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arXiv 2017年

作者： Mingwei, Cao Ming, Yang Chunxiang, Wang Yeqiang, Qian Bing, Wang Research Institute of Robotics Shanghai Jiao Tong University Shanghai200240 China Department of Automation Shanghai Jiao Tong University 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240

In view of contemporary panoramic camera-laser scanner system, the traditional calibration method is not suitable for panoramic cameras whose imaging model is extremely nonlinear. The method based on statistical optimization has the disadvantage that the requirement of the number of laser scanner's channels is relatively high. Calibration equipments with extreme accuracy for panoramic camera-laser scanner system are costly. Facing all these in the calibration of panoramic camera-laser scanner system, a method based on supervised learning is proposed. Firstly, corresponding feature points of panoramic images and point clouds are gained to generate the training dataset by designing a round calibration object. Furthermore, the traditional calibration problem is transformed into a multiple nonlinear regression optimization problem by designing a supervised learning network with preprocessing of the panoramic imaging model. Back propagation algorithm is utilized to regress the rotation and translation matrix with high accuracy. Experimental results show that this method can quickly regress the calibration parameters and the accuracy is better than the traditional calibration method and the method based on statistical optimization. The calibration accuracy of this method is really high, and it is more highly-automated. Copyright © 2017, The Authors. All rights reserved.

关键词： Supervised learning

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Cloud-aided state estimation of a full-car semi-active suspension system

arXiv

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arXiv 2017年

作者： Zhang, Lixian Yin, Xunyuan Shen, Junnan Yu, Haitao Research Institute of Intelligent Control and System Harbin Institute of Technology Harbin150080 China Department of Chemical and Materials Engineering University of Alberta EdmontonT6G 2V2 Canada State Key Laboratory of Robotics and Systems Harbin Institute of Technology 150001 China

In this work, we investigate a state estimation problem for a full-car semi-active suspension system. To account for the complex calculation and optimization problems, a vehicle-to-cloud-to-vehicle (V2C2V) scheme is utilized. Moving horizon estimation is introduced for the state estimation system design. All the optimization problems are solved in a remotely-embedded agent with high computational ability. Measurements and state estimates are transmitted between the vehicle and the remote agent via networked communication channels. The effectiveness of the proposed method is illustrated via a set of simulations. Copyright © 2017, The Authors. All rights reserved.

关键词： State estimation

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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

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IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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Sliding mode tracking control for miniature unmanned helicopters

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Chinese Journal of Aeronautics 2015年第1期28卷 277-284页

作者： Xian Bin Guo Jianchuan Zhang Yao Zhao Bo The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and Automation Tianjin University

A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter＇s dynamic model is divided into two subsystems,such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles＇ dynamic effects and external disturbances. The global asymptotic stability（GAS） of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportionalintegral-derivative（PID） and linear-quadratic regulator（LQR） cascaded controller in the presence of wind gust disturbances.

关键词： unmanned sliding miniature compensate quadratic cascaded subsystem disturbance facilitate linearized

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Distance control of soft robot using proximity sensor for beating heart surgery

Distance control of soft robot using proximity sensor for be...

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IEEE/SICE International Symposium on system Integration

作者： Yuting Liu Hui Xie Hesheng Wang Weidong Chen Jingchuan Wang Ministry of Education of China Key Laboratory of System Control and Information Processing Department of Automation Shanghai Jiao Tong University Shanghai China State Key Laboratory of Robotics and System (HIT)

ISBN: (纸本)9781509033300

This paper presents the integration of a soft robot with optical fiber based proximity sensor which is designed for beating heart tracking in minimally invasive surgery (MIS). This cable-driven soft robot, made of silicone rubber, is low cost, lightweight, sterilizable and compatible for magnetic resonance (MR) environment. During non-contact and contact situation of robot manipulation, there is a phase where sensory information (force or image) is missing. Our proximity sensor system is designed to solve this problem. The proximity sensor, a 4-point sensor array, uses 4 pairs of emitter and receiver optical fibers to measure the light intensity of surrounding environment. The 4-point sensor array is mounted on the 10 mm diameter soft robot tip, with channels inside its body where cameras and surgical instruments could be integrated into. It is the first time using proximity sensor to control the motion of soft robot in beating heart surgery for the tracking task. A distance calibration model is built before the tracking experiment. Employing a position control method with gravity compensation, experiment is conducted and test results have shown the validity of our controller and system.

关键词： Robot sensing systems Heart Optical fiber cables Optical fibers Optical fiber sensors Calibration

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Unknown constrained mechanisms operation based on dynamic interactive control

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CAAI Transactions on Intelligence Technology 2016年第3期1卷 259-271页

作者： Hesheng Wang Bohan Yang Weidong Chen Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China China State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin 150001 China

In order to operate various constrained mechanisms with assistive robot manipulators, an interactive control algorithm is proposed in this paper. This method decouples motion and force control in the constrained frame, and modifies the motion velocity online. Firstly, the constrained frame is determined online according to previous motion direction; then the selection matrix is adjusted dynamically, the constrained motion direction is chosen as the driving-axis. Consequently, the driving-axis and non-driving-axis are decoupled; finally, velocity control and impedance control are implied on above axes respectively. The selecting threshold for driving-axis is also varying dynamically to fit different constrained mechanism. Door-opening experiments are conducted to verify the performance of the proposed method.

