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作者： Hao Zhao Renbo Xia Yueling Chen Liming Tao Daixian Zhao Tianyu Zhang Key Laboratory of Networked Control System Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences University of Chinese Academy of Sciences

Inspired by the idea of the coordinate transformation of the robot arm, the tube structure is analogized to the robot arm structure, and the conversion method of the tube bend processing parameters LRA to the three-dimensional coordinate points is obtained. The method first regards the tube as a "mechanical arm";then, using the similarity of the LRA processing parameters and DH parameters, all the LRA parameters are converted into D-H parameters;finally, the D-H parameter method is applied to calculate the distance between each axis of the " mechanical arm ". If the first space coordinate point is defined as the origin of the base coordinate system (0, 0, 0), then the position of the origin of other coordinate systems in the base coordinate system can be obtained;It has been proved by experiments that this method fast and feasible.

关键词： Tube Coordinates Fast Conversion Method Mechanical Arm D-H Parameter Method

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Robot Teaching by Teleoperation Based on Visual Interaction and Neural Network Learning

Robot Teaching by Teleoperation Based on Visual Interaction ...

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2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Yang Xu Chenguang Yang Junpei Zhong Hongbin Ma Lijun Zhao Min Wang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of Technology National Institute of Advanced Industrial Science and Technology School of Automation Beijing Institution of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

Traditional methods of Robot teaching require human demonstrators to program with a teaching pendant,which is a complex and time-consuming *** this paper,we propose a novel method based on teleoperation which allows a demonstrator to train robot in an intuitive *** specifically,at the beginning the demonstrator controls a robot by visual *** then a learning algorithm based on radial basis function(RBF) network is used to transfer the demonstrator's motions to the *** verify the effectiveness of this developed methods,several simulation experiments have been carried out which based on Microsoft Kinect Sensor and the Virtual Robot Experimentation Platform(V-REP).The experimental results show that this method has achieved satisfactory *** the help of this method,the robot can not only complete the task autonomously after teaching,but also can learn the details of demonstrator's behavior.

关键词： Robot Teaching Teleoperation radial basis function(RBF) network

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Robot-CT Scanning Oriented Synchronous Trajectory Planning of a Dual-Manipulator system

Robot-CT Scanning Oriented Synchronous Trajectory Planning o...

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Chinese control Conference (CCC)

作者： Shuaikang Zhang Mingxing Yuan Xuebo Zhang Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin P. R. China Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing P. R. China

At present, most CT scanning systems adopt the traditional horizontal O-frame, suspension or C-arm structures, which can not balance the flexibility and functionality. With the development of robot technology, CT scanning systems based on manipulators have gradually emerged. However, limited by the motion accuracy of the manipulator, most researchers sacrifice the flexibility or increase the mass to improve the accuracy. To overcome this limitation, a new master-slave teaching-based scanning method is proposed to improve the scanning accuracy of the dual-manipulator Robot-CT system with the auxiliary function of rigid links. First, a rigid link is employed to connect the end effectors of the two manipulators. Next, the sampled trajectory of each joint of the slave-manipulator is recorded while the master-manipulator pulls the slave-manipulator to perform a circular motion. Finally, when carrying out the scanning, the dual-manilupator system reproduces the recorded joint trajectory without the rigid element, thereby improving the accuracy of the dual-manipulator CT scanning system to achieve a high-accuracy spatiotemporal synchronization and alignment of pose. To this end, a fifth-order spline interpolation is used to interpolate the sampled trajectory of each joint of the slave-manipulator, which allows it to perfectly reproduce the joint trajectory recorded during the teaching process and ensures the smoothness of the angular velocity and acceleration curves. Simulations are investigated and the corresponding results confirm the effectiveness of the trajectory planning method of the slave-manipulator.

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Solving online for time-varying pth root via ZD from real domain to complex domain

Solving online for time-varying pth root via ZD from real do...

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International Conference on Information Science and Technology (ICIST)

作者： Yunong Zhang Deyang Zhang Zhengli Xiao Hongzhou Tan Zhen Li Key Laboratory of Autonomous System and Networked Control Ministry of Education Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China School of Information Science and Technology Sun Yat-sen University Guangzhou China

In this paper, continuous-time Zhang dynamics (CTZD) models and discrete-time Zhang dynamics (DTZD) models are proposed to solve in real time for the time-varying pth root, from real domain to complex domain. In addition, the convergence properties of the proposed Zhang dynamics (ZD) models are discussed and proved. Furthermore, exploiting different parameters in the proposed ZD models is investigated in order to achieve superior convergence and better accuracy. Computer-simulation and experiment results further substantiate the efficacy of the proposed ZD models. Moreover, the superiority of DTZD models is verified by comparing with Newton-Raphson iteration (NRI).

