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14th International Conference on intelligent Robotics and Applications (ICIRA)

作者： Yi, Zhou Ma, Kaiwei Sen, Yang Xu, Fengyu Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOT Robot Nanjing 210023 Peoples R China

ISBN: (纸本)9783030890957;9783030890940

In order to make full use of the soft robot's characteristics of flexibility and flexibility, combined with the hysteresis model, the air pressure-position hysteresis phenomenon in the soft actuator is studied, and the hysteresis compensation control method of the soft actuator is proposed. First, on the basis of the classic Prandtl-Ishlinskii (PI) model, an improved PI model and a mathematical calculation method for parameter identification are proposed;Secondly, the physical structure of the soft actuator is described, and the hysteresis data is obtained through experimental measurement;Finally, the two models used are simulated and analyzed, as well as the experimental verification of the entire system.

关键词： Soft gripper Hysteresis compensation Prandtl-Ishlinskii model

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Developing a climbing robot for repairing cables of cable-stayed bridges

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AUTOMATION IN CONSTRUCTION 2021年 129卷 103807-103807页

作者： Xu, Fengyu Dai, Suya Jiang, Quansheng Wang, Xingsong Nanjing Univ Posts & Telecommun Coll Automat Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210003 Peoples R China Southeast Univ Sch Mech Engn Nanjing 210096 Peoples R China Suzhou Univ Sci & Technol Sch Mech Engn Suzhou 215009 Peoples R China

It is difficult to test and maintain the cables on a cable-stayed bridge. Cable detection and repair remain mainly manual operations and automatic maintenance is rare. Aiming at the difficulty of detecting and repairing damage to bridge cables, a climbing robot system for cable repair based on an independent quadrilateral suspension was designed. Firstly, an independently suspended cable-climbing robot scheme was proposed and the automatic repair mechanism (including a rotary platform, grinding, cleaning, spraying, and winding mechanisms) was designed. Then, a dynamic model for obstacle negotiation by the climbing robot was established to perform simulation and analysis;subsequently, kinematic and workspace analyses were conducted on the component modules of the robot to optimize the structure of the robot. Finally, a prototype of the cable repair robot was developed, and the experimental platform was established to carry out laboratory testing and in-situ testing of a bridge. Furthermore, climbing and repair tests on cables with diameters of 80 to 140 mm were conducted. The experimental results show that the proposed robot that climbs at the speed of 0.26 m/s can carry a mass of 11.5 kg and cross obstacles 15 mm in height. The climbing robot can fulfill automatic repair of damage to bridge cables with the testing, grinding, cleaning, spray coating, and winding mechanism according to the surface damage encountered. Future research should aim to improve the obstacle surmounting ability of the proposed robot.

关键词： Cable-stayed bridge Climbing robot Independent suspension Automated cable repair Winding mechanism

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Global Stabilization via Dynamic Saturation Levels: Managing Non-Uniform Actuator Saturation Across Dimensions 4

Global Stabilization via Dynamic Saturation Levels: Managing...

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4th IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON)

作者： Qian, Juan Astolfi, Daniele Wang, Xiaoling Casadei, Giacomo Jiang, Guo-Ping Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Jiangsu Engn Ctr IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China Univ Claude Bernard Lyon 1 LAGEPP UMR 5007 CNRS 43 Blvd 11 Novembre 1918 F-69100 Villeurbanne France Univ Lyon Dept EEA Lab Ampere Ecole Cent Lyon F-69134 Ecully France

Asymptotically null controllable with bounded controls (ANCBC) is a crucial prerequisite for ensuring the global performance of saturated systems. This paper addresses the challenges inherent in multi-input multi-output systems with actuator saturation, focusing on achieving global stabilization within the ANCBC framework and managing non-uniform saturation characteristics. To this end, we propose a nonlinear control algorithm that utilizes a redesigned saturation function with a dynamic saturation level, which self-adjusts based on a first-order differential strategy. This approach effectively mitigates non-uniform saturation across dimensions by appropriately selecting both constant and time-varying parameters within the differential equation related to the dynamic saturation level. Finally, numerical simulations are provided to validate the theoretical results. Copyright (c) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Actuator saturation dynamic saturation level global stabilization control algorithm

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Water plant optimization control system based on machine learning

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DESALINATION AND WATER TREATMENT 2021年 222卷 168-181页

作者： Wang, Dongsheng Wang, Yan Zhou, Rui Cao, Yong Jiang, Fuchun Zhang, Xue Li, Jinghua Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Jiangsu Engn Lab IOT Intelligent Robots Nanjing 210023 Peoples R China Suzhou Tap Co Suzhou 215002 Peoples R China

There are always some operational management problems in water plants using conventional manual control approaches, such as the stability of water treatment operation and the safety of treated water quality. With the increasing shortage of water resources and serious water pollution, how to ensure safe and energy-saving water supply is particularly concerned. This paper proposes a water plant optimization control system based on machine learning, which is able to design optimized schemes for pump group scheduling, backwashing and reagent dosing, etc. Based on machine learning algorithms, the system has the ability to model and configure parameters for water treatment operations, which makes the water treatment process work in an optimal mode. Our system not only ensures the clean and safe treated water quality but also benefits the rational use of water plant equipment. Through learning the historical operation big-data, the empirical models are established by the approaches of random forest and support vector machine. Thus, it is proposed of optimized configuration schemes with high stability, good water purification effect and low energy consumption. By the prediction results, the effectiveness of our system for water treatment optimization has been verified.

