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Chinese Automation Congress (CAC)

作者： Tao Zhang Yingjie Xiong Bolun Wang Hongyu Yan Xiyou Chen School of Electrical Engineering Dalian University of Technology Dalian China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China College Of Information Science and Engineering Northeastern University Shenyang China School of Artificial Intelligence Shenyang University of Technology Shenyang China

ISBN: (纸本)9781665426480

Permanent magnet synchronous motors(PMSM) are popular in AC motor applications due to their small size, high efficiency. They have appeared widely in various areas of life. Due to the high-frequency chattering problem caused by sliding mode observer sensorless control of PMSM, an SMO with piecewise control function is designed in this paper. At the same time, based on the back EMF output of the SMO, the gain of the SMO is adapted to reduce the system bucket vibration problem caused by the conventional SMO. Finally, a simulation experiment was carried out in MATLAB/SIMULINK and compared with the conventional SMO. The results show that the improved SMO has achieved a better control effect.

关键词： Vibrations Adaptation models AC motors Force Sensorless control Observers Permanent magnet motors

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An Almost Globally Stable Adaptive Phase-Locked Loop for Synchronization of a Grid-Connected Voltage Source Converter

arXiv

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arXiv 2022年

作者： Zonetti, Daniele Bobtsov, Alexey Ortega, Romeo Nikolaev, Nikolay Gomis-Bellmunt, Oriol The Centre d'Innovació Tecnològica en Convertidors Estàtics i Accionaments Departament d'Enginyeria Elèctrica Universitat Politècnica de Catalunya Barcelona08028 Spain The Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint-Petersburg197101 Russia The Laboratory "Control of Complex Systems" Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg199178 Russia The Departamento Académico de Sistemas Digitales ITAM Rio Hondo 1 Col. Progreso Tizapan Ciudad de México01080 Mexico

In this paper we are interested in the problem of adaptive synchronization of a voltage source converter with a possibly weak grid with unknown angle and frequency, but knowledge of its parameters. To guarantee a suitable synchronization with the angle of the three-phase grid voltage we design an adaptive observer for such a signal requiring measurements only at the point of common coupling. Then we propose two alternative certainty-equivalent, adaptive phase-locked loops that ensure the angle estimation error goes to zero for almost all initial conditions. Although well-known, for the sake of completeness, we also present a PI controller with feedforward action that ensures the converter currents converge to an arbitrary desired value. Relevance of the theoretical results and their robustness to variation of the grid parameters are thoroughly discussed and validated in the challenging scenario of a converter connected to a grid with low short-circuit-ratio. © 2022, CC BY.

关键词： Synchronization

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Development of a ROS controlled chassis dynamometer for lightweight, single seater EVs

Development of a ROS controlled chassis dynamometer for ligh...

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Mediterranean Conference on Control and Automation (MED)

作者： Savvas Piperidis Iason Chrysomallis Stavros Georgakopoulos Theodoros Stefanoulis Nikolaos Ghionis Vasileios Katsifas Nikos C. Tsourveloudis Intelligent Systems and Robotics Laboratory School of Production Engineering and Management Technical University of Crete Chania Hellas School of Electronic and Computer Engineering Technical University of Crete School of Production Engineering and Management Technical University of Crete Faculty of School of Production Engineering and Management Technical University of Crete

ISBN: (数字)9781728157429

ISBN: (纸本)9781728157436

TUCer team developed a prototype, portable chassis dynamometer capable of carrying out experimentation with alternate scenarios of acceleration, constant speed and deceleration, in a fully automated way. A controller scheme based on Robot Operating System was programmed, using open source tools. The testing scenarios are implemented using a motor/generator and an electronically controlled load, embedded on the dynamometer. Extensive testing during TUCer systems' development and real race conditions proved the dynamometer's reliability and functionality.

关键词： Prototypes Testing Wheels Task analysis Dynamometers Roads Electron tubes

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A CNN-LSTM Hybrid Model for Ankle Joint Motion Recognition Method Based on sEMG

A CNN-LSTM Hybrid Model for Ankle Joint Motion Recognition M...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Hao-Ran Cheng Guang-Zhong Cao Cai-Hong Li Aibin Zhu Xiaodong Zhang Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots Shenzhen Key Laboratory of Electromagnetic Control College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Institute of Robotics & Intelligent Systems Xi'an Jiaotong University Shaanxi Key Laboratory of Intelligent Robots Xi'an China

ISBN: (数字)9781728157153

ISBN: (纸本)9781728157160

A CNN-LSTM hybrid model for ankle joint motion recognition based on surface electromyography (sEMG) signals is proposed in this paper. The traditional recognition method is to manually extract the features from sEMG signals and then use machine learning method to train the model, which relies on prior knowledge and requires a lot of time to test and select good features to obtain high classification accuracy. In this paper, the CNN-LSTM hybrid model is used to identify four ankle joint movements (dorsiflexion, plantar flexion, foot varus and foot eversion). The hybrid model consists of two CNN layers and three LSTM layers. CNN can learn to automatically extract features and LSTM is able to capture long-term correlations of sEMG data. The experiment results show that the proposed model is effective and accurate, thus providing a basis for the subsequent research.

