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检索条件"机构=Laboratory of Robotics and Systems in Science and Engineering"

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An algorithm for the kinematics of dexterous manipulation

An algorithm for the kinematics of dexterous manipulation

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Jianfeng Li Yuru Zhang Qixian Zhang W.A. Gruver Robotics Institute Beijing Aeronautics and Astronautics University Beijing China School of Engineering Science Intelligent Robotics and Manufacturing Systems Laboratory Simon Fraser University Burnaby BC Canada

In order for a multi-fingered hand to dexterously manipulate an object, the joint motions must be determined from the desired object motions. In this paper, we use orthogonal decompositions of the spaces of object velocities and joint velocities to develop an algorithm for formulating differential relationships between the motions of the object and joints. The relationships of all possible object velocities and joint velocities satisfying the contact constraints are expressed. The relationships from mobility analysis are also obtained. The method is applicable to all manipulation systems and contact models. Three examples are presented to illustrate the effectiveness of the algorithm.

关键词： Kinematics Fingers Jacobian matrices Intelligent robots Matrix decomposition Orbital robotics Manufacturing systems Motion control Grasping Equations

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A Haptic Exploration and Surface Classification of Objects with Four Typical Surface Properties 8

A Haptic Exploration and Surface Classification of Objects w...

引用

8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Qi, Peng Wu, Yunfeng Yao, Tianliang Lu, Bo Sun, Yi Dai, Jian S. College of Electronics and Information Engineering Tongji University Department of Control Science and Engineering Shanghai China Robotics and Microsystems Center School of Mechanical and Electric Engineering Soochow University Jiangsu Suzhou China Ecole Polytechnique Federale de Lausanne Laboratory of Intelligent Systems Lausanne1015 Switzerland College of Engineering Southern University of Science and Technology Department of Mechanical and Energy Engineering Shenzhen518055 China School of Natural Mathematical and Engineering Sciences King's College London United Kingdom

ISBN: (纸本)9798350300178

To effectively interact with the physical world, an intelligent robot is required to have the ability to obtain the detailed features of an unknown object. Visual devices are commonly used to detect the global geometry of an object;however, detailed information such as surface properties cannot be identified using these devices. The current study proposes an efficient haptic exploration method to recognize the physical properties of surfaces using an intelligent fingertip. Our surface-following algorithm utilizes the normal force vector and the tangential force vector at the contact point between the fingertip and the target object to predict the moving direction and implement the surface exploration. And a correction index K is introduced to adjust the sliding velocity. The algorithm is proved to be robust and high performance both in simulation and lab experiments. Finally, we propose and explore a haptic prediction neural network, which enables our robot to have an accurate feel through physical interaction. In the classification experiment of four types of objects with different surface properties, the average accuracy of the proposed model is 90.2%. © 2023 IEEE.

关键词： Surface properties

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A goal-oriented fuzzy reactive control for mobile robots with automatic rule optimization

A goal-oriented fuzzy reactive control for mobile robots wit...

引用

2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Anmin Zhu Simon X. Yang School of Computer Science and Software Engineering Shenzhen University China Advanced Robotics and Intelligent Systems ARIS) Laboratory School of Engineering University of Guelph Canada

To realize real-time goal-oriented navigation for a mobile robot in unpredictable environments, a fuzzy reactive system is proposed in this paper. Besides the establishment of the fuzzy logic system, this paper focuses on the the physical meaning of the parameters in the fuzzy system, and proposes a systematic method to automatically suppress redundant fuzzy rules from the rule base. Under the control of the proposed system with automatic redundant fuzzy rule removal, the mobile robot can preferably avoid obstacles autonomously, and generate reasonable trajectories toward the target in various situations. The effectiveness and efficiency of the proposed approach are demonstrated by simulation and experimental studies.

关键词： Mobile robots Robot sensing systems Wheels Fuzzy logic Navigation

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Design and implementation of a range-based formation controller for marine robots 1

Design and implementation of a range-based formation control...

