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Characteristic model-based control of aerial manipulator for improved interaction stability

Science China(Technological Sciences) 2025年第4期68卷 166-178页

作者： Bingkai XIU Zhan LI Yipeng YANG Huijun GAO Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and Systems(HIT) Harbin Institute of TechnologyHarbin150001China

Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关键词： aerial manipulator interaction stability contact force observer characteristic model

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Soft Resource Slicing for Industrial Mixed Traffic in 5G Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 463-465页

作者： Jingfang Ding Meng Zheng Haibin Yu the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems Chinese Academy of Sciences the Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences the University of Chinese Academy of Sciences IEEE

Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-tolerant (SDT) traffic, we design a dynamic switching strategy based on a traffic-Qo S-aware soft slicing (TQASS) scheme and a resource-efficiency-aware soft slicing (REASS) scheme.

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Robustness to Disturbances of Ellipsoid-Shape Underwater Vehicle with Multi-Link Manipulator

Robustness to Disturbances of Ellipsoid-Shape Underwater Veh...

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2024 International Russian Automation Conference, RusAutoCon 2024

作者： Lipko, Ivan Dementiev, Kirill Kramar, Vadim Sevastopol State University Robotics and Intelligent Control Systems Laboratory Sevastopol Russia

This article is devoted to the issue of analyzing the influence of external disturbances on the underwater vehicle in the form of a flattened ellipsoid body with a multilink manipulator when performing technological operations. The relevance of the study is related to the automation of such operations as underwater welding, transfer of objects, twisting, bending, etc., performed underwater. For this purpose, we have built a mathematical model of the underwater apparatus with an ellipsoid shape, indicated the ways of influence of moments and forces arising in the manipulator on the apparatus body. It was found out that this influence leads to nonlinear effects in transients. This influence is different, depending on the axis in which the motion of the apparatus is performed. Since the body is flattened in the horizontal axis, the most unpleasant effect occurs in the vertical motion, due to the increased hydrodynamic resistance. The model is considered without a control loop in the apparatus, and it is the effect of the housing on the accuracy of movements of a multilink manipulator with a standard control system in the form of PID controllers that is important to us. © 2024 IEEE.

关键词： Underwater welding

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Online Estimation Of Risk in AUV Course Keeping Problem

Online Estimation Of Risk in AUV Course Keeping Problem

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Lipko, Ivan Sevastopol State University Robotics and Intelligent Control Systems Laboratory Sevastopol Russia

ISBN: (纸本)9798350382457

The article is devoted to the problem of assessing the risk of the presence of an autonomous underwater vehicle in a position limited by a given course angle at every moment of the system's operation. These risky situations arise in the tasks of navigation, docking, tracking objects, receiving and transmitting data in the underwater environment. To perform risk assessments, the most probable trajectories of movement to the threshold values of phase states are used. The most probable trajectories are calculated by solving the minimization problems of the so-called quasipotentials with differential coupling in the form of linear differential equations describing an object and external disturbances acting on it. As a result, we have information about the trajectories of movement, time and probability of events when the object moves along the trajectory. Comparing the current state of the object with known trajectories at each moment of the system operation, an assessment is made of how close the object is to the threshold values. The evaluation results are presented in the form of numerical simulation, which are then aggregated and shown in the form of quality metrics of the forecast of the time remaining until the threshold is crossed. The forecast cannot be carried out for a sufficiently longer amount of time, since the nature of the risk situation already determines the functioning of the object in the danger zone. The estimation of the boundary of this prediction is also shown by simulation using the Monte Carlo method. © 2023 IEEE.

关键词： Trajectories

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PID Based Path Following Algorithm for the MiddleAUV

PID Based Path Following Algorithm for the MiddleAUV

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2023 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2023

作者： Lipko, Ivan Sevastopol State University Robotics and Intelligent Control Systems Laboratory Sevastopol Russia

ISBN: (纸本)9781665475952

The baseline path following algorithm based on PID controller for horizontal movement of the MiddleAUV is constructed. The MiddleAUV is small autonomous underwater vehicle designed to study the control algorithms. This article discusses the one case of PID controllers design and results of numerical simulations. The path is constructed using waypoints. The movement of the AUV between waypoints is accomplished by controlling the distance and yaw between the current position of the AUV and the waypoint. When the AUV approaches a waypoint, a special unit generates a new waypoint and the AUV continues moving. The main difficulty was configuring the controllers for the non-linear version of the AUV model. To solve this problem, we tuned the PID controller for the linear model and chose the best one for the nonlinear model. Numerical experiments were performed on the nonlinear mathematical model, which showed that the resulting PID controllers could be used as the basis for the robot's motion along the waypoints. © 2023 IEEE.

关键词： Autonomous underwater vehicles

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control Aspects in Programming by Demonstation for Robotic Deep- Micro- Hole Drilling 32

Control Aspects in Programming by Demonstation for Robotic D...

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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Maric, Bruno Petric, Frano Orsag, Matko University of Zagreb LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing Zagreb10000 Croatia

ISBN: (纸本)9798350395440

This paper explores control aspects in a collab-orative robotic system designed to replicate human operators' drilling skills in deep- micro- hole tasks, focusing on the glass-container mould industry. To replicate human performance, we develop a single-DOF Impedance-based drill controller for a standard industrial position-controlled robot, enhancing safe and smooth interactions between the drill bit and the mould. To address high feed rates observed in worker demonstrations and prevent bit breaks, we focus on minimizing non-axial motion during drilling on an off-the-shelf available industrial manipulator KUKA KR 10. This involves analyzing the impact of joint dynamics on drill motion and designing a control system for the robot's low-level control to achieve axial drill motion. We show that the proposed joint control system that takes into account relationship between joint and tool dynamics outperforms available robot low-level control in minimizing non-axial motion, leading to the robot being able to outperform the human in deep- micro- hole drilling. © 2024 IEEE.

