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arXiv 2024年

作者： Hu, Bin-Bin Zhang, Hai-Tao Yao, Weijia Sun, Zhiyong Cao, Ming The School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China The School of Robotics Hunan University Hunan410082 China The Institute of Engineering and Technology University of Groningen Groningen9747 AG Netherlands Department of Electrical Engineering Eindhoven University of Technology Netherlands

We design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired two-dimensional (2D) surface. The CGVF is characterized by three terms, i.e., a convergence term to drive the robots to converge to the desired surface, a propagation term to provide a traversing direction for maneuvering on the desired surface, and a coordinated term to achieve the surface motion coordination with an arbitrary ordering of the robotic group. By setting the surface parameters as additional virtual coordinates, the proposed approach eliminates potential singularity of the CGVF and enables both the global convergence to the desired surface and the maneuvering on the surface from all possible initial conditions. The ordering-flexible surface motion coordination is realized by each robot to share with its neighbors only two virtual coordinates, i.e. that of a given target and that of its own, which reduces the communication and computation cost in multi-robot surface navigation. Finally, the effectiveness of the CGVF is substantiated by extensive numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Navigation

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Platoon-Based Distributed control for Automated Material Handling Systems

Platoon-Based Distributed Control for Automated Material Han...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Alessandro Bozzi Jose-Fernando Jimenez Camilo Hernandez-Rodriguez Eliana-Maria Gonzalez-Neira Damien Trentesaux Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genova Italy Laboratory System and Materials for Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France Industrial Engineering Department Pontificia Universidad Javeriana Bogota Columbia Laboratory of Industrial and Human Automation Control Mechanical Engineering and Computer Science (LAMIH) Université Polytechnique Hauts-de-France Valenciennes France

Smart manufacturing systems combine collaborative and autonomous control systems to provide optimal performance and respond to volatile demands. A key component of smart manufacturing is material management, as raw materials, work-in-progress, and finished products must be transported to the right location at the right time. However, during the production phase, it is imperative to establish an optimal traffic control scheme in order to avoid congestion and optimize material flow. This paper proposes a platooning-based control procedure implemented in a virtual agent-based manufacturing environment to increase the material flow efficiency on a manufacturing shop floor. An analysis of the production makespan and an indicator of the level of congestion in the material handling system was conducted in order to determine productivity improvements. An agent-based simulation is used to test the effectiveness of the novel platooning approach versus a traditional basic approach. A multivariate analysis of variance (MANOVA) reveals that the inclusion of a platoon-based procedure improves production performance and reduces congestion risks.

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A Space Crawling Robotic Bio-Paw (Scrbp) Enabled by Triboelectric Sensors for Surface Identification

SSRN

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SSRN 2022年

作者： Hou, Xuyan Zhang, Li Gao, Guowei Liu, Yuhui Na, Zhonglai Xu, QingZhang Ding, Tianxiang Li, Long Chen, Tao Research Center of Aerospace Mechanism and Control School of Mechatronics Engineering Harbin Institute of Technology Harbin150080 China Department of MECHANICAL ENGINEERING FACULTY OF ENGINEERING Hong Kong Polytechnic University Hong Kong Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric Engineering Soochow University Suzhou215123 China

With the rapid development of space crawling robotics technology, tactile perception, a significant source for the robot to sense the external environment, has become the preferred solution to gather information in space. Sensors embedded in the robotic end-effector unit can collect and encode the large tactile data, allowing the robot to feel and perceive the real surroundings. Therefore, a space crawling robotic bio-paw (SCRBP) inspired by a cat paw, which performs as a compliant device and can flat the impulse force during the robot’s contact process to the target surface, is proposed in this paper. Meanwhile, a touch-sensing system embedded on SCRBP with self-powered sensors based on the triboelectric nanogenerator (TENG) technology is proposed which can provide the multi-dimensional sensation information in real time. By combining with machine learning (ML), the sensory system can be used for surface identification from the footfall process to the robot’s controller hub. In conclusion, SCRBP device proposed in this paper has obvious advantages in surface information acquisition, space adaptability, power consumption, cost, reliable signal and minimized data. Accordingly, SCRBP system shows fabulous potential in space robotics. © 2022, The Authors. All rights reserved.

关键词： End effectors

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Development of Robust Constrained control Strategy for Active Suspension System of Electric Vehicle with In-Wheel-Motor

Development of Robust Constrained Control Strategy for Activ...

