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Model-driven path planning for robotic plasma cutting of branch pipe with single Y-groove based on pipe-rotating scheme

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Advances in Manufacturing 2024年第1期12卷 94-107页

作者： Yan Liu Qiu Tang Xin-Cheng Tian School of Control Science and Engineering Shandong UniversityJinan250061People’s Republic of China Engineering Research Center of Intelligent Unmanned System Ministry of EducationJinan250061People’s Republic of China School of Mechanical and Electronic Engineering Shandong Jianzhu UniversityJinan250101People’s Republic of China

The automatic cutting of intersecting pipes is a challenging task in *** improved automation and accuracy,this paper proposes a model-driven path planning approach for the robotic plasma cutting of a branch pipe with a single ***,it summarizes the intersection forms and introduces a dual-pipe intersection *** on this model,the moving three-plane structure(a description unit of the geometric characteristics of the intersecting curve)is constructed,and a geometric model of the branch pipe with a single Y-groove is ***,a novel mathematical model for plasma radius and taper compensation is ***,the compensation model and groove model are integrated by establishing movable ***,to prevent collisions between the plasma torch and workpiece,the torch height is planned and a branch pipe-rotating scheme is *** the established models and moving frames,the planned path description of cutting robot is provided in this novel *** accuracy of the proposed method is verified by simulations and robotic cutting experiments.

关键词： Automatic groove cutting of intersecting pipes Model-driven robot path planning Plasma beam radius and taper compensation

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An online terrain classification framework for legged robots based on acoustic signals

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Biomimetic Intelligence & Robotics 2023年第2期3卷 51-53页

作者： Daoling Qin Guoteng Zhang Zhengguo Zhu Xianwu Zeng Jingxuan Cao School of Control Science and Engineering Shandong UniversityJinan 250061China Engineering Research Center of Intelligent Unmanned System Ministry of EducationShandong UniversityJinan 250061China

Terrain classification information is of great significance for legged robots to traverse various ***,this communication presents an online terrain classification framework for legged robots,utilizing the acoustic signals produced during *** Mel-Frequency Cepstral Coefficient(MFCC)feature vectors are extracted from the acoustic data recorded by an on-board *** the Gaussian mixture models(GMMs)are used to classify the MFCC features into different terrain type *** proposed framework was validated on a quadruped ***,our investigations achieved a classification time-resolution of 1 s when the robot trotted over three kinds of terrains,thus recording a comprehensive success rate of 92.7%.

关键词： Legged robots Terrain classification Acoustics GMMs

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Effect of Free-End Torsion on the Corrosion and Mechanical Properties for Mg-3Zn-0.2Ca Alloy

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Acta Metallurgica Sinica(English Letters) 2025年第1期38卷 59-70页

作者： Li-Lan Gao Jiang Ma Yan-Song Tan Xiao-Hao Sun Qi-Jun Gao De-Bao Liu Chun-Qiu Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin300384China School of Materials Science and Engineering Tianjin University of TechnologyTianjin300384China

Magnesium alloys with excellent degradability and biocompatibility are promising materials for biomedical implants,saving patients the burden of second ***,their mechanical properties and corrosion resistance are significantly below the requirements for implant *** study aims to improve the mechanical and corrosion resistance properties of Mg-3Zn-0.2Ca alloy by pre-torsion treatment,and find out the optimal shear *** rod-shaped Mg-3Zn-0.2Ca alloy specimens were pre-torsion treated at different torsion *** effect of free-end torsion on Mg-3Zn-0.2Ca alloy was characterized through microstructure analysis,mechanical testing,and corrosion ***-torsion treatment can refine grain and induce twins and dislocations in Mg-3Zn-0.2Ca *** surface hardness increases with the increase in torsion *** yield strength and ultimate strength initially increase and then decrease with increasing torsion angle,while ductility decreases with increasing torsion *** with a shear strain of 30%exhibit the highest tensile strength,reaching 284.78±10.62 MPa,with an elongation of 19.37±1.66%.Furthermore,they show a significant improvement in fatigue lives both before and after *** the stress amplitude is 120 MPa,the fatigue lives for specimens without pre-torsion treatment are 54,275 cycles and 4324 cycles before and after pre-corrosion,while they increased significantly to 92,015 cycles and 5050 cycles with the 30%shear strain,***,the 30%shear strain specimens show a significant reduction in corrosion *** conclusion,pre-torsion treatment can effectively modify the microstructure of Mg-3Zn-0.2Ca alloy,enhancing both mechanical properties and corrosion *** optimal shear strain for this improvement is 30%.This study provides a practical method to enhance the mechanical properties and corrosion resistance of Mg-3Zn-0.2Ca alloy,making it more suitable for biomedical implan

