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Flight control of a large-scale flapping-wing flying robotic bird:System development and flight experiment

Chinese Journal of Aeronautics 2022年第2期35卷 235-249页

作者： Wenfu XU Erzhen PAN Juntao LIU Yihong LI Han YUAN School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Large-scale flapping-wing flying robotic birds have huge application potential in outdoor tasks,such as military reconnaissance,environment exploring,disaster rescue and so *** this paper,a multiple modes flight control method and system are proposed for a large-scale robotic bird which has 2.3 m wingspan and 650 g *** from small flapping wing aerial vehicle,the mass of its wings cannot be neglected and the flapping frequency are much ***,the influence of transient aerodynamics instead of only mean value are considered in attitude estimation and controller ***,flight attitude and trajectory are highly coupled,and the robot has only three actuators----one for wings flapping and two for tail adjustment,it is very difficult to simultaneously control the attitude and ***,a fuzzy control strategy is addressed to determine the command of each actuator by considering the priority of attitude stabilization,trajectory tracking and the flight ***,the on-board controller is designed based on *** not only satisfies the strict restrictions on mass,size,power and space but also meets the autonomous,semi-autonomous and manual flight control ***,the developed control system was integrated to the robotic prototype,*** experiments under different environment conditions such as sunny and windy weather were completed to verify the control method and system.

关键词： Autonomous flight control Flapping-wing Free RTOS HIT-Phoenix Robotic bird

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Autonomous Formation Flight Control of Large-Sized Flapping-Wing Flying Robots Based on Leader–Follower Strategy

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Journal of Bionic Engineering 2023年第6期20卷 2542-2558页

作者： Hui Xu Yuanpeng Wang Erzhen Pan Wenfu Xu Dong Xue School of Mechanical Engineering and Automation Harbin Instwitute of TechnologyShenzhen518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150000China School of Aeronautics Northwestern Polytechnical UniversityXi’an710072China

Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight *** by the biological habits of birds,this paper proposes an autonomous formation flight control method for Large-sized Flapping-Wing Flying Robots(LFWFRs),which can enhance their search range and flight ***,the kinematics model for LFWFRs is ***,an autonomous flight controller based on this model is designed,which has multiple flight control modes,including attitude stabilization,course keeping,hovering,and so ***,a formation flight control method is proposed based on the leader–follower strategy and periodic characteristics of flapping-wing *** up and down fluctuation of the fuselage of each LFWFR during wing flapping is considered in the control algorithm to keep the relative distance,which overcomes the trajectory divergence caused by sensor delay and fuselage ***,typical formation flight modes are realized,including straight formation,circular formation,and switching ***,the outdoor formation flight experiment is carried out,and the proposed autonomous formation flight control method is verified in real environment.

关键词： Bionic Large-sized flapping-wing flying robot HIT-Phoenix Periodic flight characteristics Formation flight Leader follower strategy

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PIPE-VINS: A Robust, Real-time Visual-Inertial State Estimator in Pipe Environment

PIPE-VINS: A Robust, Real-time Visual-Inertial State Estimat...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Huang, Yiming Yuan, Jianjun Du, Liang Bao, Sheng Hu, Zhengtao Zhang, Hongkai Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai China Shanghai University Shanghai Robotics Institute Shanghai China

ISBN: (纸本)9798350325706

The detection and assessment of pipeline damage constitute crucial steps in pipeline maintenance. Typically, internal pipeline robots extract and track feature points under actively illuminated conditions to accomplish state estimation. However, unstable lighting within pipelines can lead to poor feature tracking performance, resulting in localization divergence. In this paper, we propose a multi-feature tracking approach that, in addition to extracting a certain number of Shi-Tomasi corners, also extracts highly efficient FAST corners to maintain feature uniqueness and expedite extraction efficiency. Moreover, we introduce a bidirectional optical flow method that performs reverse optical flow tracking on top of the existing forward tracking, thereby eliminating outliers from failed tracking and enhancing the stability of optical flow tracking. A segmented optimization approach is used during the back-end optimization process to conserve computational resources and speed up the optimization process for the variables. The proposed method is integrated into the state-of-the-art visual-inertial SLAM system, VINS-Mono, and evaluated on public datasets and pipeline datasets. Compared to other methods, our approach demonstrates matching or superior performance in terms of localization accuracy and robustness. © 2023 IEEE.

