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International Conference on Control, automation, robotics and Vision (ICARCV)

作者： Shuo Chen Yuan Fan Yuchao Guo Mingjian Zhu Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Anhui University Hefei China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, an event-triggered optimal adaptive control is developed for robot trajectory tracking system. Due to the nonlinearity of Hamilton function, we apply the actor-critic neural network structure to solve it. Firstly, the critic network is used to estimate the cost function and the actor network is used to estimate the optimal event-triggered control law. Due to the advantage of event-triggered method, the weight update rate of actor-critic neural network only occurs when the triggering condition is violated, which save a lot of communication resources. Then, the event-triggered robot trajectory tracking system is ultimately bounded by Lyapunov stability analysis. Finally, the simulation show that the proposed method is effective.

关键词： Mobile robots robots Optimal control Neural networks Mathematical model Cost function Trajectory tracking

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Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation

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SSRN 2022年

作者： Chen, Weixing Wen, Yu Tong, Xiaochuan Lin, Chaoxiong Li, Jiang Wang, Shuyou Xie, Wei Mao, Lifeng Zhao, Xianchao Zhang, Weidong Gao, Feng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Research Center of Marine Intelligent Equipment and Robot Institute of Marine Equipment Shanghai Jiao Tong University Shanghai China Shanghai Marine Equipment Research Institute Shanghai China Department of Automation Shanghai Jiao Tong University Shanghai China

In this paper, based on Kane's method, the dynamic model of a complete ship-borne Stewart platform considering ship motion and actuator inertia is established and modal analysis is carried out. Then, based on the modal theory, the modal space PD controller (MSPDC) and modal space sliding mode controller (MSSMC) are designed to realize the decoupling control of the ship-borne Stewart platform, and its stability is proved by Lyapunov stability analysis. Finally, the simulation physical model of the Stewart platform is established, and the simulation experiments of heave and roll single-DOF sinusoidal wave compensation and multi-DOF random wave compensation are carried out. The results show that the modal space control method has great advantages in attitude compensation accuracy and anti-interference ability. Moreover, The Significant Compensation Rate (SCR) is proposed in this paper to evaluate the six-DOF compensation accuracy under random wave. When compensating for random wave with interference, the position SCR of the proposed modal space sliding mode controller is increased from 95.37 % to 99.28 %, and the angle SCR is increased from 85.57 % to 99.65 % compared with the PD controller with gravity compensation (PDCGC). © 2022, The Authors. All rights reserved.

关键词： Sliding mode control

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An orthogonal calibration method for the multi-core fiber shape sensor

An orthogonal calibration method for the multi-core fiber sh...

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IEEE International Conference on robotics and Biomimetics

作者： Zhenxing Wang Meng Liu Jie Li Zhidong Wang Hao Liu Zhenxing Wang is with State Key Laboratory of Robotics Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Key Laboratory of Minimally Invasive Surgical Robot Shenyang China Shenyang Ligong University Shenyang China Shenyang Jianzhu University Shenyang China Chiba Institute of Technology Chiba Japan State Key Laboratory of Robotics Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Minimally Invasive Surgical Shenyang China

ISBN: (纸本)9781665405362

The multi-fiber shape sensor has important application value due to its high precision and anti- interference. The installation error of core fiber affects the measurement accuracy of the sensor but there is no universal calibration method in present sensor application. In this paper, an orthogonal calibration method is proposed to get the position parameters of each optical fiber. Based the calibration parameters, the shape measured can be reconstructed. Through digital simulation and sensor experiments, the measurement error of the multi-fiber shape sensor can be reduced to 1% of the traditional method.

关键词： Optical fibers Optical fiber sensors Shape Shape measurement Digital simulation Bending Position measurement

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Curve Control Points-based Feature Extraction for Visual Servo with rotational pose compensation

Curve Control Points-based Feature Extraction for Visual Ser...