关键词： Safe and energy-saving water supply Optimization control system Machine learning Random forest Support vector machine

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A Novel Method for Inverse Kinematics of Offset Wrist Manipulators Using Improved Differential Evolution Algorithm With Quaternion

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IEEE Robotics and Automation Letters 2025年第7期10卷 6840-6847页

作者： Shutao Wu Shikun Wen Zhikang Yang Xuefei Liu Qingfei Han Kai Cao Lu Li Huan Shen Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei China Lab of Locomotion Bioinspiration and Intelligent Robots the College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Jiangsu Key Laboratory of Bionic Materials and Equipment Nanjing China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics Nanjing China

Inverse kinematics (IK) is at the core of manipulator control theory, with its solution accuracy directly impacting the robot's performance in executing tasks. This is particularly true for complex offset wrist manipulators (OWM), where existing evolutionary computation methods often face limitations in solution efficiency. Additionally, traditional modeling approaches may introduce inherent errors during the solution process, which are amplified through the iterative steps of evolutionary computation, resulting in deviations between the theoretically optimal solution and the actual implementation on robotic platforms. To address these challenges, this letter proposes a novel IK algorithm, TPEDE-IK, which integrates an improved differential evolution algorithm with quaternion-based modeling. The algorithm is designed to handle OWMs with various configurations and degrees of freedom. Experimental results demonstrate that the TPEDE-IK algorithm achieves superior performance on real robotic platforms, significantly improving solution accuracy and providing a robust foundation for future research in robotic control.

关键词： Wrist Quaternions Manipulators Kinematics Linear programming Optimization Evolutionary computation Accuracy Vectors Computational modeling

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Design and Experiment of a Pneumatic Soft Climbing Robot

Design and Experiment of a Pneumatic Soft Climbing Robot

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Xu, Fengyu Lu, Yuxuan Jiang, Zhenjiang Jiang, Guoping Nanjing Univ Posts & Telecommun Coll Automat Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210003 Peoples R China Nanjing Nanyou Inst Informat Technovat Co Ltd Nanjing Peoples R China

ISBN: (纸本)9781728190778

This paper designed a pneumatic soft climbing robot by utilizing the high flexibility of soft materials. Capabilities of climbing and creeping through small spaces would rarely possible with a method based only on rigid links. At first, according to the drive mode of pneumatic networks, a model for soft climbing robots with different section having their independent stiffness was designed;afterwards, the analysis of visco-mechanical properties of robots at the contact surface were provided by using the method of minimum potential energy;on the basis, finite element analysis and experiment are given to analyze the climbing behaviors of the robot;finally, by employing 3-d printing and layer-by-layer casting, a prototype soft climbing robot was prepared to perform climbing experiments. The research is expected to provide a new method for monitoring complex unstructured environments.

关键词： Visualization Force Pneumatic systems Climbing robots Finite element analysis Clamps robots

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Research on unmanned vehicle obstacle avoidance technology based on LIDAR and depth camera fusion

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Applied Mathematics and Nonlinear Sciences 2024年第1期9卷

作者： Qiu, Hao Chen, Weifeng Ji, Aihong Hu, Kai School of Automation Nanjing University of Information Science & Technology Jiangsu Nanjing210044 China School of Mechanical and Electronic Engineering Quanzhou University of Information Engineering Fujian Quanzhou362000 China Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical & Electrical Engineering Nanjing University of Aeronautics & Astronautics Jiangsu Nanjing210016 China

To address the problems of poor accuracy of traditional EKF algorithm in estimating the position of unmanned vehicles and the deficiencies in accuracy and map completeness of the traditional map building method with single-line LiDAR, this paper proposes a method to create fused raster maps realized with multi-source data. Firstly, the combined data of the inertial measurement unit and wheel encoder are corrected by adding the positional information output from the visual odometer using the error-state SLAM algorithm, and the local raster constructed by LiDAR and depth camera is fused frame by frame using the idea of Bayesian estimation to finally generate the fused global map. Then, a four-wheeled mobile unmanned vehicle with a LiDAR sensor and depth camera is selected as the experimental object, and dynamic environment avoidance simulation experiments are conducted to draw conclusions. The simulation experiment results show that when γ = 5.99, the algorithm generates a new local target point pg2 (17.49,13.49) and the corresponding getaway path and finally guides the unmanned vehicle to the specified target point, verifying that the method in this paper can achieve the avoidance capability of the unmanned vehicle in the process of getting away from the newly emerged obstacles. This study uses the scanned data of LiDAR for the estimation of the real-time position of the unmanned vehicle to realize obstacle avoidance and path planning of the unmanned vehicle. © 2023 Hao Qiu, Weifeng Chen, Aihong Ji and Kai Hu, published by Sciendo.

