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International Conference on Information and Automation (ICIA)

作者： Yang Mo Sheng Gao Zhihong Jiang Hui Li Qiang Huang Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China School of Mechatronic Engineering Beijing Institute of Technology Beijing Institute of Spacecraft System Engineering China Academy of Space Technology Beijing China

Aiming at the task demands for space manipulator docking massive module, this paper studies the problem that docking mechanism cannot achieve docking due to the low precision of manipulator pose caused by factors such as flexibility of big wingspan manipulator, control error, mechanism error. First, this paper analyzes the docking mechanism in the docking mission, finds out that there is uniformity between the direction of force applied in the docking mechanism and the direction of centralization pose error of peg and hole decreased, and verifies the feasibility of impedance control algorithm. Then, because 6-D force sensor is installed far from docking mechanism and massive docking module leads to big inertia force, impedance control algorithm cannot get the force signals that reflect the actual situation of docking mechanism. For this matter, this paper proposes a 6-D force signals compensation algorithm to guarantee the correctness of impedance control calculation. Simulation experiment results indicate that impedance control algorithm with force signals compensation can both docking successfully and reducing the contact force effectively.

关键词： Force Impedance Manipulators Force sensors Aerospace electronics Torque Algorithm design and analysis

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An active embedded stereo vision system with IR filters for robust indoor localization

An active embedded stereo vision system with IR filters for ...

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2012 9th IEEE International Conference on mechatronics and Automation, ICMA 2012

作者： Chen, Xiaopeng Pan, Min Wang, ZhanTao Meng, Fei Bao, Han Ni, Wencheng Key Laboratory of Robots and Systems Ministry of Education China Intelligent Robotics Institute School of Mechatronic Engineering Beijing Institute of Technology Beijing 100081 China Measurement Technology Beijing Aerospace Institute for Metrology and Measurement Technology Beijing 100081 China

ISBN: (纸本)9781467312776

In this paper, an active embedded stereo vision system with IR filters is proposed for robust three-dimensional localization. In the system, ordinary cameras with infrared (IR) filters are used instead of expensive IR cameras. IR filtered images could be easily transferred to binary image with low noises. Two control servos do contribution to the pan-tilt movement of the stereo pair. A global search algorithm is then proposed for rapid object localization. Experiments show that the system has a good performance on object localization. © 2012 IEEE.

关键词： Binary images

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Learning control of dynamical systems based on Markov decision processes: Research frontiers and outlooks

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Zidonghua Xuebao/Acta Automatica Sinica 2012年第5期38卷 673-687页

作者： Xu, Xin Shen, Dong Gao, Yan-Qing Wang, Kai Institute of Automation College of Mechatronic Engineering and Automation National University of Defense Technology Changsha 410073 China Institute of Automation Chinese Academy of Sciences Beijing 100190 China State Key Laboratory of Management and Control for Complex Systems Beijing 100190 China Department of Systems and Industrial Engineering University of Arizona Tucson AZ85721-0020 United States Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha 410073 China

Learning control of dynamical systems based on Markov decision processes (MDPs) is an interdisciplinary research area of machine learning, control theory, and operations research. The main objective in this research area is to realize data-driven multi-stage optimal control for complex or uncertain dynamical systems. This paper presents a comprehensive survey on the theory, algorithms, and applications of MDP-based learning control of dynamical systems. Emphases are put on recent advances in the theory and methods of reinforcement learning (RL) and adaptive/approximate dynamic programming (ADP), including temporal-difference learning theory, value function approximation for continuous state and action spaces, direct policy search, approximate policy iteration, and adaptive critic designs. Applications and the trends for future research and developments in related fields are also discussed. Copyright © 2012 Acta Automatica Sinica. All rights reserved.

关键词： Markov processes

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Procedure Recognition by Knowledge-Driven Segmentation in Robotic-Assisted Vitreoretinal Surgery

Procedure Recognition by Knowledge-Driven Segmentation in Ro...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhen Li Yawen Deng Qiang Ye Weihong Yu Haoxiang Qi Yaliang Liu Zhangguo Yu Gui-Bin Bian School of Electronic and Information Engineering Tongji University Shanghai China Institute of Automation Chinese Academy of Sciences Beijing China School of Mechatronic Engineering Beijing Institute of Technology Beijing China Department of Ophthalmology Peking Union Medical College Hospital Chinese Academy of Medical Sciences and Peking Union Medical College Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Internal limiting membrane (ILM) peeling is a vital vitreoretinal surgery procedure. However, due to the thickness of just 1-2 micrometers and the intricacies associated with its varying density and adhesion, the difficulty of manipulation exceeds the physiological limits of human perception and operation. Surgical robot is characterized by high precision and stability. However, navigating intricate intraocular environments and handling minuscule high-precision areas remain enormous challenges. These include issues of uneven lighting, field-of-view loss, and motion blur. This paper proposed a perception method named ‘Multimodal Surgical Process Recognition based on Domain Knowledge and Segmentation (MSPR-DKS),’ designed to address these challenges and provide input for the precise control of robots. Moreover, a comprehensive dataset focused on ILM peeling during macular hole surgeries was established. Experimental results underscore the efficacy of this approach, with segmentation accuracies exceeding 99.27% for instruments and macular holes and an average accuracy of 98.97% in recognizing surgical processes. This study paves the way for leveraging domain knowledge and image segmentation to improve robot-assisted manipulation of soft tissues in ophthalmology.