关键词： Computational modeling Polynomials Force Lead Convergence Logic gates

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ZG control for 2-output tracking of 3-input nonlinear system with GD used additionally twice more

ZG control for 2-output tracking of 3-input nonlinear system...

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International Conference on Information and Automation (ICIA)

作者： Yunong Zhang Ming Liu Yinyan Zhang Zeqi Chen Hongzhou Tan Key Laboratory of Autonomous System and Networked Control Ministry of Education Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China School of Information Science and Technology Sun Yat-sen University Guangzhou China

ISBN: (纸本)9781467391054

In this paper, the Zhang-gradient (ZG) method, which is a combination of Zhang dynamics (ZD) and gradient dynamics (GD) methods, is proposed for solving the tracking control problem of the multiple-input multiple-output (MIMO) system. Different from the traditional ZG method, GD is used additionally twice more in this paper to get through the derivation procedure. Moreover, each GD parameter is tunable for each GD design formula instead of being traditionally assigned the same value, which is the key point in this research for making simulations successful. Besides, simulation verifications further illustrate that the proposed controller group based on the ZG method achieves not only satisfactory tracking accuracy but also rapid tracking rate.

关键词： Trajectory Nonlinear systems MIMO Accuracy Automation Linear systems

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Adaptive frequency hopping in industrial Wireless Sensor Networks: A decision-theoretic framework

Adaptive frequency hopping in industrial Wireless Sensor Net...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Meng Zheng Bo Yang Wei Liang Haibin Yu Lin Chen Laboratory of Industrial Control Network and System Shenyang Institute of Automaton Shenyang France Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang France University of Chinese Academy of Sciences Beijing France Laboratoire de Recherche en Informatique (LRI) University of Paris-Sud XI Orsay France

This paper proposes an adaptive frequency hopping (AFH) approach that allows Industrial Wireless Sensor Networks (IWSNs) to cognitively switch working channels for high transmission reliability. Assuming the communication spectrum state follows a Markov Process (MP), we build a theoretical AFH framework based on the theory of Markov Decision Process (MDP). With this decision-theoretic framework, we can achieve an AFH strategy that maximizes the expected cumulative transmission reliability over a finite horizon. Judging the high computational complexity of the proposed MDP model, we further propose a myopic AFH with reduced complexity by assuming that each channel evolves independently. Without additional computation burdens or control messages exchange between sensors, the proposed AFH strategies are centrally computed by the network manager. Simulations finally demonstrate the efficiency of the proposed AFH strategies.

关键词： Wireless sensor networks Sensors Reliability Wireless communication Computational modeling Complexity theory Ad hoc networks

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Aspect-Ratio and Scale Aware Rotated Defect Detection for Fiber-reinforced Composites

Aspect-Ratio and Scale Aware Rotated Defect Detection for Fi...

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Computer Vision, Image and Deep Learning (CVIDL), International Conference on

作者： Yuanye Xu Yuanhao Liu Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Institute of Automation University of Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350373820

ISBN: (纸本)9798350373837

Detecting surface defects in carbon fiber-reinforced composites (FRCs) during prepreg stacking is crucial for ensuring product quality. Traditional methods using horizontal bounding boxes (HBBs) for defect detection often lead to overlapping boxes and inaccurate results. This paper proposes an Aspect-Ratio and Scale Aware Detector network (ARSADet) specifically designed for rotated defect detection in FRCs. The network incorporates a Gabor convolutional network for feature extraction, an aspect-ratio and scale-aware label assignment method, and a newly established FRCs Oriented Defect Detection dataset (FODD). Evaluation on the FODD dataset demonstrates superior performance compared to existing methods.

关键词： Deep learning Stacking Detectors Optical fiber networks Feature extraction Product design Quality assessment

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High-Accuracy Pose Estimation for 3D Reconstruction Considering the Manipulator Motion Constraints with an Eye-in-Hand RGB-D Camera

High-Accuracy Pose Estimation for 3D Reconstruction Consider...