关键词： Feature extraction Convolution Machine learning Logic gates Neurons Kernel Robots

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Fault Tolerant Free Gait and Footstep Planning for Hexapod Robot Based on Monte-Carlo Tree

arXiv

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arXiv 2020年

作者： Ding, Liang Xu, Peng Gao, Haibo Wang, Zhikai Zhou, Ruyi Gong, Zhaopei Liu, Guangjun State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China Department of Aerospace Engineering Ryerson University TorontoONM5B 2K3 Canada

Legged robots can pass through complex field environments by selecting gaits and discrete footholds carefully. Traditional methods plan gait and foothold separately and treat them as the single-step optimal process. However, such processing causes its poor passability in a sparse foothold environment. This paper novelly proposes a coordinative planning method for hexapod robots that regards the planning of gait and foothold as a sequence optimization problem with the consideration of dealing with the harshness of the environment as leg fault. The Monte Carlo tree search algorithm(MCTS) is used to optimize the entire sequence. Two methods, FastMCTS, and SlidingMCTS are proposed to solve some defeats of the standard MCTS applicating in the field of legged robot planning. The proposed planning algorithm combines the fault-tolerant gait method to improve the passability of the algorithm. Finally, compared with other planning methods, experiments on terrains with different densities of footholds and artificially-designed challenging terrain are carried out to verify our methods. All results show that the proposed method dramatically improves the hexapod robotâĂŹs ability to pass through sparse footholds environment. Copyright © 2020, The Authors. All rights reserved.

关键词： Monte Carlo methods

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Reinforcement Learning Assist-as-needed Control for Robot Assisted Gait Training

Reinforcement Learning Assist-as-needed Control for Robot As...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Yufeng Zhang Shuai Li Karen J. Nolan Damiano Zanotto Wearable Robotics Systems (WRS) Laboratory Stevens Institute of Technology Hoboken NJ USA Human Performance and Engineering Research Kessler Foundation West Orange NJ USA Rutgers-NJMS Newark NJ USA

ISBN: (数字)9781728159072

ISBN: (纸本)9781728159089

The primary goal of an assist-as-needed (AAN) controller is to maximize subjects' active participation during motor training tasks while allowing moderate tracking errors to encourage human learning of a target movement. Impedance control is typically employed by AAN controllers to create a compliant force-field around the desired motion trajectory. To accommodate different individuals with varying motor abilities, most of the existing AAN controllers require extensive manual tuning of the control parameters, resulting in a tedious and time-consuming process. In this paper, we propose a reinforcement learning AAN controller that can autonomously reshape the force-field in real-time based on subjects' training performances. The use of action-dependent heuristic dynamic programming enables a model-free implementation of the proposed controller. To experimentally validate the controller, a group of healthy individuals participated in a gait training session wherein they were asked to learn a modified gait pattern with the help of a powered ankle-foot orthosis. Results indicated the potential of the proposed control strategy for robot-assisted gait training.

关键词： Training Robots Trajectory Integrated circuits Task analysis Reinforcement learning Legged locomotion

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Position control of XY precision planar motion table based on input shaping filter

Position control of XY precision planar motion table based o...

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International Conference on Electronics, Communications and Information Technology (CECIT)

作者： HuaLiang Zhang Xu Lu DanPing Jia BingJie Zhao Tao Zhang Yang Liu HongYu Yan 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 Artificial Intelligence Shenyang University of Technology Shenyang China School of Information Science and Engineering Shenyang University of Technology Shenyang China

ISBN: (纸本)9781665437585

In order to solve the vibration problem of mining equipment, a Simulink simulation model of current loop, speed loop and position loop of permanent magnet synchronous motor was established to track the input position signal of the motor system.[1] At the same time, the input shaper is introduced into the motor three loop control model to study the vibration suppression effect of the input shaper.[2] The essence of the input shaper is to filter the input signal. Usually, the parameters of the input shaper need to be accurately identified and the detailed parameters of the system need to be identified. However, the problem that the identification accuracy of the system is not enough often makes the parameters of the shaper uncertain. In view of the problem that the system identification is not accurate, a method of adjusting and setting input shaper parameters is designed, which is not very dependent on the system. The results show that the optimal parameters of the shaper can be selected by the method. Compared with the parameters of the shaper selected according to the identification model, the vibration suppression effect is better.