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第32届中国控制与决策会议

作者： Yao Zhang Na Wang Haixia Wang Xiao Lu Zhiguo Zhang Chunyang Sheng Key Laboratory for Robot & Intelligent Technology of Shandong Province Shandong University of Science and Technology College of Electrical Engineering and Automation Shandong University of Science and Technology

The spline curve is commonly used for describing the contour of the target object in the field of image-based visual servo（IBVS）. However, this method has the disadvantage of low sensitivity and poor precision when facing the camera’s rotational motions. To solve this problem, a visual servo system with rotational pose compensation is presented in this study. The NURBS（Non Uniform Rational B-spline） curve is firstly used to obtain the curve control points by fitting the projected curve of the target contour on the image plane. And then, the control points are employed for constructing the image Jacobian matrix. The rotational compensation controller is designed to compensate the rotational motions of the robot. To verify the feasibility of this method, a set of visual servo tasks are carried out on the Puma560 platform. Experimental results demonstrate that the proposed method has high accuracy and computational efficiency.

关键词： Visual Servo Curve Image Feature Rotational Compensation

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Event-Triggered Remote Dynamic Control for Network Control Systems

Event-Triggered Remote Dynamic Control for Network Control S...

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International Conference on Control, automation, robotics and Vision (ICARCV)

作者： Haoyun Li Yuan Fan Gaofeng Pan Cheng Song Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Anhui University Hefei China School of Automation Nanjing University of Science and Technology Nanjing China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

This work studies the event-triggered control problem for networked control systems. The plant is controlled directly by a dynamic local controller, which receives the reference control signal from the remote controller. The measurement signal of the plant and the reference control signal of the remote controller has their separate event trigger, and thus the remote controller and the local controller can decide when to transmit signals on their own. It is proved that with the proposed control approach and the dual event trigger, the closed loop system is globally asymptotically stable, which has been illustrated by simulation results.

关键词： Control systems Closed loop systems Observers Networked control systems Symmetric matrices Matrices Linear systems

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Curve Control Points-based Feature Extraction for Visual Servo with rotational pose compensation

Curve Control Points-based Feature Extraction for Visual Ser...

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Chinese Control and Decision Conference, CCDC

作者： Yao Zhang Na Wang Haixia Wang Xiao Lu Zhiguo Zhang Chunyang Sheng Key Laboratory for Robot & Intelligent Technology of Shandong Province Shandong University of Science and Technology Qingdao College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

The spline curve is commonly used for describing the contour of the target object in the field of image-based visual servo (IBVS). However, this method has the disadvantage of low sensitivity and poor precision when facing the camera's rotational motions. To solve this problem, a visual servo system with rotational pose compensation is presented in this study. The NURBS (Non Uniform Rational B-spline) curve is firstly used to obtain the curve control points by fitting the projected curve of the target contour on the image plane. And then, the control points are employed for constructing the image Jacobian matrix. The rotational compensation controller is designed to compensate the rotational motions of the robot. To verify the feasibility of this method, a set of visual servo tasks are carried out on the Puma560 platform. Experimental results demonstrate that the proposed method has high accuracy and computational efficiency.

关键词： Servomotors Splines (mathematics) robots Surface topography Surface reconstruction Task analysis

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Research on modeling and compensation method for ground level error based on mobile manipulator

International Journal of Mechatronics and Applied Mechanics

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International Journal of Mechatronics and Applied Mechanics 2019年第5期2019卷 179-186页

作者： Guo, Shuai Yue, Chengtao Song, Tao Jia, Qibo Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and Automation Shanghai University HC204 No. 99 Road Shangda Shanghai200444 China Shanghai Robot Industrial Technology Research Institute 509 Wuning Road Putuo District Shanghai China

In this paper, a modeling and compensation method for ground level error based on mobile manipulator is proposed. The ground level error is caused by the former civil construction and will affect the accuracy of baseline drawing and subsequent decoration engineering. This paper focuses on a mobile manipulator which can carry out decoration engineering automatically. The ground level error should be dealt with before baseline drawing. The entire method can be summed up into three steps. The first step is spatial kinematics modeling for mobile manipulator. The second one is step ground level error acquisition with tilt sensor mounted on the system. The last one is curve fitting and compensation based on the mobile manipulator. Two fitting methods are proposed: direct polynomial fitting and piecewise polynomial fitting which aims to common baseline and high-grade baseline respectively. The experiment was also carried out to verify the proposed method. © 2019, Cefin Publishing House. All rights reserved.

关键词： Curve fitting

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Post-capture angular momentum management of space robot with controllable damping joints 2

Post-capture angular momentum management of space robot with...