关键词： Image segmentation Visualization Accuracy Medical robotics Motion segmentation Surgery Lighting

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Decomposition of 3D Joint Angle by Kinematic Modeling of Free Flight Pigeon Forelimb

Decomposition of 3D Joint Angle by Kinematic Modeling of Fre...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Yishi Shen Shi Zhang Weimin Huang Chengrui Shang Yiming Sun Qing Shi Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China Intelligent Robotics Institute School of mechatronic Engineering Beijing Institute of Technology Beijing China Key Laboratory of Animal Ecology and Conservation Biology Institute of Zoology Chinese Academy of Sciences Beijing China Yangtze Delta Region Academy of Beijing Institute of Technology Jiaxing China

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

Birds utilize complex coupled motions in their forelimbs to maintain exceptional flight performance. Understanding these dynamics is essential for designing biomimetic unmanned aerial vehicles (UAVs). Typically, the forelimb skeleton of birds is modeled as a spatial six-bar linkage mechanism through the analysis of physical specimens. However, the detailed description of skeletal transformations in birds during free flight remains uncharted. To address this gap, we propose an open-chain kinematic model to simulate the skeletal motion variations of pigeons (Columba livia) in free flight. Kinematic data of pigeon wings were collected during free flight, and the skeletal model was fitted to the collected data using global optimization. This allowed us to derive the joint motion angles of the skeleton during the take-off, leveling flight, and landing phases. This study elucidates the mechanisms of bird wing deformation, providing valuable insights and guidance for developing bio-inspired flying robots.

关键词： Wrist Three-dimensional displays Biomimetics Biological system modeling Birds Skeleton Data models Trajectory Vehicle dynamics Optimization

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on Control (CONTROL)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Research on the Relationship between Classic Denavit-Hartenberg and Modified Denavit-Hartenberg

Research on the Relationship between Classic Denavit-Hartenb...

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International Symposium on Computational Intelligence and Design, ISCID

作者： Hang Wang Hanghang Qi Minghui Xu Yanhua Tang Jiantao Yao Xuedong Yan Ming Li Shanghai University Haitian Plastics Machinery Ltd. Ningbo HAITIAN Drive Systems Co. Ltd. Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Department of Chemistry Northeast Normal University NINGBO VEKEN BATTERY CO. LTD

ISBN: (纸本)9781479970063

Currently, homogeneous transformation method has been widely used for its advantages in robot. Its more commonly used modeling methods are classic Denavit-Hartenberg method and modified Denavit-Hartenberg method, but the relationship between the two is very few devoted. Then, the use area is limited. Therefore, the relationship between classic Denavit-Hartenberg method and modified Denavit-Hartenberg method for robotics research has important practical significance. Based on this, the geometric representations of classic Denavit-Hartenberg method and modified Denavit-Hartenberg method are described respectively, the models of link parameters are built by the two, and the corresponding transformation matrix is deduced. The relationship between classic Denavit-Hartenberg method and modified Denavit-Hartenberg method is researched deeply, and the relational expression of classic Denavit-Hartenberg method and modified Denavit-Hartenberg method is obtained. The research results of this paper are useful for the robot kinematics, dynamics and control algorithms.

关键词： Joints Kinematics Heuristic algorithms Service robots Robot kinematics mechatronics

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Haptic intelligent interfaces for NAO robot hand control

Haptic intelligent interfaces for NAO robot hand control

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International Conference on Advanced mechatronic systems (ICAMechS)

作者： Octavian Melinte Luige Vladareanu Ligia Munteanu Hongnian Yu Shuang Cang Zeng-Guang Hou Gui-Bin Bian Hongbo Wang Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy Bucharest Romania Engineering and Computing Bournemouth University Dorset UK State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Parallel Robot and Mechatronic Sys. Lab. Yanshan University Qinhuangdao China

The paper presents a new approach on haptic interface control for NAO robotic hand. The haptic teleoperation of NAO robot hand raises some issues, mapping the haptic device dynamic being the most important. The mapping was achieved through Neural Network by determining a dynamic gain of robot haptic feedback. The results lead to the achievement of the haptic intelligent interfaces for the NAO robot hand control which can be integrated into an innovative haptic robot control system.

