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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Shao, Jiawei Gan, Yahui Dai, Xianzhong School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education NanJing China

ISBN: (纸本)9798350300178

To realize dual-robot autonomous path planning and realization, the trajectory planning research of dual-robot is carried out using the open-source robot operating system ROS as the simulation platform. The motion planning-related file configuration is completed by using MoveIt! In trajectory planning, cubic spline interpolation is performed on the trajectory points generated by the RRT-Connect path planning algorithm to complete the planning of the dual-arm assembly task. The communication between ROS nodes and ROS is established in the controller, and the processed trajectory points are communicated with the controller through ROS-Industrial. The experimental results show that the trajectory of the dual robot movement process is smooth and continuous, the stability is strong, and the error is small, which can ensure the completion of basic assembly tasks. © 2023 IEEE.

关键词： Motion planning

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Mean-square exponential stability for stochastic time-varying delay systems with Markovian jumping parameters:a delay decomposition approach

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Journal of systems engineering and Electronics 2011年第5期22卷 816-824页

作者： Li Ma Feipeng Da Key Laboratory of Measurement and Control for Complex Systems of Engineering Ministry of Education Research Institute of Automation Southeast University Nanjing 210096 E R. China College of Electronic and Information Engineering Jiangsu University Zhenjiang 212013 P. R. China

The mean-square exponential stability problem is investigated for a class of stochastic time-varying delay systems with Markovian jumping parameters. By decomposing the delay interval into multiple equidistant subintervals, a new delay-dependent and decay-rate-dependent criterion is presented based on constructing a novel Lyapunov functional and employing stochastic analysis technique. Besides, the decay rate has no conventional constraint and can be selected according to different practical conditions. Finally, two numerical examples are provided to show that the obtained result has less conservatism than some existing ones in the literature.

关键词： stochastic systems time-varying delay Markov chain linear matrix inequality （LMI）.

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Research on Drag control Algorithm of Cooperative Robot Based on Torque Compensation

Research on Drag Control Algorithm of Cooperative Robot Base...

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2021 China Automation Congress, CAC 2021

作者： Zhu, Dezhi Gan, Yahui Dai, Xianzhong School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9781665426473

At present, the teaching methods of collaborative robot drag based on joint current feedback mainly include integral and partial dynamics model, both of which can make robots dragged. However, there are few researches aimed at the advantages and disadvantages of the drag effect and the specific application requirements of the systematic comparative study. Based on the above problems, two zero-force control methods are used on the same 6 degree-of-freedom(DOF) cooperative robot in this paper. And method of torque compensation is improved by parameter identification. Firstly, both of the two methods need to model and analyse the robotic arm. However, processes of the method based on integral dynamics model are modeling, excitation trajectory, filtering, identification and vertification. The zero-force control based on partial dynamics model mainly focuses on the compensation of gravity torque and static friction torque. The gravity term in the dynamic equation is adopted by modeling. The difference in this part is that the parameters of gravity moment function are identified, that is, the weight moment is calculated under the condition of the mass and center of mass deviation are unknown. Finally, NaiWei robot which is a six-joints cooperative robot in China is taken as the experimental object to test and compare. The experimental results show that method of partial dynamics model needs smaller force than integral dynamics model. And the comparison of drag power can be displayed by sensor. © 2021 IEEE

关键词： Force control

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Solving the Collaborative Problem in the Process of Dual-Arm Robot Assembly Based on Fully Constrained Synchronous Collaboration Mode

Solving the Collaborative Problem in the Process of Dual-Arm...

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2022 Chinese Automation Congress, CAC 2022

作者： Sui, Shunfan Gan, Yahui Dai, Xianzhong Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing China

ISBN: (纸本)9781665465335

In this paper, a fully constrained collaboration synchronization model is proposed to solve the cooperative problem in the dual-arm assembly process. Compared with the single-arm robot, the dual-arm robot has higher flexibility and larger working space, but it is more difficult to control. It has its inherent constraint relationship during movement. The dual-arm cooperation constraint is the basis of the dual-arm motion planning. The paper first analyzes the constraint relationship between the two arms when the rigid body is transported by the two arms and the assembly of the shaft hole respectively. The study finds that there are many common points between the two movements: during the movement process, the two manipulators always maintain a constraint relationship with the object. On this basis, the full constraint is proposed to solve the position and pose constraints of the tool hands when the arms are moved. Finally, the simulation experiment of dual-arm handling rigid body and shaft-hole assembly is carried out to verify that the proposed dual-arm cooperation mode can effectively realize the dual-arm cooperative motion. © 2022 IEEE.

关键词： Motion planning

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Self-evolution of an assembly workshop in knowledgeable manufacturing environment

Self-evolution of an assembly workshop in knowledgeable manu...

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2nd International Conference on Precision Mechanical Instruments and measurement Technology, ICPMIMT 2014

作者： Jiang, Tian-Hua Yan, Hong-Sen School of Automation MOE Key Laboratory of Measurement and Control of Complex Systems of Engineering Southeast University Nanjing 210096 China

ISBN: (纸本)9783038351948

In this study, the self-evolution problem of knowledgeable manufacturing systems is studied by taking an assembly workshop as an example. The rolling horizon procedure (RHP) is adopted to implement the self-evolution process of the workshop. The whole dynamic self-evolution process is decomposed into several static decision processes. At each decision point, a static decision sub-problem needs to be solved. A general mathematical model of these sub-problems is built, and a bi-level genetic algorithm (BiGA) is designed. Simulation results show that the model and algorithm are feasible and effective. By comparison, the system with self-evolution operations has a better production performance. © (2014) Trans Tech Publications, Switzerland.

