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IEEE International Conference on systems, Man and Cybernetics

作者： Zibo Miao Yu Pan Qing Gao Guangdong Key Laboratory of Intelligent Morphing Mechanisms School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Shenzhen China State Key Laboratory of Industrial Control Technology The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing China

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique.

关键词： Perturbation methods Design methodology Quantum optics Robustness Feedback control Closed loop systems Tuning Cybernetics

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Adjacency-hopping de Bruijn Sequences for Non-repetitive Coding

arXiv

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arXiv 2023年

作者： Chen, Bin Liang, Zhenglin Wu, Shiqian The Institute of Robotics and Intelligent Systems School of Information Science and Engineering Wuhan University of Science and Technology Wuhan430081 China The Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan430072 China

A special type of cyclic sequences named adjacency-hopping de Bruijn sequences is introduced in this paper. It is theoretically proved the existence of such sequences, and the number of such sequences is derived. These sequences guarantee that all neighboring codes are different while retaining the uniqueness of subsequences, which is a significant characteristic of original de Bruijn sequences in coding and matching. At last, the adjacency-hopping de Bruijn sequences are applied to structured light coding, and a color fringe pattern coded by such a sequence is presented. In summary, the proposed sequences demonstrate significant advantages in structured light coding by virtue of the uniqueness of subsequences and the adjacency-hopping characteristic, and show potential for extension to other fields with similar requirements of non-repetitive coding and efficient matching. Copyright © 2023, The Authors. All rights reserved.

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Extraction of Key Foreground Information from Visual Feedback Images for Contact Micromanipulation in Liquid Environment

Extraction of Key Foreground Information from Visual Feedbac...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Jiancong Chen Huaping Wang Kailun Bai Kaijun Lin Qing Shi Tao Sun Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing China Science and Technology on Space Physics Laboratory Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

Contact micromanipulation for cells is an important branch in the field of micromanipulation. Limited by the size of the sensor, it is difficult to integrate the sensor in the macroscopic scene into the micromanipulator. So in most operations, images are often the only reliable source of information. The first prerequisite for realizing automated micromanipulation is to be able to extract key information from images. The occlusion phenomenon will inevitably occur in the contact micromanipulation. Although it is possible to design a specific algorithm to identify the target edge information in the occlusion state according to the characteristics of the operating environment and the end-effector. But there is still no universal image processing method to solve this problem. In this paper, we propose an image processing function based on a composite deep learning network structure to solve this problem. Our algorithm is divided into two steps:In the first step, we input the original image into the target detection network to get the position information of the target and end-effector, and cut the region of interest from the original image according to this information. In the second step, we preprocess these candidate sub-images containing key foreground information, and then input them into the image segmentation network to obtain the contour information of the end-effector and target. We designed a cell aspiration experiment based on the digital holographic microscope imaging system to validate our algorithm. In future work, we will continue to improve the algorithm to have better robustness and generalization.

关键词： Visualization Image segmentation Liquids Micromanipulators Microscopy Object detection End effectors

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Flow Sensing-Based Underwater Target Detection Using Distributed Mobile Sensors

Flow Sensing-Based Underwater Target Detection Using Distrib...

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IEEE Conference on Decision and Control

作者： Jun Wang Tongsheng Shen Dexin Zhao Feitian Zhang Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing China National Innovation Institute of Defense Technology Beijing China Department of Advanced Manufacturing and Robotics and the State Key Laboratory of Turbulence and Complex Systems College of Engineering Peking University Beijing China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper presents a novel bioinspired underwater target detection method with distributed mobile sensors. Inspired by the fish's lateral line system, distributed mobile sensors are proposed to measure their respective local flow pressure and collectively estimate the parameters (e.g., position and dimension) of underwater targets with dynamic sensor trajectory planning. This paper formulates an optimal trajectory planning problem for a group of mobile sensors using information entropy as the cost function, with an aim to maximize the confidence level in the estimated target parameters. This paper in particular investigates the detection of a circular target in a uniform flow. A Bayesian filter is adopted to assimilate the distributed pressure measurements dynamically to estimate the position and radius of given circular targets. To verify the effectiveness of the proposed method, simulation is conducted with both fixed and moving circular targets in uniform flow. Simulation results are presented and analyzed.

关键词： Trajectory planning Simulation Object detection Robot sensing systems Sensor systems Entropy Sensors

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Assessment of the Modeling of the Energy insolation over Three Stations in Tunisia

Assessment of the Modeling of the Energy insolation over Thr...

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Information Technologies & Smart Industrial systems (ITSIS), IEEE

作者： Kaouther Belkilani Afef Ben Othman Mongi Besbes Robotics Informatics and Complexes Systems Laboratory LR16ES07 (RISC) National Engineering School of Tunis University Tunis El Manar Higher Institute of Information and Communication Technologies University of Carthage Robotics Informatics and Complexes Systems Laboratory LR16ES07 (RISC) National Engineering School of Tunis University Tunis El Manar National Engineering school of Carthage University of Carthage

Accurate hourly global horizontal irradiance (GHI) data is needed in areas where ground measurements are limited or lacking. A previous model was used to predict the GHI of different stations in Tunisia. The obtained results are confronted with GHI Data earth stations. The precision of each model has been calculated using (R, R 2 , MPE, and RMSE). Based on the statistical results of the different locations in Tunisia, we find that the numerical model offers the best performance.

