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检索条件"机构=Key Laboratory of Networked Control Systems State Key Laboratory of Robotics"

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PI2-CMA Based Trajectory Planning Method for the Tractor-Trailer Vehicle 6

PI2-CMA Based Trajectory Planning Method for the Tractor-Tra...

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6th IEEE International Conference on Pattern Recognition and Artificial Intelligence, PRAI 2023

作者： Wang, You Wang, Zehao Wang, Jingchuan Guo, Rui Xiao, Peng Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Institute of Medical Robotics and Department of Automation Shanghai200240 China State Grid Intelligence Technology CO. LTD China

ISBN: (纸本)9798350325485

The motion primitive-based state lattice trajectory planning method has been widely used in the field of trajectory planning. However, due to the limitations of the search space and resolution of motion primitives, and the lack of consideration of scenario information during offline generation of motion primitives, the tractor-Trailer vehicles can easily fall into "jackknife phenomenon"when making large pose adjustments in narrow scenarios, which brings dilemma for trajectory planning. In this paper, a trajectory planning algorithm is proposed based on a general model of tractor-Trailer vehicle, which combines global planning and local optimization. The method first generates a series of motion primitives, including forward and backward driving conditions, and then an A based global state lattice planner is used to obtain a planning result, which is imported as the initial solution into the local trajectory optimizer based on PI2-CMA (Path Integral Policy Improvement with Covariance Matrix Adaptation) algorithm and dynamic potential method. Experiments show that this method significantly improves the performance in the obstacle avoidance, "jackknife phenomenon"avoidance and curvature compared to traditional motion primitive-based state lattice planning methods. © 2023 IEEE.

关键词： Trajectories

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3D Vision Based Lamination Gap Detection of Carbon Fiber Composite

3D Vision Based Lamination Gap Detection of Carbon Fiber Com...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Xu, Yuanye Yuan, Libiao Liang, Wei Yang, Yutuo Liu, Shuai Zeng, Ziming Zhang, Yinlong Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Shenyang University of Chemical Technology College of Information Engineering Shenyang110142 China Shenzhen Polytechnic School of Automotive and Transportation Engineering Shenzhen518055 China

ISBN: (纸本)9798350327182

The paper presents a machine learning approach to detect laminate gaps and to classify them as open or closed. Compared with the traditional detection methods, which suffer from low precision of point cloud segmentation and poor effect of gap extraction in traditional gap detection, this paper proposes a gap detection algorithm based on 3D Vision. First, an improved undirected graph point cloud segmentation algorithm is used to overcome the under-segmentation of the target region. Second, an adaptive vector for angle discriminant model is proposed to solve the problem of poor extraction effect of the gap edge points. Finally, the B-spline curve-fitting model is used to describe the 3D points on the lamination edges. The proposed algorithm has been evaluated in a visual quality detection platform for carbon fiber composite laminates. The results show that the proposed approach is able to accurately detect and classify laminate gaps in carbon fiber composite structures, providing a reliable tool for quality control in industrial manufacturing processes. © 2023 IEEE.

关键词： Extraction

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Fault Diagnostic Opportunities for Electromagnetic Coils of Active Magnetic Bearings using Physics-of-Failure Analysis 5

Fault Diagnostic Opportunities for Electromagnetic Coils of ...

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5th International Conference on System Reliability and Safety Engineering, SRSE 2023

作者： Li, Ruiqi Wang, Kai Zeng, Peng Cao, Jiwei Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang110016 China Harbin Institute of Technology Department of Electrical Engineering China

ISBN: (纸本)9798350305944

Active magnetic bearings (AMBs) have many advantages over traditional oil bearings due to their non-contact characteristics. They are environmentally friendly solution and have been proven to be highly reliable and available. Electromagnetic coils are vital components of AMB and they are failure prone. In this paper, the failure mode of magnetic bearing coil and its corresponding failure mechanism are reviewed by FMMEA method, and the existing coil fault diagnosis methods are introduced. Future directions for coil insulation health monitoring aiming at the application characteristics of AMBs are also discussed. © 2023 IEEE.

