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Health assessment method of industrial robot reducer based on deep belief network 11

Health assessment method of industrial robot reducer based o...

11th IEEE Annual International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2021

作者： Ji, Chengcheng Wang, Kai Yuan, Decheng Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China College of Information Engineering Shenyang University of Chemical Technology Shenyang110142 China

ISBN: (纸本)9781665425278

Industrial robots are the most representative equipment in smart manufacturing system. Reducers, which are one of the key components of industrial robots, account for a significant portion of failures in industrial robots. It is thus important to evaluate health status of reducers during the operation of industrial robots. A deep-level probability directed graph model-Deep Belief Network (DBN) is used to assess health status for industrial robot reducer in this paper. First, in the pre-training stage of the deep belief network, the weights closer to the optimal are trained layer by layer through the Restricted Boltzmann Machine (RBM) from bottom to top. Secondly, in the fine-tuning stage of the deep belief network, the weights are tuned through the backpropagation algorithm. Finally, the deep belief network model is verified through experiments, which shows that the DBN has a high diagnosis accuracy for health assessment of industrial robot reducer. © 2021 IEEE.

关键词： Industrial robots

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Design, Dynamic Modeling and control of a 2-DOF Robotic Wrist Actuated by Twisted and Coiled Actuators

arXiv

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arXiv 2025年

作者： Zhang, Yunsong Zhou, Xinyu Zhang, Feitian Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory of Turbulence and Complex Systems Peking University Beijing100871 China Department of Electrical and Computer Engineering Michigan State University East LansingMI48824 United States

Robotic wrists play a pivotal role in the functionality of industrial manipulators and humanoid robots, facilitating manipulation and grasping tasks. In recent years, there has been a growing interest in integrating artificial muscle-driven actuators for robotic wrists, driven by advancements in technology offering high energy density, lightweight construction, and compact designs. However, in the study of robotic wrists driven by artificial muscles, dynamic model-based controllers are often overlooked, despite their critical importance for motion analysis and dynamic control of robots. This paper presents a novel design of a two-degree-of-freedom (2-DOF) robotic wrist driven by twisted and coiled actuators (TCA) utilizing a parallel mechanism with a 3RRRR configuration. The proposed robotic wrist is expected to feature lightweight structures and superior motion performance while mitigating friction issues. The Lagrangian dynamic model of the wrist is established, along with a nonlinear model predictive controller (NMPC) designed for trajectory tracking tasks. A prototype of the robotic wrist is developed, and extensive experiments are conducted to validate its superior motion performance and the proposed dynamic model. Subsequently, extensive comparative experiments between NMPC and PID controller were conducted under various operating conditions. The experimental results demonstrate the effectiveness and robustness of the dynamic model-based controller in the motion control of TCA-driven robotic wrists. Copyright © 2025, The Authors. All rights reserved.

关键词： Industrial manipulators

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Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadrotor with Unicycle-Driven and Rotor-Assisted Turning

Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadroto...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zhi Zheng Jin Wang Yuze Wu Qifeng Cai Huan Yu Ruibin Zhang Jie Tu Jun Meng Guodong Lu Fei Gao The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Institute of Zhejiang University Hangzhou China Robotics Research Center of Yuyao City Ningbo China The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China Center for Data Mining and Systems Biology College of Electrical Engineering Zhejiang University Hangzhou China

The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight capabilities are achieved through a quadrotor config-uration, with four thrust-providing actuators. Additionally, rolling motion is facilitated by a unicycle-driven and rotor-assisted turning structure. By utilizing terrestrial locomotion, the vehicle can overcome rolling and turning resistance, thereby conserving energy compared to its flight mode. This innovative approach not only tackles the inherent challenges of traditional rotorcraft but also enables the vehicle to roll through narrow gaps and overcome obstacles by taking advantage of its aerial mobility. We develop comprehensive models and controllers for the Roller-Quadrotor and validate their performance through experiments. The results demonstrate its seamless transition between aerial and terrestrial locomotion, as well as its ability to safely roll through gaps half the size of its diameter. Moreover, the terrestrial range of the vehicle is approximately 2.8 times greater, while the operating time is about 41.2 times longer compared to its aerial capabilities. These findings underscore the feasibility and effectiveness of the proposed structure and control mechanisms for efficient rolling through challenging terrains while conserving energy.

