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Base position planning of mobile manipulators for assembly tasks in construction environments

Advances in Manufacturing 2023年第1期11卷 93-110页

作者： Dai-Jun Xie Ling-Dong Zeng Zhen Xu Shuai Guo Guo-Hua Cui Tao Song Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai200444People’s Republic of China National Demonstration Center for Experimental Engineering Training Education Shanghai UniversityShanghai200444People’s Republic of China School of Mechanical and Automotive Engineering Shanghai University of Engineering ScienceShanghai201620People’s Republic of China Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components Shanghai201620People’s Republic of China

With good mobility and flexibility,mobile manipulators have shown broad applications in construction *** position(BP)planning,which refers to the robot autonomously determining its working station in the environment,is an important technique for mobile manipulators when performing the construction assembly task,especially in a large-scale construction ***,the BP planning process is tedious and time-consuming for a human worker to carry ***,to improve the efficiency of construction assembly tasks,a novel BP planning method is proposed in this paper,which can lead to appropriate BPs and minimize the number of BPs at the same ***,the feasible BP regions are generated based on the grid division and the variable workspace of the mobile ***,the positioning uncertainties of the mobile manipulator are considered in calculating the preferred BP areas using ***,a set coverage optimization model is established to obtain the minimum number of BPs using an optimization algorithm according to the greedy *** simulated experiment based on a 9-degree of free(DoF)mobile manipulator has been *** results illustrated that the time for BP planning was significantly reduced and the number of BPs was reduced by 63.41%compared to existing manual planning,which demonstrated the effectiveness of the proposed method.

关键词： Base position(BP)planning Mobile manipulators Variable workspace Positioning uncertainties Construction environments

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Effective distributed algorithm for solving linear matrix equations

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Science China(Information Sciences) 2023年第8期66卷 265-266页

作者： Songsong CHENG Jinlong LEI Xianlin ZENG Yuan FAN Yiguang HONG Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Anhui University Department of Control Science and Engineering Tongji University Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Dear editor,Solving linear matrix equations is a basic and important problem in many fields such as the computation of generalized inverses of matrices and(generalized) Sylvester equations. Also, the linear algebraic ...

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A Hierarchical Framework for Dynamic Global Path Planning 10

A Hierarchical Framework for Dynamic Global Path Planning

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10th International Forum on Electrical Engineering and automation, IFEEA 2023

作者： Fan, Zhiwei Jia, Kai Zhang, Lei Zou, Fengshan Du, Zhenjun Liu, Mingmin Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China Shenyang Siasun Robot & Automation Co. Ltd Shenyang China

ISBN: (纸本)9798350309379

This article presents a hierarchical global path planning algorithm designed for mobile robots. The global path planning problem is divided into three distinct components: waypoint generation, reference path generation, and path optimization. In the waypoint generation phase, we allocate the computation of environmental changes and map updates within each frame point cloud based on dynamically updated visibility graph. We then derive waypoints by identifying visibility edge vertices. Next, a smooth reference path is obtained through B-spline fitting optimization, delineating the convex driving region within the environment for further optimization within homotopy classes. To mitigate collision issues arising from B-spline fitting, we formulate the path optimization problem in the Frenet coordinate system as a quadratic programming task. This approach yields a globally collision-free path with high computational efficiency. Simulation experiments have been conducted to validate the effectiveness of the algorithm proposed in this paper. © 2023 IEEE.

关键词： global path planning mobile robot quadratic program visibility graph

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Research on gait control of humanoid robot based on DDPG algorithm

Research on gait control of humanoid robot based on DDPG alg...

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2024 International Conference on automation Control, Algorithm, and intelligent Bionics, ACAIB 2024

作者： Ding, Jiali Lu, Junjie Zhang, Jun Li, Chang Huang, Zixin Wang, Lejun Wuhan Institute of Technology School of Electrical and Information Engineering Wuhan China Wuhan Institute of Technology Hubei Key Laboratory of Intelligent Robot Wuhan China Wuhan Textile University Hubei Key Laboratory of Digital Textile Equipment Wuhan China Chongqing University of Posts and Telecommunications School of Automation School of Industrial Internet Chongqing China

