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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Kaiwei Zhu Shihan Kong Fang Wu Jinan Sun Junzhi Yu Department of Advanced Manufacturing and Robotics State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing China SPIC Nuclear Energy Co. Ltd. China National Engineering Research Center for Software Engineering Peking University Beijing China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

In this paper, a set of methods of autonomous obstacle exploration, avoiding, and target-tracking control in the uncertain environment is proposed. First, a secure and reliable obstacle exploration framework via multi-sensors information fusion is developed for USV to autonomously perceive obstacles in unknown environments. Second, a modified dynamic artificial potential field-based path planning method is proposed to dynamically generate a safe and feasible path even without complete prior obstacle position information. Third, a robust sliding mode control law with extended state observer is designed to track expectational target in the dynamical and uncertain environment. Finally, the target-tracking control law has been validated through the simulation experiments. Besides, the proposed methods of obstacle exploration, path planning, and target-tracking control are comprehensively evaluated through the simulation experiments in WEBOTS software, which is closer to the real world.

关键词： Target tracking Observers Path planning Software Real-time systems Reliability Vehicle dynamics

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An Improved Dual Quaternion-based Dynamic Movement Primitives Formulation for Obstacle Avoidance Kinematics in Human- Robot Collaboration System of systems

An Improved Dual Quaternion-based Dynamic Movement Primitive...

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IEEE International Conference on System of systems engineering (SoSE)

作者： Freddy Liendo Alessandro Bozzi Camilo Hernández Christine Galez Roberto Sacile José Jiménez Laboratory System And Materials For Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy

In the context of Human-Robot Collaboration (HRC) as System of systems (SoS), motion planning and learning are a highly important subsystem. Dynamic Movement Primitives (DMP) are an elegant and efficient method for learning complex behaviours and representing them as stable, well understood dynamical systems. When applied for encoding a task by considering the behaviour of the end-effector of a robotic manipulator in Cartesian space, the common solution is to represent and to encode the pose separately as position and orientation using different but phase-coupled DMP formulations; resulting mathematically and algorithmically inefficient. Dual Quaternions are a mathematical tool capable of representing pose in a unified variable. Literature shows the interest of such a representation for rigid body kinematics, given its mathematical flexibility, efficiency and robustness. This article presents an existing formulation for Dual Quaternion Dynamic Movement Primitives based on screw theory. Then, we expand on our proposed improved formulation which considers obstacle avoidance as a contribution for the layer of Awareness and Intelligence in the context of Human-Robot Collaboration as a System of systems.

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Automated Disassembly Sequence Prediction for Industry 4.0 Using Enhanced Genetic Algorithm

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Computers, Materials & Continua 2021年第11期69卷 2531-2548页

作者： Anil Kumar Gulivindala M.V.A.Raju Bahubalendruni R.Chandrasekar Ejaz Ahmed Mustufa Haider Abidi Abdulrahman Al-Ahmari Department of Mechanical Engineering Industrial Robotics and Manufacturing Automation LaboratoryNational Institute of TechnologyKariakal609609India Department of Computer Science Engineering National Institute of TechnologyKariakal609609India Raytheon Chair for Systems Engineering Advanced Manufacturing InstituteKing Saud UniversityRiyadh11421Saudi Arabia Industrial Engineering Department College of EngineeringKing Saud UniversityRiyadh11421Saudi Arabia

The evolution of Industry 4.0 made it essential to adopt the Internet of Things(IoT)and Cloud Computing(CC)technologies to perform activities in the new age of *** technologies enable collecting,storing,and retrieving essential information from the manufacturing *** collected at sites are shared with others where execution automatedly *** obtained information must be validated at manufacturing to avoid undesirable data losses during the de-manufacturing ***,information sharing from the assembly level at the manufacturing stage to disassembly at the product end-of-life state is a major *** current research validates the information optimally to offer a minimum set of activities to complete the disassembly *** optimal disassembly sequence plan(DSP)can possess valid information to organize the necessary actions in ***,finding an optimal DSP is complex because of its combinatorial *** genetic algorithm(GA)is a widely preferred artificial intelligence(AI)algorithm to obtain a near-optimal solution for the DSP *** converging nature at local optima is a limitation in the traditional *** study improvised the GA workability by integrating with the proposed priori crossover *** optimality function is defined to reduce disassembly effort by considering directional changes as *** enhanced GA method is tested on a real-time product to evaluate the *** obtained results reveal that diversity control depends on the operators employed in the disassembly *** proposed method’s solution can be stored in the cloud and shared through IoT devices for effective resource allocation and disassembly for maximum recovery of the *** effectiveness of the proposed enhanced GA method is determined by making a comparative assessment with traditional GA and other AI methods at different population sizes.

