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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Sun, Xiyue Xu, Wenxia Zheng, Yanlie Huang, Jian Du, Bing Yu, Baocheng Wuhan Institute of Technology Hubei Key Laboratory of Intelligent Robot Hubei Wuhan430205 China Fiberhome Telecommunication Technologies Co. Ltd Hubei Wuhan430074 China School of Automation Huazhang University of Science and Technology Hubei Wuhan430074 China Fiberview Technology Co. Ltd Hubei Wuhan430074 China

ISBN: (纸本)9798350300178

To address the issues of slow convergence speed in the early stage, rapid decrease of diversity, and a tendency to get stuck in local optima in traditional Ant Colony Optimization algorithms for mobile robot path planning, a composite Multi-strategy improved Ant Colony Optimization algorithm is proposed. In a two-dimensional plane, the mobile robot working environment is created using a grid method. The L-M trust region strategy is used to plan the initial information weight of the path map to reduce the blindness of ant colony path search in the early stage. Next, a new heuristic function is constructed based on multi-factor induction strategy to reduce the probability of the ant colony getting stuck in local optima. Finally, the 'lion king rule' strategy is used to improve the updating method of information weight. Experimental results show that the improved Ant Colony Optimization algorithm effectively improves the early stage convergence speed, has good global optimization performance, and verifies the feasibility and superiority of the improved Ant Colony Optimization algorithm in two-dimensional space path planning. © 2023 IEEE.

关键词： Mobile robots

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Neural network equivalent model for highly efficient massive data classification

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Science China(Information Sciences) 2023年第3期66卷 287-288页

作者： Siquan YU Zhi HAN Yandong TANG Chengdong WU School of Information Science and Engineering Northeastern University Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Faculty of Robot Science and Engineering Northeastern University

Dear editor, Recently, neural networks(NNs) have been successfully applied to massive data classification tasks [1, 2]. However,there is an inconsistent problem in neural network structure and convergence [3]. On one hand, under the overparameterize assumption, it requires to design a complex network to guarantee the convergence [4].

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Zeroth-order Gradient Tracking for Distributed Constrained Optimization

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IFAC-PapersOnLine 2023年第2期56卷 5197-5202页

作者： Songsong Cheng Xin Yu Yuan Fan Gaoxi Xiao School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Anhui University Hefei 230601 China

Distributed optimization is an important and practical problem that arose from machine learning, smart grid, and multi-robot systems. In this paper, we propose a zeroth-order gradient tracking method to solve a class of constrained distributed optimization problems with nonidentical feasible sets. We design a more general pseudo-gradient estimation scheme, which includes the existing coordinate descent, discretized gradient descent, and spherical smoothing methods as its special cases. Moreover, we propose pseudo-gradient tracking with projection dynamics to deal with nonidentical feasible set constraints and achieve the optimal solution. We show the proposed algorithm achieves the optimal solution with an O (ln T/√T) convergence rate. Finally, we present an example to demonstrate the effectiveness of the proposed algorithm.

关键词： Distributed optimization gradient tracking zeroth-order gradient nonidentical set constraints

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Hybrid6D: A Dual-Stream Transformer-CNN Approach for 6D Object Pose Estimation from RGB-D Images

Hybrid6D: A Dual-Stream Transformer-CNN Approach for 6D Obje...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Fu, Songhao Zhang, Qiang Sun, Xueying Liu, Mingmin Fan, Zhiwei Jiangsu University of Science and Technology College of Automation No. 666 Changhui Road Zhenjiang212100 China Central Research Institute Siasun Robot & Automation CO. Ltd. No. 33 Quanyun Road Hunnan District Shenyang110167 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9798350325706

Estimating the 6D pose presents a formidable challenge due to the intricate nature of world objects and the myriad of issues encountered when acquiring data from real-world scenes. This task is compounded by occlusions, fluctuating lighting conditions, and data noise. The conventional CNN or Transformer architectures primarily focus on either local or global information, and relying solely on RGB or depth maps proves inadequate for extracting the most robust features. To address these challenges, we introduce Hybird6D, a dual-stream fusion deep learning approach that leverages a Transformer-CNN structure and attention mechanism to regress the 6D pose of objects using RGB-D images as input. Our methodology capitalizes on the strengths of both Transformers and CNNs, incorporating global attention and local attention, while simultaneously harnessing both appearance and geometric information. This comprehensive approach enhances robustness to noise and occlusions. Experimental evaluation on the YCB-Video dataset demonstrates that our method outperforms existing Transformer-based approaches and surpasses advanced CNN-based methods. Moreover, our approach exhibits superior performance on symmetry objects, textureless objects, and small objects. © 2023 IEEE.

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Collision-Free Motion Planning Method Based on Online Trajectory Generation in High Dimensional Dynamic Workspace

Collision-Free Motion Planning Method Based on Online Trajec...

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Liu, Hongyan Qu, Daokui Xu, Fang Du, Zhenjun Jia, Kai Liu, Mingmin State Key Laboratory of Robotics 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 SIASUN Robot and Automation CO. Ltd Shenyang110169 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

This paper proposes a novel and effective online trajectory generation method to help 6 DOF non-redundant manipulators avoid dynamic obstacles. The proposed method decouples the robot motion planning in the task space into front-end path search and back-end trajectory optimization modules. The path planning module uses the constraint-based kinodynamic path search approach to generate a safe and feasible initial trajectory. In the following stage, the cubic B-spline-based trajectory optimization method is adopted to minimize the penalty of collision cost, smoothness, and dynamical feasibility. The optimization method of the links collision avoidance based on constraint relaxation is integrated into the online trajectory planning task. The task space trajectory is converted to the joint space based on the robot inverse kinematics. Detailed simulations and real-world experiments are reported to demonstrate the effectiveness of our approach. © 2022 IEEE.

