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第三十三届中国控制会议

作者： GAO Qiang CHEN Shasha LI Yi LI Junfang Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electrical EngineeringTianjin University of Technology Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781479947249

An Active Disturbance Rejection based solution is proposed for the position control of a standard inverted pendulum system, demonstrating a largely model independent design that is distinctly different from existing model-based designs from classical as well as modern control theory. The quality of the control loop is further improved with a unique double disturbance observer design, which rejects independently the disturbance and uncertainty in both the pendulum itself and the cart that carries it. This proposed approach offers a promising and practical solution because it's intuitive to understand and easy to tune, in addition to its strong performance and effectiveness shown in both simulation study and real time experimentation.

关键词： ADRC LESO Inverted pendulum Real-time control

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang 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 Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Experimental Research on the Ultrasound-guided Positioning System of Microwave Ablation Surgical Robot

Experimental Research on the Ultrasound-guided Positioning S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Duan, Xing-guang Guo, Qing-bo Liu, Tian-bo Zhu, Xiang-yu Chen, Chao Yang, Yang Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve the problems exist in traditional surgeries, microwave ablation surgical robot has been successfully developed. At first, this paper briefly introduces the robot auxiliary treatment process. Then analyzes the ultrasound-guided positioning system in detail. At last, the paper focuses on experimental research process such as robot localization experiment and precision experiment. The experimental results will verify the effectiveness of the robot system and the accuracy of the treatment. Meanwhile, the problems exist in the system are discussed and he future research direction is demonstrated.

关键词： Surgical Robot Ultrasound-guided localization system Microwave Ablation

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A Model of Collision-Detection for Maxillofacial Multi-arm Surgery Robot

A Model of Collision-Detection for Maxillofacial Multi-arm S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Zhu, Xiang-yu Duan, Xing-guang Chen, Chao Liu, Tian-bo Guo, Qing-bo Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery. This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi-arm robot via experiments.

关键词： Multi-arm robot Collision Avoidance Geometric Primitives Collision Detection

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Home Appliance Integrity Detection Model based on improved YOLOv4-Tiny

Home Appliance Integrity Detection Model based on improved Y...

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2022 International Conference on Advanced Algorithms and Neural Networks, AANN 2022

作者： Liang, Jianan Zhuang, Zelong Zhou, Lei Cao, Yongjun Chen, Weiwen Guangdong Key Laboratory of Modern Control Technology Institute of Intelligent Manufacturing Guangdong Guangzhou510070 China Laboratory of Robotics and vision South China Robotics Innovation Guangdong Foshan528303 China

ISBN: (纸本)9781510655751

To realize the rapid detection of missing items in home appliances, we proposed a new method based on an improved YOLOv4-Tiny model. Mosaic and Mixup data augmentation methods are used to enrich image data sets, and the SE-Block module is used to apply an attention mechanism on the channels of the feature layer. Experiments show that: The mAP and Recall of the improved YOLOv4-Tiny model proposed in this paper are 97.55% and 95.31%, respectively, which are 3.64% and 5.17% higher than the original YOLOv4-Tiny model, and the FPS reaches 181. The model accuracy is improved without losing detection speed. The proposed method provides technical support for detecting missing items of household appliances. © 2022 SPIE.

关键词： Domestic appliances

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Decoding split-frequency representation for cross-scale tracking

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Neural Networks 2025年 189卷

作者： Yuanming Zhang Hao Sun State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin 150001 China Bio-Computing Research Center Harbin Institute of Technology Shenzhen Shenzhen 518055 China

Learning tailored target representations for tracking is a promising direction in visual object tracking. Most state-of-the-art methods utilize autoencoders to generate representations by reconstructing the target’s appearance. However, these reconstructions are often augmented to mimic scale jitter and alteration, neglecting physical scale observations such as those in aerial videos. This article addresses the challenge of representation learning for cross-scale tracking in generalized scenarios. Specifically, we incorporate target scale directly into the positional encoding, indicating scale through relative pixel density rather than the conventional metric of image resolution. This scale-aware encoding is then integrated into the proposed asymptotic hierarchy of decoders, designed to reconstruct representations by emphasizing the restoration of high- and low-frequency features at large and tiny scales. The reconstruction process is guided by supervised learning using split losses, enabling the generation of robust cross-scale representations for generic objects. Extensive experiments on six benchmarks — GOT-10k, LaSOT, TrackingNet, DTB70, UAV123, and TNL2K — validate the superior performance of our method. Additionally, our tracker achieves a remarkable speed of 123 frames per second on a Graphics Processing Unit, surpassing the previous best autoencoder-based tracker. The code and raw results will be made publicly available at: https://***/pellab/DSC .

