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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Li, Meihui Song, Chunhe Yu, Xia Chu, Mengmeng Li, Rui Shenyang University of Technology State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China Shenyang University of Technology Shenyang China

ISBN: (纸本)9798331506230

Printed circuit board defect recognition is of great significance to ensuring the quality of electronic products. This paper proposes an improved PCB defect detection method based on YOLOV8. Firstly, the data augmentation method PredMix (prediction mix) is adopted to simulate scenarios such as overlapping and occlusion in images, where the displays are incomplete or blurred, thereby enhancing the robustness of the network model. Secondly, BiFPN is used to replace PAN-FPN in the fusion layer to strengthen the feature fusion capability. Finally, the CESE_C2f module is employed in the Backbone part, leveraging a lightweight attention mechanism to improve the detection effect while reducing the number of parameters. Experimental results show that compared with the original YOLOV8, the MAP value of this improved algorithm reaches 92.6%, with a 2.3% increase in accuracy. © 2024 IEEE.

关键词： Deep learning

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The CPG gait generate method of the quadruped robot based on iterative learning control algorithm

The CPG gait generate method of the quadruped robot based on...

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2013 2nd International Conference on Micro Nano Devices, Structure and Computing systems, MNDSCS 2013

作者： Wang, Cheng Gao, Junyao Duan, Xingguang Liu, Yi Li, Xin Xu, Zhe Sun, Wentao Intelligent Robotics Institute China Key Laboratory of Biomimetic Robots and Systems Ministry of Education China Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9783037856420

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization. © (2013) Trans Tech Publications, Switzerland.

关键词： Learning algorithms

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Determination of circular waits in multiple-reentrant flowlines based on machine-job incidence matrix 10

Determination of circular waits in multiple-reentrant flowli...

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2009 10th European control Conference, ECC 2009

作者： Petrovic, Tamara Bogdan, Stjepan Sindicic, Ivica Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering University of Zagreb Zagreb Croatia Exor D.o.o Bani 72 Zagreb10000 Croatia

ISBN: (纸本)9783952417393

As the first step in resolving stability of a manufacturing system in the sense of deadlock, calculation of circular waits might involve time and memory consuming calculations. In this paper we propose an efficient method for determination of circular waits in multiple-reentrant flowline class (MRF) of manufacturing systems. We introduce machine-job incidence (MJI) matrix that can be obtained from Steward sequencing matrix and Kusiak machine-part incidence matrix. The method uses index vector and MJI matrix in order to allocate circular wait auxiliary vector. Resources involved in the circular wait are directly computed from the auxiliary vector. Although efficiency of the proposed method has been demonstrated on examples involving single- and multi- part type manufacturing workcells, the method can be used for other discrete event systems as well, as long as the system under study belongs to MRF class. © 2009 EUCA.

关键词： Manufacture

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A feature selection method combined with ridge regression and recursive feature elimination in quantitative analysis of laser induced breakdown spectroscopy

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Plasma Science and Technology 2020年第7期22卷 11-20页

作者： Guodong WANG Lanxiang SUN Wei WANG Tong CHEN Meiting GUO Peng ZHANG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People’s Republic of China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016People’s Republic of China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169People’s Republic of China University of Chinese Academy of Sciences Beijing 100049People's Republic of China

In the spectral analysis of laser-induced breakdown spectroscopy,abundant characteristic spectral lines and severe interference information exist simultaneously in the original spectral ***,a feature selection method called recursive feature elimination based on ridge regression(Ridge-RFE)for the original spectral data is recommended to make full use of the valid information of *** the Ridge-RFE method,the absolute value of the ridge regression coefficient was used as a criterion to screen spectral characteristic,the feature with the absolute value of minimum weight in the input subset features was removed by recursive feature elimination(RFE),and the selected features were used as inputs of the partial least squares regression(PLS)*** Ridge-RFE method based PLS model was used to measure the Fe,Si,Mg,Cu,Zn and Mn for 51 aluminum alloy samples,and the results showed that the root mean square error of prediction decreased greatly compared to the PLS model with full spectrum as *** overall results demonstrate that the Ridge-RFE method is more efficient to extract the redundant features,make PLS model for better quantitative analysis results and improve model generalization ability.

