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12th International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2022

作者： Chen, Xu Jiang, Yong Key Laboratory of Networked Control System Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

A path planning algorithm based on an improved ant colony algorithm was proposed to solve the path planning problem of snake-arm robots in a structured environment. The heuristic function of the ant colony algorithm is combined with an artificial potential field. Setting up a repulsive force field around the obstacle and an attractive field at the target point, the snake-arm robot is guided to advance from the starting point to the target point while avoiding the obstacle. Chaos disturbance is added to the pheromone update to improve the global search capability of the algorithm. In path optimization, the linear generation algorithm and cubic uniform B-spline curve interpolation algorithm are used to optimize the path globally. © 2022 IEEE.

关键词： Motion planning

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On Networked Dynamical systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

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第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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Human-like Walking of Biped Robot with Foot Rotation Using Passive Metatarsophalangeal Joint 12

Human-like Walking of Biped Robot with Foot Rotation Using P...

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12th International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2022

作者： Dai, Xiaolin Liu, Yixiang Liu, Xinyu Zang, Xizhe Song, Rui Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Jiangsu Automation Research Institute Lianyungang222000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the process of walking, humans are accompanied by the important action of foot rotation. The foot rotates taking the heel and toe as the axis of rotation when landing on and leaving the ground, respectively. Although having high similarity to humans, many biped robots do not reproduce this important feature. This paper describes a method for adding foot rotation into biped robots using the passive metatarsophalangeal joint. Firstly, the biomechanics of human metatarsophalangeal joint during walking is analyzed. Then, the control strategy based on finite state machine for human-like biped walking with foot rotation is proposed for a simplified biped robot model that is composed of eight joints. Finally, the simulation results of the walking gait of the biped robot in MATLAB demonstrate the effectiveness of the control strategy. © 2022 IEEE.

关键词： Rotation

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Adaptive Finite-Time Robust Sliding Mode controller For Upper Limb Exoskeleton Robot 19

Adaptive Finite-Time Robust Sliding Mode Controller For Uppe...

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19th IEEE International Multi-Conference on systems, Signals and Devices, SSD 2022

作者： Ratiba, Fellag Mohamed, Guiatni Mustapha, Hamerlain Noura, Achour Centre de Développement des Technologies Avancées Robotic and Automation Laboratory Algiers Algeria Ecole Militaire Polytechnique Complex System Control and Simulators Laboratory Algiers Algeria Université des Sciences et de la Technologie Houari Boumediene Robotics Parallelism and Electro-energetic Laboratory Algiers Algeria

ISBN: (数字)9781665471084

ISBN: (纸本)9781665471084

An adaptive finite-time robust sliding mode controller is presented in this work to regulate the trajectories of an upper limb exoskeleton rehabilitation robot. The goal is to build a controller that can handle constraints that alter the achievement of the rehabilitation process using the robot, such as modeling errors, uncertainties, and external disturbances. The suggested technique maintains the fundamental robustness of sliding mode control while also allowing for global finite-time convergence of the system's states. Furthermore, the presented controller is homogeneous and uses adaptive gains to eliminate requirements of preliminary knowledge on uncertainties and external disturbances bounds. The Lyapunov theory is used to determine stability. Simulations of passive trajectory tracking exercises are illustrated to check the efficacy of the developed control approach. © 2022 IEEE.

关键词： controllers

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Microanalysis of a ductile iron by microchip laser-induced breakdown spectroscopy

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Plasma Science and Technology 2021年第10期23卷 179-185页

作者： Wei Wang Lanxiang Sun Peng Zhang Liming Zheng Lifeng Qi Jinchi Wang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People’s Republic of China Key Laboratory of Networked Control System Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People's Republic of China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169People’s Republic of China University of Chinese Academy of Sciences Beijing 100049People's Republic of China

Laser beams with ns pulse width are generally employed as an excitation source in the process of detecting inclusions and elemental segregation on a workpiece surface by microanalysis of the laser-induced breakdown *** addition,the ablation crater interval of laser sampling on the sample surface is generally 20μm or *** is difficult to detect the morphology of inclusions smaller than 50μm in diameter and the micro-segregation of ***,in this work,when the laser ablation crater is 10μm and the sampling resolution of the laser on the sample surface is 5μm,the morphology and distribution of spherical inclusions(20–60μm)in ductile iron can be detected according to the difference of the Fe spectrum on the Fe matrix and the spheroidal ***,the distribution of micro-segregation of Mg and Ti elements in ductile iron was also studied.

