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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Wenpeng Wei Tianyi He Yifan Men Jinxiang Wang Lu Xiong Guodong Yin Key Laboratory of Measurement and Control of Complex Systems of Engineering School of Mechanical Engineering Southeast University Nanjing China Department of Mechanical and Aerospace Engineering Utah State University Logan UT USA ZDrive.ai 7th Floor Block T2 Ali Center 1398 Shenchang Road Minhang District Shanghai China School of Mechanical Engineering Southeast University Nanjing China School of Automotive Studies Tongji University Shanghai China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

In this paper, the problem of clamping force control for the Electromechanical Brake (EMB) system in autonomous vehicles is addressed. A nonlinear model predictive control framework is proposed to solve for the optimal maneuver at each optimization step to realize accurate clamping force tracking. First, the EMB system is modeled to a state-space representation through the first-principle modeling; Second, a control framework that includes three blocks is proposed to achieve clamping force tracking. The first block designs a clamping force separation strategy and an unknown input observer based on Kalman filter is applied to estimate the clamping force to replace the force sensors; the second block develops an adaptive estimation of polynomial coefficients to deal with the time-varying coefficients to improve model adaptiveness; the last block conceives the nonlinear model predictive control to track the reference force, and the resulted nonlinear programming is solved by the multiple shooting method. Finally, the proposed framework is validated to achieve faster tracking speed and more accurate tracking in multiple simulation scenarios.

关键词： Adaptation models Force Predictive models Observers Prediction algorithms Polynomials Clamps Kalman filters Force control Predictive control

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Collaborative Localization of Aerial and Ground Mobile Robots through Orthomosaic Map

Collaborative Localization of Aerial and Ground Mobile Robot...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Xuecheng Xu Zexi Chen Jiaxin Guo Yue Wang Yunkai Wang Rong Xiong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground system. The proposed approach aims to help precisely matching the map constructed by two independent systems who have large scale variance of view points of the same route and eventually enables the ground mobile robot to localize itself in the global map given by the drone. It contains dense mapping with Elevation Map and software “Metashape”, map matching with a proposed template matching algorithm, weighted normalized cross correlation (WNCC) and localization with particle filter. The approach enables map matching for cooperative SLAM with a feasibility of multiple scene sensors, varies from stereo cameras to lidars, and is insensitive to the synchronization of the two systems. We demonstrate the accuracy, robustness, and the speed of the approach under experiments of the Aero-Ground Dataset [1].

关键词： Mobile robots Robots Cameras Robot vision systems Simultaneous localization and mapping Collaboration Correlation

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Radar-on-Lidar: metric radar localization on prior lidar maps

Radar-on-Lidar: metric radar localization on prior lidar map...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Huan Yin Yue Wang Li Tang Rong Xiong State Key Laboratory of Industrial Control and Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

Radar and lidar, provided by two different range sensors, each has pros and cons of various perception tasks on mobile robots or autonomous driving. In this paper, a Monte Carlo system is used to localize the robot with a rotating radar sensor on 2D lidar maps. We first train a conditional generative adversarial network to transfer raw radar data to lidar data, and achieve reliable radar points from generator. Then an efficient radar odometry is included in the Monte Carlo system. Combining the initial guess from odometry, a measurement model is proposed to match the radar data and prior lidar maps for final 2D positioning. We demonstrate the effectiveness of the proposed localization framework on the public multisession dataset. The experimental results show that our system can achieve high accuracy for long-term localization in outdoor scenes.

关键词： Laser radar Radar Sensors Radar imaging Robots Three-dimensional displays Two dimensional displays

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A heterogeneous master-slave teleoperation method for 7-DOF manipulator

A heterogeneous master-slave teleoperation method for 7-DOF ...

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Chinese Automation Congress (CAC)

作者： Rong Su Ke Xu Liang Zhao Peng Yu School of Information and Control Engineering Shenyang Jianzhu University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665426480

Teleoperation is widely used because of its ability to extend human behavior and perception to slave robots. In this paper, we use a wearable exoskeleton as the master device for human-robot interaction, which can obtain the movement posture of the operator naturally and intuitively. The slave device uses a 7-DOF redundant manipulator similar to the human arm structure, which improves flexibility without being over redundant. In addition, an inverse kinematics method is proposed to meet the requirements of anthropomorphic remote operation of master-slave heterogeneity. Simulation experiments are carried out in combination with MATLAB and ROS RVIZ environment to prove the performance of the heterogeneous teleoperation control method.