关键词： laser-induced breakdown spectroscopy feature selection ridge regression recursive feature elimination quantitative analysis

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Performance Comparison of Teleoperation Interfaces for Ultra-Lightweight Anthropomorphic Arms

Performance Comparison of Teleoperation Interfaces for Ultra...

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

作者： Filip Zorić Alejandro Suarez Goran Vasiljević Matko Orsag Zdenko Kovačić Anibal Ollero Laboratory for Robotics and Intelligent Control Systems (LARICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia GRVC Robotics Lab University of Seville Sevilla Spain

This paper presents a comparative performance evaluation of three different teleoperation interfaces for very low weight (<3 kg) anthropomorphic dual arms intended to conduct complex manipulation tasks involving a certain level of dexterity, accuracy and agility, either in ground service or in aerial manipulation applications. A visual human pose estimation system is developed to obtain the Cartesian and joint values of the user, which are mapped to the corresponding pose of the dual arm manipulator exploiting the equivalent human-robot kinematics. A leader-follower scheme is also presented, using a reduced scale dual arm that can replicate directly the joint positions of the leader arms to the follower arms. A 6-DOF (degrees of freedom) joystick is proposed to generate linear motions more accurately. A total of 60 ground tests were conducted involving 10 participants to determine the accuracy and time performance in two benchmarks (box edges and S contour tracking). Finally, the visual and leader-follower interfaces were evaluated with the dual arm aerial manipulator on flight tests, reporting several findings derived from the system evaluation.

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Design and control of a Four-flipper Tracked Exploration & Inspection Robot

Design and Control of a Four-flipper Tracked Exploration & I...

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Mediterranean Conference on control & Automation

作者： Z. Kovacic M. Cukon K. Brkic G. Vasiljevic A. Mutka D. Miklic F. Vuglec I. Rajkovic Laboratory for Robotics and Intelligent Control Systems University of Zagreb

ISBN: (纸本)9781479909964

We describe the design and control of a prototype of an exploration and inspection robot built as a four flipper/track mobile robot. It is equipped with on-board sensors including standard and thermovision cameras, gas and temperature detectors, etc. The robot maintains wireless video and audio communication with the operator. Its principal aim is to explore buildings, locate people caught in the accidents and detect potential sources of danger in abnormal conditions caused by flood, fire, earthquake or other natural and nonnatural disasters. The robot construction complies to the ATEX norms in order to minimize the risk of interventions of professional units (e.g. fire fighting, civil guard, police, military). Having four independently controlled tracks/flippers, the robot allows easy maneuvering and overtaking of obstacles (including steps). Although dominantly designed as a remote-controlled robot device, advanced control features such as roll-angle compensation and corridor/steps/door centering algorithms help the operator to navigate robot in a much easier and safer way.

关键词： Robot inspection robots Standing Orders Voice communication Exploration Overtaking Accidents temperature detector

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Research on two-step throttle characteristics of double-rotation valve port for hydraulic servo joint

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High Technology Letters 2021年第1期27卷 68-75页

作者： Jiang Lin Pan Xiaoyue Ren Lisheng Zhu Jianyang Chen Xinyuan Zhao Hui Key Laboratory of Metallurgical Equipment and Control Technology Wuhan University of Science and TechnologyWuhan 430081P.R.China Institute of Robotics and Intelligent Systems Wuhan University of Science and TechnologyWuhan 430081P.R.China