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Event-triggered state estimation for T-S fuzzy affine systems based on piecewise Lyapunov-Krasovskii functionals

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control Theory and Technology 2019年第1期17卷 99-111页

作者： Meng WANG Jianbin QIU Gang FENG Department of Biomedical Engineering City University of Hong Kong Kowloon Hong Kong China State Key Laboratory of Robotics and Systems & Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang 150080 China

This paper investigates the problem of event-triggered H∞state estimation for Takagi-Sugeno (T-S) fuzzy affine systems. The objective is to design an event-triggered scheme and an observer such that the resulting estimation error system is asymptotically stable with a prescribed H∞performance and at the same time unnecessary output measurement transmission can be reduced. First, an event-triggered scheme is proposed to determine whether the sampled measurements should be transmitted or not. The output measurements, which trigger the condition, are supposed to suffer a network-induced time-varying and bounded delay before arriving at the observer. Then, by adopting the input delay method, the estimation error system can be reformulated as a piecewise delay system. Based on the piecewise Lyapunov-Krasovskii functional and the Finsler's lemma, the event-triggered H∞observer design method is developed. Moreover, an algorithm is proposed to co-design the observer gains and the event-triggering parameters to guarantee that the estimation error system is asymptotically stable with a given disturbance attenuation level and the signal transmission rate is reduced as much as possible. Simulation studies are given to show the effectiveness of the proposed method.

关键词： Takagi-Sugeno (T-S) fuzzy affine systems event-triggered scheme, piecewise Lyapunov-Krasovskii functional, state estimation

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Optimal genetic representation of complete strictly-layered feedforward neural networks

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6th International Work-Conference on Artificial and Natural Neural Networks, IWANN 2001

作者： Raptis, Spyros Tzafestas, Spyros Karagianni, Hermione Intelligent Robotics and Automation Laboratory Division of Signals Control and Robotics Department of Electrical and Electronic Engineering National Technical University of Athens Zographou Campus Athens15773 Greece

ISBN: (纸本)9783540422372

The automatic evolution of neural networks is both an attractive and a rewarding task. The connectivity matrix is the most common way of directly encoding a neural network for the purpose of genetic optimization. However, this representation presents several disadvantages mostly stemming from its inherent redundancy and its lack of robustness. We propose a novel representation scheme for encoding complete strictly-layered feedforward neural networks and prove that it is optimal in the sense that it utilizes the minimum possible number of bits. We argue that this scheme has a number of important advantages over the direct encoding of the connectivity matrix. It does not suffer from the curse of dimensionality, it allows only legal networks to be represented which relieves the genetic algorithm from a number of checking and rejections, and the mapping from the genotypes to phenotypes is one-to-one. Additionally, the resulting networks have a simpler structure assuring an easier learning phase. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Genetic algorithms

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Calculating Basis Siphons of Petri Nets Based on Semi-tensor Product of Matrices 35

Calculating Basis Siphons of Petri Nets Based on Semi-tensor...

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第35届中国控制会议

作者： HAN Xiaoguang CHEN Zengqiang LIU Zhongxin ZHANG Qing College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University College of Science Civil Aviation University of China

ISBN: (纸本)9781509009107

In this paper, we address the problem of calculating basis siphons in Petri nets(PNs) by resorting to the semi-tensor product(STP) of matrices. The proposed appraoch is based on our previous results on the calculation of siphons and minimal siphons in PNs, whose key notion is that of the siphon equation(SE) of PNs. First, we discuss the properties of the SE of PNs in the framework of STP. Second, an efficient recursion algorithm is proposed, which can be applied to computing all basis siphons for any PNs. Some results on the computational complexity of the proposed algorithm, in this paper, are also provided, as well as comparison with the existing approach. Last, an example is presented to illustrate the theoretical results. The proposed approach proved highly effective in calculating all basis siphons of PNs and only requires matrix manipulations.

关键词： Basis siphons Discrete event systems(DESs) Petri nets(PNs) Semi-tensor product(STP) of matrices Siphon equation(SE)

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Static output feedback stabilization of deterministic finite automata 36

Static output feedback stabilization of deterministic finite...

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第36届中国控制会议

作者： Zhang Zhipeng Chen Zengqiang Han Xiaoguang Liu Zhongxin College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University College of Science Civil Aviation University of China

ISBN: (纸本)9781538629185

In this paper, we investigate the static output feedback stabilization(SOFS) of deterministic finite automata(DFA) by using semi-tensor product(STP) theory. Firstly, the matrix expression of Moore-type automata with states, inputs and outputs is presented by using the algebraic equations. The feasible events matrix(FEM) is given in the matrix form by using STP theory and the transition-state adjacency matrix of DFA is presented through Boolean operation. Secondly, the concept of prereachability set and some corresponding properties are introduced, and then we obtain the necessary and sufficient conditions about the SOFS. In the end, an example is presented to illustrate the effectiveness of the results.

关键词： Discrete event dynamic systems Finite automata Static output feedback stabilization Semi-tensor product prereachability set

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