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2nd IEEE International Conference on automation, Electronics and Electrical Engineering, AUTEEE 2019

作者： Jia, Chen Xia, Yongjian Chu, Ming Zhang, Xiaodong Space Robot Laboratory Automation School Beijing University of Posts and Telecommunications Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (数字)9781728150307

ISBN: (纸本)9781728150291

Aiming at the problems of combination instability and momentum wheel overrun caused by angular momentum transfer after capturing the target in orbit, a method of combination angular momentum management based on controllable electromagnetic damper at joint is proposed. Firstly, based on the Kane method, the combination dynamics equations of space robot base, manipulators with controllable damping joints and target spacecraft are established. Then the structural model of the electromagnetic damper is modeled and the output characteristics and parameters of the damper are studied by analytical calculation. Finally, the simulation of ADAMS verifies the effectiveness of this method in reducing the spin-axis angular momentum of the space combination. © 2019 IEEE.

关键词： Angular momentum

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Real-Time Velocity and Hovering Control for Rotorcraft Based on Visual State Estimation

Real-Time Velocity and Hovering Control for Rotorcraft Based...

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Chinese automation Congress (CAC)

作者： Hao Du Wei Wang Hongxun Liu Qi Wang Hongbiao Shi Lei Xue School of Automation Southeast University Nanjing China Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology (CICAEET) Nanjing University of Information Science & Technology Nanjing China Graduate School of Science and Engineering chiba university Chiba Japan School of Automation Nanjing University of Information Science & Technology Nanjing China Autonomous Control Robot Laboratory Institute of Applied Research Intelligent Science & Technology Jiangsu and Chinese Academy of Sciences Changzhou China

ISBN: (纸本)9781665426480

The purpose of this thesis is to solve the velocity and hover flight control problem of rotorcraft in GNSS-denied environments by using a low-cost Optical Flow Sensor (OFS) and an RGBD camera. An OFS is employed for velocity estimation and an RGBD camera is employed for pose estimation based on ORB-SLAM2 algorithm. Firstly, the mathematical model of velocity is established, then the classical PID control is applied to realize the velocity and hover control, and the designed embedded control system is installed on the drone for flight verification. We verified the effectiveness of this system for estimating velocity, position and controlling the drone in real-time in an indoor environment, and discuss its limitations.

关键词： Visualization PI control Pose estimation Velocity control Cameras Real-time systems State estimation

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Improved interfacial bonding strength of laser TC4/UHMWPE joints via a hybrid surface pretreatment

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Applied Surface Science 2025年 708卷

作者： Chen, Zhaoyang Yang, Jin He, Yinjiao Wang, Ruijun Li, Yulong Hao, Ruijie Zhao, Yixuan Tan, Caiwang Song, Xiaoguo Zhai, Jianguang School of Materials Science and Engineering Shanghai University of Engineering Science Shanghai201620 China School of Intelligent Manufacturing Shanghai Zhongqiao Vocational and Technical University Shanghai201514 China Key Lab for Robot & Welding Automation of Jiangxi Province School of Advanced Manufacturing Nanchang University Nanchang330031 China State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin150001 China

Titanium alloys and ultra-high molecular weight polyethylene (UHMWPE) are extensively utilized in biomedical implants due to their biocompatibility. As a kind of non-polar polymer, UHMWPE exhibits low surface activity and hydrophobicity, hindering a strong bonding to titanium alloys. This study introduced a novel hybrid modification method aimed at improving the reliability of artificial joint prostheses with a hybrid structure of Ti-6Al-4V titanium alloy (TC4) and UHMWPE. Firstly, the introduction of polar groups on the UHMWPE surface using an ultraviolet (UV) lamp/ozone. Secondly, the textured grids were processed on the TC4 surface using laser processing. The two materials were laser joined via heat transfer mode with a TC4-on-UHMWPE configuration. The bonding interface and fracture were characterized and analyzed by scanning electron microscopy (SEM), energy spectroscopy (EDS), X-ray photoelectron spectroscopy (XPS), and X-ray diffraction (XRD), which indicated the formation of mechanical interlocking and the generation of new chemical bonds at the interface. The bonding mechanism at the joint interface was also confirmed by density functional theory (DFT) calculations. The bidirectionally modified TC4-UHMWPE hybrid structure obtained a maximum tensile shear of 1233 N, realizing joint strength matching. This provides a new solution for the joining of non-polar polymers to metals. It is also essential for the development of more durable and reliable biomedical implants and prostheses. © 2025 Elsevier B.V.

关键词： Dissimilar metals

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