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6th International Conference on Complex Medical Engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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A New Recursive Composite Adaptive controller for Robot Manipulators

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Space(Science & Technology) 2021年第1期2021卷 77-83页

作者： Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a new recursive implementation of composite adaptive control for robot manipulators is *** investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form,which,to our knowledge,is the first result on this point in the *** proposed algorithm has an amount of computation O(n),which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree *** manipulator of the Chinese Space Station is employed as a simulation example,and the results verify the effectiveness of this proposed recursive algorithm.

关键词： Robot manipulators robot

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Few-shot working condition recognition of a sucker-rod pumping system based on a 4-dimensional time-frequency signature and meta-learning convolutional shrinkage neural network

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Petroleum Science 2023年第2期20卷 1142-1154页

作者： Yun-Peng He Chuan-Zhi Zang Peng Zeng Ming-Xin Wang Qing-Wei Dong Guang-Xi Wan Xiao-Ting Dong State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangLiaoning 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyangLiaoning 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyangLiaoning 110169China University of Chinese Academy of Sciences Beijing100049China Shenyang University of Technology ShenyangLiaoning 110870China School of Automation and Electrical Engineering Shenyang Ligong UniversityShenyangLiaoning 110159China

The accurate and intelligent identification of the working conditions of a sucker-rod pumping system is necessary. As onshore oil extraction gradually enters its mid-to late-stage, the cost required to train a deep learning working condition recognition model for pumping wells by obtaining enough new working condition samples is expensive. For the few-shot problem and large calculation issues of new working conditions of oil wells, a working condition recognition method for pumping unit wells based on a 4-dimensional time-frequency signature (4D-TFS) and meta-learning convolutional shrinkage neural network (ML-CSNN) is proposed. First, the measured pumping unit well workup data are converted into 4D-TFS data, and the initial feature extraction task is performed while compressing the data. Subsequently, a convolutional shrinkage neural network (CSNN) with a specific structure that can ablate low-frequency features is designed to extract working conditions features. Finally, a meta-learning fine-tuning framework for learning the network parameters that are susceptible to task changes is merged into the CSNN to solve the few-shot issue. The results of the experiments demonstrate that the trained ML-CSNN has good recognition accuracy and generalization ability for few-shot working condition recognition. More specifically, in the case of lower computational complexity, only few-shot samples are needed to fine-tune the network parameters, and the model can be quickly adapted to new classes of well conditions.

关键词： Few-shot learning Indicator diagram Meta-learning Soft thresholding Sucker-rod pumping system Time–frequency signature Working condition recognition

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The System of Coordinated Operation of Two Underwater Vehicles in a Complex Environment

The System of Coordinated Operation of Two Underwater Vehicl...

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Filaretov, Vladimir Katsurin, Alexey Institute of Automation and Control Processes Feb Ras Vladivostok State University Laboratory of Robotic Systems Laboratory of Automation and Robotics Vladivostok Russia Far Eastern Federal University M.D. Ageev Institute for Marine Technology Problems Feb Ras Laboratory of Intelligent Information Systems for Marine Robots Department of Automation and Robotics Vladivostok Russia

ISBN: (纸本)9798350382457

The paper discusses methods of coordinated operation of two autonomous underwater vehicles, one of which is equipped with a multi-link manipulator and a vision system, and the second - auxiliary - only a vision system. These methods ensure the joint operation of two autonomous underwater vehicles both in the mode of semi-automatic positional remote control, and in the mode of automatic execution of operations with various objects. At the same time, work is considered in situations when the vision system of the main underwater vehicle does not allow observing the object of work, which is nevertheless located in the working area of the manipulator. In this case, the auxiliary inspection underwater vehicle with its own vision system is used to monitor the object. In the semi-automatic remote control mode, the manipulator automatically takes into account the current spatial orientation of the optical axis of the vision system of the inspection underwater vehicle, as well as the spatial orientations of both underwater vehicles at yaw angles in the absolute coordinate system. And in automatic mode, an accurate transfer of the spatial location and orientation of the object, which are determined using the vision system of the inspection underwater vehicle, is additionally provided to the associated coordinate system of the main underwater vehicle. It is possible to identify and eliminate errors that occur during the operation of the vision system and navigation systems of both underwater vehicles. The results of experimental studies have confirmed the operability of the proposed methods. © 2023 IEEE.

关键词： Autonomous underwater vehicles

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Local Path Planning Combined with the Motion State of Dynamic Obstacles 1

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17th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2022

作者： Hu, Yuxin Li, Jun Jiang, Lin Key Laboratory of Metallurgical Equipment and Control Technology Wuhan University of Science and Technology Wuhan430081 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China

ISBN: (数字)9789819915491

ISBN: (纸本)9789819915484

Aiming at the problem that the current local path planning algorithm treats moving obstacles as transient static ones when avoiding obstacles, lacking initiative and security, a local path planning algorithm combining dynamic obstacle motion state is proposed. Firstly, the position information of all obstacles is obtained by a single scan LIDAR. Then, segmenting and linearly fitting all laser point clouds, removing the known obstacles in the map;and marking possible emerging dynamic obstacles with circles of appropriate size;then detecting the dynamic obstacles through the change of the coordinates of the center of the circle, obtaining the center coordinates of the dynamic obstacles continuously;thus, the equation of motion is solved by using the least squares. Finally, the cost map of dynamic obstacles is expanded in the direction of velocity, by combining DWA dynamic window method to realize avoiding dynamic obstacles safely. In this paper, through the simulation experiments and real environment experiments of robot meeting scenes from multiple angles, the results show that expanding the cost map of the motion direction of the dynamic obstacles provides more sufficient response space for the robot to avoid the dynamic obstacles. Compared with the original DWA, the algorithm in this paper can avoid dynamic obstacles more safely, which proves the security and feasibility of this algorithm. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Equations of motion

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Development of an Industrial Real-time Ethernet Protocol Stack Based on SoC

Development of an Industrial Real-time Ethernet Protocol Sta...