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Chinese control Conference (CCC)

作者： Yanling Zhou Xuebo Zhang Runhua Wang Shiyong Zhang Mingxing Yuan Jing Yuan Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin P. R. China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin P. R. China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education

Three-dimensional(3D) environmental reconstruction of the manipulator workspace is a prerequisite to enable autonomous collision-free path planning and subsequent task execution, wherein the positioning accuracy of the equipped sensor is one key issue to determine the performance of 3D reconstruction. In this paper, an eye-in-hand RGB-D camera is used to complete the manipulator workspace scanning and a novel high-accuracy pose estimation method for 3D reconstruction is proposed, which not only considers the geometric and photometric constraints constructed from the visual information used in traditional methods, but also considers the manipulator motion constraints since the positioning accuracy of the manipulator is usually high. Based on above three constraints, three error functions are constructed respectively and fused with different weights to form an integrated objective function. Then, the problem is converted into solving the least squares problem by the Gaussian Newton nonlinear iterative method, which involves the computation of Jacobian matrices and residuals of the three error functions. To this end, the mathematical derivation of their formulas considering the manipulator motion constraints are given in detail. By qualitative and quantitative experimental comparison with traditional methods, the proposed method can greatly improve the accuracy of pose estimation and 3D reconstruction, which always maintains the error within 3 cm, and show good robustness even in the challenging environments with weak texture or geometric features. (Supplemented video link: https://***/FkFTxssnWms)

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Obstacle avoidance path planning for six-DOF manipulator based on voronoi diagram

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Journal of Information and Computational Science 2014年第18期11卷 6663-6671页

作者： Zhang, Guansheng Zhang, Qinghua Zhang, Yi Research Center of Intelligent System and Robot Chongqing University of Posts and Telecommunications Chongqing China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing China School of Mathematics and Physics Chongqing University of Posts and Telecommunications Chongqing China

In order to solve obstacle avoidance for manipulator in static environment, a method of obstacle avoidance path planning for six-DOF manipulator based on the Configuration space (C-space) and Voronoi diagram is proposed in this paper. Obstacles in the workspace are mapped to the C-space at first. Several Voronoi cells are chosen from the obstacles and the path map based on Voronoi diagram in the C-space is generated, then the obstacle avoidance path planning from the starting point to the target point is completed. Finally, the experiment results show that compare to obstacle avoidance path planning for manipulator based on A* algorithm, this method has lower search cost and ensures manipulator keep a greater distance with obstacles.

关键词： Motion planning

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PID parameters optimization research for hydro turbine governor by an improved fuzzy particle swarm optimization algorithm

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Open Electrical and Electronic Engineering Journal 2016年 10卷 101-117页

作者： Chen, Gonggui Yangwei, Du Yanyan, Guo Shanwai, Huang Lilan, Liu Key Laboratory of Industrial Wireless Network and Networked Control of Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Research Center on Complex Power System Analysis and Control Chongqing University of Posts and Telecommunications Chongqing400065 China The Department of Locomotive and Vehicle Engineering Wuhan Railway Vocational College of Technology Wuhan430205 China

Parameter optimization of water turbine regulating system (WTRS) is decisive in providing support for the power quality and stability analysis of power system. In this paper, an improved fuzzy particle swarm optimization (IFPSO) algorithm is proposed and used to solve the optimization problem for WTRS under frequency and load disturbances conditions. The novel algorithm which is based on the standard particle swarm optimization (PSO) algorithm can speed up the convergence speed and improve convergence precision with combination of the fuzzy control thought and the crossover thought in genetic algorithm (GA). The fuzzy control is employed to get better dynamics of balance between global and local search capabilities, and the crossover operator is introduced to enhance the diversity of particles. Two different types of WTRS systems are built and analyzed in the simulation experiments. Furthermore, the sum of regulating time and another number that is the integral of sum for absolute value of system error and the squared governor output signal is considered as the fitness function of this algorithm. The simulation experiments for parameter optimization problem of WTRS system are carried out to confirm the validity and superiority of the proposed IFPSO, as compared to standard PSO, Ziegler Nichols (ZN) algorithm and fuzzy PID algorithm in terms of parameter optimization accuracy and convergence speed. The simulation results reveal that IFPSO significantly improves the dynamic performance of system under all of the running conditions. © Gonggui et al.

关键词： Fuzzy control

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