关键词： Failure analysis

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A Pilot Study on Coupling Behaviors of Limb Movements and Brain Activation Based on EEG and fNIRS Synchronization Information

A Pilot Study on Coupling Behaviors of Limb Movements and Br...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Tang, Xi Li, Qingge Tang, Yao Tian, Lan Zheng, Yue Li, Xiangxin Jiang, Naifu Shang, Peng Li, Guanglin Peng, Liang Fang, Peng Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems The Shenzhen Engineering Laboratory of Neural Rehabilitation Technology Shenzhen518055 China University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing100190 China

ISBN: (纸本)9798350327182

Motion is one of the basic physiological functions of human beings. However, many brain diseases such as stroke may cause different degrees of motor dysfunctions for patients. As a commonly used rehabilitation method, active and passive exercise training may enhance patients' neuromuscular functions and recover their motor abilities. It is known that limb movements are strongly coupled with brain activation but there is currently insufficient exploration on the coupling behaviors from the perspective of informatics. In this study, the coupling relationship between limb movements and brain activation was preliminarily studied based on three healthy subjects. Electroencephalogram (EEG) and functional near-infrared spectroscopy (fNIRS) signals were synchronously collected during lower limb movements, and time-frequency analysis (TFA) and transfer entropy (TE) analysis were performed to quantitatively study the brain activation behaviors. In the experiments, a desynchronization phenomenon of μ rhythm in EEG was observed during exercise states, and the experimental results demonstrate the activation rule of motor and prefrontal cortexes upon limb movements. Calculations show that there exists a bidirectional flow of information between EEG and cerebral oxygen metabolism signals, but with a difference between different directions. This work may support the rehabilitation for patients with motor dysfunctions with a guidance of quantitative indicators and also benefit the exploration on neuroscience. © 2023 IEEE.

关键词： Electroencephalography

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A new SPICE modeling approach of annular MOSFET in 350 nm commercial CMOS process

A new SPICE modeling approach of annular MOSFET in 350 nm co...

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Electronic Information Engineering and Computer Technology (EIECT), International Conference on

作者： He Cheng Zhijia Yang Chao Zhang Zhipeng Zhang Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China

Annular gate MOSFETs have emerged as potential solutions for radiation-hardened electronics, demonstrating exceptional total ionizing dose tolerance. However, accurate modeling of annular MOSFETs is crucial when designing analog integrated circuits for use in radiation environments, especially when implementing commercial CMOS processes. To enable circuit simulation using tools like SPECTRE/SPICE, foundry-provided PDKs must incorporate a rigorously verified compact model of annular MOSFET behavior. TCAD simulation can then be used to numerically evaluate the current characteristics of the annular MOSFET against the refined compact model constructed from the foundry-provided PDK. In this paper, by aligning the current characteristics of a standard NMOS between TCAD and SPICE simulations, we can verify the material process conditions. Then, based on the material process parameters, the model of the annular gate MOSFET is established using the TCAD simulator. Finally, reasonable agreements are obtained between the TCAD and SPICE simulation results for the I DS -V GS and I DS -V DS characteristics.

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Semi-Global Robust Practical Output Voltage Tracking for Single-Phase UPS Inverters via Sampled-Data control

Semi-Global Robust Practical Output Voltage Tracking for Sin...

引用

第42届中国控制会议

作者： Kaiji Zeng Wei Liu Weijie Sun Weidong Liu Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSchool of Automation Science and EngineeringSouth China University of Technology

This paper deals with the sampled-data semi-global robust practical output voltage tracking problem for single-phase voltage source uninterruptible power supply *** construct an aperiodic sampled-data state feedback control law in an internal model principle *** analysis shows that as long as the upper bound of the sampling time interval of the controller is less than an explicitly computable threshold,our problem can be handled by the proposed sampled-data control *** the tracking error is guaranteed to approach a given neighborhood of the origin asympotically.

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Event-Triggered Output Voltage Practical Tracking control for Uninterruptible Power Supply systems

Event-Triggered Output Voltage Practical Tracking Control fo...

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第35届中国控制与决策会议

作者： Ben Wu Wei Liu Weijie Sun Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSchool of Automation Science and EngineeringSouth China University of Technology

In this paper,by using the output regulation theory,we research the output voltage practical tracking problem for uninterruptible power supply systems under event-triggered control *** configuring the desired poles for a controllable pair and solving the regulator equations,a state feedback gain and a feedforward gain can be obtained for designing the control ***,under event-triggered mechanism,a control law that can be applied to a digital platform directly is designed to solve our ***,it can be verified that the voltage tracking error can converge to a pre-specified neighborhood of the origin.

