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Chinese Automation Congress (CAC)

作者： He, Shunzhan Yang, Chenguang Wang, Min Cheng, Long Hu, Zedong South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou Guangdong Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China

ISBN: (纸本)9781538635247

Surface electromyography (sEMG) is widely used in clinical diagnosis, rehabilitation engineering and human-computer interaction and other fields. In this paper, we use Myo armband to collect sEMG signals. Myo armband can be worn above any elbow of any arm and it can capture the bioelectric signal generated when the arm muscles move. MYO can pass of signals through its low-power Blue-tooth, and its interference is small, which makes the signal quality really good. By collecting the sEMG signals of the upper limb forearm, we extract five eigenvalues in the time domain, and use the BP neural network classification algorithm to realize the recognition of six gestures in this paper. Experimental results show that the use of MYO for gesture recognition can get a very good recognition results, it can accurately identify the six hand movements with the average recognition rate of 93%.

关键词： sEMG Myo Armband Gesture Recognition Feature Extraction BP Neural Network

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Anti-windup-based dynamic output feedback stabilization for a class of nonlinear systems with actuator saturation 34

Anti-windup-based dynamic output feedback stabilization for ...

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第三十四届中国控制会议

作者： WANG Naizhou PEI Hailong TANG Yong Key Laboratory of Surface Functional Structure Manufacturing of Guangdong Higher Education Institutes School of Mechanical and Automotive Engineering South China University of Technology Key Laboratory of Autonomous Systems and Networked Control Ministry of Education South China University of Technology

ISBN: (纸本)9789881563897

This paper focuses on the anti-windup-based dynamic controller synthesis problem for a certain class of nonlinear systems subject to actuator saturation. Based on the Linear-Fractional Representation(LFR) techniques, the original system is transformed into a linear system incorporating a sector-bounded nonlinearity and a saturation nonlinearity with an additional linear-fractional constraint. By using a quadratic Lyapunov function and with a modified sector condition describing the saturation nonlinearity, LMI-based conditions for the synthesis of an anti-windup-based dynamic controller are presented aiming at enlarging the estimated region of attraction(ROA) of the closed-loop systems. A numerical example illustrates the effectiveness of the proposed approaches.

关键词： Anti-windup,nonlinear system,region of attraction,linear matrix inequality(LMI)

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Position control of Continuum Manipulator with Twin-Pivot Compliant Joints

Position Control of Continuum Manipulator with Twin-Pivot Co...

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International Conference on Modelling, Identification and control (ICMIC)

作者： Xin Liu Chenguang Yang Shilu Dai Ying Feng Key Lab of Autonomous Systems and Networked Control South China University of Technology Guangzhou China

This paper proposes a novel closed-loop PD controller based on kinematic for continuum manipulator with twin-pivot compliant joints. The purpose of the twin-pivot compliant joints is to decrease the twisting angle caused by gravity of manipulator and payload. We build the forward and inverse kinematic to control the end-effector of continuum manipulator with twin-pivot compliant joints. In this paper, first we build forward and inverse kinematic of continuum manipulator with twin-pivot compliant joints. We then build the controller based on kinematic models for a continuum manipulator with 24 Degrees of Freedom (DoF). Finally, simulation studies are carried out to test the proposed approach.

关键词： Kinematics End effectors Jacobian matrices Service robots Aerospace electronics

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An adaptive large neighborhood search for the multi-point dynamic aggregation problem

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control Theory and Technology 2024年第3期22卷 360-378页

作者： Shengyu Lu Bin Xin Jie Chen Miao Guo School of Automation Beijing Institute of TechnologyBeijing 100081China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

The multi-point dynamic aggregation(MPDA)problem is a challenging real-world *** the MPDA problem,the demands of tasks keep changing with their inherent incremental rates,while a heterogeneous robot fleet is required to travel between these tasks to change the time-varying state of each *** robots are allowed to collaborate on the same task or work separately until all tasks are *** is challenging to generate an effective task execution plan due to the tight coupling between robots abilities and tasks'incremental rates,and the complexity of robot *** effectiveness consideration,we use the variable length encoding to avoid redundancy in the solution *** creatively use the adaptive large neighborhood search(ALNS)framework to solve the MPDA *** the proposed algorithm,high-quality initial solutions are generated through multiple problem-specific solution construction *** heuristics are also used to fix the broken solution in the novel integrated decoding-construction repair process of the ALNS *** results of statistical analysis by the Wilcoxon rank-sum test demonstrate that the proposed ALNS can obtain better task execution plans than some state-of-the-art algorithms in most MPDA instances.