ISBN: (纸本)9781510682597

Humanoid robot has broad application prospects in services, entertainment, medical care, rescue, and other fields. Therefore, research on the stable walking problem of humanoid robot is particularly important. To solve this problem, this paper proposes a gait control method for humanoid robot according to reinforcement learning. We established a linkage model for humanoid robot and simplified it into a linear inverted pendulum model which was used for motion control of humanoid robot. Using DDPG network as an intelligent agent to train humanoid robot in gait control in a simulation environment. Due to the combination of DDPG and DQN structure, the stability and convergence of strategy network and critical network have been improved. The MATLAB simulation results show that under the action of the DDPG algorithm, the humanoid robot can walk smoothly along the predetermined trajectory through reinforcement learning. © 2024 SPIE.

关键词： Anthropomorphic robots

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A Hierarchical Framework for Dynamic Local Trajectory Planning

A Hierarchical Framework for Dynamic Local Trajectory Planni...

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2023 China automation Congress, CAC 2023

作者： Fan, Zhiwei Jia, Kai Zhang, Lei Zou, Fengshan Du, Zhenjun Liu, Mingmin Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Shenyang Siasun Robot & Automation Co. LTD. Shenyang China

ISBN: (纸本)9798350303759

To enhance the mobility efficiency, safety, and ensure the dynamic feasibility of mobile robots, a local trajectory planning algorithm is proposed within complex two-dimensional environments. The method employs a hierarchical framework for trajectory planning - one layer densely maintains data and computes detailed path and velocity ranges offline, while another layer sparsely maintains data and selects specific trajectories online. This framework leverages the insight that obtaining all feasible trajectories during offline computation is most effective, and local trajectories are acquired by weighing scores in online scenarios. We recommend avoiding online searches to reduce computational complexity. This approach doesn't prioritize searching for the lowest-cost path (often the shortest path), but rather maximizes the likelihood of reaching the goal when determining the next navigational step. The method employs a two-layer linear programming algorithm to ascertain the maximum feasible velocity along the path, thereby generating dynamically feasible local trajectories. Ultimately, the effectiveness of this approach is validated through simulation experiments. © 2023 IEEE.

关键词： Mobile robots

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Classification of Chest X-ray Images Based on Superpixels and Deep Learning Models 15

Classification of Chest X-ray Images Based on Superpixels an...

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15th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics, CISP-BMEI 2022

作者： Lu, Saichao Qin, Yingmei Che, Yanqiu Guo, Haibing School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin Key Laboratory of Information Sensing and Intelligent Control Tianjin300222 China Tianjin Siasun Robot and Automation CO. Ltd Tianjin China

ISBN: (数字)9781665488877

ISBN: (纸本)9781665488877

Chest X-ray image-based diagnosis as an important auxiliary diagnosis method is widely used in modern medical scenarios. To overcome the difficulties in chest X-ray image classification caused by large workload of image data and many types of diseases, in this paper, we propose a classification scheme based on superpixels and deep learning models. The deep learning models ResNet and DenseNet are firstly trained using the open-source chest X-ray image dataset ChestX-ray8, containing normal categories and 14 kinds of diseases. And then the deep learning models are used to classify the superpixels-processed chest X-ray images. The experimental results show that, comparing to using the raw chest X-ray images, the ResNet model with superpixels-processed chest X-ray images outperforms in four categories, and the DenseNet outperforms in another three categories. © 2022 IEEE.

关键词： Superpixels

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Imperceptible and Sparse Adversarial Attacks via a Dual-Population-Based Constrained Evolutionary Algorithm

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2023年第2期4卷 268-281页

作者： Tian, Ye Pan, Jingwen Yang, Shangshang Zhang, Xingyi He, Shuping Jin, Yaochu Anhui University Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education Institutes of Physical Science and Information Technology Hefei230601 China Hefei Comprehensive National Science Center Institute of Artificial Intelligence Hefei230088 China Anhui University School of Computer Science and Technology Hefei230601 China Anhui University Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Artificial Intelligence Hefei230601 China Anhui University Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Hefei230601 China Bielefeld University Faculty of Technology Bielefeld33619 Germany