引用

ROBOT 2013: 1st Iberian robotics Conference

作者： Soares, Jorge M. Aguiar, A. Pedro Pascoal, António M. Martinoli, Alcherio Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais Lisboa1049-001 Portugal Department of Electrical and Computer Engineering University of Porto Rua Dr. Roberto Frias Porto4200-465 Portugal LausanneCH-1015 Switzerland

ISBN: (纸本)9783319034126

There is considerable worldwide interest in the use of groups of autonomous marine vehicles to carry our challenging mission scenarios, of which marine habitat mapping of complex, non-structured environments is a representative example. Relative positioning and formation control becomes mandatory in many of the missions envisioned, which require the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites. However, the constraints placed by the underwater medium make it hard to both communicate and localise the vehicles, even in relation to each other, let alone maintain them in a formation. As a contribution to overcoming some of these problems, this paper deals with the problem of keeping an autonomous marine vehicle in a moving triangular formation with respect to two leader vehicles. Simple feedback laws are derived to drive a controlled vehicle to its intended position in the formation using acoustic ranges obtained to the leading vehicles with no knowledge of the formation path. The paper discusses the implementation of this solution in the MEDUSA class of autonomous marine vehicles operated by IST and describes the results of trials with these vehicles exchanging information and ranges over an acoustic network. © Springer International Publishing Switzerland 2014.

关键词： Machine design

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Structural design of 2D piezoresistive micro-force sensor

Structural design of 2D piezoresistive micro-force sensor

引用

14th Annual Conference and the 3rd International Conference of the Chinese Society of Micro-Nano Technology, CSMNT 2012

作者： Zhou, Jie Rong, Weibin Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang Province China Hei Longjiang Institute of Science and Technology Electrical Power Engineering School Harbin 150046 Heilongjiang Province China MOE Key Laboratory of Micro-systems and Micro-structures Manufacturing Harbin 150080 Heilongjiang Province China

ISBN: (纸本)9783037857397

In order to detect the tool-substrate contact force and the tool-target interaction force during nano-manipulation process, a novel MEMS based 2D piezoresistive micro-force sensor structure was proposed. This structure can realize the 3D hardware decoupling for the X,Y and Z axis. Thus, the force detection in the vertical direction (Z axis) and parallel direction reference to base (X axis) can be done simultaneously. Theoretical analysis shows that this structure has a good structural sensitivity. The rationality and feasibility of the structure were confirmed by simulation results. © 2013 Trans Tech Publications Ltd, Switzerland.

关键词： MEMS Nano-manipulation Piezoresistive micro-force sensor

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Research on Intrusion Detection of Industrial Control System Based on FastICA-SVM Method 7th

Research on Intrusion Detection of Industrial Control System...

引用

7th International Conference on Artificial Intelligence and Security, ICAIS 2021

作者： Chen, Haonan Liu, Xianda Wang, Tianyu Zhang, Xuejing College of Information Science and Engineering Northeastern University Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Beijing China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Beijing China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Beijing China

ISBN: (纸本)9783030786083

As an important part of guard system, intrusion detection systems have great significance to the security of industrial control systems. Cause the industrial control systems of the on-site environment is often very complicated, the process data extracted on-site have a wide variety of features, and they always have complex associations and are not independent. The intrusion detection algorithms for traditional industrial control systems often do not solve this problem, which results in a decrease in the accuracy, precision and high false negative rate (FNR), false positives rate (FPR). Aiming at solving the current problems, this paper proposes an algorithm combining the Fast Independent Principal Component Analysis (FastICA) and Support Vector Machine (SVM). Finally compared with the SVM and PCA-SVM algorithms, the experimental results show that the accuracy rate has been significantly improved and slight FPR. © 2021, Springer Nature Switzerland AG.

关键词： Intrusion detection

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Motion Planning for Nonlinear Robotic System based on ADMM and Convex Feasible Set Algorithm

Motion Planning for Nonlinear Robotic System based on ADMM a...

