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arXiv 2024年

作者： Chen, Zhuo Ou, Ni Jiang, Jiaqi Luo, Shan Robot Perception Lab Centre for Robotics Research Department of Engineering King’s College London LondonWC2R 2LS United Kingdom State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing tactile sensors which may have incurred damage or aging. However, the conventional neural-network-based force calibration method necessitates a large volume of force-labeled tactile images to minimize force prediction errors, with the need for accurate Force/Torque measurement tools as well as a time-consuming data collection process. To address this challenge, we propose a novel deep domain-adaptation force calibration method, designed to transfer the force prediction ability from a calibrated optical tactile sensor to uncalibrated ones with various combinations of domain gaps, including marker presence, illumination condition, and elastomer modulus. Experimental results show the effectiveness of the proposed unsupervised force calibration method, with lowest force prediction errors of 0.102N (3.4% in full force range) for normal force, and 0.095N (6.3%) and 0.062N (4.1%) for shear forces along the x-axis and y-axis, respectively. This study presents a promising, general force calibration methodology for optical tactile sensors. Copyright © 2024, The Authors. All rights reserved.

关键词： Forecasting

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Event-triggered Consensus control of Heterogeneous Multi-agent Systems: Model- and Data-based Analysis

arXiv

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arXiv 2022年

作者： Wang, Xin Sun, Jian Wang, Gang Chen, Jie The School of Automation The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing10081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China The Department of Control Science and Engineering Tongji University Shanghai201804 China The State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China

This article deals with model- and data-based consensus control of heterogenous leader-following multi-agent systems (MASs) under an event-triggering transmission scheme. A dynamic periodic transmission protocol is developed to significantly alleviate the transmission frequency and computational burden, where the followers can interact locally with each other approaching the dynamics of the leader. Capitalizing on a discrete-time looped-functional, a model-based consensus condition for the closed-loop MASs is derived in form of linear matrix inequalities (LMIs), as well as a design method for obtaining the distributed controllers and event-triggering parameters. Upon collecting noise-corrupted state-input measurements during open-loop operation, a data-driven leader-following MAS representation is presented, and employed to solve the data-driven consensus control problem without requiring any knowledge of the agents' models. This result is then extended to the case of guaranteeing an H∞ performance. A simulation example is finally given to corroborate the efficacy of the proposed distributed event-triggering scheme in cutting off data transmissions and the data-driven design method. Copyright © 2022, The Authors. All rights reserved.

关键词： Linear matrix inequalities

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TransForce: Transferable Force Prediction for Vision-based Tactile Sensors with Sequential Image Translation

arXiv

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arXiv 2024年

作者： Chen, Zhuo Ou, Ni Zhang, Xuyang Luo, Shan The Robot Perception Lab Centre for Robotics Research Department of Engineering King's College London LondonWC2R 2LS United Kingdom The State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

Vision-based tactile sensors (VBTSs) provide high-resolution tactile images crucial for robot in-hand manipulation. However, force sensing in VBTSs is underutilized due to the costly and time-intensive process of acquiring paired tactile images and force labels. In this study, we introduce a transferable force prediction model, TransForce, designed to leverage collected image-force paired data for new sensors under varying illumination colors and marker patterns while improving the accuracy of predicted forces, especially in the shear direction. Our model effectively achieves translation of tactile images from the source domain to the target domain, ensuring that the generated tactile images reflect the illumination colors and marker patterns of the new sensors while accurately aligning the elastomer deformation observed in existing sensors, which is beneficial to force prediction of new sensors. As such, a recurrent force prediction model trained with generated sequential tactile images and existing force labels is employed to estimate higher-accuracy forces for new sensors with lowest average errors of 0.69N (5.8% in full work range) in x-axis, 0.70N (5.8%) in y-axis, and 1.11N (6.9%) in z-axis compared with models trained with single images. The experimental results also reveal that pure marker modality is more helpful than the RGB modality in improving the accuracy of force in the shear direction, while the RGB modality show better performance in the normal direction. Copyright © 2024, The Authors. All rights reserved.