关键词： Redundant manipulators

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Design of a Capsule robot System for Gastric Hemorrhage Detection using Luminol 20

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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20th IEEE International Conference on Mechatronics and automation, ICMA 2023

作者： Mao, Yuchen Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Application Complicated Systems Intelligent Robot Laboratory School of Electrical Engineering and Automation Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system. © 2023 IEEE.

关键词： Chemiluminescence

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The Analysis of Muscle-Synergy Similarity between Walking and Pedaling Based on Variational Mode Decomposition and Non-Negative Matrix Factorization

The Analysis of Muscle-Synergy Similarity between Walking an...

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IEEE International Conference on Engineering, Technology and Innovation

作者： Wangyang Ge Jinhua She Shijie Guo Feng Wang Juan Zhao Seiichi Kawata School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Engineering Tokyo University of Technology Hachioji Tokyo Japan Engineering Research Center of the Ministry of Education for Intelligent Rehabilitation Equipment and Detection Technologies Hebei Key Laboratory of Robot Sensing and Human-Robot Interaction Tianjin China School of Mechanical Engineering Hebei University of Technology Tianjin China

ISBN: (数字)9798350362435

ISBN: (纸本)9798350362442

Pedaling lower-limb rehabilitation robots are widely used in various stages of lower-limb rehabilitation because of their high safety and low requirements for patients' lower-limb strength. Researchers found that the activation sequence of the surface electromyographic (sEMG) signals of the muscles of the lower limb during pedaling is very similar to that of walking, which makes it possible to simulate the muscle force generation during walking by changing the pedal load during pedaling training. However, most pedaling lower-limb rehabilitation robots use constant loads, and it is of great importance to study the relationship between load and muscle synergy and to design load phase angle trajectories with higher muscle synergy consistency in the walking-pedaling motion to optimize the training effect of pedal-type rehabilitation robots. In this paper, we used variational mode decomposition (VMD) and nonnegative matrix factorization (NMF) to extract the muscle synergy features in each band of sEMG during walking and pedaling and to study the similarity of pedaling and walking and the influence of pedal load on muscle synergy consistency.

关键词： Legged locomotion Training Technological innovation Time series analysis Muscles Assistive robots Feature extraction Trajectory Safety Matrix decomposition

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Time-Varying Trajectory Tracking for Nonholonomic Mobile robot Based on Event-Triggered Control

Time-Varying Trajectory Tracking for Nonholonomic Mobile Rob...

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第34届中国控制与决策会议

作者： Zhiliang Gao Xinyu Zhang Yuchao Guo Songsong Cheng Yuan Fan Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering AutomationAnhui University

ISBN: (纸本)9781665478977

In this paper,an event-based control method is proposed to study the trajectory tracking of a two-wheel differential nonholonomic mobile ***,the system model of the mobile robot is proposed and the control law of the two-wheel differential nonholonomic mobile robot is *** stability of the equilibrium point is proved by using the linearization method and Lyapunov ***,the stability of the system with trigger condition and Zeno phenomenon is ***,the simulation clearly shows that the proposed event triggering method can reduce the sampling frequency.

关键词： Event-trigger Two-wheel differential robot Trajectory tracking

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Trajectory tracking of nonholonomic wheeled mobile robots based on dual closed-loop finite-time global fast terminal sliding mode control

Trajectory tracking of nonholonomic wheeled mobile robots ba...

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第34届中国控制与决策会议

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

In this paper,a finite-time global fast terminal sliding mode control strategy is proposed for the sake of the tracking velocity and stability of the nonholonomic wheeled mobile robot(WMR) *** particular,the controller is combined with a classic sliding mode control method,so that the nonlinear system can rapidly and accurately track the desired *** extended state observer(ESO) is applied to estimate the unknown disturbances and detect the velocity value of the nonlinear *** stability of the controller is confirmed by the Lyapunov *** results are given evidence of the accurate trajectory tracking level and robust performance of the double closed-loop control method.

关键词： Global fast terminal sliding mode control wheeled mobile robot extended state observer(ESO) trajectory tracking

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Motion Planning and Compliance Control Method for Direct Drive Vacuum Manipulator

Motion Planning and Compliance Control Method for Direct Dri...

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2021 International Conference on Information Technology and Biomedical Engineering, ICITBE 2021

作者： Zefeng, Zhang Fang, Xu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Shenyang SIASUN Robot and Automation Co. Shenyang Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang SIASUN Robot and Automation Co. Shenyang Liaoning China

ISBN: (纸本)9781665400992

In robotics, robot forward and inverse kinematics and dynamics are the foundation of robot research. Aiming at the special working environment and wafer falling off of mag8 vacuum manipulator produced by Shenyang SIASUN robot automation Co., Ltd., this paper completes the research on motion planning and compliance control of the manipulator. Firstly, its mechanical structure and motion mode are briefly introduced, which can realize the lifting, rotation and telescopic actions of both arms. Secondly, the robot kinematics model is established by MDH method, and the robot dynamics model is established by Lagrange method. Finally, experiments are carried out through MATLAB robot toolbox to verify the correctness of forward and inverse kinematics and dynamic model. The experimental results show that the dual arm model established in this paper effectively simulates the actual working state, which lays a foundation for further physical platform operation. © 2021 IEEE.

关键词： Manipulators

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