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作者： Ok, Sangjae Xu, Zhenyao Lee, Dong-Hee Department of Mechatronics Engineering Kyungsung University Busan48434 Korea Republic of State Key Laboratory of Robotics Shenyang Institute of Automation The Chinese Academy of Sciences Shenyang110016 China

Low-power and high-speed BLDC(Brushless DC) motor is widely used in vacuum cleaners. This paper presents a sensorless speed control scheme for a high-speed BLDC motor of a hand-stick vacuum cleaner using a variable slope sliding mode observer(SMO). The SMO using the signum function is very effective for the sensorless estimation of the BLDC motor. However, the chattering effect on the slide surface from the signum function decreases the sensorless performance in the wide speed range. The sigmoid function instead of the signum function can reduce the chattering effect. However, the convergence is inversely proportional to the reduced chattering effect. In order to reduce the chattering effect and keep the proper convergence performance, the proposed method uses a variable acceleration slope of the sigmoid function. In the low-speed range, the acceleration slope of SMO is decreased to reduce the chattering. And, it is increased to improve the convergence in the high-speed region. The acceleration slope of the sigmoid function is designed as a function of the estimated speed to keep the constant convergence with reduced chattering in the sensorless speed and position estimation. In order to verify the proposed sensorless control scheme, 115 krpm speed 540W BLDC motor for a vacuum cleaner is tested with various SMO methods. In the experimental results, the proposed method shows better sensorless speed control performance in the wide speed range. © 2023 IEEE.

关键词： Sensorless control

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Learning-Based Terramechanics Mapping in Hilbert Space

Learning-Based Terramechanics Mapping in Hilbert Space

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International Conference on Guidance, Navigation and Control, ICGNC 2024

作者： Liu, Xu Li, Decai Zhang, Guangyu He, Yuqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789819622351

For ground robots, the mechanical properties of certain terrain, such as muddy ground, negatively affect the locomotion performance and trafficability. In order to obtain a compact and efficient underlying representation of the terrain mechanical properties, in this paper, we propose a new method based on learning that has two remarkable advantages: 1) It establishes the relationship between specific positions and their corresponding mechanical properties, which is represented by a parametric model learnt from mechanical properties data. The model can query terrain mechanical properties of an arbitrary point. 2) It's a highly memory-saving underlying representation of terrain mechanics for the parameters of the learnt model are finite, that is, the needed memory is very little. The proposed approach, called Hilbert terramechanics map, is based on the computation of kernel approximation that projects the data into a Hilbert space in which a multiclass logistic regression classifier is learnt by fast stochastic average gradient descend. We demonstrate the advancements of our method on two simulated environments which are very close to the real world. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Hilbert spaces

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Thermally Drawn Monolithic Polymer Continuum Robot with Laser Cutting Profile

Thermally Drawn Monolithic Polymer Continuum Robot with Lase...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Liu, Huanghua Zou, Yun Xu, Zheng Gao, Anzhu Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education Key Laboratory of System Control and Information Processing Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9798350325706

Continuum robots have the great potential in endoluminal diagnosis and intervention toward narrow and confined workspace. However, fabrication of continuum robots still poses a grant challenge in its miniaturization. To solve this, this paper designs a thermally drawn monolithic polymer continuum robot with laser cutting profile. First, the continuum robot is designed with two degrees of freedom (DOF) for shape deflection, and it consists of four optical fibers with the fiber Bragg grating (FBG) sensor on each for tension sensing as driving cables. Second, its main body is a multi-channel polycarbonate (PC) tube produced by thermal drawing process, and a series of rectangular cutouts are made on it via laser cutting process. By combining these two fabrication processes, the developed continuum robot realizes the integration of the multi-channel structure and the notch feature. Third, a control framework of puller-follower controller using the integrated tension sensing is proposed for teleoperation control. Finally, experimental setup is built for the robot validation, and results show that the repeated positioning accuracy of the robot is 1.08 mm. Moreover, a micro endoscope and a needle are added to the end of the continuum robot, and a phantom study of auripuncture and drug delivery is completed to verify the preliminary feasibility. And the proposed fabrication approach enables the miniaturization and complex structure for the cable-driven continuum robots. © 2023 IEEE.

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Mobile Robot Autonomous Exploration Method with Improved Weighted Centroid and Multi-Objective Optimization 14

Mobile Robot Autonomous Exploration Method with Improved Wei...

