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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Li, Jinke Tian, Dingkui Li, Feng Sun, Jianquan Yin, Meng Wu, Xinyu University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China Siat Cuhk Joint Laboratory of Robotics and Intelligent Systems China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China

ISBN: (纸本)9798350327182

Designed to provide rehabilitation or the assistance of walking for individuals who are with lower limb muscle injuries or spinal during their activities, self-balancing lower limb exoskeletons have been developed. This paper introduces an innovative controller for a fully actuated exoskeleton that ensures stable walking for wearers without the need for external devices. The exoskeleton robot is represented as a center of mass model, and based on this representation, the trajectory generation and controller are discussed, aiming to improve locomotion stability. To assess the stability and dynamic performance, a stable walking experiment with the exoskeleton was conducted, involving a male subject. © 2023 IEEE.

关键词： Exoskeleton (robotics)

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Particle Swarm Optimization Tuned Compensation Function Observer Based Control Method for Ship Motion 13

Particle Swarm Optimization Tuned Compensation Function Obse...

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13th IEEE Data Driven Control and Learning systems Conference, DDCLS 2024

作者： Ren, Jia Wang, Zhaoxia Chen, Zengqiang Sun, Mingwei Sun, Qinglin College of Artificial Intelligence Nankai University Tianjin300350 China School of Computing and Information Systems Singapore Management University Singapore178902 Singapore Key Lab of Intelligent Robotics of Tianjin Tianjin300350 China

ISBN: (纸本)9798350361674

To achieve more stable and rapid control of ship motion, we proposed the Compensation Function Observer (CFO)-based control algorithm and used the Particle Swarm Optimization (PSO) to adjust its parameters. The performance of the proposed method is compared with PSO based Active Disturbance Rejection Control (ADRC) and traditional ADRC. The simulation results show that the ship motion system controlled by our proposed method has smaller deviation and jitter. Even under different interference, it still has better performance. © 2024 IEEE.

关键词： Particle swarm optimization (PSO)

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Invariance and Contraction in Geometrically Periodic systems with Differential Inclusions

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IEEE Transactions on Automatic Control 2025年

作者： Qian, Chen Fang, Yongchun Research Center for Intelligent Robotics Zhejiang Lab Research Institute of Interdisciplinary Innovation Hangzhou311100 China College of Artificial Intelligence Institute of Robotics and Automatic Information Systems China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300353 China

The objective of this paper is to derive the essential invariance and contraction properties for the geometric periodic systems, which can be formulated as a category of differential inclusions, and primarily rendered in the phase coordinate, or the cycle coordinate. First, we introduce the geometric averaging method for this category of systems, and also analyze the accuracy of its averaging approximation. Specifically, we delve into the details of the geometrically periodic system through the tunnel of considering the convergence between the system and its geometrically averaging approximation. Under different corresponding conditions, the approximation on infinite time intervals can achieve certain accuracies, such that one can use the stability result of either the original system or the averaging system to deduce the stability of the other. After that, we employ the graphical stability to investigate the "pattern stability"with respect to the phase-based system. Finally, by virtue of the contraction analysis on the Finsler manifold, the idea of accentuating the periodic pattern incremental stability and convergence is nurtured in the phase-based differential inclusion system, and comes to its preliminary fruition in application to biomimetic mechanic robot control problem. © 1963-2012 IEEE.

关键词： System stability

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Convergence Analysis for Delay Dependent LFC Scheme for Power systems Networks Over Open Communication Networks with Disturbances

Convergence Analysis for Delay Dependent LFC Scheme for Powe...

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2023 IEEE International Conference on Industrial Technology, ICIT 2023

作者： Islam, Shafiqul Ncf 263 Xavier University of Louisiana Dual-Degree Computer Science and Engineering Intelligent Robotics Mechatronics and Autonomous Systems Lab New OrleansLA70125 United States

ISBN: (纸本)9798350336504

This paper presents a delay-dependent convergence criterion for load frequency control (LFC) for smart power grid networks with the presence of disturbances and time-varying delays. The LFC scheme comprises delayed remote measurement and control signals with local state feedback signals. The convergence criteria are developed by using Lyapunov-Krasovskii functional for both symmetrical and asymmetrical time-varying delays associated with remote measurement and control channel. First, the analysis shows that all the power system states are bounded and asymptotically stable without the presence of disturbances. Then, the convergence analysis proves that all the power systems states are bounded and their bounds guarantee the convergence property of the H∞ control with the presence of bounded disturbances. These convergence properties are achieved by using well know Linear Matrix Inequalities (LMIs). Compared with the existing design, the proposed analysis uses both symmetrical and asymmetrical time-varying delays in the measurement channel from RTU to the control center and in the control channel from the control center to the power generation unit. In contrast with reported designs, the proposed design and analysis uses the disturbances associated with the closed loop systems appearing from modeling errors and other external load disturbances and faults. © 2023 IEEE.

