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Automation, control and robotics Engineering (CACRE), International Conference on

作者： Hang Xu Chuan-Ke Zhang Xing-Chen Shangguan Li Jin Yang Li Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation China University of Geosciences

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

In this paper, the consideration of the stability problem for the vehicular platoon system (VPS) with communication delays under proportional differential (PD) control is studied by the Lyapunov- Krasovskii functional (LKF). Firstly, a VPS considering delay is modeled to analyze the influence of delays for the VPS in operation. Then, an error state-space system of the VPS is constructed and transformed into a singular system. As a result, the stability criterion is proposed based on the state decomposition method via the LKF. Finally, the tolerance for delay is calculated for a case of four vehicles with different controller gains. The result shows that the proportional gain is inversely proportional to the time delay and the differential gain is in direct proportion to the time delay meanwhile. Besides, the high-speed vehicular platoon is more affected by the time delay.

关键词： Automation Delay effects Roads Stability criteria Estimation Delays PD control

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Accurate modulation of photoprinting under stiffness imaging feedback for engineering ECMs with high-fidelity mechanical properties

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Microsystems & Nanoengineering 2022年第3期8卷 291-301页

作者： Xin Li Huaping Wang Xinyi Dong Qing Shi Tao Sun Shingo Shimoda Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China The Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China School of Medical Technology Beijing Institute of TechnologyBeijing 100081China Intelligent Behavior Control Collaboration Unit RIKEN Center of Brain Science463-0003 NagoyaJapan

Engineered extracellular matrices(ECMs)that replicate complex in-vivo features have shown great potential in tissue *** hydrogel microstructures have been widely used to replace these native ECMs for physiologically relevant ***,accurate reproduction of the 3D hierarchical and nonuniform mechanical stffness inside one integrated microstructure to mimic the complex mechanical properties of native ECMs presents a major ***,by using digital holographic microscopy(DHM)-based stffness imaging feedback,we propose a novel closed-loop control algorithm to achieve high-accuracy control of mechanical properties for hydrogel microstructures that recapitulate the physiological properties of native ECMs with high *** photoprinting,the photocuring area of the hydrogel is divided into microscale grid areas to locally control the photocuring *** the assistance of a motorized microfluidic channel,the curing thickness is controlled with layer-by-layer *** DHM-based stiffness imaging feedback allows accurate adjustment of the photocuring degree in every grid area to change the crosslinking network density of the hydrogel,thus enabling large-span and high-resolution modulation of mechanical ***,the gelatin methacrylate was used as a typical biomaterial to construct the highfidelity biomimetic *** Young's modulus could be flexibly modulated in the 10 kPa to 50 kPa ***,the modulus gradient was accurately controlled to within 2.9 *** engineering ECM with locally different mechanical properties,cell spreading along the stff areas was observed *** believe that this method can regenerate complex biomimetic ECMs that closely recapitulate in-vivo mechanical properties for further applications in tissue engineering and biomedical research.

关键词： microstructure ECM curing

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Rehabilitation Training of Spinal Cord Injured Individuals by a Self-Balancing Exoskeleton Robot

Rehabilitation Training of Spinal Cord Injured Individuals b...

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

作者： Li, Wentao Li, Jinke He, Yong Tian, Dingkui Li, Feng Sun, Jianquan Wu, Xinyu Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China Siat Cuhk Joint Laboratory of Robotics and Intelligent Systems China University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China China Construction Third Bureau First Engineering Mep Co. Ltd. Shenzhen518109 China

ISBN: (纸本)9798350327182

Physical therapy plays an important role in the rehabilitation for spinal cord injured individuals, and exoskeleton can assist with this process. In this paper, a self-balancing exoskeleton robot is introduced, which can provide assist not only in gait training, but also in balance training. In addition, it allows individuals walk with it without other assistive devices. This exoskeleton is designed to have a high degree of compatibility with humans. The structure and control system of the exoskeleton is introduced and the forward and inverse kinematic are solved, which enables the robot to perform various rehabilitation training actions as required. Experiments with a male subject have shown that this exoskeleton achieves the predicted results in gait training and balance training. © 2023 IEEE.

