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第41届中国控制会议

作者： Kui Jie Wangyong He Renjie Gui School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length and proportion of Chinese human lower limbs,as well as the range of extreme motion and comfortable motion of each joint of human lower *** on the error transfer matrix of rigid body connecting rod,the three-DOF lower limb rehabilitation robot human lower limb static pose error model and human/machine integration model are *** D-H method was used to solve the kinematic function between the angle of each joint and the position of the end of human lower *** analysis of the kinematics of human lower limbs is to calculate its inverse kinematics *** the motion control of rehabilitation robots,the inverse kinematics is more important than the forward kinematics,which is the basis for rehabilitation robot to realize trajectory planning under the training mode of passive trajectory traction,as well as the basis for compliant ***,a simulation model is established with Matlab software,and the simulation results show the feasibility and safety of the rehabilitation training process.

关键词： Lower limb rehabilitation robot Range of motion Human kinematics

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Industrial Wireless control Networks:From WIA to the Future

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Engineering 2022年第1期8卷 18-24页

作者： Haibin Yu Peng Zeng Chi Xu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China

*** Industrial automation is undergoing a significant innovation as information,communication,and operation technologies are deeply integrating with each *** this trend,industrial wireless control networks(IWCNs)are becoming increasingly attractive to industrial automation since they can help speed up production efficiency,reduce cost,enhance safety,and finally realize intelligent manufacturing[1].

关键词： attractive integrating becoming

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Magnetic Flux Servoing for Precise Localization Based on Gradient Tensor Contractions 19

Magnetic Flux Servoing for Precise Localization Based on Gra...

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19th IEEE International Conference on Automation Science and Engineering, CASE 2023

作者： Martinovic, Dean Orsag, Matko University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb10000 Croatia

ISBN: (纸本)9798350320695

This paper focuses on bridge inspections performed by intelligent unmanned aerial vehicles (UAV). For this, small data loggers are placed by the UAVs at the bridge, which have to be removed later. In our previous work we presented the magnetic localization method SRIOD, which not only detects the center of the data logger but also its orientation. In this work we proof SRIOD in a real application and let a robotic arm locate a magnetic target. The hardware involved is presented including the control strategy for the robot. The motions of the robot and the magnetic target are captured with 12 Optitrack cameras in order to validate the localization quality. © 2023 IEEE.

关键词： Antennas

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Modelling Combined Automata via Semi-tensor Product of Matrices 33

Modelling Combined Automata via Semi-tensor Product of Matri...

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第三十三届中国控制会议

作者： YAN Yongyi CHEN Zengqiang LIU Zhongxin Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University College of Science Civil Aviation University of China

ISBN: (纸本)9781479947249

Using semi-tensor product of matrices(STP), a new matrix analysis tool, this paper investigates the problem of modelling combined automata, which are constructed in three ways: parallel, serial and feedback. By representing the states, input and output symbols in vector forms, the transition and output functions are expressed as algebraic equations of the states and inputs, in which the matrix product is STP. Based on such algebraic descriptions, three new models are established for three types of combined automata with the help of STP. Illustrative examples verify the correctness of the new models.

关键词： Automata,Composition of automata,Matrix approach,Semi-tensor product of matrices

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Extraction algorithm for longitudinal and transverse mechanical information of AFM

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Nanotechnology and Precision Engineering 2022年第2期5卷 27-37页

作者： Chunxue Hao Shoujin Wang Shuai Yuan Boyu Wu Peng Yu Jialin Shi School of Information and Control Engineering Shenyang Jianzhu UniversityShenyang 110168China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of SciencesShenyang 110169China

The atomic force microscope(AFM)can measure nanoscale morphology and mechanical properties and has a wide range of *** traditional method for measuring the mechanical properties of a sample does so for the longitudinal and transverse properties separately,ignoring the coupling between *** this paper,a data processing and multidimensional mechanical information extraction algorithm for the composite mode of peak force tapping and torsional resonance is *** the basis of a tip–sample interaction model for the AFM,longitudinal peak force data are used to decouple amplitude and phase data of transverse torsional resonance,accurately identify the tip–sample longitudinal contact force in each peak force cycle,and synchronously obtain the corresponding characteristic images of the transverse amplitude and *** results show that the measured longitudinal mechanical characteristics are consistent with the transverse amplitude and phase characteristics,which verifies the effectiveness of the ***,a new method is provided for the measurement of multidimensional mechanical characteristics using the AFM.