关键词： Closed loop systems

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Multiple Sensor Fusion-Based Positioning Robot for Steam Generator Inspection 2

Multiple Sensor Fusion-Based Positioning Robot for Steam Gen...

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2nd International Symposium on Sensor Technology and Control, ISSTC 2023

作者： You, Jingwei Wei, Shouqi Wu, Xiong Sun, Jianquan Guilin University of Electronic Technology Department of Electrical Engineering Guilin541004 China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen518000 China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen518000 China

ISBN: (纸本)9798350314465

Nuclear energy is presently the clean energy source most likely to massively displace fossil energy, and the secondary side of the steam generator is an important part of a nuclear power plant. Due to the small space of the secondary side of the steam generator and the confinement of the vessel, the precise positioning of the robot inside the steam generator cannot be achieved by a single sensor alone. This paper introduces a multi-sensor fusion steam generator secondary side inspection robot. Primary emphasis is on data fusion of multiple sensors, such as laser sensors, cameras, IMU, and wheel encoder. First of all, this paper integrates data from wheel encoder data and IMU data by using extended Kalman filtering (EKF), which decreases the drift error during the motion and enhances the robot positioning precision. Afterwards, we incorporate laser ranging sensors and camera picture data to enhance the overall spatial sensitivity of the robot through particle filtering algorithms. Experiments show that the robot works reliably and has high positioning accuracy. © 2023 IEEE.

关键词： Steam generators

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Exoskeleton-Based Lower Limb Rehabilitation Robot Design and Simulation for Children with Cerebral Palsy

Exoskeleton-Based Lower Limb Rehabilitation Robot Design and...

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2024 International Convention on Rehabilitation Engineering and Assistive Technology and World Rehabilitation Robot Convention, i-CREATE and WRRC 2024

作者： Cao, Wujing Zhang, Shuo Zou, Yupeng Guo, Xinqiang Li, Changyu Wang, Jingxin Kobsiriphat, Worawarit Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518005 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems China School of Mechanical Engineering China University of Petroleum China Jining Zhongke Intelligent Technology Co. Ltd. China Zhengzhou Central Hospital Zhengzhou University Department of Rehabilitation Medicine Zhengzhou China National Metal and Materials Technology Center Thailand

ISBN: (纸本)9798350355123

Squat gait is the most common abnormal gait in children with cerebral palsy. Gait training with lower limb rehabilitation robots can improve rehabilitation efficiency and reduce manual labor for them. A novel exoskeleton-based lower limb rehabilitation robot for children with cerebral palsy is proposed, considering the squat gait characteristics of children with cerebral palsy. The structure of the lower limb rehabilitation robot, which combines hip and knee with 4 active degrees of freedom exoskeleton and mobile walker, is designed and optimized. Static analysis of the key mechanical structure of the exoskeleton is conducted using ANSYS Workbench, and local structures are optimized to ensure the safety factor of the mechanical structure is greater than 1, guaranteeing reasonable structural strength and stiffness design. Dynamic simulation analysis based on the ADAMS model validates the reliability and dynamic walking effect of the lower limb exoskeleton rehabilitation robot, obtaining the curve relationship between joint angles and motion cycles, thus verifying the effectiveness of the mechanical system motion. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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Thermal and Magnetic Dual-Responsive Catheter-Assisted Shape Memory Microrobots for Multistage Vascular Embolization

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Research 2024年第3期2024卷 529-543页

作者： Qianbi Peng Shu Wang Jianguo Han Chenyang Huang Hengyuan Yu Dong Li Ming Qiu Si Cheng Chong Wu Mingxue Cai Shixiong Fu Binghan Chen Xinyu Wu Shiwei Du Tiantian Xu Guangdong Provincial Key Lab of Robotics and Intelligent Systems Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina University of Chinese Academy of Sciences BeijingChina Department of Neurosurgery South China HospitalMedical SchoolShenzhen University.ShenzhenChina The Key Laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina.