关键词： Inverse kinematics

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An Improved Deep Learning Method-based Detection of Transmission Line Insulator Defects

An Improved Deep Learning Method-based Detection of Transmis...

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2023 International Conference on Computer, Artificial Intelligence, and control Engineering, CAICE 2023

作者： Gao, Pengpei Song, Chunhe Yu, Shimao Wu, Tingting State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781510665040

The insulator is a vital component of power equipment that aids in power transmission. Aiming at transmission line faults caused by missing insulator pieces, this paper proposed to divide insulator detection and defect location into two steps. Additionally, we add Squeeze-and-Excitation (SE) module into the Faster R-CNN model at the insulator detection stage, which could enhance insulator detection accuracy under similar model complexity and also improve the detection efficiency of the YOLOv3 model on insulator defect location. © 2023 SPIE.

关键词： Object detection

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On-Chip Wideband Bandpass Filter with High Frequency Selectivity and Low Insertion Loss Based on GaAs Integrated Passive Device Technology

On-Chip Wideband Bandpass Filter with High Frequency Selecti...

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2023 IEEE MTT-S International Wireless Symposium, IWS 2023

作者： Dong, Jiancheng Zhu, Xu Yang, Tao Nie, Yi Wang, Yong Research Center of Advanced Rf Chips and Systems Nanhu Laboratory Jiaxing314001 China Laboratory of Electromagnetic Space Cognition and Intelligent Control Technology Beijing100191 China University of Electronic Science and Technology of China Chengdu611731 China

ISBN: (纸本)9798350336535

In this paper, an on-chip wideband bandpass filter (BPF) with high frequency selectivity and low insertion loss is proposed using gallium arsenide (GaAs) integrated passive device (IPD) technology. Multiple transmission zeros can be provided by the capacitors loaded on the series and parallel LC resonators for the proposed design. Comparing with the state-of-the-art on-chip wideband BPFs, the proposed design has the advantages of high frequency selectivity and low loss. The final filter centered at 1.93 GHz with the 3-dB fractional bandwidth of 64.2% is demonstrated, which exhibits the excellent shape factor (30-dB BW/3-dB BW) of 1.28 and the minimum insertion loss of 1.17 dB. © 2023 IEEE.

关键词： Gallium arsenide

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KNTU-RoboGlove: Design of a Pneumatic Soft Robotic Glove 11

KNTU-RoboGlove: Design of a Pneumatic Soft Robotic Glove

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11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Boka, Tanin Nikkhah, M. Navid Moosavian, S. Ali A. Toosi University of Technology Tehran Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Dept of Mechanical Engineering K. N. Tehran Iran K. N. Toosi University of Technology Tehran Dept of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798350308105

This paper introduces an innovative advancement in the field of wearable assistive technology by presenting a revolutionary portable soft robotic glove designed to assist individuals with hand impairments during rehabilitation exercises and daily tasks. The glove offers both active finger flexion and passive extension to aid in hand support and rehabilitative training. It achieves this by utilizing integrated soft actuators, including a variable stiffness layer and a pneumatic-driven layer, which guide specific bending, twisting, and extending movements when air pressure is applied. Notably, the variable stiffness layer takes inspiration from pangolins, whose scales are pliable during daily activities but become rigid when facing threats. To provide increased power with enhanced stiffness, a toothed pneumatic actuator is specially designed. The three-finger soft glove is manufactured by molding super-elastic material, creating the actuator mold using a 3D printer. The glove's grasping abilities have been thoroughly tested, and experimental results demonstrate that, when compared to previously developed elastomeric-based actuators, these actuators can generate substantial force and torque to facilitate finger flexion even at lower air pressure levels. This capability allows the glove to grasp a wide range of objects, assisting individuals in their rehabilitative training. Furthermore, a control system for grasping has been developed, which includes motion processing unit sensors for collecting feedback signals aligned with the actuators, along with a closed-loop controller for regulating the pressure. In contrast to existing devices, this glove, thanks to its portable design, has the potential to significantly enhance user autonomy and independence. © 2023 IEEE.