关键词： Unknown constrained mechanism Selection matrix Constrained frame Robot manipulator Impedance control

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Cooperative load transport based on fuzzy logic controllers

Cooperative load transport based on fuzzy logic controllers

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IEEE/IAS International Conference on Industry Applications (INDUSCON)

作者： Marco Antonio Teixeira Higor Barbosa Santos Andre Schneider de Oliveira João Alberto Fabro Lucia Valeria Ramos de Arruda Flavio Neves-Jr Federal University of Technology — Parana Curitiba Parana Brazil Automation and Advanced Control System Laboratory (LASCA) Advanced Laboratory of Embedded Systems and Robotics (LASER)

This work presents the use of multiple mobile robots to perform a common transportation task. The main objective is to perform a navigation with a shared cargo, which allows the transport of objects with high payload or high sizes. Two robots are virtually linked through two Fuzzy controllers, one to control distance and another for orientation. A depth camera on the trailer's robot is used to measure the distance and orientation of the leader robot. The proposed approach is experimentally validated with two standard Pioneer mobile robots that collaboratively carry a large box.

关键词： Robot kinematics Robot sensing systems Mobile robots Payloads Three-dimensional displays Lasers

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A self-decoupling piezoresistive sensor for measuring microforce in horizontal and vertical directions

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Journal of Micromechanics and Microengineering 2016年第9期26卷

作者： Zhou, Jie Rong, Weibin Wang, Lefeng Gao, Peng Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China School of Electrical and Control Engineering Heilongjiang University of Science and Technology Harbin Heilongjiang China

This paper presents the design, fabrication and calibration of a novel two-dimension microforce sensor with nano-Newton resolution. The sensor, mainly composed of a clamped-clamped beam (horizontal detecting beam), an overhanging beam (vertical detecting beam) and a half-folded beam, is highly sensitive to microforces in the horizontal (parallel to the probe of the designed sensor) and vertical (perpendicular to the wafer surface) directions. The four vertical sidewall surface piezoresistors (horizontal piezoresistors) and two surface piezoresistors (vertical piezoresistors) were fabricated to achieve the requirements of two-dimension microforce measurements. Combining the sensor structure with Wheatstone bridge configurations, the microforce decoupling among the x, y, and z direction can be realized. Accordingly, the sensor is capable of detecting microforces in the horizontal and vertical directions independently. The calibration results verified that the sensor sensitivities at room temperature are 210.58 V N-1and 159.2 V N-1 in the horizontal and vertical directions, respectively. Additionally, the sensor's corresponding force resolutions are estimated at 2 nN and 3 nN in theory, respectively. The sensor can be used to measure the contact force between manipulating tools and micro-objects, in fields such as microassembly and biological assays. © 2016 IOP Publishing Ltd.

关键词： Calibration

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Adaptive Backstepping Tracking control of a 6-DOF Unmanned Helicopter

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 19-24页

作者： Bin Xian Jianchuan Guo Yao Zhang the Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and AutomationTianjin University

This paper presents an adaptive backstepping control design for a class of unmanned helicopters with parametric uncertainties. The control objective is to let the helicopter track some pre-defined position and yaw trajectories. In order to facilitate the control design, we divide the helicopter's dynamic model into three subsystems. The proposed controller combines the backstepping method with online parameter update laws to achieve the control objective. The global asymptotical stability (GAS) of the closed-loop system is proved by a Lyapunov based stability analysis. Numerical simulations demonstrate that the controller can achieve good tracking performance in the presence of parametric uncertainties. © 2014 Chinese Association of Automation.

关键词： Backstepping Closed loop control systems Closed loop systems controllers Flight dynamics Helicopters

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Cubature Kalman Filter based point set registration for SLAM

Cubature Kalman Filter based point set registration for SLAM

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International Conference on Intelligent Transportation

作者： Liang Li Ming Yang Chunxiang Wang Bing Wang Department of Automation Key Laboratory of System Control and Information Processing Shanghai CN Research Institute of Robotics Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781509018901

Point set registration is an important problem in Simultaneous Localization And Mapping (SLAM). In this paper, a novel registration algorithm based on Cubature Kalman Filter (CKF) is proposed. First, the state space model (SSM) regarding two point sets with Gaussian noise is formulated. Then CKF and simulated annealing based algorithm is utilized to optimize the process recursively. Since point set registration problem in SLAM application is mainly 3D, algorithm proposed in this paper focuses on 3D rigid point set registration problem. Compared to classical method, like Iterative Closest Point (ICP), CKF based method is more robust to noise and outliers. Besides that, this algorithm does not depend much on proper initialization which is very important to ICP. In order to explore the state space more efficiently, continuous simulated annealing is used on the process noise. Compared to Unscented Kalman Filter (UKF) based registration algorithm, this algorithm can improve precision of approximating nonlinearity in measurement update. So it will converge to the desired minimum more quickly, which is very important to SLAM considering real-time requirement. Experiments on SLAM dataset validate good performance of CKF based algorithm. The results also demonstrate the proposed method outperforms ICP and UKF based methods in the presence of noise, outliers and initial misalignment.

关键词： Mathematical model Simultaneous localization and mapping Approximation algorithms Iterative closest point algorithm Gaussian noise Kalman filters Simulated annealing

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