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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Chen, Jingxiang Liu, Chao Cui, Rongxin Yang, Chenguang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China LIRMM CNRS-University of Montpellier France School of Marine Engineering Northwestern Polytechnical University Xi'an China Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom

ISBN: (纸本)9781728158594

In this paper, by using the combination of Leap Motion and Myo armband, two methods for hand tracking and online hand gesture identification are proposed. With the proposed methods, We have improved the measurement accuracy of the palm direction and solved the problem of insufficient accuracy when the palm is at the limit of the measurement range. We use the Kalman filter algorithm and the neural network classification method to process the data measured by Leap Motion and Myo, so that the tracking of the operator's hand gesture is more accurate and robust even when the hand is at positions close to the measurement limit of one single sensor. The methods, which improve the hand tracking accuracy, can be used for robotic control, demonstration or teleoperation. The effectiveness of the proposed methods has been demonstrated through comparative experiments. © 2019 IEEE.

关键词： Palmprint recognition

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Glaucoma Detection: Joint Segmentation and Classification Framework via Deep Ensemble Network

Glaucoma Detection: Joint Segmentation and Classification Fr...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Siyu Li Zhen Li Limin Guo Gui-Bin Bian Beijing University of Technology Beijing PR China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Clinical research shows that glaucoma is primarily caused by pathological changes in the optic nerve structure, which may bring about irreversible damage of sight. In relevant literature research, the cup-to-disc ratio (CDR) is mainly used as an important indicator for glaucoma detection, which needs to segment optic disc (OD) and optic cup (OC) region clearly and accurately. However, due to the low contrast image of boundary, the segmentation of OD and OC is still a challenging problem. In this paper, a novel hybrid model based on the ensemble random-forest deep-neural-network (RF-DNN) is proposed for OD and OC segmentation, which can calculate more accurately for glaucoma detection. At the same time, the advantages of DNN and ensemble RF are combined to carry out the corresponding feature extraction and classification, which employs the winner-takes-all strategically to the segmentation and classification for glaucoma detection. Finally, the experiment result shows that the proposed method has reached the best evaluation level in terms of OD and OC segmentation results on ORIGA dataset and SCES dataset, which achieves highest diagnosis accuracy with AUC of 0.96 and 0.98 on ORIGA dataset and SCES dataset, respectively.

关键词： Feature extraction Image segmentation Training Optical imaging Decoding Neural networks Robots

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Design of a robotic fish based on a passive flexible mechanism

Design of a robotic fish based on a passive flexible mechani...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Lu, Ben Fu, Yuzhuo Zou, Qianqian Deng, Sai Zhou, Chao Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781728163215

In recent years, along with the rapid development of manufacturing, control, sensing and other technologies, biomimetic robotic fish has played an increasingly important role in marine exploration, underwater rescue, water quality monitoring and other fields. This paper designed a robotic fish based on a passive flexible mechanism to realize the fish-like propulsion function. The motion simulation of the designed transmission mechanism was carried out to get the actual curve of the structure. Through the analysis of the force of the fishtail, the preliminary selection scheme of the elastic joints based on the passive flexible mechanism was obtained. Finally, this paper built a robotic fish based on a passive flexible mechanism, which could achieve the motion frequency adjustable from 0.5 to 9 Hz, and the maximum swimming speed reaching 1.05 BL/s (BL, body length). This design scheme provided a new reference for the design of the biomimetic robotic fish and had certain practical significance. © 2019 IEEE.

关键词： Fish

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Design and validation of an asymmetric bowden-cable-driven series elastic actuator

Design and validation of an asymmetric bowden-cable-driven s...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Sun, Ning Cheng, Long Tian, Lin Hou, Zeng-Guang Tan, Min Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China University of Chinese Academy of Sciences China

ISBN: (纸本)9781728163215

Weight, size and torque control for hand exoskeleton robots are challenging due to lack of small and compact bidirectional torque actuators. In this paper, an asymmetric Bowden-cable-driven series elastic actuator (ABLE-SEA) for hand exoskeleton robots was proposed based on the fact that the required torques for finger movements are asymmetric. Compared to series elastic actuator and transmission system that were designed separately, the elastic elements of ABLESEA were placed in transmission parts to connect series elastic actuator with transmission system, which makes system compact. ABLE-SEA is 71 mm × 19.5mm × 20mm in dimension and weighs 30g except motor which is placed remotely. The dynamic model of ABLE-SEA was established, and feedback proportional-derivative (PD) control plus a feed-forward term was used to track the reference torque for the ABLE-SEA. The reference torque tracking test at different frequencies was performed at the developed prototype. Meanwhile, the peak torque of ABLE-SEA was tested. The experimental results verified that the torque bandwidth of the proposed series elastic actuator could reach 4Hz, and the peak torque of ABLE-SEA could reach 0.3Nm, which meet the design requirement. © 2019 IEEE.

关键词： Torque

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Application of Iterative Learning control in X-Y Precision Planar Motion Platform

Application of Iterative Learning Control in X-Y Precision P...