关键词： Pneumatic actuators

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Synthesis of Diagnostic Observers for Linear systems Based on Optimal control Methods

Synthesis of Diagnostic Observers for Linear Systems Based o...

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2022 International Conference on control, Automation and Diagnosis, ICCAD 2022

作者： Kabanov, Aleksey A. Zuev, Aleksandr V. Zhirabok, Aleksey N. Filaretov, Vladimir F. Department of Informatics and Control in Technical Systems Sevastopol State University Russia Laboratory of Intelligent Information Systems for Marine Robots Institute of Marine Technology Problems FEB RAS Russia Department of Automation and Robotics Far Eastern Federal University Russia Robotics Laboratory Institute of Automation and Control Processes FEB RAS Russia

ISBN: (数字)9781665497947

ISBN: (纸本)9781665497947

The paper considers the problem of fault identification in dynamic systems described by linear differential equations. To solve this problem, diagnostic observers constructed on the basis of optimal control methods are used. The proposed new method for the synthesis of such observers is based on the idea of introducing a new system with some auxiliary control which plays a role of an unknown vector function describing emerging faults. This control is proposed to be formed in such a way that it provides a minimum for the residual functional. Unlike popular approaches to solving the problem of fault identification based on observers operating in a sliding mode, the proposed method allows us to expand the class of systems for which the identification problem can be solved. It is known that the methods of sliding mode observers design impose certain restrictions on the systems under consideration. The suggested theory is illustrated by an example. The simulation results confirmed the operability of the diagnostic observers synthesized using the method proposed in the work. © 2022 IEEE.

关键词： Linear systems

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Detection of Termite Nests in Dams Using Ground Penetrating Radar Based on Deep Learning 20

Detection of Termite Nests in Dams Using Ground Penetrating ...

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20th International Conference on Ground Penetrating Radar, GPR, 2024

作者： Peng, Jiao Xue, Wei Wang, Wenkai Song, Junlei Zhou, Feng Huang, Pengchun Zhang, Zhixuan Zhang, Feng Zhang, Xu Chen, Longjia Sun, Li School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China Dam Safety Monitoring and Termite Control Center of Hubei Provincial Department of Water Resources China Key Laboratory of Termite Control Ministry of Water Resources China School of Mechanical Engineering and Electronic Information China University of Geosciences Wuhan China

Termites have always been one of the major hidden dangers to the operational safety of dams. Traditional detection methods such as manual inspection and termite baiting have limitations in terms of efficiency and accuracy. To solve the problems, paper proposes a termite nest detection method based on ground penetrating radar (GPR) and deep learning. First, the simulated GPR data are generated using gprMax software, and the real data are collected using a GPR at several dams. Subsequently, the YOLOv8 deep neural network is employed for termite nest recognition in GPR images. The experimental results show that the proposed model can achieve the mean average precision (mAP) of 0.96 and a detection speed of 53.76 frames per second (FPS). © Published under licence by IOP Publishing Ltd.

关键词： Deep neural networks

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An Informer Based Alarm Early Prediction Method over Consecutive Alarm Monitoring Periods 22

An Informer Based Alarm Early Prediction Method over Consecu...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Jiang, Wenbin Hu, Wenkai Liu, Zhe Wang, Fei School of Automation China University of Geosciences Wuhan430074 China Petrochemical Company Limited Wuhan430082 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9798331527471

Alarm systems serve as the first layer of protection for modern process industries to monitor industrial processes and ensure operational safety. However, the presence of alarm floods is common in alarm systems and may distract operators from critical alarms. To provide decision supports to operators during alarm flood situations, alarm prediction becomes a potential effective solution. The difficulty of alarm prediction lies in how to achieve high prediction accuracy over long-term consecutive alarm monitoring periods, including situations with either high or low alarm rates. Consequently, this paper presents an industrial alarm prediction method for both alarm flood periods and non-alarm flood periods. Specifically, a strategy of combining fixed-length and fixed-time sliding windows is designed. Further, an alarm prediction model based on Informer is proposed for alarm prediction under different alarm rates. A case study is presented to prove the validity of the proposed alarm prediction method. © 2024 IEEE.

关键词： Alarm systems

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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