关键词： Genetic algorithms

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Prescribed-Time Nash Equilibrium Seeking for Pursuit-Evasion Game

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1518-1520页

作者： Lei Xue Jianfeng Ye Yongbao Wu Jian Liu D.C.Wunsch Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationNanjing 210096 School of Automation Southeast UniversityNanjing 210096China Department of Electrical and Computer Engineering Missouri University of Science and TechnologyRollaMO 65409 USA IEEE

Dear Editor,This letter is concerned with prescribed-time Nash equilibrium(PTNE)seeking problem in a pursuit-evasion game(PEG)involving agents with second-order *** order to achieve the prior-given and user-defined convergence time for the PEG,a PTNE seeking algorithm has been developed to facilitate collaboration among multiple pursuers for capturing the evader without the need for any global ***,it is theoretically proved that the prescribedtime convergence of the designed algorithm for achieving Nash equilibrium of ***,the effectiveness of the PTNE method was validated by numerical simulation results.A PEG consists of two groups of agents:evaders and *** pursuers aim to capture the evaders through cooperative efforts,while the evaders strive to evade *** is a classic noncooperative *** has attracted plenty of attention due to its wide application scenarios,such as smart grids[1],formation control[2],[3],and spacecraft rendezvous[4].It is noteworthy that most previous research on seeking the Nash equilibrium of the game,where no agent has an incentive to change its actions,has focused on asymptotic and exponential convergence[5]-[7].

关键词： seeking prescribed convergence

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Time-Optimal and Smooth Trajectory Planning Based on Continuous Pseudo-Acceleration 8

Time-Optimal and Smooth Trajectory Planning Based on Continu...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Wang, Xin Gan, Yahui Dai, Xianzhong School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9798350300178

The current time-optimal trajectory planning based on dynamics does not take into account the continuity of joint torque. Although the time obtained by the solution of the original time-optimal path parameterization (TOPP) algorithm is optimal, the joint torque obtained by the solution is not continuous, and the discontinuous joint torque will cause the manipulator to resonate, which will reduce the accuracy of the trajectory, making the obtained trajectory in practical engineering applications cannot be effectively applied. Therefore, this paper improves the problem of discontinuous torque on the basis of the TOPP algorithm, and proposes to use a quadratic polynomial curve to deal with the discontinuous part of the pseudo-acceleration in the phase plane composed of position and pseudo-acceleration, which not only ensures the integrity of the path, but also makes the joint torque continuous and smoothes the joint torque trajectory to some extent. This method is verified by the simulation experiment of the two-link manipulator. © 2023 IEEE.

关键词： Trajectories

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Missing Small Bolt Detection on High-speed Train Using Improved Yolov5 8

Missing Small Bolt Detection on High-speed Train Using Impro...

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8th International Conference on systems and Informatics, ICSAI 2022

作者： Wei, Yiming Lu, Xiaobo Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing China

ISBN: (纸本)9781665474481

Tiny bolts are widely used on high-speed trains, playing an important role in fixing train components. However, because of the complex running environment of trains, missing bolts occur from time to time and may cause traffic accidents, resulting in property damage and, in serious cases, endangering the lives of the occupants. Therefore, it is essential to detect missing bolts on high-speed trains. The bolts discussed in this paper are generally located on the underside of high-speed trains and their small size makes detection more difficult. In this paper, we first expand the dataset, and then add the Attention module and Transformer based on YOLOv5, and change the FPN of YOLOv5 to BiFPN, fuse the features of different layers using different weights, and crop the high-resolution original image during training and testing, and finally return to the original image. Our method eventually achieves 95.3% AP, effectively improving the detection accuracy. © 2022 IEEE.

关键词： Statistical tests

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A zeroth-order algorithm for distributed optimization with stochastic stripe observations

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Science China(Information Sciences) 2023年第9期66卷 297-298页

作者： Yinghui WANG Xianlin ZENG Wenxiao ZHAO Yiguang HONG School of Automation and Electrical Engineering University of Science and Technology Beijing Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Department of Control Science and Engineering Tongji University

Recent years have seen a rising interest in distributed optimization problems because of their widespread applications in power grids, multi-robot control, and regression *** the last few decades, many distributed algorithms have been developed for tackling distributed optimization problems. In these algorithms, agents over the network only have access to their own local functions and exchange information with their neighbors.

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End-point Steady control for Whole-Body control Mobile Manipulators by Null Space Tunation 8

End-point Steady Control for Whole-Body Control Mobile Manip...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Zhang, Enjin Gan, Yahui Dai, Xianzhong School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education NanJing China

ISBN: (纸本)9798350300178

This paper deal with the end-point steady control problem of a mobile manipulators(MM) at the velocity level. Mobile manipulators are usually kinematically redundant when performing tasks, so multiple subtasks can be performed simultaneously, such as tracking the trajectory of the end effector(EE), optimizing manipulability, etc. First, the mobile manipulators system is modeled as an ordinary jointed manipulator. The velocity of the EE has a higher priority, scheduling low-priority tasks in the null space of high-priority tasks leaves high-priority tasks unaffected. The damped least square method is used to generate a kinematic inverse solution with singular robustness, and the gradient projection method is used to optimize the manipulability measure. By analyzing the structure of the Jacobian matrix, the complexity of gradient calculation is reduced. Finally, the effectiveness of the proposed algorithm is verified by simulation experiments. © 2023 IEEE.

关键词： Jacobian matrices

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