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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

Journal of Bionic Engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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Sonar grid map building of mobile robots based on DSmT

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Information Technology Journal 2006年第2期5卷 267-272页

作者： Li, Xinde Huang, Xinhan Wang, Min Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

The research of self-location and map building among some entirely unknown environments is an important and popular subject of intelligent mobile robots. Someone compared it to the problem of chicken and egg. But the application of Sonar sensors with some advantages such as cheapness, simple-operation and convenient-disposal resulted in uncertain and imprecise knowledge acquired. Aimed to this, a new method of information fusion recently developed from Bayesian theory and Dempster-Shafer theory was applied and on the base of experiment, according to sonar's metrical characteristic, the general basic belief assignment functions were constructed for modeling of static environment. Finally, grid map of 3D building on-line for mobile robot was used to compare from the real environment by the experiment. By analyzing the result of comparison, the validity of this method was fully verified. © 2006 Asian Network for Scientific Information.

关键词： Mobile robots

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Domain-Invariant Similarity Activation Map Contrastive Learning for Retrieval-Based Long-Term Visual Localization

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IEEE/CAA Journal of Automatica Sinica 2022年第2期9卷 313-328页

作者： Hanjiang Hu Hesheng Wang Zhe Liu Weidong Chen Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China IEEE Department of Automation Institute of Medical RoboticsKey Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China Department of Computer Science and Technology University of CambridgeCambridge CB30FDUnited Kingdom

Visual localization is a crucial component in the application of mobile robot and autonomous *** retrieval is an efficient and effective technique in image-based localization *** to the drastic variability of environmental conditions,e.g.,illumination changes,retrievalbased visual localization is severely affected and becomes a challenging *** this work,a general architecture is first formulated probabilistically to extract domain-invariant features through multi-domain image ***,a novel gradientweighted similarity activation mapping loss(Grad-SAM)is incorporated for finer localization with high *** also propose a new adaptive triplet loss to boost the contrastive learning of the embedding in a self-supervised *** final coarse-to-fine image retrieval pipeline is implemented as the sequential combination of models with and without Grad-SAM *** experiments have been conducted to validate the effectiveness of the proposed approach on the CMU-Seasons *** strong generalization ability of our approach is verified with the RobotCar dataset using models pre-trained on urban parts of the CMU-Seasons *** performance is on par with or even outperforms the state-of-the-art image-based localization baselines in medium or high precision,especially under challenging environments with illumination variance,vegetation,and night-time ***,real-site experiments have been conducted to validate the efficiency and effectiveness of the coarse-to-fine strategy for localization.

关键词： Deep representation learning place recognition visual localization

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Method of Forming Paths for Uniform Surface Treatment for Objects of Complex Shape 25

Method of Forming Paths for Uniform Surface Treatment for Ob...

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25th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2024

作者： Grigorev, Ivan Mursalimov, Eduard Laboratory of Intelligent Information Systems for Marine Robots M.D. Ageev Institute of Marine Technology Problems FEB RAS Vladivostok Russia Laboratory of Robotics and Intelligent Control Systems Sevastopol State University Laboratory of Intelligent Information Systems for Marine Robots M.D. Ageev Institute of Marine Technology Problems FEB RAS Vladivostok Russia

ISBN: (纸本)9798350389234

In most cases, tool impact paths for surface treatment (painting, milling, laser hardening, etc.) represent a set of continuous spatial curves lying on the surface to be treated. For uniform processing, adjacent curves from this set must be equidistant from each other. This paper presents a new method for covering a given polygonal mesh with equidistant lines based on given initial lines (in the form of a set of vertices on this mesh) and a given distance between adjacent lines, that is measured by Euclidean distance. The method is based on constructing spheres from each vertex of the initial line and removing the vertices of the mesh that fall into at least one of the spheres: the desired equidistant line will be represented by not removed vertices lying on the spheres. To construct each subsequent equidistant line, the last constructed line is used as the initial one: thus, the entire mesh is covered along the surface, despite the fact that the distance between adjacent lines is measured in space. Due to this, the proposed method, unlike the existing ones, works with surfaces of any complexity and requires less computing resources. Ordering the points of the constructed lines, to obtain the reference points of the paths that can be executed by the manipulator, is also presented. © 2024 IEEE.

关键词： Spheres

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A Weighting Factors Autotuning Strategy for Model Predictive Torque control of Permanent Magnet Synchronous Motor Based on Adaptive Multi-Objective Black Hole Algorithm 42

A Weighting Factors Autotuning Strategy for Model Predictive...

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42nd Chinese control Conference, CCC 2023

作者： Zhou, Zixiang Wu, Tao School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China System Integration and Industrial Robotics Laboratory Wuhan430074 China

ISBN: (纸本)9789887581543

The rational design of weighting factors in the cost function for finite control set model predictive torque control (FCS-MPTC) has been a matter of great interest in power electronics and electrical drives. In order to solve this problem, a weighting factors autotuning strategy for FCS-MPTC of permanent magnet synchronous motor (PMSM) based on the adaptive multi-objective black hole algorithm (AMOBH) is proposed. In this paper, the design process of the FCS-MPTC algorithm is first analyzed in detail. Then, an AMOBH algorithm that can take into account both population convergence and population diversity is introduced, and based on this algorithm, the design problem of the weighting factors is successfully transformed into a multi-objective optimization problem by means of reconstructing the cost function and designing the motor operation information collected in real time as the objective functions of the multi-objective optimization algorithm. Simulation results show that the proposed method can find a set of weighting factor combinations suitable for different working condition requirements, and these weighting factors can effectively improve the operation performance of the PMSM system. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Cost functions

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Bipartite Formation control for Linear Multi-agent Systems with External Disturbances via Observer-Based Output Feedback 7th