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IEEE Conference on Decision and Control

作者： Ruishuang Chen Zaiyue Yang Jie Cheng Zhihui Liang Department of Mechanical and Energy Engineering and the 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

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In the motion planning of robot, nonlinear dynamic constraints and obstacle avoidance constraints make the problem highly non-convex and difficult to solve. In this paper, a general algorithmic framework for trajectory optimization is proposed based on alternating direction method of multipliers (ADMM) and convex feasible set algorithm (CFS). The ADMM framework decomposes the original problem into an optimal control sub-problem with only dynamic constraints and a subproblem with only obstacle avoidance constraints, while the sub-problem with obstacle avoidance constraints is solved via CFS based on the geometric properties of the feasible region. The convergence of proposed algorithm is proven, and the simulation results in different cases verify the feasibility and effectiveness of proposed algorithm.

关键词： Heuristic algorithms Simulation Dynamics Convex functions Planning Nonlinear dynamical systems Collision avoidance

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Online Optimal Energy Management for Building Heating with Thermal Energy Storage

Online Optimal Energy Management for Building Heating with T...

引用

IEEE Conference on Decision and Control

作者： Mengfan Cao Shibo Chen Haoyu Miao Zaiyue Yang Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This paper studies the online optimal energy management problem for the building heating system. This system is driven by electric heat pumps, and equipped with the thermal energy storage (TES) that provides heat flexibility. The temporal coupling introduced by building temperature dynamics and TES energy level dynamics, together with the uncertainties of real-time electricity price and outdoor temperature, pose the optimal energy management problem a computationally challenging one. Hence, based on the Lyapunov optimization method, an online algorithm is proposed to minimize the long-term time average cost of heating system. Our algorithm can ensure the building temperature constraints and TES energy level constraints are satisfied all the time. The maximum optimality gap of our algorithm is also rigorously derived. Simulation results show that this algorithm can achieve user comfort and reduce energy cost effectively.

关键词： Costs Uncertainty Simulation Heuristic algorithms Buildings Optimization methods Energy management

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Droplet-based Microfluidic Platform for High-throughput Formation of Multicellular Spheroids

Droplet-based Microfluidic Platform for High-throughput Form...

引用

International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Zhen Zhan Hanhan Xie Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China

Cell culture in vitro is essential for drug screening, disease modeling, and stem cell-related research. Previous studies have indicated that two-dimensional (2D) cellular environments can significantly differ from physiological cells in vivo, leading to a high failure rate when translating therapeutics developed in 2D cell models to clinical applications. Therefore, there is a strong focus on developing three-dimensional (3D) cell culture techniques that more closely mimic in vivo cell microenvironments. These techniques hold great promise for enhancing precision in drug discovery and tissue regeneration. In this study, we introduce a novel microfluidic technique that utilizes droplets to fabricate hydrogel microspheres, each exhibiting a unique internal morphology suitable for 3D cell culture applications. Specifically, we employed this method to cultivate human umbilical vein endothelial cells (HUVECs) within the interior canals of the hydrogel microspheres, forming monolayers on the surfaces of the spiral canals. This setup effectively mimicked the configurations of native blood vessels. Furthermore, we successfully demonstrated the fabrication of heterogeneous spheroids with spiral blood vessel lumens, which can be utilized to construct spiral vascularized bone tissue.

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Position tracking for continuum robots with joint limit constraints

Position tracking for continuum robots with joint limit cons...

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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Lin, Dengliang Dong, Xin Yang, Chenguang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Nottingham University Department of Mechanical Materials and Manufacturing Engineering NottinghamNG7 2RD United Kingdom Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom

ISBN: (纸本)9781728158594

This paper presents a novel tip-following approach for real-time position tracking and avoiding obstacle of continuum robots with joint limit constraints. This type of hyper-redundant robot, which is more flexible and compliant to explore in complex and constrained environments, such as in pipeline or narrow entrance. However, tradictional method based on inverse kinematic model is difficult to control the end-effector of continuum robot to avoid abstcales in the constrained circumstance. Therefore a new tip-following method based on forward kinematic model is proposed to control the robot and make it inspect the environment. For the method, we use nonliner progamming approach to solve the optimization problem, which is used to find minimum of constrained nonlinear objective function to ensure that the end-effector of the robot follow the desired position with minimal error. In this paper, we employ a 24 DoF continuum robot with continuous backbone and compliant joint to the simulation, and it is testified that the proposed approch can ensure joint limit avoidance, track the end postion in real time and minimize the tracking errors. © 2019 IEEE.

关键词： End effectors

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