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A 5G-Based Switching Method Between a Local controller and an Edge controller

A 5G-Based Switching Method Between a Local Controller and a...

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IEEE International Conference of Intelligent Robotic and control Engineering (IRCE)

作者： Xiulian Wang Jinggao Lin Xi Jin Changqing Xia Chi Xu College of Automation and Electrical Engineering Shenyang Ligong University China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

With the rapid development of edge computing, industrial automation has evolved a two-layer distributed computing architecture, including local controllers communicating through wired networks and edge controllers communicating wirelessly. The edge controllers in existing studies use WIFI, which has a limited working distance and requires independent network deployment, so they are unsuitable for future large-scale complex industrial production. At present, 5G technology is undergoing rapid development in the field of industrial automation, with wide coverage and excellent mobility, gradually becoming suitable for future large-scale and complex industrial production scenarios. Therefore, this paper proposed an SW5G method based on 5G, which combined the local controller with the edge controller. The controllers were switched according to the constantly changing 5G network transmission delay, thereby optimizing the overall system control performance. Finally, simulation experiments demonstrated good control performance of SW5G in various network scenarios.

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Autonomous Mobile Robot Navigation using Adaptive Neuro Fuzzy Inference System

Autonomous Mobile Robot Navigation using Adaptive Neuro Fuzz...

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2022 International Conference on Innovations and Development of Information Technologies and robotics, IDITR 2022

作者： Haider, Muhammad Husnain Ali, Hub Khan, Abdullah Aman Zheng, Hao Bhutta, M. Usman Maqbool Usman, Shaban Zhi, Pengpeng Wang, Zhonglai University of Electronic Science and Technology of China Chengdu China Yangtze Delta Region Institute Huzhou China Casia State Key Laboratory for Management & Control of Complex Systems Beijing China Sichuan Artificial Intelligence Research Institute Yibin China The Chinese University of Hong Kong Robotics Lab Mae Hong Kong

ISBN: (纸本)9781665409322

Navigation of autonomous robots in unknown and cluttered environments lies among the marked trends in robotics. Unlike animals and humans, the collision-free movement of a robot is challenging and requires processing complex information. An autonomous robot needs to cope with a large amount of uncertainty while navigating. The previous methods have limitations, such as lacking obstacle avoidance behaviour, having a large number of governing rules, designing a separate controller for each navigation and obstacle avoidance, not considering the robot's dynamics, computationally expensive training, and poor performance in a cluttered environment. This paper proposes a method that comprises a single adaptive neuro fuzzy inference system (ANFIS) based controller with 16 rules compared to hundred of rules used by previous methods to address such problems. Our method takes heading angle along with distance sensors data as input. AU the inputs are fuzzified into linguistic variables such as near-far and left-right. Additionally, a fuzzy inference system (FIS) is designed and trained using the generated dataset for optimum performance of ANFIS. The proposed method efficiently provides collision-free navigation of the mobile robot in densely cluttered environments. Comprehensive experiments are performed to prove the robustness and potency of the proposed ANFIS controller. Moreover, the performance of the proposed method is compared with various previous methods. The results of these comparisons indicate our proposed method's superiority in finding a near-optimal path. © 2022 IEEE.

关键词： Navigation

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A Novel ADRC control Strategy for PWM Rectifier

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IFAC-PapersOnLine 2023年第2期56卷 422-427页

作者： Wei Wang Zixin Huang Ziang Wei Lejun Wang School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan China Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing China

Aiming at current harmonics, disturbance immunity and energy efficiency of pulse width modulation (PWM) rectifier system, a novel active disturbance rejection control (ADRC) strategy based on equivalent input disturbance (EID) is proposed. The circuit equations of the system are established, and then the underactuated characteristics of the model are used to design a dual closed-loop control strategy. Based on the conventional ADRC voltage loop controller, a new nonlinear error state feedback function is constructed by using the error estimation of the EID control to design a improved ADRC control strategy. The current loop adopts sliding mode controller. Simulation models are built by Matlab/Simulink, and conducted comparative tests. The results demonstrate that the novel ADRC control strategy has better performance than the traditional ADRC control strategy, faster DC voltage response rate, higher power factor and better results in resisting voltage disturbance and load disturbance.