关键词： Decision support systems Humanoid robots Haptic interfaces Economic indicators Joints mechatronics

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Some mathematical aspects on walking robots stable evolution

Some mathematical aspects on walking robots stable evolution

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International Conference on Software, Knowledge Information, Industrial Management and Applications (SKIMA)

作者： Marcel Migdalovici Luige Vladareanu Gabriela Vladeanu Said Broumi Daniela Baran Florentin Smarandache Hongbo Wang Yonfei Feng Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest Romania Faculty of Science Ben M'Sik University Hassan II Casablanca Morocco Dynamical Systems National Institute of Aircraft Research “Elie Carafoli” Bucharest Romania Department of Mathematics University of New Mexico Gallup NM USA Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

ISBN: (纸本)9781509032990

A survey of some author's concepts on the dynamic systems stability regions, in the general case of dynamic systems that depend on parameters is related in the paper. The property of separation of stable regions in the free parameters domain is assumed in the paper as an important property of the environment that is carry out and in the specified case of walking robot analyzed in the paper. The matrix that defines the linear dynamic system has the components of the matrix, assumed to be with real values, and the matrices that intervene in the exposure of the method are also, with real values of the components. We assumed that the matrices from the exposure have the complex values such that the real values are also taken into account as particular case of the complex values. This hypothesis assures a new method of analysis, in the complex domain, on the dynamic systems stability. Our theory on the stability control of the dynamic systems is applied here for specified walking robot model that depend on parameters. The critical position of the walking robot evolution is defined and analyzed on some cases of the walking robot leg, and possible application for robot walking up stairs is exposed. The further way of research is emphasized.

关键词： Legged locomotion Eigenvalues and eigenfunctions Matrices Heuristic algorithms Stability analysis Mathematical model

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Ultrahigh-temperature ferromagnetism in ultrathin insulating films with ripple-infinite-layer structure

arXiv

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arXiv 2024年

作者： Yi, Yazhuo Huang, Haoliang Shao, Ruiwen Liu, Yukuai Chen, Guangzheng Ou, Jiahui Zhang, Xi Hua, Ze Chen, Lang Leung, Chi Wah Zeng, Xie-Rong Rao, Feng Liu, Nan Wang, Heng Si, Liang An, Hongyu Chen, Zhuoyu Huang, Chuanwei Shenzhen Key Laboratory of Special Functional Materials Guangdong Provincial Key Laboratory of New Energy Materials Service Safety College of Materials Science and Engineering Shenzhen University Shenzhen518060 China Department of Physics Southern University of Science and Technology Shenzhen518055 China Quantum Science Center of Guangdong-Hong Kong-Macao Greater Bay Area Shenzhen518045 China Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Medical Technology Beijing Institute of Technology Beijing100081 China College of Electronic Information and Mechatronic Engineering Zhaoqing University Zhaoqing Road Duanzhou District Zhaoqing526061 China Electron Microscopy Centre of Shenzhen University Shenzhen University Shenzhen518060 China Department of Applied Physics The Hong Kong Polytechnic University Hung Hom Hong Kong School of Physics Northwest University Xi’an710127 China Institute of Solid State Physics TU Wien Vienna1040 Austria College of New Materials and New Energies Shenzhen Technology University Shenzhen518118 China

Ferromagnetism and electrical insulation are often at odds, signifying an inherent trade-off. The simultaneous optimization of both in one material, essential for advancing spintronics and topological electronics, necessitates the individual manipulation over various degrees of freedom of strongly correlated electrons. Here, by selective control of the spin exchange and Coulomb interactions, we report the achievement of SrFeO2 thin films with resistivity above 106 Ω∙cm and strong magnetization with Curie temperature extrapolated to be ~ 1200 K. Robust ferromagnetism is obtained down to ~1.0 nm thickness on substrate and ~ 2.0 nm for freestanding films. Featuring an out-of-plane oriented ripple-infinite-layer structure, this ferromagnetic insulating phase is obtained through extensive reduction of as-grown brownmillerite SrFeO2.5 films at high compressive strains. Pronounced spin Hall magnetoresistance signals up to ~ 2.6% is further demonstrated with a Pt Hall-bar device. Our findings promise emerging spintronic and topological electronic functionalities harnessing spin dynamics with minimized power dissipations. © 2024, CC BY.

关键词： Ferromagnetism

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