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A Flexible Piezoelectric-based Tactile Sensor for Dynamic Force Measurement 4

A Flexible Piezoelectric-based Tactile Sensor for Dynamic Fo...

引用

4th International Conference on High Performance Big Data and Intelligent systems, HDIS 2022

作者： Xiang, Guiyao Wang, Xiaoxin Cheng, Nengyuan Hu, Liang Zhang, Hongwei Liu, Honghai School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen China Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and System Shenzhen China

ISBN: (数字)9781665491440

ISBN: (纸本)9781665491440

Force measurement is important in the robotic manipulation tasks, and it is an essential property of specific tactile sensor. An increasing number of studies demonstrated the capacity of tactile sensor in force measurement. However, most of the works focus on the static force measurement, the precise track of dynamic force is hard to be accomplished. Compared with traditional piezoresistive sensors, piezoelectric-based tactile sensors have advantages in low energy consumption and high sensitivity. This paper developed a flexible multi-layer piezoelectric-based tactile sensor inspired by the structure of skin. The size of sensor with a 3×3 sensing element array was designed to match that of a finger. The signal processors and logical algorithms were integrated to sense and distinguish the size, location and pattern of different external force stimuli in real time, including pressure intensity and vibration frequency. Two experiments about pressure sensing and vibration sensing show that the proposed tactile sensor with finger-like force range, high sensitivity and fast response time. The range of measured force amplitude and frequency were 0.1N-2N and 0.1Hz-100Hz. Another characteristic, the response time, was less than 50ms. In addition, the sensor array has a spatial resolution of 4 mm. This work has driven the development of tactile sensor for dynamic force measurement in real-Time robotic grasping. © 2022 IEEE.

关键词： Energy utilization

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Three-dimension Visual Simulation for Formation Tracing Control of Multiple Underwater Vehicles

Three-dimension Visual Simulation for Formation Tracing Cont...

引用

2021 IEEE International Conference on Unmanned systems, ICUS 2021

作者： Tang, Qirong Li, Jiang Jin, Daopeng Ngogia, Thao Liu, Minghao Li, Yinghao School of Mechanical Engineering Tongji University Laboratory of Robotics and Multibody System Shanghai201804 China

ISBN: (纸本)9780738146577

This paper proposes a three-dimension visual simulation method for formation tracing control of multiple underwater vehicles. Firstly, the mathmatic model of the underwater vehicle are inverstigated. Then, the formation structure is studied with leader-follower method. Then, the leader-follower formation tracing control is carried out by slide mode control method. The simulation result shows the effectiveness of formation tracing control method. Then, the three-dimension visual simulation scene of multiple underwater vehicles is built in UWSim. Finally, through the co-simulation of Matlab and UWSim, the three-dimension visual simulation of formation tracing control of multiple underwater vehicles is presented. © 2021 IEEE.

关键词： MATLAB

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Contact Force Guidance Assembly towards Unknown-Shaped Dual Peg-in-Hole

Contact Force Guidance Assembly towards Unknown-Shaped Dual ...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Ninglong Jin Wei Du Jianhua Wu Zhenhua Xiong The School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Institute of Robotics Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

The automatic assembly of dual peg-in-hole often relies on the concrete CAD model, either explicitly or implicitly. However, especially in daily life, the shapes of pegs vary, and the robot cannot always obtain an accurate CAD model of the peg before performing the insertion task. Therefore, inspired by the force constraint during contact, we used contact force as the completion indicator of the assembly and proposed a novel two-stage assembly strategy for unknown-shaped dual peg-in-hole. Additionally, a variable remote compliance center method is employed to decouple the contact forces of two pegs and their adjustments. Three types of unidirectional movement modes—exploration, compliance, retention—are utilized to guide the peg to contact with the hole under large initial offsets. The performance of the proposed assembly strategy was evaluated through a series of experiments using various shapes of pegs. The results show that our method effectively completes arbitrary mixed-shaped dual peg-in-hole task under large initial offsets in terms of orientation error (>20°) and position error (>30mm) acorss all test cases.

关键词： Solid modeling Shape Force Process control Switches Robustness Assembly Admittance control Robots Oscillators

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RESEARCH ON THE PID PARAMETER SELF-TUNING OF THE PRESSURIZER CONTROL system OF NUCLEAR POWER PLANT 29

RESEARCH ON THE PID PARAMETER SELF-TUNING OF THE PRESSURIZER...

