods require access to both source domain data and target domain data, which cannot be implemented in scenarios with limited access to source data, and another issue is the privacy of accessing source domain data. In this paper, we propose the first Source-free Domain Adaptation benchmark for rPPG measurement (SFDA-rPPG), which overcomes these limitations by enabling effective domain adaptation without access to source domain data. Our framework incorporates a Three-Branch Spatio-Temporal Consistency Network (TSTC-Net) to enhance feature consistency across domains. Furthermore, we propose a new rPPG distribution alignment loss based on the Frequency-domain Wasserstein Distance (FWD), which leverages optimal transport to align power spectrum distributions across domains effectively and further enforces the alignment of the three branches. Extensive cross-domain experiments and ablation studies demonstrate the effectiveness of our proposed method in source-free domain adaptation settings. Our findings highlight the significant contribution of the proposed FWD loss for distributional alignment, providing a valuable reference for future research and applications. The source code is available at https://***/XieYiping66/SFDA-rPPG. Copyright © 2024, The Authors. All rights reserved.

关键词： Photoplethysmography

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A Path Planning Algorithm of Spray Robot based on 3D Point Cloud

A Path Planning Algorithm of Spray Robot based on 3D Point C...

引用

2020 International Conference on Communications, Information system and Computer engineering, CISCE 2020

作者： Yang, Jubo Kong, Minxiu Wang, Rundong School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781728197616

The automatic path planning method of spray robot has always been a challenging problem, especially for the mixed-line production of various workpieces. This paper discusses the self-acquisition technology of spray path based on the point cloud model of furniture. The coordinate relationship between the coordinate system of the spraying system and the adaptive adjustment of the pose are discussed for the point cloud pose of the furniture. The furniture surface path planning based on point cloud slices and edge spraying based on edge extraction technology were studied to obtain the ordered path point sequence and posture of the spray gun. Through the robot spraying experiment on flat furniture and complex curved furniture, the reliability of the algorithm is verified from the aspects of algorithm efficiency and spraying effect. © 2020 IEEE.

关键词： Motion planning

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