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A Method of Human-Like Compliant Assembly Based on Variable Admittance Control for Space Maintenance

Cyborg and Bionic systems 2023年第1期4卷 106-120页

作者： Xiaolei Cao Xiao Huang Yan Zhao Zeyuan Sun Hui Li Zhihong Jiang Marco Ceccarelli School of Mechatronical Engineering Advanced Innovation Center for Intelligent Robots and SystemsKey Laboratory of Biomimetic Robots and Systems of Chinese Ministry of EducationBeijing Institute of TechnologyBeijing 100081China China Northern Vehicle Research Institute Beijing 100071China Department of Industrial Engineering University of Rome Tor VergataVia del Politecnico 100133 RomaItaly

On-orbit assembly has become a crucial aspect of space operations,where the manipulator frequently and directly interacts with objects in a complex assembly *** traditional manipulator control has limitations in adapting to diverse assembly tasks and is vulnerable to vibration,leading to assembly *** address this issue,we propose a human-like variable admittance control method based on the variable damping characteristics of the human *** collecting the velocity and contact force of human arm operations in assembly,we analyze the damping change of human arm and establish the active compliance model based on S-type damping variation rule in ***,3 passive contact models are proposed between the end of the human arm and the environment:one-sided bevel contact,both sides bevel contact,and pin-hole *** the basis of these active and passive models,a typical space assembly task for a robot is designed,and a human-like variable admittance controller is established and ***,we build a ground verification platform and complete different assembly tasks,thereby successfully verifying the safety,robustness,and adaptability of the human-like variable admittance control method.

关键词： robot operations passive

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Design and Simulation of a Helical Microrobot for Maximum Speed Enhancement by Physical Surface Modification

Design and Simulation of a Helical Microrobot for Maximum Sp...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Guo, Siyu Wang, Maolin Wang, Huaping Zhong, Shihao Qiu, Yukang Hou, Yaozhen Shi, Qing Fukuda, Toshio Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing100081 China Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology School of Medical Technology Beijing100081 China Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

ISBN: (纸本)9798350327182

Magnetic helical microrobots have great potential in biomedical applications. However, improving their motion performance in the complex and variable in vivo fluid environment remains challenging. Previous researches mainly focus on optimizing the geometric parameter, the evolutionary structure design, and chemical modifications of the robots, with limited attention given to the impact of physical surface modifications on propulsion performance. To address this issue, we design the helical microrobot with different surface physical modifications, including dimpled and raised surfaces, to evaluate their effects on swimming performance. With ANSYS Fluent, we simulated their swimming process in water and found that microrobots with physically modified surfaces experience less resistance and exhibit a larger step-out frequency while swimming. Moreover, our findings suggest that helical microrobots with dimpled surfaces demonstrate superior swimming performance due to their larger gas-liquid interface area compared to those with raised surfaces. © 2023 IEEE.

关键词： Chemical modification

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Path Tracking Control for Helical Microrobots Based on Fusion of Geometric and Model-Free Methods 13

Path Tracking Control for Helical Microrobots Based on Fusio...

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13th IEEE International Conference on CYBER technology in Automation, Control, and intelligent systems, CYBER 2023

作者： Zhong, Shihao Wang, Huaping Shi, Qing Hou, Yaozhen Qiu, Yukang Sun, Tao Huang, Qiang Fukuda, Toshio School of Medical Technology Beijing Institute of Technology Beijing100081 China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9798350315196

Helical micron-sized robots driven by magnetic fields have garnered significant interest, particularly in the field of tracking control. However, at the microscale, time-varying uncertain perturbations in both the environment and electromagnetic system can cause these robots to deviate from their preset state. Here, we propose a novel control method that combines geometric and model-free controllers in a complementary manner to achieve accurate path-tracking of a helical microrobot on underwater unstructured surfaces. The geometric controller acts as a feedforward controller handling path information and formulating guidance law, while the model-free controller responds directly to the lateral error. To compensate for unmodeled nonlinear dynamics and unknown disturbances and achieve system dynamic linearization, we employ an extended state observer. To validate the proposed method and determine suitable ranges for input parameters of the controllers, simulations were carried out. The effectiveness of our path-tracking control method is validated through experimental results. The control technique provides an initial investigation into addressing the effects of uncertainties and perturbation on the control capabilities of magnetic microrobots. © 2023 IEEE.