引用

2022 29th International Conference on Nuclear engineering, ICONE 2022

作者： Wang, Hongrui Xing, Kunpeng Zou, Tao Yang, Zhijia Wang, Jingyang Zhang, Pengbin State Key Laboratory of Robotics Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China China Nuclear Power Engineering Co. Ltd Shenzhen China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9780791886373

The pressurizer is an essential part of the safe operation of the nuclear power plant. It contains both the steam phase and the liquid phase, which requires simultaneous control of the pressure and water level, and the control system is strongly coupled. When using the PID control method, it is difficult to tune the parameters, and the difficulty is exacerbated when the set value fluctuates. This paper aims at the multi-input and multioutput pressurizer control system, based on the particle swarm optimization to realize the PID controller parameters self-tuning, adopting the time and absolute error integral as the fitness function to evaluate the merits of the PID parameters, and constantly iterating to update and obtain the PID parameters that better satisfy the current working conditions. For coupled pressurizer control systems, the PID parameter tuning method using particle swarm optimization algorithms can give a group of PID controller parameters that make the system operation stable despite the frequent fluctuation of the set value, and compared with the traditional PID controller parameter tuning method, this method can realize the PID parameter self-tuning, eliminating the trouble of manual tuning. Copyright © 2022 by ASME.

关键词： Nuclear power plants

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Real-Time Sea Cucumber Detection Based on YOLOv4-Tiny and Transfer Learning Using Data Augmentation 12th

Real-Time Sea Cucumber Detection Based on YOLOv4-Tiny and Tr...

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12th International Conference on Advances in Swarm Intelligence, ICSI 2021

作者： NgoGia, Thao Li, Yinghao Jin, Daopeng Guo, Jinyuan Li, Jiang Tang, Qirong Laboratory of Robotics and Multibody System School of Mechanical Engineering Tongji University Shanghai201804 China

ISBN: (纸本)9783030788100

You Only Look Once version 4 (YOLOv4) model has an outstanding performance in object detection and recognition. However, the YOLOv4 is too complex, requiring high computing resources with a lot of training data, which is difficult in the underwater environment. YOLOv4-tiny is proposed based on YOLOv4 to simplify the network structure and reduce parameters, which makes it be suitable for developing on mobile and embedded devices. In this paper, in order to implement a real-time cultured sea cucumber detector to the autonomous underwater vehicle (AUV), YOLOv4-tiny and transfer learning are applied. The model has a good performance in speed but the accuracy is unsatisfactory while evaluated on the real-world underwater datasets. Therefore, a data augmentation method based on improved Mosaic data augmentation is further proposed to improve the quality of the training dataset. The proposed method is evaluated on the real-world sea cucumber underwater videos and has a good performance. © 2021, Springer Nature Switzerland AG.

关键词： Object detection

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A NOVEL PID SELF-TUNING METHOD BASED ON CLOSED-LOOP IDENTIFICATION USED IN NUCLEAR POWER PLANTS 29

A NOVEL PID SELF-TUNING METHOD BASED ON CLOSED-LOOP IDENTIFI...

引用

2022 29th International Conference on Nuclear engineering, ICONE 2022

作者： Zhang, Pengbin Xing, Kunpeng Zou, Tao Yang, Zhijia Wang, Jingyang Wang, Hongrui State Key Laboratory of Robotics Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China China Nuclear Power Engineering Co. Ltd Shenzhen China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9780791886472

Nuclear power is one of several significant clean energy and its production capacity is increasing rapidly. This paper proposed a novel PID self-tuning method based on closed-loop identification used in nuclear power plants to deal with the turbine's load tracking problem. A setpoint-shifting method is adopted to achieve the informativity of the closed-loop system, and the PID parameters are designed through an optimization method. For validating the proposed method, this paper modeled a pressurized-water reactor (PWR) nuclear power plant, a complex system consisting of three circuits, through the first principle. The primary circuit contains three main devices: a nuclear reactor, a pressurizer, and a steam generator. The models of these three devices are provided by previous literature separately. The whole model is generated through mass and energy balance. This mechanism model is used as the plant model, while the identified model is used as the control model. The initial PID parameters are set through open-loop identification using an external excitation. Then the proposed method works online to track the turbine's load in time. The effectiveness of the proposed method is illustrated by simulations. Copyright © 2022 by ASME.