关键词： Magnesium alloy Pre-torsion Microstructure Mechanical property Corrosion resistance

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Preserving Topology of Network systems: Metric, Analysis, and Optimal Design

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IEEE Transactions on Automatic control 2024年第6期70卷 3540-3555页

作者： Li, Yushan Wang, Zitong He, Jianping Chen, Cailian Guan, Xinping Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Preserving the topology from being inferred by external adversaries has become a paramount security issue for network systems (NSs), and adding random noises to the nodal states provides a promising way. Nevertheless, recent works have revealed that the topology cannot be preserved under i.i.d. noises in the asymptotic sense. How to effectively characterize the non-asymptotic preservation performance still remains an open issue. Inspired by the deviation quantification of concentration inequalities, this paper proposes a novel metric named trace-based variance-expectation ratio. This metric effectively captures the decaying rate of the topology inference error, where a slower rate indicates better non-asymptotic preservation performance. We prove that the inference error will always decay to zero asymptotically, as long as the added noises are non-increasing and independent (milder than the i.i.d. condition). Then, the optimal noise design that produces the slowest decaying rate for the error is obtained. More importantly, we amend the noise design by introducing one-lag time dependence, achieving the zero state deviation and the non-zero topology inference error in the asymptotic sense simultaneously. Extensions to a general class of noises with multi-lag time dependence are provided. Comprehensive simulations verify the theoretical findings. © 1963-2012 IEEE.

关键词： Network topology

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Design and Experimental Validation of a Worm-Like Tensegrity Robot for In-Pipe Locomotion

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Journal of Bionic engineering 2023年第2期20卷 515-529页

作者： Xiaolin Dai Yixiang Liu Wei Wang Rui Song Yibin Li Jie Zhao School of Control Science and Engineering Shandong UniversityJinan250061China Engineering Research Center of Intelligent Unmanned System of Ministry of Education Jinan250061China Shandong Research Institute of Industrial Technology Jinan250061China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Traditional rigid-body in-pipe robots usually have complex and heavy structures with limited flexibility and *** soft in-pipe robots have great improvements in flexibility,they still have manufacturing difficulties due to their reliance on high-performance soft *** structure is a kind of self-stressed spatial structure consisting discrete rigid struts connected by a continuous net of tensional flexible strings,which combines the advantages of both rigid structures and soft *** applying tensegrity structures into robotics,this paper proposes a novel worm-like tensegrity robot for moving inside ***,a robot module capable of body deformation is designed based on the concept of tensegrity and its deformation performance is ***,the optimal parameters of the module are obtained based on the tensegrity *** deformation ability of the tensegrity module is tested ***,the worm-like tensegrity robot that can crawl inside pipes is developed by connecting three modules in *** performance and load capacity are tested on the prototype of the worm-like tensegrity robot by experiments of moving in horizontal pipe,vertical pipe,and elbow *** results demonstrate the effectiveness of the proposed design and suggest that the robot has high compliance,mobility,and adaptability although with simple structure and low cost.

关键词： Bio-inspired robot Soft robot application Tensegrity structure Pipe crawling

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An Improved Method for Approximating the Infinite-Horizon Value Function of the Discrete-Time Switched LQR Problem

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Journal of systems Science & Complexity 2024年第1期37卷 22-39页

作者： HOU Tan LI Yuanlong LIN Zongli Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Charles L.Brown Department of Electrical and Computer Engineering University of VirginiaCharlottesvilleVA 22904-4743USA

This paper considers the problem of approximating the infinite-horizon value function of the discrete-time switched LQR *** particular,the authors propose a new value iteration method to generate a sequence of monotonically decreasing functions that converges exponentially to the value *** method facilitates us to use coarse approximations resulting from faster but less accurate algorithms for further value iteration,and thus,the proposed approach is capable of achieving a better approximation for a given computation time compared with the existing *** numerical examples are presented in this paper to illustrate the effectiveness of the proposed method.

关键词： Optimal control switched linear systems switched LQR problem.