The hydraulic robot with large output torque is widely used in industry,however,its precision is not *** order to solve this problem,this paper presents a new structure of rotary valve with double-rotation valve port,which can improve the two-step throttle characteristics of the valve port,reduce the cavitation phenomenon of the valve port,and increase the output accuracy of the hydraulic servo ***,the internal flow field of the rotary valve is simulated by using the sliding grid technology of FLUENT software,and the changing rule of the throttle position in the working process of the structure is ***,compared with the simulation results of rotary valve with single-rotation valve port,it is shown that the two-step throttle characteristics of the structure are less affected by the change of the opening of the rotary valve,and the cavitation index of the joint valve port is ***,the influence of the rotation speed of the valve core,oil supply pressure and key dimension of valve core on throttle characteristics of rotary valve have been analyzed.

关键词： double-rotation valve port cavitation 3D sliding mesh transient solution the two-step throttle pressure changing frequency

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Stabilizing a Quadruped Robot Locomotion Using a Two Degree of Freedom Tail

Stabilizing a Quadruped Robot Locomotion Using a Two Degree ...

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Mediterranean Conference on control & Automation

作者： Alan Mutka Matko Orsag Zdenko Kovacic Laboratory for Robotics and Intelligent Control Systems Universirty of Zagreb

ISBN: (纸本)9781479909964

This paper investigates how to improve locomotion stability of a dynamical system composed of four spring-mass subsystems by using a tail-like inertial appendage. The paper presents a Denavit-Hartenberg parameterization based kinematic model combined with a Newton-Euler based dynamic model of a two degree of freedom tail. Impedance based leg control simplifies the leg motion so that it can be modeled as a damped spring-mass system. The tail presented in the paper is used as a counterweight, capable of shifting its center of mass so as to balance the body of the robot. To that end, a recursive algorithm that moves the tail in order to balance the robot is proposed. A realistic robot model is built in the Open Dynamic Engine environment and is used to conduct a series of tests proving the effectiveness of the proposed algorithm.

关键词： Legged locomotion Robot kinematics Mathematical model Joints Kinematics Springs

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control system for maxillofacial surgery robot: Master-slave, motion control and safety design

Control system for maxillofacial surgery robot: Master-slave...

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6th International Conference on Complex Medical Engineering, CME 2012

作者： Liu, Tian-Bo Duan, Xing-Guang Huang, Qiang Zhao, Hong-Hua Guo, Qing-Bo Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain, was proposed. Firstly, overview of the whole robot system is introduced. Then this paper focuses on the control system which mainly consists of master-slave, motion control and safety design. Finally, the prototype was established and experiments were carried out to show the robot's smooth running and accurate positioning. © 2012 IEEE.

关键词： Motion control

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Joint Algorithm of Message Fragmentation and No-Wait Scheduling for Time-Sensitive Networks

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IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 478-490页

作者： Xi Jin Changqing Xia Nan Guan Peng Zeng Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016 Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Department of Computing Hong Kong Polytechnic UniversityHong KongChina

Time-sensitive networks(TSNs)support not only traditional best-effort communications but also deterministic communications,which send each packet at a deterministic time so that the data transmissions of networked control systems can be precisely scheduled to guarantee hard real-time ***-wait scheduling is suitable for such TSNs and generates the schedules of deterministic communications with the minimal network resources so that all of the remaining resources can be used to improve the throughput of best-effort ***,due to inappropriate message fragmentation,the realtime performance of no-wait scheduling algorithms is ***,in this paper,joint algorithms of message fragmentation and no-wait scheduling are ***,a specification for the joint problem based on optimization modulo theories is proposed so that off-the-shelf solvers can be used to find optimal ***,to improve the scalability of our algorithm,the worst-case delay of messages is analyzed,and then,based on the analysis,a heuristic algorithm is proposed to construct low-delay ***,we conduct extensive test cases to evaluate our proposed *** evaluation results indicate that,compared to existing algorithms,the proposed joint algorithm improves schedulability by up to 50%.

关键词： Message fragmentation networked control system real-time scheduling time sensitive network

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