关键词： Molds

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Magnetic Flux Servoing for Precise Localization Based on Gradient Tensor Contractions 19

Magnetic Flux Servoing for Precise Localization Based on Gra...

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19th IEEE International Conference on Automation Science and Engineering, CASE 2023

作者： Martinovic, Dean Orsag, Matko University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb10000 Croatia

ISBN: (纸本)9798350320695

This paper focuses on bridge inspections performed by intelligent unmanned aerial vehicles (UAV). For this, small data loggers are placed by the UAVs at the bridge, which have to be removed later. In our previous work we presented the magnetic localization method SRIOD, which not only detects the center of the data logger but also its orientation. In this work we proof SRIOD in a real application and let a robotic arm locate a magnetic target. The hardware involved is presented including the control strategy for the robot. The motions of the robot and the magnetic target are captured with 12 Optitrack cameras in order to validate the localization quality. © 2023 IEEE.

关键词： Antennas

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A surface defect detection method for steel pipe based on improved YOLO

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Mathematical Biosciences and Engineering 2024年第2期21卷 3016-3036页

作者： Wang, Lili Song, Chunhe Wan, Guangxi Cui, Shijie State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences 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 College of Information Liaoning University Shenyang110036 China

Surface defect detection is of great significance as a tool to ensure the quality of steel pipes. The surface defects of steel pipes are charactered by insufficient texture, high similarity between different types of defects, large size differences, and high proportions of small targets, posing great challenges to defect detection algorithms. To overcome the above issues, we propose a novel steel pipe surface defect detection method based on the YOLO framework. First, for the problem of a low detection rate caused by insufficient texture and high similarity among different types of defects of steel pipes, a new backbone block is proposed. By increasing high-order spatial interaction and enhancing the capture of internal correlations of data features, different feature information for similar defects is extracted, thereby alleviating the false detection rate. Second, to enhance the detection performance for small defects, a new neck block is proposed. By fusing multiple features, the accuracy of steel pipe defect detection is improved. Third, for the problem of a low detection rate causing large size differences in steel pipe surface defects, a novel regression loss function that considers the aspect ratio and scale is proposed, and the focal loss is introduced to further solve the sample imbalance problem in steel pipe defect datasets. The experimental results show that the proposed method can effectively improve the accuracy of steel pipe surface defect detection. © 2024 American Institute of Mathematical Sciences. All rights reserved.

关键词： Aspect ratio

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An intelligent matching method for the equivalent circuit of electrochemical impedance spectroscopy based on Random Forest

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材料科学技术（英文版） 2025年第6期209卷 300-310页

作者： Wenbo Chen Bingjun Yan Aidong Xu Xin Mu Xiufang Zhou Maowei Jiang Changgang Wang Rui Li Jie Huang Junhua Dong Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Shenyang National Laboratory for Materials Science Institute of Metal ResearchChinese Academy of SciencesShenyang 110016China General Research Institute China Oil & Gas Pipeline Network CorporationLangfang 065000China

One of the core works of analyzing Electrochemical Impedance Spectroscopy(EIS)data is to select an appropriate equivalent circuit model to quantify the parameters of the electrochemical reaction ***,this process often relies on human experience and judgment,which will introduce subjectivity and *** this paper,an intelligent approach is proposed for matching EIS data to their equivalent circuits based on the Random Forest *** can automatically select the most suitable equivalent circuit model based on the characteristics and patterns of EIS *** the typical scenario of metal corrosion,an atmospheric corrosion EIS dataset of low-carbon steel is constructed in this paper,which includes five different corrosion *** dataset was used to validate and evaluate the pro-posed method in this *** contributions of this paper can be summarized in three aspects:(1)This paper proposes a method for selecting equivalent circuit models for EIS data based on the Random Forest algorithm.(2)Using authentic EIS data collected from metal atmospheric corrosion,the paper es-tablishes a dataset encompassing five categories of metal corrosion scenarios.(3)The superiority of the proposed method is validated through the utilization of the established authentic EIS *** ex-periment results demonstrate that,in terms of equivalent circuit matching,this method surpasses other machine learning algorithms in both precision and ***,it shows strong applicability in the analysis of EIS data.

关键词： Electrochemical impedance spectroscopy Random forest Corrosion Equivalent circuit model

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PCEB-YOLOV8: An Improved PCB Defect Detection Method Based on YOLOV8 8

PCEB-YOLOV8: An Improved PCB Defect Detection Method Based o...

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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Li, Meihui Song, Chunhe Yu, Xia Chu, Mengmeng Li, Rui Shenyang University of Technology State Key Laboratory of Robotics 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 Shenyang Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China Shenyang University of Technology Shenyang China

ISBN: (纸本)9798331506230

Printed circuit board defect recognition is of great significance to ensuring the quality of electronic products. This paper proposes an improved PCB defect detection method based on YOLOV8. Firstly, the data augmentation method PredMix (prediction mix) is adopted to simulate scenarios such as overlapping and occlusion in images, where the displays are incomplete or blurred, thereby enhancing the robustness of the network model. Secondly, BiFPN is used to replace PAN-FPN in the fusion layer to strengthen the feature fusion capability. Finally, the CESE_C2f module is employed in the Backbone part, leveraging a lightweight attention mechanism to improve the detection effect while reducing the number of parameters. Experimental results show that compared with the original YOLOV8, the MAP value of this improved algorithm reaches 92.6%, with a 2.3% increase in accuracy. © 2024 IEEE.

关键词： Deep learning

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