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2022 International Symposium on Networks, Computers and Communications, ISNCC 2022

作者： Zhang, Bo Yan, Bingjun Liu, Mingzhe Hu, Bo Xu, Aidong Wang, Kai Key Laboratory of Networked Control Systems Chinese Academy of Sciences China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China

ISBN: (数字)9781665485449

ISBN: (纸本)9781665485449

In order to improve the real-time and reliability of network communication in intelligent ship system, this paper analyzes the requirements of ship-borne network, and develops a real-time Ethernet protocol stack based on Zynq7000 series SoC chip. The development of the protocol stack includes the software layer and the firmware layer. As the main part of the protocol stack, the software layer adds real-time communication entities upon the data link layer of the Ethernet reference model, and the timing of communication is controlled by the synchronous precise measurement clock to realize the real-time scheduling and transmission of data. On the other hand, the PTP message timestamp function of clock synchronization and the redundant function of zero recovery time based on PRP algorithm is realized on the firmware layer. Finally, the real-time, reliability and synchronization accuracy of the protocol stack are tested and verified on the developed real-time Ethernet cards. © 2022 IEEE.

关键词： System-on-chip

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Slip-based traction control system with an on-line road condition estimation for electric vehicles

Slip-based traction control system with an on-line road cond...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

In this paper a slip-based traction control system (TCS) with an on-line road condition estimation is presented. The system is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. The non-linear model of a small three-wheeled electric car, comprising the hardware in the loop, is used for the system testing.

关键词： Wheels Torque Roads Mathematical model Estimation Friction Equations

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An approach to determination of simple circular waits in reconfigurable multi-vehicle systems

An approach to determination of simple circular waits in rec...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

Resource allocation systems are used for modeling and control of flexible manufacturing systems, multi-vehicle systems, traffic networks, etc. Methods for control of these systems are often based on the identification of a special structural property, simple circular wait of resources, and interrelations between simple circular waits. In this paper we study reconfigurable resource allocation systems, which require that control algorithm is modified online and, therefore, has low running time. In this paper we propose dynamical algorithms for determination of simple circular waits in reconfigurable systems, which are based on Johnson's algorithm, and aim at identifying only changes in the set of simple circular waits. Running time of the proposed algorithms is lower than running time of standard static methods. Algorithms are tested for a family of multi-vehicle systems and results confirm the advantages of using the dynamic algorithms.

关键词： Vehicles Heuristic algorithms Resource management Motion segmentation Algorithm design and analysis Complexity theory System recovery

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A Weighting Factors Autotuning Strategy for Model Predictive Torque control of Permanent Magnet Synchronous Motor Based on Adaptive Multi-Objective Black Hole Algorithm 42

A Weighting Factors Autotuning Strategy for Model Predictive...

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42nd Chinese control Conference, CCC 2023

作者： Zhou, Zixiang Wu, Tao School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China System Integration and Industrial Robotics Laboratory Wuhan430074 China

ISBN: (纸本)9789887581543

The rational design of weighting factors in the cost function for finite control set model predictive torque control (FCS-MPTC) has been a matter of great interest in power electronics and electrical drives. In order to solve this problem, a weighting factors autotuning strategy for FCS-MPTC of permanent magnet synchronous motor (PMSM) based on the adaptive multi-objective black hole algorithm (AMOBH) is proposed. In this paper, the design process of the FCS-MPTC algorithm is first analyzed in detail. Then, an AMOBH algorithm that can take into account both population convergence and population diversity is introduced, and based on this algorithm, the design problem of the weighting factors is successfully transformed into a multi-objective optimization problem by means of reconstructing the cost function and designing the motor operation information collected in real time as the objective functions of the multi-objective optimization algorithm. Simulation results show that the proposed method can find a set of weighting factor combinations suitable for different working condition requirements, and these weighting factors can effectively improve the operation performance of the PMSM system. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Cost functions

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Path assignment and resource allocation control in reconfigurable multi-vehicle system

Path assignment and resource allocation control in reconfigu...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

In this paper we study control of reconfigurable multi-vehicle system. Our method builds upon an existing deadlock-free resource allocation control method that is based on the identification of higher-level deadlocks. We identify a smaller set of cyclic circular waits to be controlled, and provide an algorithm for determination of such cyclic circular waits. Furthermore, we propose a path assignment algorithm that aims at lowering the structural complexity of the corresponding resource allocation system, while taking into account path length. Methods are tested in a simulation environment and results show their efficiency.

关键词： System recovery Vehicles Resource management Motion segmentation control systems Heuristic algorithms Superluminescent diodes

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