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第40届中国控制会议

作者： Xianjian Jin Jiadong Wang Zeyuan Yan Zhiwei Li Zhaoran Wang School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University State Key Laboratory of Automotive Simulation and Control Jilin University

In order to suppress the vibration of the active suspension system for electric vehicle with in-wheel-motor, the robust constrained H control strategy is developed, the influences of the sprung mass variation and control constraint of the in-wheel active suspension system are considered in the control strategy. The oriented uncertain active suspension dynamic model is established through the linear fraction transformation method, in which in-wheel motor is suspended as dynamic vibration absorber. Under the unified framework of the generalized H synthesis system, the robust constrained H controller about the active suspension augmentation system is designed according to the theory of reachable sets and ellipsoids with considerations of the dynamic tire displacements and the suspension working spaces constraints. The simulation results show that the designed robust constrained H controller can effectively improve the ride comfort and road-holding ability even if external interference and parameter perturbation exist.

关键词： Electric vehicle vibration suppression active suspension robust control

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Hybrid Beamforming Design for Millimeter Wave Multiuser MIMO Systems with Dynamic Subarrays

arXiv

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arXiv 2022年

作者： Wang, Gengshan Yang, Zhijia Gong, Tierui State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China The Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China The Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China The University of Chinese Academy of Sciences Beijing100049 China Singapore University of Technology and Design Singapore

In this letter, we investigate the millimeter wave (mmWave) downlink multiuser multiple-input multiple-output (MU-MIMO) system, adopting the dynamic subarray architecture at the base station and considering the multi-stream communication for each user. Aiming at maximizing the system spectral efficiency, we propose a novel hybrid beamforming design. First, assuming no inter-user interference (IUI), we easily get the optimal fully-digital beamformers and combiners using the singular value decomposition of each user channel and the waterfilling algorithm. Then, based on the obtained fully-digital beamformers, we propose a Kuhn-Munkres algorithm-assisted dynamic hybrid beamforming design, which guarantees that each radio-frequency chain is connected to at least one antenna. Finally, we propose to further project each obtained digital beamformer onto the null space of all the other equivalent user channels to cancel the IUI. Numerical results verify the superiority of our proposed hybrid beamforming design. © 2022, CC BY.

关键词： Millimeter waves

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Pseudo-LiDAR for Visual Odometry

arXiv

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arXiv 2022年

作者： Deng, Huiying Wang, Guangming Feng, Zhiheng Jiang, Chaokang Wu, Xinrui Miao, Yanzi Wang, Hesheng Advanced Robotics Research Center AI Research Institute School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

As one of the important tasks in the field of robotics and machine vision, LiDAR/visual odometry provides tremendous help for various applications such as navigation, location, etc. In the existing methods, LiDAR odometry shows superior performance, but visual odometry is still widely used for its price advantage. Conventionally, the task of visual odometry mainly rely on the input of continuous images. However, it is very complicated for the odometry network to learn the epipolar geometry information provided by the images. In this paper, the concept of pseudo-LiDAR is introduced into the odometry to solve this problem. The pseudo-LiDAR point cloud back-projects the depth map generated by the image into the 3D point cloud, which changes the way of image representation. Compared with the stereo images, the pseudo-LiDAR point cloud generated by the stereo matching network can get the explicit 3D coordinates. Since the 6 Degrees of Freedom (DoF) pose transformation occurs in 3D space, the 3D structure information provided by the pseudo-LiDAR point cloud is more direct than the image. Compared with sparse LiDAR, the pseudo-LiDAR has a denser point cloud. In order to make full use of the rich point cloud information provided by the pseudo-LiDAR, a projection-aware dense odometry pipeline is adopted. Most previous LiDAR-based algorithms sampled 8192 points from the point cloud as input to the odometry network. The projection-aware dense odometry pipeline takes all the pseudo-LiDAR point clouds generated from the images except for the error points as the input to the network. While making full use of the 3D geometric information in the images, the semantic information in the images is also used in the odometry task. The fusion of 2D-3D is achieved in an image-only based odometry. Experiments on the KITTI dataset prove the effectiveness of our method. To the best of our knowledge, this is the first visual odometry method using pseudo-LiDAR. Copyright © 2022, The Authors. A

关键词： Pipelines

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Analysis of electricity loss and electricity consumption law in low-voltage areas: A case study 2

Analysis of electricity loss and electricity consumption law...

