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International Scientific Conference on Power and Electrical engineering of Riga Technical University (RTUCON)

作者： Alecksey Anuchin Dmitry Shpak Anastasia Kotelnikova Alexey Dmitriev Andrei Bogdanov Galina Demidova Moscow Power Engineering Institute Moscow Russia Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia

ISBN: (数字)9781728195100

ISBN: (纸本)9781728195117

One of the promising technologies of encoderless rotor position and speed estimation for the motors with magnetic anisotropy is the analysis of operation of model predictive control. Idea of the method is to track the difference between the prediction and actual behaviour of the motor currents which should match if the rotor position estimation is correct. However, this method was not applied for switched reluctance drive yet. This paper proposes the rotor position and speed estimator for switched reluctance motor operated under continuous control set model predictive control. It implements phase-locked loop fed by the error between the referenced current and it actual value. The estimator was examined using a simulation model and provides fast and accurate speed and position tracking.

关键词： Rotors Control systems Pulse width modulation Estimation Switches Permanent magnet motors Magnetization

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Model Predictive Control of a Direct Current Motor Utilizing Lookup Tables

Model Predictive Control of a Direct Current Motor Utilizing...

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International Conference on Power Drives systems (ICPDS)

作者： Alecksey Anuchin Andrei Bogdanov Galina Demidova Dmitrii Savkin Ksenya Fedorova Maria Gulyaeva Moscow Power Engineering Institute Moscow Russia Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia

ISBN: (数字)9781728165387

ISBN: (纸本)9781728165394

The problem of unpredictable acoustic behaviour of the finite control set model predictive control (MPC) can be solved in continuous control set MPC. However, continuous control set MPC usually requires huge computation efforts or analytical solution of the non-linear equations of the motor, which is not always possible. This paper considers the option of precalculation of all control commands for each combination of the input variables. This approach is applicable for the drives with limited number of state variables, such as direct current motor or switched reluctance machine. An example of the control system of direct current motor with torque stabilization and minimization of the ohmic losses was implemented using simulation model. The 4-dimensional lookup table was used for armature current control and 2-dimensional lookup table was used for field winding control. The simulation results show rapid torque stabilization together with losses minimization.

关键词： Torque Memory management Switches DC motors Control systems Minimization Predictive control

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Precise LiDAR SLAM in Structured Scene Using Finite Plane and Prior Constraint

Precise LiDAR SLAM in Structured Scene Using Finite Plane an...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Xie, Yuhui Zhao, Wentao Wang, Jiahao Wang, Jingchuan Chen, Weidong Institute of Medical Robotics and Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China School of Mechanical Engineering Shanghai Jiao Tong University Ministry of Education Shanghai200240 China

ISBN: (纸本)9781665481090

In this paper, we propose a precise LiDAR SLAM in optimization framework using plane-like object as landmark. Compared to general methods, finite plane feature is used to represent landmark and a new residual model is designed, making constraint from edge of landmark can be used to limit the parallel position between LiDAR and landmark, leading to a more accurate result. Moreover, floor plan is used to provide global pose for reduction of drift, and additionally feature orientation prior is used to prevent map distortion when updating the inaccurate part of floor plan. Experiments are conducted using data collected in real environment. The result qualitatively shows that proposed method can build a corrected map from floor plan without distortion, and quantitatively verifies that proposed method can outperform other baseline methods in accuracy. © 2022 IEEE.

关键词： Optical radar

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Stiffness performance estimation for biped locomotor WL-15

Stiffness performance estimation for biped locomotor WL-15

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2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003

作者： Carbone, G. Sugahara, Y. Lim, H.O. Takanishi, A. Ceccarelli, M. Laboratory of Robotics and Mechatronics DiMSAT University of Cassino Via Di Biasio 43 CassinoFr03043 Italy Graduate School of Science and Engineering Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan Kanagawa Institute of Technology Department of System Design Engineering 1030 Shimoogino AtsugiKanagawa243-0292 Japan Humanoid Robotics Institute Waseda University 3-4-1 Ookubo Shinjuku-kuTokyo169-8555 Japan

ISBN: (纸本)0780377591

In this paper a biped locomotor, named as WL-15 (Waseda Leg 15), is analyzed in terms of stiffness characteristics. Basic models and a formulation are proposed in order to deduce the stiffness matrix as a function of the most important design parameters of the WL-15 architecture. First numerical simulations and experimental tests are also carried out for stiffness performance estimation. © 2003 IEEE.

