检索结果-内蒙古大学图书馆

IEEE International Conference on Robotics and Automation (ICRA)

作者： Yue Zhao Xiaoming Liu Ruixi Wang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Department of Intelligent Manufacturing Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Materials Engineering Science Osaka University Osaka Japan Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Micro-assembly is an emerging method to fabricate microrobots with multiple modules or particles. However, there is always a lack of a flexible and efficient method to freely create the desired magnetic soft microrobots. In this paper, an automated assembly system based on a two-fingered microhand is presented for fabricating magnetic soft microrobots. Our proposed system can automatically pick and place components to assemble microrobots with a two-fingered micromanipulator, and orient these components through an external magnetic field. The automated assembly has the advantages of high accuracy, high speed, and high success rate. It can endow magnetic microrobots with flexible material selection, arbitrary geometry design, and programable magnetization profile. We can make full use of this system to fabricate multiple magnetic soft microrobots. The experiment results demonstrate that this system can efficiently fabricate microrobots with excellent mechanical properties, which have application potential in robotics, biomedical engineering, and environmental governance.

关键词： Three-dimensional displays Shape Micromanipulators Magnetization Manuals Three-dimensional printing Soft magnetic materials

来源：评论

学校读者我要写书评

暂无评论

Optimal Switching Integrity Attacks on Sensors in Industrial control systems

引用

Journal of systems Science and complexity 2019年第5期32卷 1290-1305页

作者： Wu, Guangyu Sun, Jian The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China

In this article, an optimal switching integrity attack problem is investigated to study the response of feedback control systems under attack. The authors model the malicious attacks on sensors as additive norm bounded signals. The authors consider an attacker who is only capable of launching attacks to limited number of sensors once a time and changing the combinations of attacked sensors all over the time. The objective of this paper is to find the optimal switching sequence of these combinations and the optimal attack input. The authors solve this problem by transforming it into a traditional optimal control problem with new control variables vary continuously in the range [0, 1]. The optimal solutions of the new control variables are of bang-bang-type. Therefore, an algebraic switching condition and an optimal attack input can be obtained. Finally, numerical results are provided to illustrate the effectiveness of the methods. © 2019, The Editorial Office of JSSC & Springer-Verlag GmbH Germany.

关键词： Adaptive control systems

来源：评论

学校读者我要写书评

暂无评论

Data-Driven control of Distributed Event-Triggered Network systems

arXiv

引用

arXiv 2022年

作者： Wang, Xin Sun, Jian Wang, Gang Allgöwer, Frank Chen, Jie State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70550 Germany Department of Control Science and Engineering Tongji University Shanghai201804 China State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems (a.k.a. network systems). To this end, we start by putting forth a novel distributed event-triggering transmission strategy based on periodic sampling, under which a model-based stability criterion for the closed-loop network system is derived, by leveraging a discrete-time looped-functional approach. Marrying the model-based criterion with a data-driven system representation recently developed in the literature, a purely data-driven stability criterion expressed in the form of linear matrix inequalities (LMIs) is established. Meanwhile, the data-driven stability criterion suggests a means for co-designing the event-triggering coefficient matrix and the feedback control gain matrix using only some offline collected state-input data. Finally, numerical results corroborate the efficacy of the proposed distributed data-driven ETS in cutting off data transmissions and the co-design procedure. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear matrix inequalities

来源：评论

学校读者我要写书评

暂无评论

Boosting Black-Box Adversarial Attacks with Meta Learning

arXiv

引用

arXiv 2022年

作者： Fu, Junjie Sun, Jian Wang, Gang The State Key Lab of Intelligent Control and Decision of Complex Systems The School of Automation Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China

Deep neural networks (DNNs) have achieved remarkable success in diverse fields. However, it has been demonstrated that DNNs are very vulnerable to adversarial examples even in black-box settings. A large number of black-box attack methods have been proposed to in the literature. However, those methods usually suffer from low success rates and large query counts, which cannot fully satisfy practical purposes. In this paper, we propose a hybrid attack method which trains meta adversarial perturbations (MAPs) on surrogate models and performs black-box attacks by estimating gradients of the models. Our method uses the meta adversarial perturbation as an initialization and subsequently trains any black-box attack method for several epochs. Furthermore, the MAPs enjoy favorable transferability and universality, in the sense that they can be employed to boost performance of other black-box adversarial attack methods. Extensive experiments demonstrate that our method can not only improve the attack success rates, but also reduces the number of queries compared to other methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Deep neural networks