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2nd International Conference on Advanced Electrical and Energy Systems, AEES 2021

作者： Chen, Xi Song, Chunhe Wang, Tianran Key Laboratory of Network Control System Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

Electric power is an important resource in energy. With the development of society, the consumption of electric power is more and more. Research on electricity consumption and power loss has become a hot *** this paper, we conduct statistical analysis on the power supply, power consumption and line loss rate of 395 power supply *** loss rate is an indicator to describe electricity *** found that the line loss rate decreased over the course of a *** overall distribution of line loss rate is approximately lognormal distribution. Total daily electricity supply and electricity consumption in the power supply area approximately obey exponential *** terms of electricity consumption, a statistical analysis was made on the daily electricity consumption of 100,000 users in three years, and it was found that the electricity distribution of users was in line with the power law distribution. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Statistical methods

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TensWheBot: A Double Wheeled Rolling Robot Based on Tensegrity Structures

TensWheBot: A Double Wheeled Rolling Robot Based on Tensegri...

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IEEE International Conference on robotics and Biomimetics

作者： Niansong Zhang Gang Liu Yiqing Li Ke Li Zhiyuan Yu Haiteng Wu Yixiang Liu Yibin Li School of Mechanical Engineering Nanjing University of Science and Technology Nanjing China School of Automotive Engineering Chengdu Aeronautic Polytechnic Chengdu China School of Mechatronics Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen China Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Co. Ltd Hangzhou China School of Control Science and Engineering Shandong University Jinan China Key Laboratory of Bionic Engineering (Ministry of Education) Jilin University Jilin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Tensegrity structure constitutes a self-supporting and self-stressed spatial grid framework, comprising distinct compression components and continuous tension components, which integrates the benefits of rigid structure and flexible structure. This paper introduces TensWheBot, a robot designed with deformable wheels based on tensegrity structure. Based on the force density method, the form-finding of the tensegrity module is accomplished. The tensegrity module can actively alter its shape through the central driving compression rod, thereby modifying the width and the wheel diameter of the robot. The robot's motion law is derived from kinematic modeling. The assembly of the prototype, the establishment of the robot model, and the results of related simulation experiments have validated the effectiveness of the robot. The tensegrity wheeled robot meets the needs of complex and variable environments, as well as diverse tasks such as disaster rescue and terrain exploration.

关键词： Vibrations Robot motion Shape Wheels Kinematics Mobile robots Flexible structures Servomotors Robots Research and development

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A DDOS Attack Traffic Classification Model for Industrial Internet Based on CNN-LSTM

A DDOS Attack Traffic Classification Model for Industrial In...

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Chinese automation Congress (CAC)

作者： Weixuan Wei Xianda Liu Chuan Sheng Ansong Feng Shenyang Institute of Automation Chinese Academy of Sciences. Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences College of Information Engineering. Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang University of Chemical Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences. Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China College of Information Engineering. Shenyang University of Chemical Technology Shenyang China

With the continuous development and application of industrial Internet, the weakness of the security defense capability of industrial Internet has become increasingly prominent. This paper presents an end-to-end classification model combining Convolutional Neural Network (CNN) and Long Short-Term Memory (LSTM) network for DDoS attacks over industrial Internet. By self-learning the spatial and temporal characteristics of the original attack traffic, the model can avoid subjective errors that may occur due to manual selection of features. This method is a feasible means, with an accuracy rate of 99%.

关键词： automation Neural networks Manuals Denial-of-service attack Internet Convolutional neural networks Security

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Deployment Schemes of In-Band Management Mode Based on Industrial SDN Network

Deployment Schemes of In-Band Management Mode Based on Indus...

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6G Communications and IoT Technologies (6GIoTT), International Conference on

作者： Jinnan Piao Dong Li Ming Yang Jindi Liu Xueting Yu Zhibo Li Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang 110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China

When software defined network (SDN) is used to deploy the industrial control network, the deployment schemes are different in actual according to the different industrial production business, environment and capital cost. In this paper, we use the in-band management mode to deploy the SDN network in an industrial environment. We design four deployment schemes of the in-band management mode for the industrial SDN network according to the specific requirements of industrial environment and propose an algorithm for controller location selection in the in-band management network. For the four schemes and the algorithm, we use the controller and switches to build a simulation environment according to different schemes and compare the performance between the in-band management and out-of-band management, which shows that the in-band management mode can set up a normal SDN industrial network with applicable network scale and throughput.

关键词： 6G mobile communication Costs Industrial control Production Throughput control systems Internet of Things

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