关键词： Controllers

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A Causal Fusion Inference Method for Industrial Alarm Root Cause Analysis Based on Process Topology and Alarm Event Data

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Journal of Beijing Institute of technology 2022年第4期31卷 371-381页

作者： Pan Zhang Wenkai Hu Xiangxiang Zhang Jianqi An School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China

Modern industrial systems are usually in large scale,consisting of massive components and variables that form a complex system *** to the interconnections among devices,a fault may occur and propagate to exert widespread influences and lead to a variety of *** the root causes of alarms is beneficial to the decision supports in making corrective alarm *** data-driven methods for alarm root cause analysis detect causal relations among alarms mainly based on historical alarm event *** improve the accuracy,this paper proposes a causal fusion inference method for industrial alarm root cause analysis based on process topology and alarm events.A Granger causality inference method considering process topology is exploited to find out the causal relations among *** topological nodes are used as the inputs of the model,and the alarm causal adjacency matrix between alarm variables is obtained by calculating the likelihood of the topological Hawkes *** root cause is then obtained from the directed acyclic graph(DAG)among alarm *** effectiveness of the proposed method is verified by simulations based on both a numerical example and the Tennessee Eastman process(TEP)model.

关键词： roots cause analysis causality inference process topology alarm events

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Multi-Speed Walking Gait Generation for Bipedal Robots Based on Reinforcement Learning and Human Motion Imitation 42

Multi-Speed Walking Gait Generation for Bipedal Robots Based...

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42nd Chinese Control Conference, CCC 2023

作者： Su, Mengya Huang, Yan The School of Mechantronical Engineering Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing100081 China

ISBN: (纸本)9789887581543

Gait generation is significant for a humanoid robot to realize flexible motion adapt to complex environments. With the wide applications of data-driven methods, gait generation approaches based on reinforcement learning have been represented. In this study, we proposed a multi-speed walking gait generation method based on reinforcement learning and human motion imitation. Multi-speed walking gaits were generated with imitation of human walking of only one speed. Moreover, we also analyzed multi-speed walking gait generation for a biped robot with reduced human motion data (e.g. motion data of trunk orientation and hip and knee angles without ankle angle, or motion data of trunk orientation and hip angle only) and reduced training time. This study provides a novel method for generation of multi-speed and human-like walking gaits of biped robot. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Reinforcement learning

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Noninvasive fluid bubble detection based on capacitive micromachined ultrasonic transducers

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Microsystems & Nanoengineering 2023年第1期9卷 115-126页

作者： Jiawei Yuan Zhikang Li Qi Ma Jie Li Zixuan Li Yihe Zhao Shaohui Qin Xuan Shi Libo Zhao Ping Yang Guoxi Luo Xiaozhang Wang Kwok Siong Teh Zhuangde Jiang State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemsXi’an Jiaotong University710049Xi’anChina School of Mechanical Engineering Xi’an Jiaotong University710049Xi’anChina Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing 265503YantaiChina School of Mechanical and Electrical Engineering Shaanxi University of Science and TechnologyXi’an710049Xi’anChina School of Engineering San Francisco State UniversitySan FranciscoCA94132USA

Ultrasonic fluid bubble detection is important in industrial controls,aerospace systems and clinical medicine because it can prevent fatal mechanical failures and threats to ***,current ultrasonic technologies for bubble detection are based on conventional bulk PZT-based transducers,which suffer from large size,high power consumption and poor integration with ICs and thus are unable to implement real-time and long-term monitoring in tight physical spaces,such as in extracorporeal membrane oxygenation(ECMO)systems and dialysis machines or hydraulic systems in *** work highlights the prospect of capacitive micromachined ultrasonic transducers(CMUTs)in the aforementioned application situations based on the mechanism of received voltage variation caused by bubble-induced acoustic energy *** corresponding theories are established and well validated using finite element *** fluid bubbles inside a pipe with a diameter as small as 8 mm are successfully measured using our fabricated CMUT chips with a resonant frequency of 1.1 *** received voltage variation increases significantly with increasing bubble radii in the range of 0.5–2.5 *** studies show that other factors,such as bubble positions,flow velocities,fluid medium types,pipe thicknesses and diameters,have negligible effects on fluid bubble measurement,demonstrating the feasibility and robustness of the CMUT-based ultrasonic bubble detection technique.

关键词： bubble negligible mentioned

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Disturbance-Aware Model Predictive Control of Underactuated Robotics systems

Disturbance-Aware Model Predictive Control of Underactuated ...