Bipartite Formation Control for Linear Multi-agent Systems ...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Zhang, Pengyu Mao, Li Zhang, Wei Tang, Kai Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science 333 Longteng Road Shanghai China Computer Engineering College Dalian University of Technology 1 Guangning Road Dalian China

ISBN: (纸本)9789819733392

This article investigates the problem of bipartite formation control for a class of multi-agent systems composed of two sub-formations with an inverse connection. A distributed control algorithm with observer-based output feedback is proposed under directed signed topology and unknown external disturbances. Some sufficient conditions are established to achieve a bipartite time-varying formation with bounded tracking error. Furthermore, it is shown that the suggested observer-based formation control has good robustness. Finally, a simulation example is illustrated to show the feasibility and effectiveness of the presented control scheme. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multi agent systems

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Local Path Planning Combined with the Motion State of Dynamic Obstacles 1

引用

17th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2022

作者： Hu, Yuxin Li, Jun Jiang, Lin Key Laboratory of Metallurgical Equipment and Control Technology Wuhan University of Science and Technology Wuhan430081 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China

ISBN: (数字)9789819915491

ISBN: (纸本)9789819915484

Aiming at the problem that the current local path planning algorithm treats moving obstacles as transient static ones when avoiding obstacles, lacking initiative and security, a local path planning algorithm combining dynamic obstacle motion state is proposed. Firstly, the position information of all obstacles is obtained by a single scan LIDAR. Then, segmenting and linearly fitting all laser point clouds, removing the known obstacles in the map;and marking possible emerging dynamic obstacles with circles of appropriate size;then detecting the dynamic obstacles through the change of the coordinates of the center of the circle, obtaining the center coordinates of the dynamic obstacles continuously;thus, the equation of motion is solved by using the least squares. Finally, the cost map of dynamic obstacles is expanded in the direction of velocity, by combining DWA dynamic window method to realize avoiding dynamic obstacles safely. In this paper, through the simulation experiments and real environment experiments of robot meeting scenes from multiple angles, the results show that expanding the cost map of the motion direction of the dynamic obstacles provides more sufficient response space for the robot to avoid the dynamic obstacles. Compared with the original DWA, the algorithm in this paper can avoid dynamic obstacles more safely, which proves the security and feasibility of this algorithm. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Equations of motion

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Temperature Rising Model of Tubular Permanent Magnet Linear Synchronous Motor Based on Transfer Learning-Deep Neural Network 42

Temperature Rising Model of Tubular Permanent Magnet Linear ...

引用

42nd Chinese control Conference, CCC 2023

作者： Wang, YiFei Wu, Tao School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China System Integration and Industrial Robotics Laboratory Wuhan430074 China

ISBN: (纸本)9789887581543

High temperature rise of permanent magnet linear synchronous motor can lead to irreversible demagnetization of the motor permanent magnet, which can negatively affect the motor performance. To address this problem, a thermal modeling analysis method based on Transfer learning-Deep neural network (TL-DNN) was proposed in this paper. Its specific implementation steps include (1) corresponding to different heat source inputs, the equivalent thermal circuit method and the finite element analysis was adopted based on the structure and main parameters of PMLSM including overall average temperature rise, coil temperature rise and permanent magnet temperature rise from the data sets of the motor;(2) TL-DNN was used to fit the functional relationship between the input source features and the output targets based on the characteristics of the sample data sets. In order to verify the accuracy of the prediction model with small sample data sets, this paper divided the proportion of the data set and compared the results with other classic nonparametric models (random forest, support vector machine, and deep neural network). The results show that the TL-DNN model outperforms other machine learning models and has better robustness and generalization ability when the training datasets are insufficient, and achieves an organic combination of physical field path model and data-driven model, which provides a feasible solution for PMLSM modeling in the case of small samples. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Finite element method

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Observer-Based Positive Edge Consensus of Multi-agent Systems on Directed Graphs 7th

Observer-Based Positive Edge Consensus of Multi-agent Syste...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Zhang, Pengyu Zhang, Wei Mao, Li Chen, Jiayi Hu, Zhi Shanghai University of Engineering Science Laboratory of Intelligent Control and Robotics 333 Longteng Road Shanghai China Computer Engineering College Dalian University of Technology 1 Guangning Road Dalian China

ISBN: (纸本)9789819733231

This paper explores positive edge-consensus in directed networks with spanning trees using output feedback protocols. First, a novel positive system observer is proposed, which introduces a parameter to enhance the design freedom of the observer. Furthermore, using positive system theory and graph theory, sufficient conditions are proposed and the sufficient conditions based solely on the network’s edge count. Specifically, an optimized bound is given for the eigenvalue of the Laplacian matrix, and an improved consensus and non-negative condition is obtained. Finally, the effectiveness of the proposed control protocol is verified utilizing numerical simulations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multi agent systems

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OPTIMIZING THE SUBDIVISION OF ELEMENTS IN DISCONTINUITY MESHING FOR HIERARCHICAL RADIOSITY

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International Journal on Artificial Intelligence Tools 2003年第4期12卷 395-411页

作者： IOANNIS A. PANTAZOPOULOS SPYROS G. TZAFESTAS Intelligent Robotics and Automation Laboratory Signals Control and Robotics Division Electrical and Computer Engineering Department National Technical University of Athens Zographou Athens Greece

This paper presents a new topological structure for use in the context of hierarchical radiosity combined with discontinuity meshing. This is most useful for a new strategy adopted for subdividing the elements of a scene consisting of convex polygons. The subdivision is done in a local optimization manner keeping the aspect ratios of produced polygons low. The generated meshes give high visual accuracy.

关键词： Hierarchical radiosity discontinuity meshing mesh pre(post)-processing multigriding aspect-ratio

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