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14th IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems, CYBER 2024

作者： Zhang, Yuze Shao, Shiliang Wang, Ting Cao, Fengkui Xu, Huiyang Shi, Xianyu Zhong, Ling School of Software Shenyang University of Technology Shenyang110870 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institudes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9798331506056

The frontier based exploration method is a traditional and direct method, which has the problems of redundancy of sensor observation range and simple frontier point selection rule. Based on the traditional frontier exploration, the process of identifying the frontier centroid points is improved, and the weight of each point is applied to represent the importance of different points to the exploration. Secondly, in view of the shortage of the traditional greedy strategy, the cost of avoiding obstacles and other factors are comprehensively considered, so as to adapt to a more complex environment. The experimental results show that the proposed method has high exploration efficiency and can complete the environment construction independently. © 2024 IEEE.

关键词： Mobile robots

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State-of-Charge (SOC) Estimation of Lithium-Ion Battery Based on Unscented Kalman Filtering 6

State-of-Charge (SOC) Estimation of Lithium-Ion Battery Base...

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6th IEEE Advanced Information Management, Communicates, Electronic and automation Control Conference, IMCEC 2024

作者： Miao, Mengfan Li, Ligang Wang, Zhongfeng Jiang, Jing Shenyang Ligong University College of Automation and Electrical Engineering Liaoning China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (纸本)9798350316520

Real-time estimation of State of Charge (SOC) for lithium-ion batteries is one of the core technologies in Battery Management Systems (BMS). Accurate SOC estimation is fundamental for managing lithium-ion batteries. In this study, a second-order RC equivalent circuit model is established, and parameter identification methods are employed to determine the model parameters. The identified parameters are then incorporated back into the second-order RC model. The accuracy of these parameters and the model is validated through Hybrid Pulse Power Characteristic (HPPC) tests. Finally, the Unscented Kalman Filtering algorithm (UKF) is utilized to estimate battery SOC. Experimental results demonstrate that SOC estimation based on UKF exhibits high precision and stability. © 2024 IEEE.

关键词： Lithium-ion batteries

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A bionic mimosa soft robot composed by PNIPAM-PEGDA copolymer 5

A bionic mimosa soft robot composed by PNIPAM-PEGDA copolyme...

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5th World Robot Conference Symposium on Advanced robotics and automation, WRC SARA 2023

作者： Wang, Xiaowen Yang, Wenguang Ge, Zhixing Yantai University School of Electromechanical and Automotive Engineering Yantai264005 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China

ISBN: (纸本)9798350307320

Deformation is very important for biological survival, more and more researchers are committed to 3D deformation of 2D materials. In this research, we make 3D deformation by applying different internal stresses to 2D materials. At the beginning, single layer PNIPAM hydrogel sheets with different combinations of microchannels were fabricated by UV curing technology. Because of the uneven distribution of internal stresses, they deformed into different 3D structures. In order to maintain these 3D structures though without continuous stimulation, PNIPAM-PEGDA bilayer structure was prepared. It was found that the bilayer structure could respond to both temperature and solvent composition due to the difference of solubility between PNIPAM and PEGDA. Based on the bilayer structure, we made the bionic Mimosa, which could not only realize the open-closing reversibly, but also maintained the normally closed state without continuous stimulation. This research provides a reference for the development of directionally programmable soft materials and has great potential in the fields of bionics and biomedicine. © 2023 IEEE.

关键词： Bionics

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Design of Signal Feature Extraction Solution for Gear Performance Degradation

Design of Signal Feature Extraction Solution for Gear Perfor...

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International Conference on Mechanical Design, ICMD 2021

作者： Wu, Jiachi He, Bin Zhang, Dong Wang, Weijia Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China

ISBN: (纸本)9789811673801

The health monitoring technology of gear transmission system is developing towards the direction of big data information mining, high real-time performance and advanced prediction. By using performance degradation assessment and noise prediction technology, sensitive degradation or fault information can be extracted from gear vibration and noise signals, which plays a vital role in the integration of health monitoring systems. In this solution, based on the analysis of gear performance degradation mechanism, a gear transmission system vibration and noise data sensing collection experimental platform are constructed, and a gear performance degradation state sensing operation and maintenance system is constructed following the concept of low-carbon operation and maintenance. Aiming at the problem of noise interference in signal quantitative feature extraction, a preprocessing method for reducing noise interference is proposed. Combined with the advantages of high identification of high-frequency and low-frequency information by wavelet packet, a calculation method based on multi-scale for stepwise filtering of high-frequency signal information (SFH-fre) is proposed. The permutation entropy (PE) is calculated for multi-scale signals, and the ordering distribution at each scale can be obtained. The Wasserstein distance between normal and degraded signals is calculated from the perspective of similarity discrimination, which is used as the quantitative feature of gear degradation under different degradation states, and then the signal feature of gear performance degradation degree data is extracted. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Feature extraction