来源：评论

学校读者我要写书评

暂无评论

Data-driven Self-triggered control via Trajectory Prediction

arXiv

引用

arXiv 2022年

作者： Liu, Wenjie Sun, Jian Wang, Gang Bullo, Francesco Chen, Jie The State Key Lab of Intelligent Control and Decision of Complex Systems The School of Automation Beijing Institute of Technology Beijing100081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China The Mechanical Engineering Department The Center of Control Dynamical Systems and Computation UC Santa BarbaraCA93106-5070 United States The Department of Control Science and Engineering Tongji University Shanghai201804 China The State Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

Self-triggered control, a well-documented technique for reducing the communication overhead while ensuring desired system performance, is gaining increasing popularity. However, existing methods for self-triggered control require explicit system models that are assumed perfectly known a priori. An end-to-end control paradigm known as data-driven control learns control laws directly from data, and offers a competing alternative to the routine system identification-then-control method. In this context, the present paper puts forth data-driven self-triggered control schemes for unknown linear systems using data collected offline. Specifically, for output feedback control systems, a data-driven model predictive control (MPC) scheme is proposed, which computes a sequence of control inputs while generating a predicted system trajectory. A data-driven self-triggering law is designed using the predicted trajectory, to determine the next triggering time once a new measurement becomes available. For state feedback control systems, instead of capitalizing on MPC to predict the trajectory, a data-fitting problem using the pre-collected input-state data is solved, whose solution is employed to construct the self-triggering mechanism. Both feasibility and stability are established for the proposed self-triggered controllers, which are validated using numerical examples. © 2022, CC BY.

关键词： Model predictive control

来源：评论

学校读者我要写书评

暂无评论

Deadbeat Predictive Current control of Permanent Magnet Synchronous Motors Based on Disturbance Compensation

Deadbeat Predictive Current Control of Permanent Magnet Sync...

引用

第33届中国控制与决策会议

作者： Wei Shen Huan Liu Luwei Shao Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology

The deadbeat predictive current control(DPCC) exhibits strong dynamic performance in the current control of permanent magnet synchronous motor(PMSM),whereas the performance of the traditional DPCC depends on the accuracy of model parameters to a great *** cope with this problem,parameter sensitivity of the traditional DPCC has been analyzed in detail,with a disturbance observation compensation method proposed to improve the robustness of the current control of ***,a method of non-singular terminal sliding mode disturbance observer(NTSMDO) which employs a novel reaching law,combined with the DPCC is put forward to enhance the parameters robustness of the current loop.A harmonic compensation(HC) term has been added to the output of the current control for ignoring the harmonic electromagnetic process in the mathematical model of the PMSM to further promote the performance of the current loop *** and experimental results demonstrate that the proposed method offers robustness against parameters mismatch and control precision compared with the traditional DPCC.

关键词： PMSM Predictive current control NTSMDO Parameter mismatch Harmonic compensation

来源：评论

学校读者我要写书评

暂无评论

High-Precision Admittance control of Mechanical Arm Based on Force Sensor Compensation

High-Precision Admittance Control of Mechanical Arm Based on...

引用

Chinese control and decision Conference, CCDC

作者： Yaohui Wu Jiangbo Zhao Junzheng Wang Xin Zhang Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing China Technical Center Xinxing Cathay International Group Co. Ltd. Beijing China

ISBN: (纸本)9781665478977

Admittance control is one of the important methods of compliance control. It is performed by inputting force signals and outputting position signals. Position control can achieve high accuracy, but the force signals have large errors, which is an important factor affecting its accuracy. When the force sensor collects force data, there are non-negligible initial deviations due to gravity, installation, and other factors, resulting in poor admittance control accuracy. In order to solve this problem, this paper takes the six-degree-of-freedom manipulator admittance control as the research object. According to the mapping relationship between the end attitude and the sensor errors, we propose a method of obtaining the initial offset value of the sensor through data interpolation. This method traverses the initial values of the sensor in each working posture when the sensor has no external force input, and then performs secondary interpolation to obtain the offset values of the sensor in any posture, corrects the output values of the force/torque sensor, and then improve the accuracy of admittance control. The experimental results show that this method can quickly and effectively improve the calculation accuracy of the sensor’s initial deviation values and the admittance control accuracy.

关键词： Interpolation Attitude control Force Dynamics Position control Robot sensing systems Real-time systems

来源：评论

学校读者我要写书评

暂无评论

Research on the High-Precision Unmanned Operation control Algorithm of theVibroseis Vehicle

Research on the High-Precision Unmanned Operation Control Al...

