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Development of micro-and nanorobotics: A review

Science China(Technological Sciences) 2019年第1期62卷 1-20页

作者： YANG Jia ZHANG Chuang WANG XiaoDong WANG WenXue XI Ning LIU LianQing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Emerging Technologies Institute Department of Industrial & Manufacturing Systems Engineering University of Hong Kong

Micro-and nanorobotic is an emerging field of research arising from the cross-fusion of micro/nano technology and robotics and has become an important part of robotics. Micro-and nanorobots have the advantages of small size, low weight, large thrust-toweight ratio, high flexibility, and high sensitivity. Due to the characteristics distinguishing from macroscopic robots, micro-and nanorobots have stimulated the research interest of the scientific community and opened up numerous application fields such as drug delivery and disease diagnosis. In the past 30 years, research on micro-and nanorobots has made considerable *** article provides a comprehensive overview of the development of these robots. First, the application of the robots is reviewed. Then, the key components of the robots are discussed separately, covering their actuation, design, fabrication and control. In addition, from the perspectives of intelligence and sensing, clinical applications, materials and performance, the challenges that may be encountered in the development of such robots in the future are discussed. Finally, the entire article is summarized, and concepts for future micro-and nanorobots are described.

关键词： micro-and nanorobots magnetic actuation manipulation biohybrid robot

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Robustness and Push Recovery of Humanoid Robots Using Predictive and Whole-Body control

Robustness and Push Recovery of Humanoid Robots Using Predic...

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2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Zhang, Shaojie Ni, Fenglei Li, Xueai Li, Xu Ji, Yi Shao, Xiangyu State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Key Laboratory of Autonomous Intelligent Unmanned Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350384185

Robustness walking and recovery ability in uneven terrains and unexpected collisions are crucial for the practical application of humanoid ***, existing methods struggle to effectively balance stability, motion safety and walking *** paper proposes a hybrid control strategy combing Nonlinear Model Predictive control (NMPC) and Whole-Body control (WBC) to improve the robot's walking stability and reaction safety in collisions *** NMPC generates long-term and macroscopic movements, with capture point theory being utilized for foot placements determination under external *** this foundation, the WBC regulates the robot refinedly in real-time based on task priorities and *** verify the effectiveness of the proposed method, involving uneven terrain walking and external impacts rejection. © 2024 IEEE.

关键词： Anthropomorphic robots

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Unsupervised Anomaly Detection Approach Based on Adversarial Memory Autoencoders for Multivariate Time Series

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Computers, Materials & Continua 2023年第7期76卷 329-346页

作者： Tianzi Zhao Liang Jin Xiaofeng Zhou Shuai Li Shurui Liu Jiang Zhu Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110000China Shenyang Institute of Automation Chinese Academy of SciencesShenyang110000China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110000China University of Chinese Academy of Sciences Beijing100000China

The widespread usage of Cyber Physical systems(CPSs)generates a vast volume of time series data,and precisely determining anomalies in the data is critical for practical *** is the mainstream method for time series anomaly detection,and the anomaly is judged by reconstruction ***,due to the strong generalization ability of neural networks,some abnormal samples close to normal samples may be judged as normal,which fails to detect the *** addition,the dataset rarely provides sufficient anomaly *** research proposes an unsupervised anomaly detection approach based on adversarial memory autoencoders for multivariate time series to solve the above ***,an encoder encodes the input data into low-dimensional space to acquire a feature ***,a memory module is used to learn the feature vector’s prototype patterns and update the feature *** updating process allows partial forgetting of information to prevent model *** that,two decoders reconstruct the input ***,this research uses the Peak Over Threshold(POT)method to calculate the threshold to determine anomalous samples from normal *** research uses a two-stage adversarial training strategy during model training to enlarge the gap between the reconstruction error of normal and abnormal *** proposed method achieves significant anomaly detection results on synthetic and real datasets from power systems,water treatment plants,and computer *** F1 score reached an average of 0.9196 on the five datasets,which is 0.0769 higher than the best baseline method.

关键词： Anomaly detection autoencoder memory module adversarial training

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Polynomial Trajectory Tracking of networked Euler-Lagrange systems 33

Polynomial Trajectory Tracking of Networked Euler-Lagrange S...