关键词： Automation internet of things disassembly sequence planning priori cross over operator enhanced GA disassembly predicates

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Dynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions

arXiv

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arXiv 2025年

作者： Huang, Jihao Zeng, Jun Chi, Xuemin Sreenath, Koushil Liu, Zhitao Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Institute of Intelligence Science and Engineering Shenzhen Polytechnic University Shenzhen China Hybrid Robotics Group The Department of Mechanical Engineering UC Berkeley United States

Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions (CLFs) and control barrier functions (CBFs), leading to invalid controllers. Existing methods often rely on state-feedback-based CLFs and high-order CBFs (HOCBFs), which are computationally expensive to construct and fail to maintain effectiveness in dynamic environments with fast-moving, nearby obstacles. To address these challenges, we propose constructing velocity obstacle-based CBFs (VOCBFs) in the velocity space to enhance dynamic collision avoidance capabilities, instead of relying on distance-based CBFs that require the introduction of HOCBFs. Additionally, by extending VOCBFs using variants of VO, we enable reactive collision avoidance between robots. We formulate a safety-critical controller for acceleration-controlled unicycle robots as a mixed-integer quadratic programming (MIQP), integrating state-feedback-based CLFs for navigation and VOCBFs for collision avoidance. To enhance the efficiency of solving the MIQP, we split the MIQP into multiple sub-optimization problems and employ a decision network to reduce computational costs. Numerical simulations demonstrate that our approach effectively guides the robot to its target while avoiding collisions. Compared to HOCBFs, VOCBFs exhibit significantly improved dynamic obstacle avoidance performance, especially when obstacles are fast-moving and close to the robot. Furthermore, we extend our method to distributed multi-robot systems. Copyright © 2025, The Authors. All rights reserved.

关键词： State feedback

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Thermal Casting for Monolithic Soft Actuators

Thermal Casting for Monolithic Soft Actuators

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IEEE International Conference on robotics and Biomimetics

作者： Huacen Wang Boyu Yang Junling Mei Yujin Dai Yixuan Xia Hongqiang Wang Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Department of Mechanical and Energy Engineering and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Southern Marine Science and Engineering Guangdong Laboratory (Guangzhou) Guangzhou China

ISBN: (纸本)9781665481106

Soft robotics has significantly impacted many fields in the last decades. However, their current fabrication methodologies are limited by the assemble complexity, limited materials, or long duration. A monolithic thermal casting method for fabrication of elastomer and soft robotics based on thermoset polymer is introduced. In this work, we used simple heating cores to manufacture elastomers and soft actuators. By controlling the heating current and duration, we can adjust the thermal field and consequently change the configuration of the generated elastomer. Due to its short duration (several minutes), this method can benefit the mass production of soft robots for high efficiency. Also, this work offers a new way to design soft robotics without complex molds.

关键词： Fabrication Actuators Casting Spirals Wires Metals Soft robotics

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Terrain Classification Based on Wheel-terrain Interaction Measurements using Aside-Wheel Camera

Terrain Classification Based on Wheel-terrain Interaction Me...

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IEEE International Conference on robotics and Biomimetics

作者： Feng Xue Longteng Hu Chen Yao Jin Wei Yunzhou Li Peichen Wang Zheng Zhu Zhenzhong Jia Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology (SUSTech) Shenzhen China SUSTech Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen China Harbin of Institute of Technology (HIT) Harbin China

The scientific applications over a decade have demonstrated the robust practicality of wheeled rovers, which are capable of undertaking exploration tasks in various unstructured terrains. However, sinkage and slippage are extremely common on sandy terrains. Fortunately, these risks can be mitigated in a timely manner through the perception of terrain types. Thus, terrain classification technology has become a key solution to addressing these issues. In this paper, we propose a new terrain classification pipeline for a rover over sandy terrains. It exploits the aside-wheel sensor suite to measure sinkage, contact angle, slip ratio, and normal force. Due to the strong correlation between contact characteristics and terrain types form our experiments, we can infer terrain types based on wheel-terrain interaction parameters. We train various machine learning models and obtained classification results, which is evaluated using the record dataset form a singlewheel testbed. Through Experimental comparison, most models achieve high accuracy (over 90%), we analyze the reasons behind performance discrepancies among different models and recommend LGBM as the preferred approach. In the end, we transfer the models to use data collected from rover field tests and achieve a higher level of accuracy, which proves the effectiveness of our approach.

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Multiple Jumping and Perching of a Miniature Mobile Robot

Multiple Jumping and Perching of a Miniature Mobile Robot

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IEEE International Conference on robotics and Biomimetics

作者： Longlong Hu Lingqi Tang Hao Chen Yao Li Bing Li Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Many insects and miniature robots can traverse through narrow spaces via jumping motion; however, successful jumping and landing remains challenging in small-scale. No jumping robot within 90 g have yet demonstrated multiple jumping and perching successfully. Here, we demonstrate continuous jumping and perching of a miniature robot. The origami-inspired structure was manufactured by smart composite microstructure technology. A novel jumping mechanism was designed to load adjustable jump energy actuated by only one motor. A perching mechanism with two adhesive pads was designed to passively couple with the jumping mechanism, achieving perching on the ground and automatically detaching before the next jump. The jumping mechanism achieved adjustable jumping energy, corresponding to jumping height from 0.7 cm to 36.4 cm. The perching mechanism provided successful landing within a wide range (when velocity angle according to vertical direction $=18^{\circ}$ , the velocity magnitude $\leq 3.4\mathrm{m}/\mathrm{s}$ , the body angle $\leq 30^{\circ}$ ). $\text{Unlike}$ typical jumping robots performing uncontrollable landing and free-rolling, our robot kept its body up-righted during the whole movement and avoided free-rolling after landing. The self-contained prototype had 18 g of mass, 6.5 cm of body height, and 36.4 cm of maximum jumping height. Finally, an eccentric motor was integrated to perform multiple omnidirectional jumping and perching movements; this represents significant improvement of motion ability for small-scale mobile robots.