关键词： Anthropomorphic robots

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A Client Selection Method Based on Loss Function Optimization for Federated Learning

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Computer Modeling in engineering & Sciences 2023年第10期137卷 1047-1064页

作者： Yan Zeng Siyuan Teng Tian Xiang Jilin Zhang Yuankai Mu Yongjian Ren Jian Wan School of Computer Science and Technology Hangzhou Dianzi UniversityHangzhou310018China Key Laboratory of Complex System Modeling and Simulation Ministry of EducationHangzhou310018China Zhejiang Engineering Research Center of Data Security Governance Hangzhou310018China Intelligent Robotics Research Center Zhejiang LabHangzhou311100China HDU-ITMO Joint Institute Hangzhou Dianzi UniversityHangzhou310018China

Federated learning is a distributedmachine learningmethod that can solve the increasingly serious problemof data islands and user data privacy,as it allows training data to be kept locally and not shared with other *** trains a globalmodel by aggregating locally-computedmodels of clients rather than their ***,the divergence of local models caused by data heterogeneity of different clients may lead to slow convergence of the global *** this problem,we focus on the client selection with federated learning,which can affect the convergence performance of the global model with the selected local *** propose FedChoice,a client selection method based on loss function optimization,to select appropriate local models to improve the convergence of the global *** firstly sets selected probability for clients with the value of loss function,and the client with high loss will be set higher selected probability,which can make them more likely to participate in ***,it introduces a local control vector and a global control vector to predict the local gradient direction and global gradient direction,respectively,and calculates the gradient correction vector to correct the gradient direction to reduce the cumulative deviationof the local gradient causedby *** experiments to verify the validity of FedChoice on CIFAR-10,CINIC-10,MNIST,EMNITS,and FEMNIST datasets,and the results show that the convergence of FedChoice is significantly improved,compared with FedAvg,FedProx,and FedNova.

关键词： Federated learning model aggregation Non-IID

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Optimal design for a 2-dof high dynamic manipulator based on parallelogram mechanism

Optimal design for a 2-dof high dynamic manipulator based on...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Min Xiu Kong Wei You Zhi Jiang Du Li Ning Sun School of Material Science and Engineering Harbin Institute of Technology China State Key Laboratory of Robotics and System Harbin China

In this paper, a design and optimization approach for a 2-dof manipulator based on parallelogram mechanism for high dynamic application is proposed. After the kinematic and dynamic analysis, several advantages of the mechanism are illustrated which make it possible to reach good dynamic performance through mechanism optimization. Based on the idea of design for control (DFC), a novel kind of multi-objective optimization method is presented. Several index considering both kinematic and dynamic performances are chosen as objective functions and design constraints. The cross-section area and length of the linkages are chosen as the design variables. NSGA-II algorithm is introduced to solve this complex multi-objective optimization problem. And a new expression for the measuring of dynamic coupling degree with clear physical meaning is proposed, it shows that the optimized mechanism has an approximate decoupled dynamics structure, and each active joint could be regarded as a linear SISO system. The final optimized mechanism could be used in high speed pick-plate applications only using simple linear controller.