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Digital Twin System for Robotic Tool-replacing in Tunnel Boring Machine

Digital Twin System for Robotic Tool-replacing in Tunnel Bor...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Liu, Junxin Yuan, Jianjun Du, Liang Bao, Sheng Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai China Shanghai University Shanghai Robotics Institute Shanghai China

ISBN: (纸本)9798350325706

Tunnel boring machine (TBM) tool-replacing robot play an important role in improving the efficiency and safety of tunnel construction. However, considering the complexity and specificity of the working environment, current robotic tool-replacing solutions still have deficiencies, including the lack of customized motion simulation tools, the difficulty of human-robot interaction due to confined space, and the lack of management of robot operation data. To address these issues, this paper designs a digital twin system for robotic tool-replacing in TBM. The system builds a virtual working environment using Unity3D, and establishes a kinematic model of the robot to achieve the pre-planning of the movement trajectory. The synchronous mapping between the digital model of the robot and the physical entity is achieved through Socket communication technology, thus realizing the digital monitoring of the tool-replacing process. In addition, twin databases of the system are built based on SQLite for storing and managing the robot's operation data. Finally, the effectiveness of each functional module of the system is proved through experiments. © 2023 IEEE.

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Pick-up strategies for and electrical characterization of ZnO nanowires with a SEM-based nanomanipulator

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Nanotechnology and Precision Engineering 2023年第1期6卷 26-31页

作者： Mei Liu Lingdi Kong Weilin Su Aristide Djoulde Kai Cheng Jinbo Chen Jinjun Rao Zhiming Wang Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444China Guangdong Key Laboratory of Fuel Cell Technology School of Chemistry and Chemical EngineeringSouth China University of TechnologyGuangzhou 510640China

Because of their unique mechanical and electrical properties,zinc oxide(ZnO)nanowires are used widely in microscopic and nanoscopic devices and structures,but characterizing them remains *** this paper,two pick-up strategies are proposed for characterizing the electrical properties of ZnO nanowires using SEM equipped with a *** pick up nanowires efficiently,direct sampling is compared with electrification fusing,and experiments show that direct sampling is more stable while electrification fusing is more *** nanowires have cut-off properties,and good Schottky contact with the tungsten probes was *** piezoelectric experiments,the maximum piezoelectric voltage generated by an individual ZnO nanowire was 0.07 V,and its impedance decreased with increasing input signal frequency until it became *** work offers a technical reference for the pick-up and construction of nanomaterials and nanogeneration technology.

关键词： ZnO nanowires nanomanipulator picking up strategy piezoelectric properties electrical characterization

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An intelligent matching method for the equivalent circuit of electrochemical impedance spectroscopy based on Random Forest

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材料科学技术（英文版） 2025年第6期209卷 300-310页

作者： Wenbo Chen Bingjun Yan Aidong Xu Xin Mu Xiufang Zhou Maowei Jiang Changgang Wang Rui Li Jie Huang Junhua Dong Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Shenyang National Laboratory for Materials Science Institute of Metal ResearchChinese Academy of SciencesShenyang 110016China General Research Institute China Oil & Gas Pipeline Network CorporationLangfang 065000China

One of the core works of analyzing Electrochemical Impedance Spectroscopy(EIS)data is to select an appropriate equivalent circuit model to quantify the parameters of the electrochemical reaction ***,this process often relies on human experience and judgment,which will introduce subjectivity and *** this paper,an intelligent approach is proposed for matching EIS data to their equivalent circuits based on the Random Forest *** can automatically select the most suitable equivalent circuit model based on the characteristics and patterns of EIS *** the typical scenario of metal corrosion,an atmospheric corrosion EIS dataset of low-carbon steel is constructed in this paper,which includes five different corrosion *** dataset was used to validate and evaluate the pro-posed method in this *** contributions of this paper can be summarized in three aspects:(1)This paper proposes a method for selecting equivalent circuit models for EIS data based on the Random Forest algorithm.(2)Using authentic EIS data collected from metal atmospheric corrosion,the paper es-tablishes a dataset encompassing five categories of metal corrosion scenarios.(3)The superiority of the proposed method is validated through the utilization of the established authentic EIS *** ex-periment results demonstrate that,in terms of equivalent circuit matching,this method surpasses other machine learning algorithms in both precision and ***,it shows strong applicability in the analysis of EIS data.

关键词： Electrochemical impedance spectroscopy Random forest Corrosion Equivalent circuit model

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Reconfigurable Digital Twin Framework for Manufacturing Systems 10

Reconfigurable Digital Twin Framework for Manufacturing Syst...