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Analysis of Multi-AGVs Management System and Key Issues: A Review

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Computer Modeling in Engineering & Sciences 2022年第6期131卷 1197-1227页

作者： Wenhao Lu Shuai Guo Tao Song Yuwen Li Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai200444China National Demonstration Center for Experimental Engineering Training Education Shanghai UniversityShanghai200444China

Multiple Automatic Guided Vehicle(multi-AGVs)management systems provide an effective solution to ensuring stable operations of multi-AGVs in the same scenario,such as flexible manufacturing systems,warehouses,container terminals,*** type of systems need to balance the relationship among the resources of the system and solve the problems existing in the operation to make the system in line with the requirement of the *** multi-AGVs management problem is a multi-objective,multi-constraint combinatorial optimization problem,which depends on the types of application *** article classifies and compares the research papers on multi-AGVs management in ***,according to the different dimensions of the problem,the multi-AGVs management system is analyzed from three perspectives,namely,1)task dimensiondispatch,2)spatial dimension-path,and 3)time *** detailed comparison between the three dimensions and their respective solutions are discussed in detail as ***,according to their utility,the multi-AGVs management problems are divided into three categories:1)cost reduction,resource-oriented,2)efficiency improvement,problem-oriented,3)personalized demand,*** algorithm and methods of the different utility-oriented are analyzed and *** related literature is summarized and corresponds to the composition of the multi-AGVs management system and the multi-AGVs management ***,according to the literature review,suggestions are made for further research.

关键词： Multiple automatic guided vehicle dispatch route schedule

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Health Monitoring of Pressure Transmitter Sensing Line Based on Convolutional Neural Network 12

Health Monitoring of Pressure Transmitter Sensing Line Based...

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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering, QR2MSE 2022

作者： He, Tianfang Xu, Aidong Wang, Kai Zeng, Peng Laboratory of Industrial Control Network and System State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China University of Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Industrial Control Network and System State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9781839538360

Blockages of pressure transmitter sensing line are a recurring problem in nuclear plants. The traditional solution is to purge them with nitrogen periodically, which is time consuming and radiation intensive. It is thus desirable to monitor the status of sensing lines on-site. The noise analysis method is a promising method for sensing line health monitoring. However, the existing noise analysis methods, which evaluate the sensing line status by analyzing time domain or frequency domain features of process noise signal, are susceptible to working conditions of pressure transmitters. Further, blockage degree of the sensing line can not be determined by existing methods. Therefore, this paper proposes a machine learning based noise analysis method for health monitoring of pressure transmitter sensing line, in which 1-D Convolutional Neural Network (CNN) is used to extract features from process noise signals. Experimental results show that the proposed method achieved satisfactory results in diagnosis accuracy, false alarm rate and robustness of the model under different working conditions. Further, blockage degree of sensing line can also be evaluated. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Frequency domain analysis

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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

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Frontiers of Mechanical Engineering 2022年第2期17卷 71-84页

作者： Peng CHEN Tingwen YUAN Yi YU Yuwang LIU State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Mechanical Engineering Northeastern UniversityShenyang 110000China

Owing to their inherent great flexibility, good compliance, excellent adaptability, and safe interactivity, soft robots have shown great application potential. The advantages of light weight, high efficiency, non-polluting characteristic, and environmental adaptability provide pneumatic soft robots an important position in the field of soft robots. In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeleton pneumatic artificial muscles, was developed. The robot can achieve flexible motion in 3D space. A novel kinematic modeling method for variable-curvature soft robots based on the minimum energy method was investigated, which can accurately and efficiently analyze forward and inverse kinematics. Experiments show that the robot can be controlled to move to the desired position based on the proposed model. The prototype and modeling method can provide a new perspective for soft robot design, modeling, and control.

关键词： pneumatic artificial muscles soft robot modeling approach principle of virtual work external load

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