关键词： Adaptive large neighborhood search(ALNS) Multi-point dynamic aggregation(MPDA) Heuristic solution construction Multi-robot collaboration

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Interface Design of a Physical Human-Robot Interaction System for Human Impedance Adaptive Skill Transfer

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2018年第1期15卷 329-340页

作者： Yang, Chenguang Zeng, Chao Liang, Peidong Li, Zhijun Li, Ruifeng Su, Chun-Yi South China Univ Technol Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Harbin Inst Technol State Key Lab Robot Syst Harbin 150001 Heilongjiang Peoples R China Guangdong Univ Technol Sch Automat Guangzhou 510006 Guangdong Peoples R China

It has been established that the transfer of human adaptive impedance is of great significance for physical human-robot interaction (pHRI). By processing the electromyography (EMG) signals collected from human muscles, the limb impedance could be extracted and transferred to robots. The existing impedance transfer interfaces rely only on visual feedback and, thus, may be insufficient for skill transfer in a sophisticated environment. In this paper, physical haptic feedback mechanism is introduced to result in muscle activity that would generate EMG signals in a natural manner, in order to achieve intuitive human impedance transfer through a designed coupling interface. Relevant processing methods are integrated into the system, including the spectral collaborative representation-based classifications method used for hand motion recognition;fast smooth envelop and dimensionality reduction algorithm for arm endpoint stiffness estimation. The tutor's arm endpoint motion trajectory is directly transferred to the robot by the designed coupling module without the restriction of hands. Haptic feedback is provided to the human tutor according to skill learning performance to enhance the teaching experience. The interface has been experimentally tested by a plugging-in task and a cutting task. Compared with the existing interfaces, the developed one has shown a better performance. Note to Practitioners-This paper is motivated by the limited performance of skill transfer in the existing human-robot interfaces. Conventional robots perform tasks independently without interaction with humans. However, the new generation of robots with the characteristics, such as flexibility and compliance, become more involved in interacting with humans. Thus, advanced human robot interfaces are required to enable robots to learn human manipulation skills. In this paper, we propose a novel interface for human impedance adaptive skill transfer in a natural and intuitive manner. The developed int

关键词： Haptic feedback human impedance adaptive skill transfer physical human-robot interaction (pHRI) stiffness estimation

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Ranging-aided Aerobridge Navigation Using Dual Quaternion Based Multiplicative Extended Kalman Filter

Ranging-aided Aerobridge Navigation Using Dual Quaternion Ba...

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International Symposium on autonomous systems (ISAS)

作者： Xia, Ruican Pei, Hailong South China Univ Technol Res Ctr Guangdong Minist Educ Unmanned Aerial Vehicle Syst Engn Tec Key Lab Autonomous Syst & Networked Control Guangzhou Peoples R China

ISBN: (纸本)9781665418829

The autopilot of aerobridge has attracted considerable attention recently since human error and high labor costs. To estimate the pose of an aerobridge, this paper proposes a navigation algorithm with the aid of pairwise distances and inertial measurements. We first locate the joints of the aerobridge with the distance measurement. Then the pose of the aerobridge is calculated using its kinematic in closed-form and the associated covariance is derived. A dual quaternion based multiplicative extended Kalman filter is designed to fuse inertial measurements with the estimated pose, which produces a smooth pose. To verify the precision of this algorithm, a simulation is constructed based on Robotics Toolbox and the experiment results are positive.

关键词： localization pose estimation dual quaternion extended Kalman filter robot kinematics

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ROBUST MPC FOR LINEAR systems WITH STRUCTURED TIME-VARYING UNCERTAINTIES AND SATURATING ACTUATOR

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ASIAN JOURNAL OF control 2017年第3期19卷 1197-1204页

作者： Zhang, Langwen Xie, Wei Wang, Jingcheng South China Univ Technol Coll Automat Sci & Technol Guangzhou 510640 Guangdong Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Guangdong Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China Minist Educ China Key Lab Syst Control & Informat Proc Shanghai 200240 Peoples R China

In this paper, a synthesis of model predictive control (MPC) algorithm is presented for uncertain systems subject to structured time-varying uncertainties and actuator saturation. The system matrices are not exactly known, but are affine functions of a time varying parameter vector. To deal with the nonlinear actuator saturation, a saturated linear feedback control law is expressed into a convex hull of a group of auxiliary linear feedback laws. At each time instant, a state feedback law is designed to ensure the robust stability of the closed-loop system. The robust MPC controller design problem is formulated into solving a minimization problem of a worst-case performance index with respect to model uncertainties. The design of controller is then cast into solving a feasibility of linear matrix inequality (LMI) optimization problem. Then, the result is further extended to saturation dependent robust MPC approach by introducing additional variables. A saturation dependent quadratic function is used to reduce the conservatism of controller design. To show the effectiveness, the proposed robust MPC algorithms are applied to a continuous-time stirred tank reactor (CSTR) process.