关键词： Joints Couplings Optimization Kinematics Mathematical model Equations Manipulator dynamics

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A sEMG recording system

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Key engineering Materials 2014年 620卷 465-470页

作者： Gao, Yongsheng Bai, Jie Wang, Shengxin Zhao, Jie Li, Xiaoyan State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Harbin China Electrical Engineering and Automation Tianjin University 300072 Tianjin China

ISBN: (纸本)9783038351856

The sEMG (surface electromyographic) plays a significant role in the rehabilitation medicine, particularly in exoskeleton robotic treatment. A sEMG recording system using STM32F407 DISCOVERY development board and Labview software, combined with multiple signal acquisition sensors was proposed in this paper. The UC/OS-II operating system was embedded in the STM32F407 micro controller so that multiple channels can be picked up from different sensors at the same time. Due to the characteristics of STM32F407 microcontroller;the largest acquisition channels can be up to 16, and multiple signals can be collected such as the sEMG, angle trajectory, acceleration, torque etc. The use of DISCOVERY development board and Labview has reduced development cycle to a greater extent and resulted large improvement in work efficiency. © (2014) Trans Tech Publications, Switzerland.

关键词： Microcontrollers

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Self-organizing approach for robot's behavior imitation

Self-organizing approach for robot's behavior imitation

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Wanitchaikit P. Tangamchit T. Maneewarn Department of Control System and Engineering Faculty of Engineering Institute of Field Robotics Thailand King Mongkut's University of Technology Thonburi Bangkok Thailand

In this paper, an approach for behavior imitation using visual information was introduced. The imitation process is done by a self organizing neural network module. From several demonstrations of task operation, a vision system captures movement of the demonstrator mobile robot and associated objects in an operation field. Then, the movement features are extracted to present to an imitation engine. Finally, skill or decision policy from teacher's demonstration is extracted and embedded into a self organizing neural network without explicit external supervisory signals. A simple action selection algorithm for choosing action from learned network is proposed. The algorithm was implemented and tested on a simulated robot and a real mobile robot to imitate two simple robot soccer behaviors: approaching the target and obstacle avoidance. Furthermore, the concept of similarity measure is introduced to evaluate imitation performance from the demonstrator

关键词： Neural networks Mobile robots Educational robots Humans Organizing Data mining Machine learning Robot programming Artificial neural networks Control systems

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Filter algorithm based on cochlear mechanics and neuron filter mechanism and application on enhancement of audio signals

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Journal of Central South University 2021年第6期28卷 1813-1828页

作者： GAO Wa KAN Yue ZHA Fu-sheng College of Furnishings and Industrial Design Nanjing Forestry UniversityNanjing 210037China School of Mechanical and Power Engineering Henan Polytechnic UniversityJiaozuo 454003China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A filter algorithm based on cochlear mechanics and neuron filter mechanism is proposed from the view point of *** helps to solve the problem that the non-linear amplification is rarely considered in studying the auditory filters.A cochlear mechanical transduction model is built to illustrate the audio signals processing procedure in cochlea,and then the neuron filter mechanism is modeled to indirectly obtain the outputs with the cochlear properties of frequency tuning and non-linear *** mathematic description of the proposed algorithm is derived by the two *** parameter space,the parameter selection rules and the error correction of the proposed algorithm are *** unit impulse responses in the time domain and the frequency domain are simulated and compared to probe into the characteristics of the proposed *** a 24-channel filter bank is built based on the proposed algorithm and applied to the enhancements of the audio *** experiments and comparisons verify that,the proposed algorithm can effectively divide the audio signals into different frequencies,significantly enhance the high frequency parts,and provide positive impacts on the performance of speech enhancement in different noise environments,especially for the babble noise and the volvo noise.

关键词： cochlea neuron filter audio signal processing speech enhancement

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Obstacle Identification Based on Deep Learning for Inspection Robot of FAST Wire Rope

Obstacle Identification Based on Deep Learning for Inspectio...

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Automation, robotics and Computer engineering (ICARCE), International Conference on

作者： Chengxu Yang Xiangyu Sun Gangfeng Liu School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, for the requirements of image recognition and localization of the obstacles existing on the moving path in the inspection task of FAST cable inspection robot, the deep learning method is used to realize the recognition of multi-kind and multi-scale obstacles. The obstacles on FAST wire rope have not been identified before. By enhancing the data set and improving the network model, the recognition accuracy and speed are both improved, which meets the efficiency and accuracy requirements of obstacle detection on the wire rope, and provides help for the subsequent robot pace planning and overhaul tasks.

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