关键词： Insects Biomimetics Prototypes Motors Mobile robots Microstructure

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Reliability Evaluation of Emergent Behaviour in a Flexible Manufacturing Problem

Reliability Evaluation of Emergent Behaviour in a Flexible M...

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IEEE International Conference on System of systems engineering (SoSE)

作者： Alessandro Bozzi Simone Graffione José Jiménez Roberto Sacile Enrico Zero Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy Laboratory System And Materials For Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France

Scheduling is a key component of manufacturing systems. In general, it describes how multiple jobs or workloads are processed within a limited set of resources to achieve certain manufacturing objectives, such as minimizing the makespan or weighted tardiness. Nevertheless, as the demand for customized and versatile products increased, these systems became more flexible by incorporating flexible manufacturing processes. As a result, it is possible to vary either the machine operations or the product route within highly automated and connected material handling systems. Therefore, the scheduling process is more complex as it involves solving the routing problem within different alternatives and sharing redundant resources between multiple production processes, thereby increasing workload and bottlenecks within the system. Thus, it is imperative to address the scheduling problem while taking into account the physical constraints caused by shared machines and product routing. This paper proposes a Mixed Integer Linear Programming algorithm to solve the flow-shop scheduling problem and minimize the makespan while balancing the machine usage to limit emergent behaviours due to over-utilization. The robustness of the approach is then verified in the case of delays which alter the processing time on machines. Experiments on a limited instance of a flexible manufacturing system confirm the effectiveness of the solution, with a small increase in completion time even for high-magnitude delays.

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Optimization-based reliability assessment of multi-energy systems 31st

Optimization-based reliability assessment of multi-energy sy...

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31st European Safety and Reliability Conference, ESREL 2021

作者： Wu, Raphael Bussino, Emanuela Bracco, Stefano Siri, Silvia Gabrielli, Paolo Sansavini, Giovanni Reliability and Risk Engineering Laboratory ETH Zurich Switzerland Electrical Electronics and Telecommunication Engineering and Naval Architecture Department University of Genova Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy

ISBN: (纸本)9789811820168

Multi-energy systems (MES) connect different energy networks using conversion technologies, leveraging alternative supply paths and redundancy to improve the integration of renewable energy, the reliability and the profitability of energy supply. This paper investigates MES reliability by integrating a pre-and post-failure operational optimization into a reliability assessment based on an alternating renewal process. Expected energy not supplied and uninterrupted supply times are used to quantify the MES’ ability to withstand failures of technologies, networks and external grid supply. The method is applied to a Swiss MES that supplies thermal and electrical energy demands of a mixed-use district. A comparison of system configurations with electricity-and gas-based conversion technologies, energy storage and distributed photovoltaic generation shows that both electricity- and gas-based MES are highly reliable due to the high reliability of the Swiss electricity grid. Introducing centralized battery storage and distributed photovoltaic panels further increases the probability of uninterrupted supply and decreases the expected energy not supplied. However, reliability is not always increased by introducing conversion technologies that couple energy carriers. In fact, heat pumps introduce a dependency of the heat supply on electricity, while combined heat and power plants can be less reliable than other technologies, thus increasing the expected energy not supplied. © ESREL 2021. Published by Research Publishing, Singapore.

关键词： Cogeneration plants

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Research on Predictive Control Method of Permanent Magnet Synchronous Motor Based on Using Ultra-local Model

Research on Predictive Control Method of Permanent Magnet Sy...

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第43届中国控制会议

作者： Yiqiang Zhang Tao Zhang Yong Li Hualiang Zhang Guopeng Zhang Hao Wang School of Electrical Engineering Shenyang University of Technology Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The traditional finite set model predictive control has the advantages of fast response and strong robustness. The threevector model predictive current control(TV-MPCC) improves the problem of large current ripple based on single-vector model predictive current control(MPCC) and can realize deadbeat current control. Still, it cannot avoid the influence of parameter disturbance. To solve this problem, this paper constructs an ultra-local model based on the input and output information of the motor and designs an adaptive sliding mode observer to estimate the unknown part of the model. Finally, the designed threevector model-free predictive current control with adaptive sliding mode observer(TV-MFPCC-ASMO) is simulated and compared with the traditional three-vector model predictive control. It has been proved that the proposed method can effectively suppress the system disturbance when the motor parameters are mismatched and improve the motor's steady-state and dynamic performance during operation.

关键词： Permanent magnet synchronous motor Three-vector model predictive control Ultra-local model Adaptive sliding mode observer

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