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IEEE International Conference on robotics and Automation (ICRA)

作者： Byoung-Ho Kim Nak Young Chong Sang-Rok Oh Il Hong Suh Young-Jo Cho Intelligent System Control Research Center KIST Seoul South Korea Biorobotics Division Robotics Department MEL Limited Japan Intelligent Control and Robotics Laboratory Hanyang University Seoul South Korea

A compliance control strategy for robot manipulators is proposed by employing a self-adjusting stiffness function. To be specific, each entry of the diagonal stiffness matrix corresponding to task coordinate in Cartesian space is adaptively adjusted during contact along the corresponding axis based on the contact force with its environment. It can also be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end-effector. The experimental results show the effectiveness of the proposed method by employing a two-link direct drive manipulator interacting with an unknown environment.

关键词： intelligent robots intelligent control Robot control Manipulators Programmable control Adaptive control Robot kinematics Force control Orbital robotics Servomechanisms

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Industrial Internet for intelligent manufacturing:past, present, and future

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Frontiers of Information Technology & Electronic Engineering 2024年第9期25卷 1173-1192页

作者： Chi XU Haibin YU Xi JIN Changqing XIA Dong LI Peng ZENG 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 University of Chinese Academy of Sciences Beijing 100049China

Industrial Internet, motivated by the deep integration of new-generation information and communication technology(ICT) and advanced manufacturing technology, will open up the production chain, value chain, and industry chain by establishing complete interconnections between humans, machines, and things. This will also help establish novel manufacturing and service modes, where personalized and customized production for differentiated services is a typical paradigm of future intelligent manufacturing. Thus, there is an urgent requirement to break through the existing chimney-like service mode provided by the hierarchical heterogeneous network architecture and establish a transparent channel for manufacturing and services using a flat network architecture. Starting from the basic concepts of process manufacturing and discrete manufacturing, we first analyze the basic requirements of typical manufacturing tasks. Then, with an overview on the developing process of industrial Internet, we systematically compare the current networking technologies and further analyze the problems of the present industrial *** this basis, we propose to establish a novel “thin waist” that integrates sensing, communication, computing, and control for the future industrial Internet. Furthermore, we perform a deep analysis and engage in a discussion on the key challenges and future research issues regarding the multi-dimensional collaborative sensing of task–resource, the end-to-end deterministic communication of heterogeneous networks, and virtual computing and operation control of industrial Internet.

关键词： intelligent manufacturing Industrial Internet Thin waist Transparent service Manufacturing as a service

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Research on stereo vision technology based on improved Region growing method 2

Research on stereo vision technology based on improved Regio...

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2nd International Conference on Computer Vision and Data Mining, ICVDM 2021

作者： Dai, Shilong Xia, Xinghua Zhang, Hualiang School of Information and Control Engineering Shenyang Jianzhu University Shenyang110168 China Industrial Control Network and System Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institudes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

Image segmentation is the cornerstone of image analysis and image processing, its main difficulty is the ill-posedness of image segmentation. The region growing method is the most commonly used method in image segmentation. Its advantages are fast calculation speed, lower algorithm difficulty, and easy understanding. This article uses the area growing algorithm and TOF combined with binocular fusion technology. Discussed how to select the seed points in the region growing method. The algorithm proposed in this paper has high accuracy and high matching quality in the boundary area of the object and the area with large difference in depth. It has both matching time and reliability. It has good results and overcomes the limitations of the active and passive distance methods in the vision system. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Image segmentation

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Information modeling and verification method for edge computing of power internet of things 9

Information modeling and verification method for edge comput...

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9th IEEE Joint International Information Technology and Artificial Intelligence Conference, ITAIC 2020

作者： Li, Dawei Chen, Xiaolu Song, Chunhe Yu, Shimao Start Grid Shanghai Information Telecommunication Company Shanghai200122 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

There are various types of power Internet of Things terminals, and a unified edge-side information fusion model is the basis of data unification. This article describes the unified modeling method of power Internet of Things terminal information, and describes the construction method of the Internet of Things terminal information model from three aspects: attribute, message and service. Combined with the characteristics of the electric power Internet of Things information model, a model verification method is given. Finally, through the terminal data on the edge side of the power Internet of Things, the feasibility and effectiveness of the model verification method are verified. © 2020 IEEE.

关键词： Internet of things

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intelligent electricity consumption forecasting and electricity-theft analysis method based on deep learning 2

Intelligent electricity consumption forecasting and electric...

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2nd International Conference on Electronic Information Engineering and Computer Technology, EIECT 2022

作者： Yu, Shimao Song, Chunhe Gao, Pengpei Zheng, Haiyang Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798350399561

Residential electricity consumption data have great mining value for electricity-theft analysis and electricity consumption forecasting. This paper designs an intelligent electricity consumption forecasting and electricity-theft analysis method based on deep learning. Firstly, the power consumption data of a single user is converted into multi-period data through preprocessing, and the data forecasting is realized by designing a deep neural network model. The electricity-theft data are first amplified through user's power data and electricity-theft labels. And then the time series are converted into two-dimensional tensors for classification and recognition by deep CNN. The classification accuracy of electricity-theft reaches 92.2% compared with RNN method. © 2022 IEEE.