关键词： Atomic force microscope Peak force tapping Torsional resonance Mechanical characteristic measurement Background subtraction algorithm Coupled mechanical model

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Modeling and reachability analysis of synchronizing transitions bounded Petri net systems based upon semi-tensor product of matrices

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The Journal of China Universities of Posts and Telecommunications 2017年第1期24卷 77-86页

作者： Gao Na Han Xiaoguang Chen Zengqiang Zhang Qing College of Computer and Control Engineering Nankai University Tianjin 300350 China Tianjin Key Laboratory of Intelligent Robotics Tianjin 300350 China College of Science Civil Aviation University of China Tianjin 300300 China

The reachability problem of synchronizing transitions bounded Petri net systems （BPNSs） is investigated in this paper by constructing a mathematical model for dynamics of BPNS. Using the semi-tensor product （STP） of matrices, the dynamics of BPNSs, which can be viewed as a combination of several small bounded subnets via synchronizing transitions, are described by an algebraic equation. When the algebraic form for its dynamics is established, we can present a necessary and sufficient condition for the reachability between any marking （or state） and initial marking. Also, we give a corresponding algorithm to calculate all of the transition paths between initial marking and any target marking. Finally, an example is shown to illustrate proposed results. The key advantage of our approach, in which the set of reachable markings of BPNSs can be expressed by the set of reachable markings of subnets such that the big reachability set of BPNSs do not need generate, is partly avoid the state explosion problem of Petri nets （PNs）.

关键词： reachability Petri nets BPNSs semi-tensor product （STP） of matrices synchronizing transitions

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Robust H∞ formation control for multi-agent systems with nonlinear dynamics and time-varying delay 33

Robust H∞ formation control for multi-agent systems with no...

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第三十三届中国控制会议

作者： LI Weixun CHEN Zengqiang LIU Zhongxin ZHANG Qing Tianjin Key Laboratory of Intelligent Robotics College of Computer & Control EngineeringNankai University College of Science Civil Aviation University of China

ISBN: (纸本)9781479947249

In this paper,the distributed robust H formation control problem for second-order multi-agent systems with time-varying delay and nonlinear dynamics is *** different cases of coupling topologies:fixed topology and switching topology are *** the multi-agent systems with disturbances and uncertainty parameters,the formation control protocols are designed and *** sufficient conditions are given to ensure the multi-agent systems can reach and maintain the desired formation with the given H *** simulation results illustrate the effectiveness of the main results.

关键词： Multi-agent systems,nonlinear dynamics,robust formation control,time-varying delay

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Integration of topological and metric maps for indoor mobile robot path planning and navigation 2nd

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2nd Hellenic Conference on Artificial Intelligence, SETN 2002

作者： Zavlangas, Panagiotis G. Tzafestas, Spyros G. Intelligent Robotics and Automation Laboratory Signals Control and Robotics Division Department of Electrical and Computer Engineering National Technical University of Athens Zografou Athens15773 Greece

ISBN: (纸本)3540434720

Autonomous mobile robots need to use spatial information about the environment in order to effectively plan and execute navigation tasks. The information can be represented at different levels of abstraction, ranging from detailed geometric maps to coarse topological maps. Each level is adequate for some sub-task, but not for others. In this paper, we consider the representation of spatial knowledge at two different levels of abstraction, which are commonly considered in the robotics literature: the geometric level, and the topological level. We propose to represent the environment by local metric maps connected into a topological network. This technique allows us to use maps that are not metrically consistent on the global scale, although they are metrically consistent locally. The structure allows also the combination of abstract global reasoning and precise local geometric computations. Moreover, this structure reflects the typical organization of indoor environments, where rooms and hallways define independent but connected local working spaces. To navigate in the environment, the robot uses the topological information to plan a sequence of sectors to traverse, and uses the metric information in each sector to locally move within the sector and to the next one. The functioning of the proposed system with respect to omnidirectional mobile robots and results of simulated experiments are presented. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Abstracting

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Soft robotics:Morphology and Morphology-inspired Motion Strategy

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IEEE/CAA Journal of Automatica Sinica 2021年第9期8卷 1500-1522页

作者： Fan Xu Hesheng Wang Department of Automation Institute of Medical RoboticsKey Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China

robotics has aroused huge attention since the *** of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental ***,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured *** decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing *** presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific *** paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.

关键词： Soft continuum manipulator soft gripper soft mobile robot soft robot control method soft robot modeling method soft robotics

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control Aspects in Programming by Demonstation for Robotic Deep- Micro- Hole Drilling 32

Control Aspects in Programming by Demonstation for Robotic D...

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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Maric, Bruno Petric, Frano Orsag, Matko University of Zagreb LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing Zagreb10000 Croatia

ISBN: (纸本)9798350395440

This paper explores control aspects in a collab-orative robotic system designed to replicate human operators' drilling skills in deep- micro- hole tasks, focusing on the glass-container mould industry. To replicate human performance, we develop a single-DOF Impedance-based drill controller for a standard industrial position-controlled robot, enhancing safe and smooth interactions between the drill bit and the mould. To address high feed rates observed in worker demonstrations and prevent bit breaks, we focus on minimizing non-axial motion during drilling on an off-the-shelf available industrial manipulator KUKA KR 10. This involves analyzing the impact of joint dynamics on drill motion and designing a control system for the robot's low-level control to achieve axial drill motion. We show that the proposed joint control system that takes into account relationship between joint and tool dynamics outperforms available robot low-level control in minimizing non-axial motion, leading to the robot being able to outperform the human in deep- micro- hole drilling. © 2024 IEEE.

关键词： Molds

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