关键词： micro-laser-induced breakdown spectroscopy micro-LIBS mapping inclusion segregation ductile iron

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Fault-Tolerant control of Hybrid UAV Using Weighted control Allocation Scheme

Fault-Tolerant Control of Hybrid UAV Using Weighted Control ...

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American control Conference (ACC)

作者： Salman Ijaz Umair Javaid Ahmed Nasr Donglei Sun Members of Control System Laboratory and Key Laboratory of More-Electric Aircraft Zhejiang Province and University of Nottingham Ningbo China School of Robotics Ningbo University of Technology Zhejiang China Advanced Intelligent Manufacturing Research Group University of Nottingham Ningbo China

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This study presents a methodology to enhance the operating safety of hybrid unmanned aerial vehicles by employing an active fault-tolerant control technique. The idea is to incorporate the weighted control allocation scheme with integral-sliding mode control law to attain accurate tracking performance while accounting for the impact of actuator faults and failures. One notable benefit of this methodology lies in its ability to attain tracking accuracy in all operational modes of hybrid UAVs through the careful creation of a suitable weighting matrix. The efficiency of the suggested system is demonstrated by numerical simulations conducted on a longitudinal model of an octoplane aircraft. The proposed controller demonstrates satisfactory performance both in nom-inal conditions and under faults occurring in the elevator and rotors 1, 2, 7, and 8 at 20s and 40s.

关键词： Smart agriculture Actuators Fault tolerance Accuracy Fault tolerant systems Spraying Autonomous aerial vehicles

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Precise LiDAR SLAM in Structured Scene Using Finite Plane and Prior Constraint

Precise LiDAR SLAM in Structured Scene Using Finite Plane an...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Xie, Yuhui Zhao, Wentao Wang, Jiahao Wang, Jingchuan Chen, Weidong Institute of Medical Robotics and Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China School of Mechanical Engineering Shanghai Jiao Tong University Ministry of Education Shanghai200240 China

ISBN: (纸本)9781665481090

In this paper, we propose a precise LiDAR SLAM in optimization framework using plane-like object as landmark. Compared to general methods, finite plane feature is used to represent landmark and a new residual model is designed, making constraint from edge of landmark can be used to limit the parallel position between LiDAR and landmark, leading to a more accurate result. Moreover, floor plan is used to provide global pose for reduction of drift, and additionally feature orientation prior is used to prevent map distortion when updating the inaccurate part of floor plan. Experiments are conducted using data collected in real environment. The result qualitatively shows that proposed method can build a corrected map from floor plan without distortion, and quantitatively verifies that proposed method can outperform other baseline methods in accuracy. © 2022 IEEE.

关键词： Optical radar

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Toward Cable-Driven Continuum Robots: Micro-Motion Augmentation Using Eccentrically Arranged Fibres with Eccentric Lumens

Toward Cable-Driven Continuum Robots: Micro-Motion Augmentat...

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IEEE International Conference on robotics and Biomimetics

作者： Zecai Lin Cheng Zhou Yun Zou Anzhu Gao Institute of Medical Robotics and Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai P. R. China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai P. R. China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Micro-motion augmentation of macro-motion continuum robot can largely enhance its micro-operation capability during surgery. However, most existing micro-motion continuum robots have non-compact mechanical structure or non-smooth micro tip motion, which leads to complicated control in micro lumens. This paper proposes a micro-motion augmentation method by rotating eccentrically arranged fibres with eccentric lumens for cable-driven continuum robots. Two thermal drawn polymer fibres with an eccentric lumen on each are inserted into its eccentric lumens of the continuum robot. The micro-motion mechanism relies on small changes in the neutral axis of the continuum robot due to the rotation of the eccentrically arranged fibres. A kinematic model considering variable neural axis is built to describe the micro motion, and a simulation is conducted to investigate the deformation characteristics. The resolution and micro motion with respect to different structural parameters are also analysed. Detailed experiments are performed to validate the effectiveness of the proposed method, and results indicate that the repeatability of micro-motion is 10.1 μm (4.0 %).