关键词： PWM rectifier Underactuated characteristics Equivalent input interference Active disturbance rejection control Sliding mode control

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Gait Planning and Motion control Based on Vrep Simulation for Quadruped Robot

Gait Planning and Motion Control Based on Vrep Simulation fo...

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WRC Symposium on Advanced robotics and Automation (WRC SARA)

作者： Linqi Zhou Zhihua Chen Jun Liu Zhi Liu Yumeng Chen Liting Zhang key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition and MOE Key Lab of Nondestructive Testing Technology Nanchang Hangkong University Nanchang China State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

Gait planning of quadruped robots plays an important role in achieving less walking, including dynamic and static gait. In this article, a static and dynamic gait control method based on center of gravity stability margin is proposed. Firstly, the robot model and kinematics modeling are introduced. Secondly, the robot’s foot static and dynamic gait were planned and the foot trajectory was designed. Finally, two types of gait of the robot were simulated using Vrep simulation software, and the differences in stability and speed between the coordinated gait with speed and stability in the static and dynamic gait of a 12 degree of freedom robot were analyzed, verifying the effectiveness of the gait control method proposed in this paper.

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Sora for foundation robots with parallel intelligence:three world models,three robotic systems

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Frontiers of Information Technology & Electronic Engineering 2024年第7期25卷 917-923页

作者： Lili FAN Chao GUO Yonglin TIAN Hui ZHANG Jun ZHANG Fei-Yue WANG School of Information and Electronics Beijing Institute of TechnologyBeijing 100081China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Computer and Information Technology Beijing Jiaotong UniversityBeijing 100044China School of Electrical Engineering Wuhan UniversityWuhan 430072China

This paper outlines the initial steps and basic framework for developing foundation/infrastructure robots/robotics based on foundation models and parallel intelligence,as well as the potential applications of new art... 详细信息

关键词： artificial foundation intelligence

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E-3DGS: 3D Gaussian Splatting with Exposure and Motion Events

arXiv

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arXiv 2024年

作者： Yin, Xiaoting Shi, Hao Bao, Yuhan Bing, Zhenshan Liao, Yiyi Yang, Kailun Wang, Kaiwei State Key Laboratory of Modern Optical Instrumentation Zhejiang University China School of Robotics and National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University China College of Information Science and Electronic Engineering Zhejiang University China The Chair of Robotics AI and Real-Time Systems Technical University of Munich Germany

Achieving 3D reconstruction from images captured under optimal conditions has been extensively studied in the vision and imaging fields. However, in real-world scenarios, challenges such as motion blur and insufficient illumination often limit the performance of standard frame-based cameras in delivering high-quality images. To address these limitations, we incorporate a transmittance adjustment device at the hardware level, enabling event cameras to capture both motion and exposure events for diverse 3D reconstruction scenarios. Motion events (triggered by camera or object movement) are collected in fast-motion scenarios when the device is inactive, while exposure events (generated through controlled camera exposure) are captured during slower motion to reconstruct grayscale images for high-quality training and optimization of event-based 3D Gaussian Splatting (3DGS). Our framework supports three modes: High-Quality Reconstruction using exposure events, Fast Reconstruction relying on motion events, and Balanced Hybrid optimizing with initial exposure events followed by high-speed motion events. On the EventNeRF dataset, we demonstrate that exposure events significantly improve fine detail reconstruction compared to motion events and outperform frame-based cameras under challenging conditions such as low illumination and overexposure. Furthermore, we introduce EME-3D, a real-world 3D dataset with exposure events, motion events, camera calibration parameters, and sparse point clouds. Our method achieves faster and higher-quality reconstruction than event-based NeRF and is more cost-effective than methods combining event and RGB data. By combining motion and exposure events, E-3DGS sets a new benchmark for event-based 3D reconstruction with robust performance in challenging conditions and lower hardware demands. The source code and dataset will be available at https://***/MasterHow/E-3DGS. Copyright © 2024, The Authors. All rights reserved.

关键词： Exposure controls

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Joint Design of Radar Receive Filter and Unimodular ISAC Waveform with Sidelobe Level control

arXiv

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arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

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