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第三十三届中国控制会议

作者： WANG Yunpeng CHENG Long HOU Zeng-Guang TAN Min BIAN Guibin State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781479947249

The coordinated tracking problem of networked Euler-Lagrange systems is studied in this *** to the knowledge of classical control,an integral term can eliminate the steady-state error when solving the tracking problem.A proportional-integral-derivative(PID)tracking protocol is then rst proposed to solve the tracking problem of Euler-Lagrange systems where the leader has a quadratic *** properly choosing parameters,it is proved that all followers can asymptotically track the leader’s quadratic trajectory if the communication topology graph has a spanning ***,a so-called PImD tracking protocol is derived by adding some high-order integral *** is shown that this PImD tracking protocol can solve the tracking problem of networked Euler-Lagrange systems with a leader having the higher-order polynomial ***,two simulation examples are presented to demonstrate the effectiveness of the proposed protocol.

关键词： Coordinated tracking control,Euler-Lagrange system,Multi-agent system,Integral term,Polynomial trajectory

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High-bandwidth nanopositioning via active control of system resonance

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Frontiers of Mechanical Engineering 2021年第2期16卷 331-339页

作者： Linlin LI Sumeet S.APHALE Limin ZHU State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China The Centre for Applied Dynamics Research School of EngineeringUniversity of AberdeenAberdeen AB243UEUK The Shanghai Key Laboratory of Networked Manufacturing and Enterprise Information Shanghai 200240China

Typically,the achievable positioning bandwidth for piezo-actuated nanopositioners is severely limited by the first,lightly-damped *** overcome this issue,a variety of open-and closed-loop control techniques that commonly combine damping and tracking actions,have been reported in ***,in almost all these cases,the achievable closed-loop bandwidth is still limited by the original open-loop resonant frequency of the respective positioning *** this resonance to a higher frequency would undoubtedly result in a wider ***,such a shift typically entails a major mechanical redesign of the *** integral resonant control(IRC)has been reported earlier to demonstrate the significant performance enhancement,robustness to parameter uncertainty,gua-ranteed stability and design flexibility it *** further exploit the IRC scheme’s capabilities,this paper presents a method of actively shifting the resonant frequency of a nanopositioner’s axis,thereby delivering a wider closed-loop positioning bandwidth when controlled with the IRC *** IRC damping control is augmented with a standard integral tracking controller to improve positioning *** both damping and tracking control parameters are analytically optimized to result in a Butterworth Filter mimicking pole-placement—maximally flat passband *** are conducted on a nanopositioner’s axis with an open-loop resonance at 508 *** is shown that by employing the active resonance shifting,the closed-loop positioning bandwidth is increased from 73 to 576 ***,the root-mean-square tracking errors for a 100 Hz triangular trajectory are reduced by 93%.

关键词： nanopositioning stage high-bandwidth resonant mode control tracking control integral resonant control

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Robot-CT Scanning Oriented Synchronous Trajectory Planning of a Dual-Manipulator System 42

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

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42nd Chinese control Conference, CCC 2023

作者： Zhang, Shuaikang Yuan, Mingxing Zhang, Xuebo Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing400065 China

ISBN: (纸本)9789887581543

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. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Manipulators

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Study on the large-scale assembly and fabrication method for SWCNTs nano device

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Science China(Physics,Mechanics & Astronomy) 2013年第3期56卷 556-561页

作者： XU Ke TIAN XiaoJun WU ChengDong LIU Jian LI MengXin DONG ZaiLi State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences School of Information & Control Engineering Shenyang Jianzhu University School of Information Science and Engineering Northeastern University

The large-scale assembly and fabrication method for single-walled carbon nanotube(SWCNT) nano devices was *** of SWCNT field effect transistor(FET) was realized by floating potential dielectrophoresis *** simulation of floating potential distribution of the chip was performed by comsol multiphysics coupling *** hundred devices were assembled on the area of less than one square *** fabricated devices were characterized by atomic force microscopy and scanning electron *** experimental results showed that large-scale assembly had been realized,and the success rate of ideal assembly for SWCNT FET had been assessed.