关键词： Performance evaluation Exoskeletons Position control Human-robot interaction Kinematics Manipulators Main-secondary

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Performance Analysis of Multi-RIS-Aided LoRa systems With Outdated and Imperfect CSI

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IEEE Transactions on Communications 2024年

作者： Liang, Zhaokun Cai, Guofa He, Jiguang Kaddoum, Georges Huang, Chongwen Guangdong University of Technology School of Information Engineering China Ministry of Education Key Laboratory of Industrial Internet of Things and Networked Control Chongqing University of Posts and Telecommunications Chongqing400065 China Great Bay University School of Computing and Information Technology China University of Oulu Centre for Wireless Communications Oulu90014 Finland University of Quebec Electrical Engineering Department École de Technologie Supérieure MontrealQCH2L 2C4 Canada Lebanese American University Artificial Intelligence and Cyber Systems Research Center United States Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China

Although LoRa has emerged as the leading technology among the rapidly developing low-power wide-area networks, the performance of the LoRa system severely deteriorates over fading channels. To address this problem, in this paper, we introduce multiple reconfigurable intelligent surfaces (multi-RISs) into the LoRa system to improve its performance. Our specific focus is on the impact of outdated channel state information (CSI), the imperfection of estimated CSI, and the design of RIS discrete phase shifts on the performance. To this end, we first use the moment-matching method to obtain the end-to-end (E2E) channel coefficient of the joint outdated channels and erroneous channels over Nakagami-m fading. Moreover, the closed-form bit error rates (BERs) of the proposed system with non-coherent and coherent detections are derived. The results reveal that, in the high signal-to-noise ratio (SNR) regime, coherent detection encounters the error floor and performs worse than non-coherent detection. Furthermore, we also analyze delay outage rate, throughput, and achievable diversity order of the proposed system. The results show that, despite the presence of outdated CSI and channel estimation errors, the proposed system is still superior to RIS-aided LoRa systems adopting blind transmission and RIS-free ones. Finally, we also thoroughly investigate the effects of various important factors such as the correlation factor, channel estimation errors, the number of RIS reflecting elements, and the number of quantization bits for RIS discrete phase shifts on the performance. © 1972-2012 IEEE.

关键词： Fading channels

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Position control of XY precision planar motion table based on input shaping filter

Position control of XY precision planar motion table based o...

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International Conference on Electronics, Communications and Information Technology (CECIT)

作者： HuaLiang Zhang Xu Lu DanPing Jia BingJie Zhao Tao Zhang Yang Liu HongYu Yan 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 School of Artificial Intelligence Shenyang University of Technology Shenyang China School of Information Science and Engineering Shenyang University of Technology Shenyang China

ISBN: (纸本)9781665437585

In order to solve the vibration problem of mining equipment, a Simulink simulation model of current loop, speed loop and position loop of permanent magnet synchronous motor was established to track the input position signal of the motor system.[1] At the same time, the input shaper is introduced into the motor three loop control model to study the vibration suppression effect of the input shaper.[2] The essence of the input shaper is to filter the input signal. Usually, the parameters of the input shaper need to be accurately identified and the detailed parameters of the system need to be identified. However, the problem that the identification accuracy of the system is not enough often makes the parameters of the shaper uncertain. In view of the problem that the system identification is not accurate, a method of adjusting and setting input shaper parameters is designed, which is not very dependent on the system. The results show that the optimal parameters of the shaper can be selected by the method. Compared with the parameters of the shaper selected according to the identification model, the vibration suppression effect is better.

关键词： Vibrations Analytical models Tracking loops Software packages Magnetic separation Transfer functions Position control

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Muscle Synergy Analysis Based on NMF for Lower Limb Motor Function Assessment

Muscle Synergy Analysis Based on NMF for Lower Limb Motor Fu...

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IEEE International Conference on robotics and Biomimetics

作者： Kexin Xiang Weiqun Wang Zeng-Guang Hou Chutian Zhang Jiaxing Wang Weiguo Shi Yuze Jiao Tianyu Lin State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China School of Artifificial Intelligence University of Chinese Academy of Sciences Beijing China CASIA-MUST Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology Macao Macau Institute of Systems Engineering Macau University of Science and Technology Macau China CASIA-MUST Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology China

ISBN: (纸本)9781665481106

Accurate rehabilitation assessments are essential for designing effective rehabilitation methods and helping patients recover better. It's well known that commonly used scale assessment methods for neurorehabilitation suffer from the issue of subjectivity, thus investigation of objective assessment methods is very necessary. Muscle synergy analysis can be uesd to assess limb motor functions from the perspective of neuromuscular control. In this paper, a method for evaluation of human lower limb motor functions based on muscle synergy analysis is presented. Muscle synergy modules are designed using surface electromyography (sEMG) signals of the subjects' lower limbs by non-negative matrix factorizations (NMF). By comparing the cosine similarities of these synergy modules, it can be seen that muscle synergies of healthy subjects and patients are significantly different, while they are similar among healthy subjects. Therefore, a reference synergy module (RSM) is designed by averaging the muscle synergy modules for healthy subjects, and the similarities can be calculated by comparing the synergy modules for healthy subjects or patients with the RSM. In the experiment carried out in this study, average similarities of the three synergy modules for healthy subjects are respectively 0.97166, 0.87368 and 0.84932, and on the other hand, the average similarities for the three synergy modules for patients are respectively 0.59979, 0.56426 and 0.69042. Therefore, the similarities for healthy subjects are much higher than those for SCI patients, which denotes that the similarity between an individual synergy module and the RSM can be used as an objective assessing index for evaluating patients' motor function.