关键词： Earth Clouds Area measurement Energy measurement Predictive models Numerical models

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Vision-Based Tactile Intelligence with Soft Robotic Metamaterial

SSRN

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SSRN 2023年

作者： Wu, Tianyu Dong, Yujian Liu, Xiaobo Han, Xudong Xiao, Yang Wei, Jinqi Wan, Fang Song, Chaoyang Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology China Department of Mechanical and Energy Engineering Southern University of Science and Technology China School of Design Southern University of Science and Technology China

Robotic metamaterials represent an innovative approach to creating synthetic structures that combine desired material characteristics with embodied intelligence, blurring the boundaries between materials and machinery. Inspired by the functional qualities of biological skin, integrating tactile intelligence into these materials has gained significant interest for research and practical applications. This study introduces a Soft Robotic Metamaterial (SRM) design featuring omnidirectional adaptability and superior tactile sensing using a combination of vision-based motion tracking and machine learning. The study compares two sensory integration methods to a state-of-the-art motion tracking system and force/torque sensor baseline: an internal-vision design with high frame rates and an external-vision design offering cost-effectiveness. The results demonstrate the internal-vision SRM design achieving an impressive tactile accuracy of 98.96%, enabling soft and adaptive tactile interactions, especially beneficial for dexterous robotic grasping. The external-vision design offers similar performance at a reduced cost and can be adapted for portability, enhancing material science education and robotic learning. This research significantly advances tactile sensing using vision-based motion tracking in soft robotic metamaterials, and the open-source availability on GitHub fosters collaboration and further exploration of this innovative technology (https://***/bionicdl-sustech/SoftRoboticTongs). © 2023, The Authors. All rights reserved.

关键词： Machine learning

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Joint Routing and Charging Problem of Electric Vehicles with Incentive-Aware Customers Considering Spatio-Temporal Charging Prices

SSRN

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SSRN 2022年

作者： Yao, Canqi Chen, Shibo Salazar, Mauro Yang, Zaiyue School of Mechatronics Engineering Harbin Institute of Technology Harbin150000 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering The Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology EindhovenMB 5600 Netherlands

This paper investigates the scheduling problem of a fleet of electric vehicles, providing mobility as a service to a set of time-specified customers, where the operator needs to solve the routing and charging problem jointly for each EV. Hereby we consider incentive-aware customers and propose that the operator offers monetary incentives to customers in exchange for time flexibility. In this way, the fleet operator can achieve a routing and charging schedule with lower costs, whilst the customers receive monetary compensation for their flexibility. Specifically, we first propose a bi-level optimization model whereby the fleet operator optimizes the routing and charging schedule accounting for the spatio-temporal varying charging price, jointly with a monetary incentive to reimburse the delivery time flexibility experienced by the customers. Concurrently the customers choose their own time flexibility by minimizing their own cost. Second, we cope with the computational burden coming from this nonlinear bi-level optimization model with an accurate reformulation approach consisting of the KKT optimality conditions, a Big-M-based linearization method, and the zero duality gap of convex optimization problems. This way, we convert the proposed problem into a single-level optimization problem, which can be solved by a strengthened generalized Benders decomposition method holding a faster convergence rate than the generalized Benders decomposition method. To evaluate the effectiveness of the proposed mathematical model, we carry out numerous simulation experiments by using the VRP-REP data of Belgium. The numerical results showcase that the proposed mathematical model can reduce the delivery fees for the customers together with the cost of operation incurred by the fleet operator. © 2022, The Authors. All rights reserved.

关键词： Sales

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Recognition of Dynamic Grasping Motion through Feature Extraction for Teleoperation

Recognition of Dynamic Grasping Motion through Feature Extra...

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WRC Symposium on Advanced robotics and Automation (WRC SARA)

作者： Yanping Dai Wenyuan Chen Ning Xi Wenxue Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Department of Industrial and Manufacturing Systems Engineering Emerging Technologies Institute University of Hong Kong Hong Kong China

Detecting human movement intentions and transmitting human operational capabilities to robots is of great significance for teleoperations. However, the difference in kinematic structure between human hands and robotic manipulators brings difficulties to teleoperation mapping. In this paper, we present an approach to hand grasp recognition and mapping based on feature extraction to drive heterogeneous remote manipulator. The hand grasp data set HUST recorded with a data glove was used for this study. The data were preprocessed and their features were extracted by PCA. A neural network-based classifier was obtained through offline training of human grasping activities. We compared different network models and selected the network with the best performance based on the training time and the task requirements of teleoperation. The experimental results showed that the recognition accuracy of dynamic grasping motion with feature extraction is higher than that without feature extraction and can be up to 97.47%. Finally, we validated the feasibility of this method to tele-operate an Barrett hand through online experiments. Our proposed method provides an effective approach of mapping natural human grasping operations to heterogeneous robotic teleoperation systems.

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Chance Constrained Routing and Charging Problem of Electric Vehicles

Chance Constrained Routing and Charging Problem of Electric ...

引用

Chinese Automation Congress (CAC)

作者： Shibo Chen Canqi Yao Haoyu Miao Zhicheng Li Zaiyue Yang Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Shenzhen Polytechnic Internet of Things Research Institute Shenzhen China

Different from traditional vehicles, the routing problem of electric vehicles (EVs) is closely coupled with their charging. Hence, operating EV requires a joint optimization of both routing and charging. Moreover, the travel time and energy consumption uncertainties also bring challenges to the EV operation in practice. In this paper, we study the routing and charging problem of EVs under the chance constrained optimization framework, where uncertainties are tackled with probabilistic constraints. An iterative algorithm is proposed, which transforms the original challenging mixed-integer nonlinear program into the iteration of two linear programs. The finite convergence of this algorithm is also proved. Numerical results show that our proposed algorithm can achieve near-optimal solutions in rather short computation times.

关键词： Energy consumption Uncertainty Automation Transforms Routing Electric vehicles Probabilistic logic

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Joint Routing and Charging Problem of Electric Vehicles with Incentive-aware Customers Considering Spatio-temporal Charging Prices

arXiv

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arXiv 2022年

关键词： Sales

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