关键词： Optical radar

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Nonlinear state-space system identification with robust laplace model

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INTERNATIONAL JOURNAL OF CONTROL 2021年第6期94卷 1492-1501页

作者： Liu, Xin Yang, Xianqiang Liu, Xiaofeng Hohai Univ Coll IoT Engn Changzhou Peoples R China Harbin Inst Technol Res Inst Intelligent Control & Syst Harbin Heilongjiang Peoples R China Harbin Inst Technol State Key Lab Robot & Syst Harbin Heilongjiang Peoples R China Hohai Univ Changzhou Key Lab Robot & Intelligent Technol Changzhou Peoples R China Hohai Univ Jiangsu Key Lab Special Robots Changzhou Peoples R China

This paper investigates a robust identification solution for the nonlinear state-space model in which the outputs are polluted by unknown outliers. The problem of outliers is frequently encountered in practical industries that can greatly challenge the modelling of industrial processes. In order to overcome the obstacles brought by the outliers, the heavy-tailed Laplace distribution is applied to describe the output measurement process. Specifically, the Laplace distribution can be decomposed as a scale mixture of Gaussian distributions, which makes it robust for the outliers. The unknown model parameters are estimated with the expectation-maximisation algorithm while the particle smoother is used to solve the latent state estimation problem. The usefulness and robustness of the proposed algorithm are verified through the numerical examples including the model of a common chemical process.

关键词： Nonlinear system identification robustness laplace distribution expectation-maximisation algorithm particle smoother

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Interval Observer-Based Robust Coordination Control of Multi-Agent Systems Over Directed Networks

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS 2021年第12期68卷 5145-5155页

作者： Wang, Xiaoling Su, Housheng Jiang, Guo-Ping Nanjing Univ Posts & Telecommun Coll Automat & AI Nanjing 210023 Peoples R China Minist Educ Key Lab Syst Control & Informat Proc Shanghai 200240 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Image Proc & Intelligent Control Key Lab Educ Minist China Wuhan 430074 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China

In this paper, the robust coordination control of multi-agent systems (MASs) with uncertainties is considered, where the uncertainties include the external disturbances and the measurement noises as well as the unknown initial states. Motivated by the interval observer of single-agent systems, a distributed interval observer is designed for MASs communicating through a directed network which contains a directed spanning tree by using only the bounding information on the uncertainties and the output information, to implement the interval-valued state estimation on the absolute state of each agent. It also finds that the robust coordination control is a by-part of the distributed interval observer design of this kind of MASs. Moreover, a time-invariant transformation is used to perfect the distributed interval observer design. Finally, numerical simulations are proposed to verify the theoretical results.

关键词： Observers Uncertainty Output feedback Noise measurement Multi-agent systems Directed graphs Control systems Multi-agent system coordination interval observer uncertainty

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Quasi-Synchronization of Delayed Stochastic Multiplex Networks via Impulsive Pinning Control

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2022年第9期52卷 5389-5397页

作者： Wang, Zhengxin Jin, Xin Pan, Lijun Feng, Yuanzhen Cao, Jinde Nanjing Univ Posts & Telecommun Sch Sci Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Jiangsu Engn Lab IoT Intelligent Robots Nanjing 210023 Peoples R China Univ Elect Sci & Technol China Sch Math Sci Chengdu 611731 Peoples R China Lingnan Normal Univ Sch Math & Stat Zhanjiang 524048 Peoples R China Southeast Univ Sch Math Nanjing 210096 Peoples R China Yonsei Univ Yonsei Frontier Lab Seoul 03722 South Korea

The quasi-synchronization problems of the delayed multiplex networks with stochastic perturbations are investigated in this article. Different from previous studies on complete synchronization for the delayed multiplex networks, quasi-synchronization, which is more practical and more challenging than complete synchronization, is discussed. To adopt a better cost-saving control, an impulsive pinning scheme is designed. That is, the key nodes in the multiplex networks are pinned and controlled at impulsive instants. At the same time, a virtual leader is introduced. Based on the theory of stochastic impulsive differential equations and the Lyapunov-Krasovskii functional method, the sufficient conditions are derived for the error systems to converge into a bounded region in the sense of the mean square. Therefore, stochastic quasi-synchronization is guaranteed. Finally, the two-layer Newman-Watts (NW) small-world networks and two-layer Barabasi-Albert (BA) scale-free networks are provided to illustrate the effectiveness of the theoretical results.

关键词： Multiplexing Synchronization Perturbation methods Heterogeneous networks Delay effects Upper bound Symmetric matrices Delayed multiplex networks impulsive pinning control quasi-synchronization stochastic perturbations

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