关键词： Vibrations Analytical models Tracking loops Software packages Magnetic separation Transfer functions Position control

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Hamiltonian Identification of Quantum Networks from Sequential Boolean Measurements

Hamiltonian Identification of Quantum Networks from Sequenti...

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IEEE Conference on Decision and Control

作者： Biqiang Mu Hongsheng Qi Ian R. Petersen Guodong Shi Key Laboratory of Systems and Control Institute of Systems Science Chinese Academy of Sciences Beijing China Research School of Electrical Energy and Materials Engineering The Australian National University Canberra Australia Australian Center for Field Robotics School of Aerospace The University of Sydney NSW Australia

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

Hamiltonian identification plays a key role in learning the dynamics of closed quantum systems. A novel strategy for Hamiltonian identification is developed in the paper by applying repeated projective measurements with a fixed period. The corresponding measurement outcome sequence forms a time-homogeneous Markov chain, the transition matrix of which is a quadratic function of the Hamiltonian. As a result, the identification method is achieved by two steps: 1) learning the transition matrix of the observed Markov chains; 2) identifying the Hamiltonian using the function relating it to the transition matrix, which is transformed to a manifold optimization problem. A simulation example is provided to show the efficacy of the proposed method.

关键词： Markov processes Qubit Maximum likelihood estimation Tomography Optimization Eigenvalues and eigenfunctions Mathematical model

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Online collision avoidance for human-robot collaborative interaction concerning safety and efficient

TechRxiv

引用

TechRxiv 2020年

作者： Liu, Guoliang He, Haoyang Tian, Guohui Zhang, Jianhua Ji, Ze The School of Control Science and Engineering Shandong University Jinan250061 China School of Mechanical Engineering Hebei University of Technology Tianjin300131 China The Robotics and Autonomous Systems Laboratory School of Engineering Cardiff University CardiffCF10 3AT United Kingdom

With the development of robot technology and the arrival of industry 4.0 era, society pays more attention to collaboration and interaction between human and robots. However, safety is still main concern in the development of human-robot collaboration. In this paper, a novel real-time collision avoidance approach for mobile manipulator is proposed by considering the motion status of the human, which includes the relative minimum distance and velocity (both magnitude and direction) between the robot and the human. The distance and velocity of the human hand are first estimated online using a vision sensor, and then defined as danger factors in the potential function of the potential field. The novel potential function proposed in this paper considers not only the safety problem, but also the efficient problem, i.e., the manipulator can make smart control decision to avoid the collision according to the relative velocity in case of the cross over. To overcome the local minimum problem and choose a best motion direction, we propose a motion sampling mechanism for motion planning. For each sample, the robot calculates the potential function to evaluate the safety and efficiency, and chooses a direction which is best for avoidance. We finally demonstrate our idea on a real mobile manipulator platform in a simulated co-worker environment. © 2020, CC BY.

关键词： Collision avoidance

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B-spline Surfaces for Range-Based Environment Mapping

B-spline Surfaces for Range-Based Environment Mapping

引用

2020 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Rômulo T. Rodrigues Nikolaos Tsiogkas A. Pedro Aguiar António Pascoal Faculty of Electrical Engineering University of Porto Porto Portugal Division RAM KU Leuven Leuven Belgium Core Lab ROB FlandersMake@KULeuven Leuven Belgium Laboratory of Robotics and Engineering Systems (LARSyS) ISR/IST University of Lisbon Lisbon Portugal

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

In this paper, we propose a mapping technique that builds a continuous representation of the environment from range data. The strategy presented here encodes the probability of points in space to be occupied using 2.5D B-spline surfaces. For a fast update rate, the surface is recursively updated as new measurements arrive. The proposed B-spline map is less susceptible to precision and interpolation errors that are present in occupancy grid-based methods. From simulation and experimental results, we show that this approach leverages the floating point resolution of continuous metric maps and the fast update/access/merging advantages of discrete metric maps. Thus, the proposed method is suitable for online robotic tasks such as localization and path planning, requiring minor modification to existing software that usually operates on metric maps.

关键词： Measurement Simultaneous localization and mapping Software Path planning Velocity measurement Splines (mathematics) Task analysis

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