The sparse adversarial attack has attracted increasing attention due to the merit of a low attack cost via changing a small number of pixels. However, the generated adversarial examples are easily detected in vision since the perturbation to each pixel is relatively large. To achieve imperceptible and sparse adversarial attacks, this article formulates a bi-objective constrained optimization problem, simultaneously minimizing the 0 and 2 distances to the original image, and proposes a dual-population-based constrained evolutionary algorithm to solve it. The proposed method solves the optimization problem by evolving two populations, where one population is responsible for finding feasible solutions (i.e., successful attacks) and the other one is to minimize both the 0 and 2 distances. Moreover, a population initialization strategy and two genetic operators are customized to accelerate the convergence speed. Experimental results indicate that the proposed method can achieve high success rates with low attack costs, and strikes a better balance between the 0 and 2 distances than state-of-the-art methods. © 2020 IEEE.

关键词： Evolutionary algorithms

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Bearing Fault Detection Based on Correntropy and Hermitian Wavelet Transform

Bearing Fault Detection Based on Correntropy and Hermitian W...

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International Conference on Wireless Communications, Networking and Applications (WCNA 2022)

作者： Li, Hui Dai, Kun Qi, Yuming School of Mechanical Engineering Tianjin University of Technology and Education Tianjin300222 China School of Automation Engineering Tangshan Polytechnic College Hebei Tangshan063299 China Tianjin Key Laboratory of Intelligent Robot Technology and Application Tianjin300222 China

ISBN: (纸本)9789819939503

Correntropy uses kernel function to map Euclidean space data to reproducing kernel Hilbert space. Correntropy is a local measurement which is very useful to process non-zero mean, non-Gaussian, with large abnormal outliers. Correntropy not only characterizes the statistical characteristics of random temporal signals, but also depicts its time configuration. Correntropy can not only restrain the Gaussian noise and abnormal outliers in the signal, but also effectively extract the intrinsic periodic components in the random temporal signals. Hermitian continuous wavelet transform (HCWT) is a kind of complex wavelet transformation, which can effectively extract the singularity of the random temporal signals. The advantages of correntropy and Hermitian wavelet are taken into account, and a bearing fault diagnosis method is put forward which is on the basis of Hermitian continuous wavelet transform amplitude and phase diagram of correntropy. The experiments have proved that correntropy based Hermitian continuous wavelet amplitude and phase plot afford a maiden robust solution for rolling element bearing defect detection and identification. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Roller bearings

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Optimized event-triggered control for linear systems with state observer 33

Optimized event-triggered control for linear systems with st...

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第33届中国控制与决策会议

作者： Haoyun Li Lizhen Li Rong Cheng Yuan Fan Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui University

ISBN: (纸本)9781665431293

In this paper,an optimal event-triggered control method based on observer for linear systems is *** order to reduce resource consumption and computing cost,we propose an event-triggered strategy,a linear state observer based on event-triggered mechanism is *** the event-based strategy,the signal transmitting and controller updating occur in an aperiodic *** is proved that the linear system using the event-triggered optimal control strategy is asymptotically stable and the event-triggered method can avoid the existence of Zeno *** results have proved the effectiveness of the proposed method.

关键词： Event-Triggered Control Observer Optimal Control and Zeno Behavior

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Robust Regression Based on Correntropy Induced Metric

Robust Regression Based on Correntropy Induced Metric

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International Conference on Wireless Communications, Networking and Applications (WCNA 2022)

作者： Li, Hui Zhang, Yuping Dai, Kun School of Mechanical Engineering Tianjin University of Technology and Education Tianjin300222 China School of Automation Engineering Tangshan Polytechnic College Hebei Tangshan063299 China Tianjin Key Laboratory of Intelligent Robot Technology and Application Tianjin300222 China

ISBN: (纸本)9789819939503

A robust regression model based on correntropy induced metric is theoretically researched within the frame of information theoretic learning. The basic notion of mean square error criterion is briefly reviewed and the correntropy induced metric based regression is introduced. Correntropy induced metric based regression model is robust under the Gaussian or non-Gaussian noise disturbance which can achieve both more accurate approximation and sufficient robustness. Simulative experiments of linear and non-linear regression are carried out and compared with the mean square error based regression methods. The experimental results are also provided to confirm the superior advantage of the proposed correntropy induced metric based regression model. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Mean square error

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