关键词： RGB color model

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Path Tracking control of Tracked Paver Based on Improved Pure Pursuit Algorithm

Path Tracking Control of Tracked Paver Based on Improved Pur...

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第40届中国控制会议

作者： Shuai Wang Shanshan Fu Bin Li Shoukun Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

This paper investigates the high-precision path tracking control of tracked paver combined with global satellite navigation *** the paver is performing paving operations,it requires high path tracking accuracy and good vehicle ***,considering the influence of road curvature on path tracking accuracy and vehicle stability,and the situation that the vehicle can not move quickly to the expectation path when the lateral position of the vehicle deviates from the expectation path,this paper proposes a lateral path tracking control method based on improved Pure Pursuit *** control method is verified through *** experimental results show that the maximum lateral tracking error of the improved algorithm is 0.04 m,which is 55.56% lower than that of the original algorithm,and the average lateral tracking error is 0.02 m,which is60% lower than that of the original *** purpose of high-precision path tracking of the paver is realized.

关键词： Tracked paver Path tracking Road curvature Pure Pursuit algorithm

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Forecasting Approach in Fuzzy Time Series Based on Information Granules

Forecasting Approach in Fuzzy Time Series Based on Informati...

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第40届中国控制会议

作者： Kaixin Zhao Yaping Dai Ye Ji Jiayi Sun School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Aiming at a large number of ambiguous,imprecise and incomplete data in the real world,fuzzy time series has come into being and developed into an effective forecasting *** the process of modeling and forecasting of fuzzy time series,the prediction performance of fuzzy time series can be effectively improved by partitioning the universe of discourse into different *** this paper,a forecasting approach for fuzzy time series,which introduces the granularity mechanism into interval division and employs differential data for incremental forecasting,is proposed to solve the problem of time series forecasting with high forecasting *** the proposed approach,in order to describe the fuzzy logic relationship and fuzzy trend of historical data,we first do differential processing on the historical ***,Fuzzy C-means(FCM) clustering algorithm is used to generate several partition intervals *** the sequel,we use the principle of justifiable granularity to constantly adjust the width of all the intervals,so that these information granules associated with corresponding intervals become the most"informative" information ***,the boundary of information granules is used as the basis of interval division to complete the forecasting *** illustrative example is provided to demonstrate the essence of the proposed *** comparative experiment with other representative approaches shows that the proposed approach can significantly improve the prediction accuracy of time series.

关键词： Fuzzy Time Series Information Granules Unequal-sized Intervals Forecasting

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Dynamic Resource Scheduling Based on Improved Genetic Algorithm

Dynamic Resource Scheduling Based on Improved Genetic Algori...

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第40届中国控制会议

作者： Gui Yuanyuan School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Aiming at the problem of how to realize the reasonable distribution of goods and the resource scheduling of route planning under dynamic conditions, a phased refresh method is proposed to deal with the requirements in sections. At the same time, the clustering method is introduced to generate the initial population. And the cross and mutation rate is determined by a step-by-step reduction method, which is used to solve the problem of the traditional genetic algorithm falling into the local optimum caused by the uneven distribution of searchable solutions. Finally, the effectiveness of the improved method is verified by simulation experiments.

关键词： resource scheduling phased refresh improved genetic algorithm

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Aerial battlefield targets grouping based on DTW-DBSCAN algorithm

Aerial battlefield targets grouping based on DTW-DBSCAN algo...

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第40届中国控制会议

作者： Shao Zhuang Chen Chen School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

Targets grouping is the basis of second-level information fusion,which can effectively assist commanders to make *** aerial targets grouping algorithm only takes the radar acquisition data at the current time as the object and cannot update the clustering results automatically.A grouping method combining dynamic time warping(DTW) and the algorithm Density-Based Spatial Clustering of Applications with Noise(DBSCAN) is *** DTW distance of each attribute historical time-series data is used to measure the similarity between ***,an improved DBSCAN algorithm is used for *** simulation results show that the method has better grouping effect and can automatically cluster regularly.