关键词： Deformation Thermal variables control Biomimetics Surgery Kinematics Lumen Structural engineering Continuum robots Polymers

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MUP-LIO: Mapping Uncertainty-aware Point-wise Lidar Inertial Odometry

MUP-LIO: Mapping Uncertainty-aware Point-wise Lidar Inertial...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Hekai Yao Xuetao Zhang Gang Sun Yisha Liu Xuebo Zhang Yan Zhuang Intelligent Robotic Laboratory School of Artificial Intelligence School of Control Science and Engineering Dalian University of Technology Dalian China School of Information Science and Technology Dalian Maritime University Dalian China College of Artificial Intelligence The Institute of Robotics and Automatic Information System (IRAIS) Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper proposes a mapping uncertainty-aware point-wise Lidar Inertial Odometry (LIO), which synthesizes the point-wise point-to-plane match and map refreshment into a probabilistic model. As a result, it can address the issue of mismatching during point registration and remove in-frame motion distortion of Lidar sensors. Specifically, the uncertainty-aware map is designed to embody the uncertainty of map geometric features (points and planes), which comes from the Lidar point measurement and pose estimation. Then the map can be modeled in a probabilistic form. In addition, the proposed framework refreshes map at each Lidar point measurement to timely revise geometric features and provide non-delayed map. On the basis, the probabilistic point-to-plane match method is designed to seek a corresponding plane for each Lidar point in point registration, which can enhance the effectiveness of match and provide adaptive observation noises for more accurate state estimation. Comparative experiments on various public datasets are conducted to demonstrate the superior performance of the proposed framework in terms of higher accuracy and better robustness.

关键词： Laser radar Accuracy Uncertainty Probabilistic logic Distortion Robustness Sensors Odometry Distortion measurement State estimation

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NeSLAM: Neural Implicit Mapping and Self-Supervised Feature Tracking With Depth Completion and Denoising

arXiv

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arXiv 2024年

作者： Deng, Tianchen Wang, Yanbo Xie, Hongle Wang, Hesheng Wang, Jingchuan Wang, Danwei Chen, Weidong Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

In recent years, there have been significant advancements in 3D reconstruction and dense RGB-D SLAM systems. One notable development is the application of Neural Radiance Fields (NeRF) in these systems, which utilizes implicit neural representation to encode 3D scenes. This extension of NeRF to SLAM has shown promising results. However, the depth images obtained from consumer-grade RGB-D sensors are often sparse and noisy, which poses significant challenges for 3D reconstruction and affects the accuracy of the representation of the scene geometry. Moreover, the original hierarchical feature grid with occupancy value is inaccurate for scene geometry representation. Furthermore, the existing methods select random pixels for camera tracking, which leads to inaccurate localization and is not robust in real-world indoor environments. To this end, we present NeSLAM, an advanced framework that achieves accurate and dense depth estimation, robust camera tracking, and realistic synthesis of novel views. First, a depth completion and denoising network is designed to provide dense geometry prior and guide the neural implicit representation optimization. Second, the occupancy scene representation is replaced with Signed Distance Field (SDF) hierarchical scene representation for high-quality reconstruction and view synthesis. Furthermore, we also propose a NeRF-based self-supervised feature tracking algorithm for robust real-time tracking. Experiments on various indoor datasets demonstrate the effectiveness and accuracy of the system in reconstruction, tracking quality, and novel view synthesis. © 2024, CC BY-NC-SA.

关键词： Geometry

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