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Chinese Automation Congress (CAC)

作者： Hongyu Yan Danping Jia Tao Zhang Hualiang Zhang Yingjie Xiong Xu Lu Yang Liu School of Artificial Intelligence Shenyang University of Technology Shenyang China School of Information Science and Engineering Shenyang University of Technology Shenyang 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 School of Electrical Engineering Dalian University of Technology Dalian China College Of Information Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9781665426480

The size of the tracking error is one of the important indicators to measure the control system of the X-Y Precision Planar Motion Platform. Iterative learning control (ILC) can obtain higher tracking accuracy through multiple iterations. However, it is found in experiments that the tracking error of the XY precision motion stage using ordinary PD-type iterative learning will eventually fluctuate in a relatively range, and some high-frequency Noise will seriously affect the stability of the system after many iterations. Aiming at the above problems, a PD-type variable gain open-closed loop ILC with a low-pass filter is proposed. This control scheme can effectively remove high-frequency noise and reduce tracking errors. Finally, a hardware-in-the-loop real-time simulator is used to conduct a comparative experiment. Through comparison with PID controller and ordinary PD-type ILC, the experimental consequence show that this arithmetic has a smaller tracking error than the other two algorithms.

关键词： Tracking loops Tracking Low-pass filters control systems Size measurement Stability analysis Real-time systems

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Dynamic Balance and Trajectory Tracking control of Quadruped Robots Based on Virtual Model control

Dynamic Balance and Trajectory Tracking Control of Quadruped...

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第三十九届中国控制会议

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology

As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the virtual components interact between robots and environments. In this paper, a virtual model control is proposed to do the dynamic balance control of quadruped robots in trot gait. In each leg, virtual model control includes swing phase control of robots and stance phase counterparts. In whole body, based on the forces/torques distribution method between two stance legs, virtual model control is mainly about the attitude control containing roll, pitch and yaw. Then, an intuitive approach of velocity control is employed for the locomotion of quadruped robots. Based on the velocity planning and control, a trajectory tracking control approach is investigated by considering four factors: terrain complexity index, curvature radius of given trajectory, distance to terminal, and maximum velocity of quadruped robots. Finally, the effectiveness of proposed controllers is validated by co-simulations.

关键词： Virtual model control Dynamic balance control Trajectory tracking control Quadruped robots

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Research on optimization method of routing buffer linkage based on Q-learning

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Journal of Physics: Conference Series 2022年第1期2187卷

作者： Zhonghua Han Hongfeng Qi Daliang Chang Wei Gong Shilong Dai School of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China. Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang 110016 China. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China. Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China.

According to the characteristics of the painting process of passenger car manufacturing enterprises, by formulating the routing buffer linkage rules based on the total renewal cost, the linkage process of the bus in the routing buffer is controlled, and an improved Q-learning (Q- The routing buffer of learning) algorithm quickly finds the optimal path method. According to the actual production situation, this method improves the dynamic parameters of the algorithm on the basis of the traditional Q-learning algorithm, and improves the optimization speed and accuracy of the algorithm by establishing the correlation between the work-in-process and its neighboring work-in-process in the current state. Through multiple sets of example simulation tests, the effectiveness of the Q-learning algorithm in solving the optimization problem of routing buffer linkage is verified.

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A Guide for Human Walking Model and control——Insights from Mechanical Property Analysis of Human Walking

A Guide for Human Walking Model and Control——Insights from...

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第32届中国控制与决策会议

This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative subject was ***,one of the simplest human walking model was set *** mechanical property analysis of human walking was done based on the established walking model via ***,the feasibility and effectiveness of proposed walking model were validated by numerical ***,the intrinsical relationships among human walking,biped walking model and control were discussed to provide a guide and insight for controlling biped robots.

关键词： Human Walking Model Biped Robots Leg Stiffness Legged Locomotion Model and control

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A Safety Joint with Passive Compliant and Manual Override Mechanisms for Medical robotics

A Safety Joint with Passive Compliant and Manual Override Me...

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IEEE International Conference on Intelligence and Safety for robotics (ISR)

作者： Jia Zheng Shuangyi Wang James Housden Zeng-Guang Hou Davinder Singh Kawal Rhode School of General Engineering Beihang University Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Biomedical Engineering and Imaging Sciences King's College London London UK Xtronics Ltd. Gravesend UK

Force and collision control is a primary concern to guarantee the safe use of medical robots as such systems normally need to interact with clinicians and patients, while at the same time cooperate with other devices. Among different strategies, passive features working with intrinsically safety components are treated as one of the most effective approaches and therefore deserve in-depth study. In this study, we focus on the design of a novel back-drivable safety joint that incorporates a torque limiter with passive compliance and a manual override mechanism to disconnect the robotic joint from its drive train. The design and working principle of the proposed joint are explained, followed by the mathematical analysis of its performance and the impacts of parameters. An example of the design was manufactured and tested experimentally to validate the working concepts. It is concluded that the proposed multi-functional safety joint provides more versatility and customization to the design of bespoke medical robots and would limit the maximum torque that can be exserted onto the patient, allow the clinician to push the joint back, and enable the operator to switch back to manual override.

关键词： Torque Medical robotics Mathematical analysis Manuals Switches Drives Back

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

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

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International Conference on High Voltage Engineering and Application, ICHVE

作者： Sihang Gao Jiajun Li Tingjing Ke Yang Liu Dong Ding 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 Laboratory of Transmission & Distribution Equipment and Power System Safety and New technology Chongqing University Chongqing China

ISBN: (数字)9781728155111

ISBN: (纸本)9781728155128

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.

关键词： Copper Sulfur Corrosion Oils Windings Power transformer insulation Oil insulation

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