引用

第40届中国控制会议

作者： LI Bin WANG Shoukun WANG Shuai WANG Junzheng LIU Shangfei State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology Beijing Institute of Technology

In order to meet the demand for high-precision operation of the vibroseis vehicle in the case of unmanned driving, an unmanned operation system that meets the working characteristics of the vibroseis vehicle is designed, and the key technical problems are studied, so that the vibroseis vehicle can operate in the complex environment of the field and improve the efficiency of geological exploration greatly. Firstly, the coordinate system and the kinematic model without sideslip of the articulated vehicle are established successively. Secondly, in order to improve the path tracking accuracy of the vibroseis vehicle, a model predictive control algorithm based on the kinematic model is designed for vehicle path tracking. In order to improve the positioning accuracy of the working point, a compensation algorithm for positioning error is proposed to reduce the positioning error caused by terrain factors. Finally, the unmanned operation platform is built and the path tracking algorithm and the compensation algorithm for positioning error are verified on the platform. The real vehicle test data shows that the path tracking algorithm proposed in this paper can control the average lateral error of the path tracking of the vibroseis vehicle within 22 *** with the PID control method, its path tracking accuracy can be improved by 59%. The average positioning error of working point is controlled within about 15 cm by adopting the compensation algorithm for positioning error.

关键词： Vibroseis vehicle Unmanned operation Path tracking Positioning compensation

来源：评论

学校读者我要写书评

暂无评论

Learning Pre-Grasp Manipulation of Flat Objects in Cluttered Environments using Sliding Primitives

Learning Pre-Grasp Manipulation of Flat Objects in Cluttered...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Jiaxi Wu Haoran Wu Shanlin Zhong Quqin Sun Yinlin Li State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China Department of Automation University of Science and Technology of China Heifei China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Science Beijing China Science and Technology on Thermal Energy and Power Laboratory Wuhan China

Flat objects with negligible thicknesses like books and disks are challenging to be grasped by the robot because of the width limit of the robot's gripper, especially when they are in cluttered environments. Pre-grasp manipulation is conducive to rearranging objects on the table and moving the flat objects to the table edge, making them graspable. In this paper, we formulate this task as Parameterized Action Markov decision Process, and a novel method based on deep reinforcement learning is proposed to address this problem by introducing sliding primitives as actions. A weight-sharing policy network is utilized to predict the sliding primitive's parameters for each object, and a Q-network is adopted to select the acted object among all the candidates on the table. Meanwhile, via integrating a curriculum learning scheme, our method can be scaled to cluttered environments with more objects. In both simulation and real-world experiments, our method surpasses the existing methods and achieves pre-grasp manipulation with higher task success rates and fewer action steps. Without fine-tuning, it can be generalized to novel shapes and household objects with more than 85% success rates in the real world. Videos and supplementary materials are available at https://***/view/pre-grasp-sliding.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Cross-Membrane Penetration to Nucleus of Adherent Cells Using Micropipettes Made by Borosilicate Glass and Quartz 17

Cross-Membrane Penetration to Nucleus of Adherent Cells Usin...

引用

17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Xu, Xinyue Liu, Xiaoming Lin, Yuqing Li, Pengyun Liu, Fengyu Tang, Xiaoqing Huang, Qiang Arai, Tatsuo Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineering Beijing100081 China

ISBN: (纸本)9781728164151

In the biomicromanipulation field, single-cell manipulation is receiving attention due to its potential applications in many aspects of biomedicine. Cell injection, as a typical cell micromanipulation technique, is devoted to introducing foreign substances into living cells by penetrating a fine micropipette into cell membranes. Direct access to the intracellular environment, especially the nucleus, provides an ideal way to gain insight into the dynamic processes of living cells. This paper presents the comparison of controlled penetrations of two types of adherent cells and their nuclei by two types of micropipettes, made of borosilicate glass and quartz respectively. Due to the differences in the cell properties (e.g., height, adhesion strength), two corresponding penetration strategies optimizing the puncture angle and puncture height, are proposed to improve the success rate of the puncture process and the survival rate of cells after the puncture. Real nucleus puncture experiments adopting the optimal puncture strategy for each type of cells and carried out by a semi-automatic system, indicated a better puncture effect by quartz pipettes. Through this method, functional materials such as peptides and nanoparticles can be potentially introduced to perturb the cell activities and then realize its full automation. © 2020 IEEE.

关键词： Quartz

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：