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10th International Conference on Industrial Engineering and Applications, ICIEA 2023

作者： Cai, Hongxia Wang, Han Rong, Zhiqiang Bian, Yunqi Chen, Xiaoyu Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University China School of Mechatronic Engineering and Automation Shanghai University China

ISBN: (纸本)9781643684086

Nowadays, modern manufacturing systems are becoming increasingly complex. They are exposed to more frequent and unpredictable risks of change and disruption, both external and internal. Reconfiguration is an important way for the manufacturing system to maintain stability, so we propose a reconfigurable digital twin system to enable it to cope with increasing uncertainty and instability. This paper investigates a unified description template for digital twin foundation components, enabling the fusion of digital objects at the layer of foundation components. On this basis, the methods for adjustment of internal and external changes are proposed. Also, a rapid development and simulation method based on reconfiguration strategies and similarity matching algorithms is proposed to support the reconfiguration of the digital twin. Finally, the proposed architecture is illustrated and validated with a case study of a manufacturing workshop for intelligent navigation vehicles. © 2023 The authors and IOS Press.

关键词： Intelligent systems

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An Indoor Positioning Algorithm Against NLOS Error Based on UWB 41

An Indoor Positioning Algorithm Against NLOS Error Based on ...

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第41届中国控制会议

作者： Mingxiang Liao Yongbo Li Guangyao Wang Zhenyu Lei Zihao Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Ultra-wideband（UWB） positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the error caused by non-line-of-sight（NLOS） and multi-path *** present,the Chan-Taylor（C-T） combination algorithm proposed by scholars can achieve a good positioning effect in the line-of-sight（LOS） environment,but in the NLOS environment,positioning deviation of this algorithm is large .Aiming at the problem of low localization accuracy in NLOS environment,this paper presents a Chan-Taylor-Kalman（CTK） joint positioning algorithm based on UWB and adapted to NLOS *** basic idea of CTK joint positioning algorithm is to introduce weight coefficients on the basis of C-T combination algorithm to reduce the situation of non-convergence of positioning results;then combined with the improved Kalman filter to eliminate outliers and eliminate the influence of the non-line-of-sight *** show that under the same NLOS environment,the probability of the positioning error of the C-T combination positioning algorithm greater than 20 cm is about 60%,while the probability of the positioning error of the CTK joint positioning algorithm greater than 10 cm is only about 10%.

关键词： UWB NLOS indoor positioning Chan-Taylor combination algorithm Kalman filter

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ECH: An Enhanced Cart Histogram for place recognition

ECH: An Enhanced Cart Histogram for place recognition

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Liu, Pengming Bao, Sheng Du, Liang Yuan, Jianjun Zhang, Hongkai Luo, RuiQing School of Mechatronic Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China Shanghai Robotics Institute Shanghai University Shanghai China

ISBN: (纸本)9798350325706

Place recognition is a crucial technique for mitigating accumulated errors in simultaneous localization and mapping (SLAM). However, this remains an immensely challenging task. Existing place recognition algorithms are susceptible to failure during translation or rotation changes, lacking both translation and rotation invariance simultaneously. In this paper, we adopt and enhance the global descriptor by incorporating principal component analysis (PCA) to align the current keyframe with the query keyframe to a consistent azimuth angle. Furthermore, to ensure algorithm speed, our method is primarily based on non-ground points, and we propose a novel iterative-based fast non-ground point extraction method. We extensively compare our proposed algorithm with other state-of-the-art algorithms (Scan Context, Intensity Scan Context, STD). All experimental results demonstrate that our proposed algorithm achieves higher precision and recall rates in loop closure detection. © 2023 IEEE.

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Kinematics analysis of lower limb rehabilitation robot based on D-H method 41

Kinematics analysis of lower limb rehabilitation robot based...

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第41届中国控制会议

作者： Kui Jie Wangyong He Renjie Gui School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length and proportion of Chinese human lower limbs,as well as the range of extreme motion and comfortable motion of each joint of human lower *** on the error transfer matrix of rigid body connecting rod,the three-DOF lower limb rehabilitation robot human lower limb static pose error model and human/machine integration model are *** D-H method was used to solve the kinematic function between the angle of each joint and the position of the end of human lower *** analysis of the kinematics of human lower limbs is to calculate its inverse kinematics *** the motion control of rehabilitation robots,the inverse kinematics is more important than the forward kinematics,which is the basis for rehabilitation robot to realize trajectory planning under the training mode of passive trajectory traction,as well as the basis for compliant ***,a simulation model is established with Matlab software,and the simulation results show the feasibility and safety of the rehabilitation training process.

关键词： Lower limb rehabilitation robot Range of motion Human kinematics

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