关键词： Uninterruptible power supply output regulation event-triggered control

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Design of Gravity Compensation Scheme for Passive Lifting Method of Multi-degree Freedom Robotic Arm

Design of Gravity Compensation Scheme for Passive Lifting Me...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Jing Sun Chaoran Wei Haotai Chen Bin Wang Xingguang Li Qiang Zhang Space Drive and Manipulation Mechanism Laboratory Beijing Institute of Control Engineering Beijing China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China

Before launching a spacecraft, it is necessary to undergo micro low gravity simulations on the ground to test its reliability. The lifting method is not limited by movement time and space, and can simulate long-term low gravity environments. However, the degree of freedom of spatial mechanisms is gradually increasing, and the motion is becoming increasingly complex, making traditional lifting methods unable to meet the needs. In response to the above issues, a lifting gravity simulation scheme for a multi degree of freedom robotic arm that can achieve complex motion is proposed. The design adopts a single sling combined with a hanger to avoid interference during the motion process. Finally, simulation and experiments have proven the feasibility of the scheme - it can achieve efficient unloading without affecting the normal movement of the equipment.

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System Design and Workspace Optimization of a Parallel Mechanism-Based Portable Robot for Remote Ultrasound 8

System Design and Workspace Optimization of a Parallel Mecha...

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8th International Conference on Automation, control and robotics Engineering, CACRE 2023

作者： Deng, Zhaokun Hou, Xilong Hao, Mingrui Wang, Shuangyi Institute of Automation Chinese Academy of Sciences The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Hong Kong Institute of Science and Innovation Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong

ISBN: (纸本)9798350302776

The robotic ultrasound system has the potential to improve the conventional practice of diagnosing. Because of the adequate degrees of freedom embedded in a small footprint, the parallel mechanism-based ultrasound robot has attracted attention in the field. However, the analysis of its configuration, design parameters, and workspace is limited. To solve this issue and further promote the potential clinical translation, this paper proposes a task-driven, two-stage mechanism optimization method using the effective regular workspace and the local condition index to determine the parameters for the demanding clinic workspace of a parallel mechanism-based ultrasound robot. The design and implementation method of the robot are then introduced, along with the justification of parameter selection. To analyze the performance, an optical tracking-based experiment and a phantom-based human-robot comparison study were performed. The results show that the workspace meets the required clinical needs, and despite its small footprint, the mechanism could have a reasonable workspace. The kinematic error was found to be 0.2 mm and 0.3°. Based on the above results and the quantitative analysis of the ultrasound images acquired manually and robotically, it was concluded that the robot can effectively deliver the demand function and would be a promising tool for further deployment. © 2023 IEEE.

关键词： Ultrasonics

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Design and Implementation of Industrial Real-Time Ethernet Redundant Network Based on Parallel Redundancy Protocol

Design and Implementation of Industrial Real-Time Ethernet R...

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Computer Science, Electronic Information Engineering and Intelligent control Technology (CEI), IEEE International Conference on

作者： Mingxu Gang Bingjun Yan Bo Hu Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

Industrial real-time Ethernet technology is widely used in modern industrial control systems due to its high communication rate and low application cost. However, in complex network environments, industrial real-time Ethernet may encounter data collisions, data loss, and other issues, which reduce the overall reliability of industrial control systems. To address these issues, a method for designing and implementing industrial real-time Ethernet redundancy networks based on parallel redundancy protocols is proposed. The method first analyzes the redundant data frame structure, dual-connected node (DANP) structure, and redundancy implementation principle of parallel redundancy protocols (PRP). Then, aiming at the standard redundancy discard algorithm principle and its shortcomings, an improved sliding window redundancy discard algorithm is proposed to adapt to complex network environments. Based on the discard algorithm, dual-connected redundancy nodes are designed and implemented. Finally, the dual-connected redundancy nodes are used as the core to construct industrial real-time Ethernet redundancy networks. The test results show that in a PRP-based industrial real-time Ethernet redundant network, when a single redundant network fails, the system can switch without delay, greatly improving the reliability of the industrial control system communication network

关键词： Protocols Industrial control Computer network reliability Redundancy Ethernet Complex networks Reliability engineering

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