关键词： Forecasting

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The Surface Ship Torpedo Defense Simulation System 3

The Surface Ship Torpedo Defense Simulation System

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3rd IEEE International Conference on Image, Vision and Computing, ICIVC 2018

作者： Xiaoheng, Dong Yiqi, Zhang Minghang, Li Zhengyu, Wang Shanghai Marine Electronic Equipment Research Institute Shanghai China School of Mechatronic Engineering and Automation Shanghai University Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China Shanghai Aerospace Control Technology Institute Shanghai China

ISBN: (纸本)9781538649916

Surface ship torpedo defense simulation system plays a guiding role in the development of new surface ships underwater acoustic warfare system. Through the study of the functional analysis of the simulation system, the surface ship torpedo defense simulation system is proposed and the hardware composition, topological structure, data structure, data transmission method of the surface ship torpedo defense simulation system is determined. According to the role of combat maneuvers, the torpedo defense simulation evaluation system is divided into attack, defense and public parts, and surface ship torpedo defense system simulation running instance is given, which verified the feasibility of the surface ship torpedo defense system simulation. © 2018 IEEE.

关键词： Network security

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A grasping CNN with image segmentation for mobile manipulating robot

A grasping CNN with image segmentation for mobile manipulati...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yu, Yingying Cao, Zhiqiang Liang, Shuang Liu, Zhicheng Yu, Junzhi Chen, Xuechao Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Intelligent Robotics Institute BIT Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

ISBN: (纸本)9781728163215

This paper presents a grasping convolutional neural network with image segmentation for mobile manipulating robot. The proposed method is cascaded by a feature pyramid network FPN and a grasping network DrGNet. The FPN network combined with point cloud clustering is used to obtain the mask of the target object. Then, the grayscale map and the depth map corresponding to the target object are combined and sent to the DrGNet network for providing multi-scale images. On this basis, depthwise separable convolution is used for encoding. The results of encoders are refined according to the light-weight RefineNet as well as sSE, which can achieve a better grasp detection. The proposed method is verified by the experiments on mobile manipulating robot. © 2019 IEEE.

关键词： Image segmentation

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Stochastic search strategies in 2D using agents with limited perception

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IFAC Proceedings Volumes 2012年第22期45卷 650-654页

作者： David Puljiz Maja Varga Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne 1015 Lausanne Switzerland

Animals use stochastic search strategies to find a potential nest or to localize the food source. Animals do not rely much on the environmental cues or their sensory inputs. Since their cognitive capabilities are rather limited, search strategies are usually simplistic and stochastic. And yet such simple search strategies result in high efficiency in finding potential targets in limited time intervals. Similar problems with perception of the environment and limited computational power and sensory inputs are observed on the mobile robots used in search scenarios. In spite of their limitations, such robotic systems usually perform deterministic search strategies which heavily depend on environmental cues and sensory input. The research question we are addressing in this paper is which stochastic search strategy has the best performance in terms of area coverage and can stochastic search strategies outperform deterministic search strategies.

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Linear Active Disturbance Rejection control and its Application on Attitude control of a Quad-Rotor Robot

Linear Active Disturbance Rejection Control and its Applicat...

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第27届中国过程控制会议（CPCC2016）

作者： Yi Li Zengqiang Chen Mingwei Sun Qinglin Sun College of Computer & Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

In this paper,linear active disturbance rejection control(LADRC)technique is proposed,including thetracking differentiator(TD),linear extended state observer(LESO)and nonlinear state error feedback(NLSEF).Typicalalgorithms for each component are given as *** order to control the attitudes of a quad-rotor robot as we expected,three sorts of continuous LADRC

关键词： Linear Active Disturbance Rejection control and its Application on Attitude control of a Quad-Rotor Robot Active

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A novel matrix approach to static output feedback stabilization of discrete event dynamic systems

A novel matrix approach to static output feedback stabilizat...

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第37届中国控制会议

作者： Zhipeng Zhang Zengqiang Chen Zhongxin Liu College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

In this paper, the static output feedback stabilization of discrete event dynamic systems(DESs) via the semi-tensor product(STP) of matrices is investigated. Firstly, the dynamics of discrete event dynamical systems modelled by deterministic Moore-type finite automata are converted into an matrix expression in the STP frame. Secondly, necessary and sufficient condition for the existence of a static output feedback control pattern, stabilizing the controlled discrete event dynamical systems to some equilibrium point, is given, and constructive algorithm to seek the static output feedback control pattern is ***, a example is presented to illustrate the effectiveness of the proposed approach.

关键词： Semi-tensor product(STP) of matrices Discrete event dynamical systems(DESs) Finite automata Moore automata Static output feedback stabilization

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