关键词： large-scale single-walled carbon nanotube assembly floating potential dielectrophoresis

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An anthropomorphic controlled hand prosthesis system

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Journal of Zhejiang University-Science C(Computers and Electronics) 2012年第10期13卷 769-780页

作者： Hai HUANG Hong LIU Nan LI Li JIANG Da-peng YANG Lei WAN Yong-jie PANG Gerd HIRZINGER National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 China State Key Laboratory of Robot and Systems Harbin Institute of Technology Harbin 150001 Chin Institute of Robotics and Mechatronics German Aerospace Center DLR Wessling 82230 Germany

Based on HIT/DLR(Harbin Institute of Technology/Deutsches Zentrum für Luft-und Raumfahrt) Prosthetic Hand II,an anthropomorphic controller is developed to help the amputees use and perceive the prosthetic hands more like people with normal physiological *** core of the anthropomorphic controller is a hierarchical control *** is composed of a top controller and a low level *** top controller has been designed both to interpret the amputee's intensions through electromyography(EMG) signals recognition and to provide the subject-prosthesis interface control with electro-cutaneous sensory feedback(ESF),while the low level controller is responsible for grasp *** control strategies include the EMG control strategy,EMG and ESF closed loop control strategy,and voice control *** EMG signal recognition,10 types of hand postures are recognized based on support vector machine(SVM).An anthropomorphic closed loop system is constructed to include the customer,sensory feedback system,EMG control system,and the prosthetic hand,so as to help the amputee perform a more successful EMG *** results suggest that the anthropomorphic controller can be used for multi-posture recognition,and that grasp with ESF is a cognitive dual process with visual and sensory *** process while outperforming the visual feedback process provides the concept of grasp force magnitude during manipulation of objects.

关键词： Anthropomorphic controller Prosthetic hand EMG recognition Electro-cutaneous sensory feedback

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The Journey/DAO/TAO of Embodied Intelligence: From Large Models to Foundation Intelligence and Parallel Intelligence

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1313-1316页

作者： Tianyu Shen Jinlin Sun Shihan Kong Yutong Wang Juanjuan Li Xuan Li Fei-Yue Wang College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China School of Electrical and Information Engineering Jiangsu UniversityZhenjiang 212013China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Peng Cheng Laboratory Shenzhen 518000China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China IEEE

THE tremendous impact of large models represented by ChatGPT[1]-[3]makes it necessary to con-sider the practical applications of such models[4].However,for an artificial intelligence(AI)to truly evolve,it needs to possess a physical“body”to transition from the virtual world to the real world and evolve through interaction with the real *** this context,“embodied intelligence”has sparked a new wave of research and technology,leading AI beyond the digital realm into a new paradigm that can actively act and perceive in a physical environment through tangible entities such as robots and automated devices[5].

关键词： Intelligence DAO TAO

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GROUP CONSENSUS FOR MULTIPLE networked EULER-LAGRANGE systems WITH PARAMETRIC UNCERTAINTIES

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Journal of systems Science & Complexity 2014年第4期27卷 632-649页

作者： HU Hongxiang ZHANG Zhe YU Li YU Wenwu XIE Guangming Department of Mathematics Hangzhou Dianzi University Zhejiang Provincial United Key Laboratory of Embedded Systems Department of AutomationZhejiang University of Technology Department of Mathematics Southeast University School of Electrical and Computer Engineering RMIT University Faculty of Engineering King Abdulaziz University Center for Systems and Control State Key Laboratory of Turbulence and Complex SystemsCollege of EngineeringPeking University

In this paper,a group consensus problem is investigated for multiple networked agents with parametric uncertainties where all the agents are governed by the Euler-Lagrange system with uncertain *** the group consensus problem,the agents asymptotically reach several different states rather than one consistent state.A novel group consensus protocol and a time-varying estimator of the uncertain parameters are proposed for each agent in order to solve the couple-group consensus *** is shown that the group consensus is reachable even when the system contains the uncertain ***,the multi-group consensus is discussed as an extension of the couple-group consensus,and then the group consensus with switching topology is *** results are finally provided to validate the effectiveness of the theoretical analysis.

关键词： Euler-Lagrange system group consensus multi-agent systems switching topologies.

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