关键词： Nuclear power plants

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Dynamic modeling and analysis for a differential modular robot joint with the friction model

Dynamic modeling and analysis for a differential modular rob...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Liu, Yukun Luo, Ruiqing He, Minghui Du, Liang Bao, Sheng Yuan, Jianjun Wan, Weiwei Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Robotics Institute Shanghai University Shanghai China Department of System Innovation Graduate School of Engineering Science Osaka University Osaka Toyonaka Japan

ISBN: (纸本)9781665481090

The study of friction has long been popular with scientists. Considering the coupling characteristic of multi-input-multi-output (MIMO) system, the coupling friction model was established, which was based on Coulomb-Viscous friction model for the differential modular robot joint (DMRJ) according to the law of conservation of energy. Then, we identified the coefficients of the friction model through the experiment. In order to verify the accuracy of the established friction model, we regarded the DMRJ as a 2-DoF linkage and built the inertial dynamic model based on Lie theory, whose inertial parameters were estimated by computer aided design (CAD). Besides, we chose the trajectory based on the Fourier series, which has good performance in anti-interference ability, as the verification trajectory. From the generated trajectories, we used a trajectory that is able to change as much as possible in speed, position and acceleration to estimate the accuracy of the model comprehensively. Finally, the result indicated the model had good accuracy. © 2022 IEEE.

关键词： Modular robots

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Active Disturbance Rejection Control of Underwater Manipulator 12th

Active Disturbance Rejection Control of Underwater Manipulat...

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12th International Conference on Advances in Swarm Intelligence, ICSI 2021

作者： Tang, Qirong Jin, Daopeng Hong, Yang Guo, Jinyuan Li, Jiang Laboratory of Robotics and Multibody System School of Mechanical Engineering Tongji University Shanghai201804 China

ISBN: (纸本)9783030788100

In this study, a method of active disturbance rejection controller (ADRC) is presented for 2-DOF underwater manipulator. The ADRC basically does not rely on the accurate mathematical model of the object and can decouple the model. This method can eliminate the influence of model errors, time-varying parameters and external interference on the control effect. Firstly, the manipulators is divided into two subsystems. For each joint subsystem, the hydrodynamic force, coupling term between joints and unknown environment disturbances are considered as the total disturbance. Subsequently, an extended state observer (ESO) is designed to estimate and compensate the total disturbance. Moreover, in order to improve the disturbance observation effect of the extended state observer, the inertia matrix of the manipulator system is used to decouple the static part. Finally, the effectiveness of ADRC is verified by simulation and it is demonstrated that ADRC’s control effect outperforms PD and CSMC in either accuracy, dynamic characteristics or robustness. © 2021, Springer Nature Switzerland AG.

关键词： Controllers

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Map Fusion Method Based on Image Stitching for Multi-robot SLAM 12th

Map Fusion Method Based on Image Stitching for Multi-robot S...

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12th International Conference on Advances in Swarm Intelligence, ICSI 2021

作者： Tang, Qirong Zhang, Kun Xu, Pengjie Zhang, Jingtao Cui, Yuanzhe Laboratory of Robotics and Multibody System School of Mechanical Engineering Tongji University Shanghai201804 China

ISBN: (纸本)9783030788100

Compared with the single-robot SLAM, the SLAM task completed by a multi-robot system in cooperation has the advantages of more accuracy, more efficiency and more robustness. This study focuses on the map fusion problem in the multi-robot SLAM task, which is to fuse the local maps created by multiple independent robots into an integrated map. A multi-robot SLAM map fusion method based on image stitching is therefore proposed. A single robot uses lidar SLAM to build a local environment map and upload it to a central node. The central node then maps each local map from a two-dimensional occupancy grid map to a grayscale image. The SuperPoint network is used to extract the depth features from the grayscale images, and the transformation relationships between the local maps are calculated via the feature matching. The matching topology graph is used to realize the final map fusion. It carries out experimental verification in the indoor environment on three mobile robots, which were developed by our own, and the experiment proved that the method has good real-time performance and robustness. After obtaining the global map, some new robots were placed in the environment, and realized the task of multi-robot target search by using the relocalization function. © 2021, Springer Nature Switzerland AG.

关键词： Multipurpose robots

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Primitive Shape Recognition Based on Local Point Cloud for Object Grasp 12th

Primitive Shape Recognition Based on Local Point Cloud for O...

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12th International Conference on Advances in Swarm Intelligence, ICSI 2021

作者： Tang, Qirong Zhong, Lou Zhou, Zheng Zhu, Wenfeng Chu, Zhugang Laboratory of Robotics and Multibody System School of Mechanical Engineering Tongji University Shanghai201804 China

ISBN: (纸本)9783030788100

Object recognition and grasping are important means of interaction between robot and environment, and also two of the main tasks of robot. Due to the rich information provided by depth sensors, it has paved the way for the object recognition. The geometric information is more conducive to the primitive recognition of the object, and the primitive shape information is used as the input information for the robot to grasp. This study proposes a primitive shape recognition method using local point cloud. First, 900 sets of point cloud data including three primitive shapes was created. Then the PointNet network using the point cloud data to recognize the primitive shape of the objects was trained. Experiments in simulation and physical world shows our recognition method can effectively recognize the primitive shape of the object. © 2021, Springer Nature Switzerland AG.

关键词： Object recognition

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