关键词： Robust model predictive control structured uncertain systems polytopic uncertain actuator saturation saturation dependent

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Study on High-Speed-to-Hovering Back-Transition control of Ducted Fan UAV 33

Study on High-Speed-to-Hovering Back-Transition Control of D...

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33rd Chinese control and Decision Conference (CCDC)

作者： Chen, Feng Pei, Hailong Cheng, Zihuan South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China

ISBN: (纸本)9781665440899

The ducted fan unmanned aerial vehicle (UAV) can transit from hovering to high-speed flight by continuously pitching down, reaching a high-speed and high-efficiency status. However, during the back-transition process from high speed to hovering, unstable environmental airflow and improper velocity planning could lead to serious oscillation, or even divergence of the aircraft states. In this paper, we address this control problem of a ducted fan UAV by utilizing an expected velocity planning method and a robust controller. The expected velocity curve is planned to ensure the dynamic effect of the deceleration process and decrease the computational complexity in solving the numerical optimization problem. The robust controller aims to reduce the tracking error of velocity and angular velocity considering modeling uncertainty and disturbance. Furthermore, the unit quaternion is selected to represent the attitude to avoid the singularity problem. Theoretical analysis verifies the stability of the proposed controller based on unit quaternion. Moreover, the simulation and experimental results collectively indicate the effectiveness of our methods.

关键词： Ducted Fan UAV Back-Transition Velocity Planning Robust control Unit Quaternion

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Deep Fusion for Multi-Modal 6D Pose Estimation

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2024年第4期21卷 6540-6549页

作者： Lin, Shifeng Wang, Zunran Zhang, Shenghao Ling, Yonggen Yang, Chenguang South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China Tencent Robot X Shenzhen 518057 Peoples R China Univ West England Bristol Robot Lab Bristol BS16 1QY England

6D pose estimation with individual modality encounters difficulties due to the limitations of modalities, such as RGB information on textureless objects and depth on reflective objects. This can be improved by exploiting the complementarity between modalities. Most of the previous methods only consider the correspondence between point clouds and RGB images and directly extract the features of the corresponding two modalities for fusion, which ignore the information of the modality itself and are negatively affected by erroneous background information when introducing more features for fusion. To enhance the complementarities between multiple modalities, we propose a neighbor-based cross-modalities attention mechanism for multi-modal 6D pose estimation. Neighbors represent that the RGB features of multiple neighbor are applied for fusion, which expands the receptive field. The cross-modalities attention mechanism leverages the similarities between the different modal features to help modal feature fusion, which reduces the negative impact of incorrect background information. Moreover, we design some features between the rendered image and the original image to obtain the confidence of pose estimation results. Experimental results on LM, LM-O and YCB-V datasets demonstrate the effectiveness of our methods. Video is available at https://***/watch?v=ApNBcX6NEGs.

关键词： Pose estimation Point cloud compression Feature extraction Decoding Fuses Solid modeling Encoding Deep learning for visual perception RGB-D perception pose estimation

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Combined perception, control, and learning for teleoperation: key technologies, applications, and challenges

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COGNITIVE COMPUTATION AND systems 2020年第2期2卷 33-43页

作者： Luo, Jing He, Wei Yang, Chenguang South China Univ Technol Sch Automat Sci & Engn Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China

Teleoperation provides a promising way for human-robot collaboration in the unknown or unstructured environments to perform a cooperative task. It enables humans to complete a task at a remote side and combines both the human's intelligence and the robots' capabilities in a collaborative task. Therefore, it is necessary to conduct cross researches in terms of robotics, artificial intelligence, sensors, and mechatronics. This study covers the state-of-the-arts research in terms of perception, control, and learning. In this review, key technologies about information perception mechanism, control algorithms, human-robot interface, and robot learning strategies for teleoperation are introduced. Then, a comprehensive survey is summarised in representative applications in teleoperation, and the existing challenges and potential directions of the development are discussed.

关键词： artificial intelligence learning (artificial intelligence) human-robot interaction telerobotics mobile robots mechatronics cross researches artificial intelligence state-of-the-arts research information perception mechanism control algorithms human-robot interface robot learning strategies teleoperation representative applications existing challenges combined perception human-robot collaboration unknown environments unstructured environments robots collaborative task

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