Catheters navigating through complex vessels,such as sharp turns or multiple U-turns,remain challenging for vascular ***,we propose a novel multistage vascular embolization strategy for hard-to-reach vessels that releases untethered swimming shape-memory magnetic microrobots(SMMs)from the prior catheter to the vessel ***,made of organo-gel with magnetic particles,ensure biocompatibility,radiopacity,thrombosis,and fast thermal and magnetic *** SMM is initially a linear shape with a 0.5-mm diameter at 20°C inserted in a *** transforms into a predetermined helix within 2 s at 38°C blood temperature after being pushed out of the catheter into the *** enable agile swimming in confined and tortuous vessels and can swim upstream using helical propulsion with rotating magnetic ***,we validated this multistage vascular embolization in living rabbits,completing 100-cm travel and renal artery embolization in 2 *** 4 weeks,the SMMs maintained the embolic position,and the kidney volume decreased by 36%.

关键词： turns maintained travel

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Position and Altitude of the Nao Camera Head from Two Points on the Soccer Field plus the Gravitational Direction

arXiv

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arXiv 2024年

作者： Oomes, Stijn Visser, Arnoud Oomes Vision Systems NL Amsterdam Netherlands Intelligent Robotics Lab Universiteit van Amsterdam Netherlands

To be able to play soccer, a robot needs a good estimate of its current position on the field. Ideally, multiple features are visible that have known locations. By applying trigonometry we can estimate the viewpoint from where this observation was actually made. Given that the Nao robots of the Standard Platform League have quite a limited field of view, a given camera frame typically only allows for one or two points to be recognized. In this paper we propose a method for determining the (x, y) coordinates on the field and the height h of the camera from the geometry of a simplified tetrahedron. This configuration is formed by two observed points on the ground plane plus the gravitational direction. When the distance between the two points is known, and the directions to the points plus the gravitational direction are measured, all dimensions of the tetrahedron can be determined. By performing these calculations with rational trigonometry instead of classical trigonometry, the computations turn out to be 28.7% faster, with equal numerical accuracy. The position of the head of the Nao can also be externally measured with the OptiTrack system. The difference between externally measured and internally predicted position from sensor data gives us mean absolute errors in the 3-6 centimeters range, when we estimated the gravitational direction from the vanishing point of the outer edges of the goal *** Codes 68 © 2024, CC BY-NC-ND.

关键词： Cameras

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Physically Consistent Online Inertial Adaptation for Humanoid Loco-manipulation

arXiv

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arXiv 2024年

作者： Foster, James McCrory, Stephen DeBuys, Christian Bertrand, Sylvain Griffin, Robert Intelligent Systems & Robotics University of West Florida United States Robotics Lab Florida Institute for Human & Machine Cognition United States Boardwalk Robotics United States

The ability to accomplish manipulation and locomotion tasks in the presence of significant time-varying external loads is a remarkable skill of humans that has yet to be replicated convincingly by humanoid robots. Such an ability will be a key requirement in the environments we envision deploying our robots: dull, dirty, and dangerous. External loads constitute a large model bias, which is typically unaccounted for. In this work, we enable our humanoid robot to engage in loco-manipulation tasks in the presence of significant model bias due to external loads. We propose an online estimation and control framework involving the combination of a physically consistent extended Kalman filter for inertial parameter estimation coupled to a whole-body controller. We showcase our results both in simulation and in hardware, where weights are mounted on Nadia’s wrist links as a proxy for engaging in tasks where large external loads are applied to the robot. © 2024, CC BY-NC-ND.

关键词： Anthropomorphic robots

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Different Height Stairs Climbing Pattern Generation for Humanoids

Different Height Stairs Climbing Pattern Generation for Huma...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Yang, Ming Tian, Dingkui Xu, Minjia Li, Feng Sun, Jianquan Shang, Weiwei Wu, Xinyu University of Science and Technology of China Hefei230026 China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China Daqing Vocational College Daqing163255 China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen518055 China

ISBN: (纸本)9798350327182

Climbing stairs has been an indispensable ability for humanoids. This paper presents a novel and practical problem: climbing stairs of varying heights. In this study, the humanoid is modeled as an inverted pendulum and set the pelvis trajectory on the vertical axis, representing the center of mass (CoM), as a quadratic function. We also use a polynomial to design the ZMP and CoM trajectory on the horizontal plane. To generate the CoM trajectory, the sliding mode controller is utilized to track the reference trajectory. To eliminate chattering of the sliding mode controller, the universal approximation property of the radial basis function (RBF) network is leveraged to approximate the switching law. Finally, simulation experiments are performed in CoppeliaSim, and the biped robot is capable of walking stably and quickly. © 2023 IEEE.

关键词： Stairs

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