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AIoT for Aircraft Final Assembly:An intelligent and Collaborative Framework

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Journal of Communications and Information Networks 2024年第3期9卷 262-276页

作者： Cheng Ren Xiaojing Wen Xinping Guan Cailian Chen Yehan Ma Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240China

Aircraft final assembly line(AFAL)involves thousands of processes that must be completed before ***,the heavy reliance on manual labor in most assembly processes affects the quality and prolongs the delivery *** the advent of artificial intelligence of things(AIoT)technologies has introduced advancements in certain AFAL scenarios,systematically enhancing the intelligence level of the AFAL and promoting the widespread deployment of artificial intelligence(AI)technologies remain significant *** address these challenges,we propose the intelligent and collaborative aircraft assembly(ICAA)framework,which integrates AI technologies within a cloud-edge-terminal *** ICAA framework is designed to support AI-enabled applications in the AFAL,with the goal of improving assembly efficiency at both individual and multiple process *** analyze specific demands across various assembly scenarios and introduce corresponding AI technologies to meet these *** three-tier ICAA framework consists of the assembly field,edge data platform,and assembly cloud platform,facilitating the collection of heterogeneous terminal data and the deployment of AI *** framework enhances assembly efficiency by reducing reliance on manual labor for individual processes and fostering collaboration across multiple *** provide detailed descriptions of how AI functions at each level of the ***,we apply the ICAA framework to a real AFAL,focusing explicitly on the flight control system testing *** practical implementation demonstrates the effectiveness of the framework in improving assembly efficiency and promoting the adoption of AIoT technologies.

关键词： intelligent aircraft final assembly line AIoT cloud-edge-terminal framework design

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Algorithm for Solving Traveling Salesman Problem Based on Self-Organizing Mapping Network

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Journal of Shanghai Jiaotong university(Science) 2024年第3期29卷 463-470页

作者：朱江辉叶航航姚莉秀蔡云泽 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Key Laboratory of Marine Intelligent Equipment and System Ministry of EducationShanghai 200240China Huawei Technologies Co. Ltd.Shanghai 201206China

Traveling salesman problem(TSP)is a classic non-deterministic polynomial-hard optimization *** on the characteristics of self-organizing mapping(SOM)network,this paper proposes an improved SOM network from the perspectives of network update strategy,initialization method,and parameter *** paper compares the performance of the proposed algorithms with the performance of existing SOM network algorithms on the TSP and compares them with several heuristic *** show that compared with existing SOM networks,the improved SOM network proposed in this paper improves the convergence rate and algorithm *** with iterated local search and heuristic algorithms,the improved SOM net-work algorithms proposed in this paper have the advantage of fast calculation speed on medium-scale TSP.

关键词： traveling salesman problem(TSP) self-organizing mapping(SOM) combinatorial optimization neu-ral network

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C2FNet: Coarse-to-Fine Keypoint Localization Network for Monocular 6D Object Pose Estimation

C2FNet: Coarse-to-Fine Keypoint Localization Network for Mon...

引用

2023 China Automation Congress, CAC 2023

作者： Sun, Jiahao Ma, Xin Li, Yibin Center for Robotics School of Control Science and Engineering Shandong University China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China

ISBN: (纸本)9798350303759

Estimating the 6D object pose from a singular RGB image is a fundamental task in the field of computer vision. Recent studies have demonstrated that keypoint-based methods exhibit remarkable efficacy. Such methodologies initially identify keypoints and subsequently deduce the object's pose by addressing a Perspective-n-Point (PnP) problem. Nonetheless., the prevalent approach of directly regressing the 2D coordinates of keypoints renders these methods sensitive to occlusions. Instead., we inaugurate a coarse-to-fine keypoint localization network (C2FNet)., where we utilize the predicted keypoint offsets from the first stage as input to deformable convolutional networks (DCN) in the second stage., to further capture geometric features and enhance spatial relationships between keypoints., thus outputting accurate and robust keypoint coordinates. Experiments indicate that the proposed approach surpasses existing advanced methods in terms of performance on the LINEMOD and Occlusion LINEMOD datasets. © 2023 IEEE.

关键词： Computer vision

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Fixed-Time Sliding Mode Fault-Tolerant Consensus control for Second-Order Multi-Agent system with Actuator Fault 41

Fixed-Time Sliding Mode Fault-Tolerant Consensus Control for...

引用

第41届中国控制会议

作者： Jing Wang Yi-ming Fang Jian-xiong Li Kun-da Li Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Aiming at the problems of immeasurable leader state and actuator fault for second-order multi-agent system(MAS),the distributed robust sliding mode fault-tolerant control method based on fixed-time state observer(FTSO) is adopted to realize the fixed time fault-tolerant consensus tracking control for the *** MAS is under the undirected communication *** actuator fault is including partial loss of effectiveness(PLOE) fault and bias ***,a fixed time state observer is designed for each follower to obtain the state information of the ***,for followers with actuator faults,the distributed fixed-time robust sliding mode fault-tolerant controller is designed to realize fault-tolerant consensus tracking ***,the Lyapunov stability theorem is used to prove that the observation error and the consensus control error converge to zero in a ***,the effectiveness of the designed FTSO and fixed-time robust sliding mode fault-tolerant control algorithm is verified by numerical simulation.

关键词： fixed-time state observer fixed-time fault-tolerant control multi-agent systems consensus tracking control

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