关键词： targets grouping dynamic time warping density clustering

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The Separate Meter in Separate Meter Out control System Using Dual Servo Valves Based on Indirect Adaptive Robust Dynamic Surface control

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Journal of Systems Science & complexity 2019年第2期32卷 557-576页

作者： CHEN Guangrong WANG Junzheng WANG Shoukun ZHAO Jiangbo SHEN Wei The Key Laboratory of Drive and Control of Servo Motion Systems Beijing Institute of Technology The Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

Due to the demand for energy efficiency in electro-hydraulic systems, the separate meter in and separate meter out(SMISMO) control system attracts vast attention. In this paper, the SMISMO control system was configured with two servo valves to control the meter in and meter out *** designing two of the proposed indirect adaptive robust dynamic surface controllers(IARDSC)for the working-side and off-side system and setting the coupled items as estimated parameters, the SMISMO control system was decoupled into two subsystems completely. Here, indirect adaptive robust control(IARC) was employed to address the internal parameter uncertainties and external *** surface control(DSC) was utilized in the backstepping design procedure of IARC to deal with the inherent ‘explosion of terms' problem. As thus, the proposed IARDSC could simplify the design procedure, decrease the computational cost, and achieve an improved control performance in practical use. Finally, experimental results validated the effectiveness of proposed IARDSC and showed that the proposed SMISMO control system could provide a possibility to save more energy.

关键词： Dynamic surface control indirect adaptive robust control parameter estimation SMISMO stability analysis

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A Review of Recent Advances in Coordination Between Unmanned Aerial and Ground Vehicles

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无人系统（英文） 2021年第2期9卷 97-117页

作者： Yulong Ding Bin Xin Jie Chen School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China Peng Cheng Laboratory Shenzhen 518055P.R.China School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of TechnologyBeijing 100081P.R.China

Coordination between unmanned aerial vehicles(UAVs)and unmanned ground vehicles(UGVs)has received increasing attention in recent *** list of successful applications of UAV-UGV coordination systems is growing and demonstrates that UAV-UGV coordination can provide real-world solutions that other types of coordination cannot *** paper systematically reviews the advances in UAV-UGV coordination systems during the period of 2015-2020 and offers a comprehensive investigation and analysis of the recent ***,the essential elements in the UAV-UGV coordination systems are analyzed,and four key functional roles are *** close collaboration among functional roles can achieve the UAV-UGV coordination on perception,task,and *** the perspective of functional roles,UAV-UGV coordination systems can be further classified into eight *** functional-role-based category pro-vides novel insights into analyzing various patterns of UAV-UGV *** paper also discusses the challenges related to UAV-UGV coordination.

关键词： UAV-UGV coordination systems air-ground collaboration unmanned aerial vehicle unmanned ground vehicle

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Autonomous Tracking control for Four-Wheel Independent Steering Robot Based on Improved Pure Pursuit

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Journal of Beijing Institute of Technology 2020年第4期29卷 466-473页

作者： Jing Li Qingbin Wu Junzheng Wang Hui Qin Jiehao Li Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of TechnologyBeijing 100081China

Autonomous tracking control is one of the fundamental challenges in the field of robotic autonomous navigation,especially for future intelligent *** this paper,an improved pure pursuit control method is proposed for the path tracking control problem of a four-wheel independent steering *** on the analysis of the four-wheel independent steering model,the kinematic model and the steering geometry model of the robot are *** the path tracking control is realized by considering the correlation between the look-ahead distance and the velocity,as well as the lateral error between the robot and the reference *** experimental results demonstrate that the improved pure pursuit control method has the advantages of small steady-state error,fast response and strong robustness,which can effectively improve the accuracy of path tracking.

关键词： autonomous tracking control four-wheel independent steering robot pure pursuit lateral error

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