关键词： Neuromuscular Biomimetics Stability criteria Muscles Electromyography Indexes Robots

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Research on the corrosive effect of inactive sulfur on oil-paper insulation 7

Research on the corrosive effect of inactive sulfur on oil-p...

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7th IEEE International Conference on High Voltage Engineering and Application, ICHVE 2020

作者： Gao, Sihang Li, Jiajun Ke, Tingjing Liu, Yang Ding, Dong Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing China State Grid Chongqing Electric Power Company Chongqing Chongqing China Baoding Electric Power Corporation Baoding China State Key Lab. of Transmission Distribution Equipment and Power System Safety and New Technology Chongqing University Chongqing China

ISBN: (纸本)9781728155111

Sulfur corrosion induced by active sulfur has been proved to significantly decrease the insulation performance of oil-immersed equipment. In order to protect the oil-paper insulation from sulfur corrosion, active sulfur is cleared in the refining process of crude oil. Some inactive sulfur with high-efficiency antioxidant is still retained in the mineral oil to improve the oxidation stability of oil, such as thiophenic compounds. However, the corrosive effect of inactive sulfur on the oil-paper insulation has not yet clear. Therefore, thiophene that is the largest content of sulfide in the insulating oil was selected as the research object, a series of accelerated thermal ageing experiments of oil-paper without and with thiophene under the different high temperature were conducted, scanning electron microscope equipped with an energy-dispersive X-ray spectrometer (SEM/EDX) and inductively coupled plasma atomic emission spectrometry (ICP-AES) were used to characterize the corrosion degree of oil-paper insulation. The results show that no corrosive deposit was observed on the surface of oilpaper insulation without thiophene even at very high temperature, while a few corrosive deposit was accumulated on the surface of oil-paper insulation with 500 mg/kg thiophene. The corrosion degree of oil-paper insulation with thiophene had an uptrend as the increase of temperature (130°C-180°C), preliminarily indicating that thiophene may be activated in the oil-paper system under the action of overheating fault of oil-immersed transformer and posed a corrosion threat to oil-paper insulation. © 2020 IEEE.

关键词： Scanning electron microscopy

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Research and practice of lightweight digital twin speeding up the implementation of flexible manufacturing systems 1

Research and practice of lightweight digital twin speeding u...

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Zhang, Xiaodong Hu, Bin Xiong, Gang Liu, Xinjie Dong, Xisong Li, Dongjia School of Information Engineering Yantai Institute of Technology Yantai China Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijing China Qingdao Academy of Intelligent Industries Chinese Academy of Sciences Beijing China Yantai University Department of Mechanical and Electrical Engineering Yantai China School of Artificial Intelligence Yantai Institute of Technology Yantai China

ISBN: (纸本)9781665433372

Parallel manufacturing in Industry 5.0 requires digital twin to digitize physical systems, building virtual models to open up channels connecting physical systems, information systems, and social systems, and transforming the physical models of the existing production environment to achieve two-way feedback of virtual and real is the current research direction. This paper proposes the modeling idea of lightweight digital twin, extracts core dimensions and performs digital virtual simulation, so as to quickly realize the complete process of two-way feedback, and realize a set of chess flexible parallel manufacturing production lines as a practice for the design of complete lightweight digital twin. © 2021 IEEE.

关键词： Industrial research

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Research on Collaboration Method of Edge IoT Agent Based on Actor Model

Research on Collaboration Method of Edge IoT Agent Based on ...

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Power and Energy Engineering (ICPEE), International Conference on

作者： Bowen Zhang Weiwei Miao Lei Wei 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 Information & Telecommunication Branch State Grid Jiangsu Electric Power Co. Ltd. Nanjing China State Grid Jiangsu Electric Power Co. Ltd. Nanjing China

ISBN: (纸本)9781665420471

Focusing on the resource constrained IoT agent collaboration requirements at the edge of the power Internet of things, this paper proposes an edge agent collaborative computation method based on Actor model to satisfy the rapid processing and response requirements of large-scale data in the perception layer of the power Internet of things. Through a unified programming model, this paper can divide the collection and analysis of sensing data in the sensing layer of the power Internet of things into functional components, which can be deployed in different edge IoT agents, to improve the rapid processing ability of edge-side data. At the same time, the components achieve the function cooperation through the message passing mechanism. Finally, this paper implements the proposed scheme based on Akka framework, and designs the edge IoT agent collaborative computing prototype. The prototype system experiments show that the proposed scheme can split the complex services with high resource requirements into different components and deploy them in different edge IoT agents. The proposed method can improve the resource utilization and data processing capacity of the edge IoT agent of the power Internet of things, while ensuring the real-time requirements of edge service analysis.

关键词： Computational modeling Message passing Collaboration Prototypes Programming Data models Real-time systems

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