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

作者： Jiwon Kim Min Jun Kim Intelligent Robotic Systems Laboratory Korea Advanced Institute of Science and Technology (KAIST) Daejeon Republic of Korea

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

While robust model predictive control (MPC) has been studied extensively in recent decades, addressing unmatched disturbances in underactuated robotic systems is still challenging. In this paper, we propose a method to enhance the robustness of the MPC through the online estimation of disturbances using a nonlinear disturbance observer (NDOB). We call this method disturbance-aware MPC (DA-MPC), because the proposed method explicitly utilizes the estimated disturbance in the future prediction. We provide a performance analysis of the NDOB, establishing the boundedness between the predicted and real states. The main advantages of the DA-MPC include its applicability to real-time control and its compatibility with off-the-shelf optimal control problem (OCP) solvers. We demonstrate the application of the proposed method using an underactuated quadrotor system. The simulation validation shows the effectiveness of the proposed method compared to ℒ 1 -adaptive MPC, which is one of the state-of-the-art robust MPC methods.

关键词： Estimation Optimal control Real-time systems Robustness Disturbance observers Safety Performance analysis intelligent robots Predictive control Quadrotors

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SPLIT: SE(3)-diffusion via Local Geometry-based Score Prediction for 3D Scene-to-Pose-Set Matching Problems

arXiv

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arXiv 2024年

作者： Kim, Kanghyun Kim, Min Jun The authors are with Intelligent Robotic Systems Laboratory Korea Advanced Institute of Science and Technology Daejeon Korea Republic of

To enable versatile robot manipulation, robots must detect task-relevant poses for different purposes from raw scenes. Currently, many perception algorithms are designed for specific purposes, which limits the flexibility of the perception module. We present a general problem formulation called 3D scene-to-pose-set matching, which directly matches the corresponding poses from the scene without relying on task-specific heuristics. To address this, we introduce SPLIT, an SE(3)-diffusion model for generating pose samples from a scene. The model’s efficiency comes from predicting scores based on local geometry with respect to the sample pose. Moreover, leveraging the conditioned generation capability of diffusion models, we demonstrate that SPLIT can generate the multipurpose poses, required to complete both the mug reorientation and hanging manipulation within a single model. Copyright © 2024, The Authors. All rights reserved.

关键词： Geometry

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A repetitive-control method based on sliding-mode control for nonlinear systems with external disturbances 41

A repetitive-control method based on sliding-mode control fo...

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第41届中国控制会议

作者： Yibing Wang Min Wu Manli Zhang Luefeng Chen Jinhua She School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Engineering Tokyo University of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper presents a two-dimensional(2 D) repetitive-control method based on sliding-mode control for a nonlinear system with external *** a sliding-mode controller has a powerful ability to handle nonlinearity and external disturbances during the sliding motion,the reference-tracking and disturbance-suppression problems of the original nonlinear system are decomposed into two subproblems:reference tracking for a linear system and disturbance suppression for a nonlinear modified-repetitive control system(MRCS) with external *** the first one,a repetitive controller constructed with two positive time-delay loops is employed to increase the flexibility of the system design and guarantee high accuracy reference tracking.A continuous-discrete 2 D model of the linear MRCS is established to describe continuous control and discrete learning by using the 2 D property of repetitive control.A sufficient stability condition,in which three parameters are used to adjust control and learning,is given to guarantee the stability of the linear *** design of the system is transformed into parameter *** optimization algorithm is used to yield the optimal *** the other,a sliding-mode controller is developed to eliminate the effect of both nonlinearity and external disturbances on the system.A linear-matrix-inequality(LMI)-based sufficient stability condition is derived to guarantee the stability of the sliding *** condition is used to design the sliding-mode controller,which has a simple structure and does not require any specific information of nonlinearity and external ***,a numerical example and a comparison demonstrate the validity and advantage of the presented method.

关键词： Repetitive control sliding-mode control two-dimensional model

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Shape Optimization of Magnetorheological Brake for Performance Enhancement

Shape Optimization of Magnetorheological Brake for Performan...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Shi, Qiuyu Liu, Fajiang Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China

ISBN: (纸本)9781665481090

Magnetorheological (MR) rotary brakes leverage the magnetically controllable rheological properties of MR fluids to provide damping torque in lower limb assistance devices. This paper utilizes an optimization algorithm (Whale Optimization Algorithm (WOA)) to optimize the geometric dimension of the MR brake to enhance field-dependent brake torque. First, the mechanical design and optimization process of the MR brake were outlined. Then, the magnetic density of the MR fluid is evaluated using the ANSYS platform. With that, the WOA was exploited to optimize key design parameters across multiple iterations. According to the simulated results, the torque was improved from 17.39 Nm to 25.89 Nm, which increased by 48%. Finally, a prototype with the initial dimension was fabricated and preliminarily tested. © 2024 IEEE.

关键词： Shape optimization

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