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2021 IEEE International Conference on Unmanned systems, ICUS 2021

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

ISBN: (纸本)9780738146577

This study presents a dynamic model for mobile manipulator which is focused on analysing the dynamic coupling of mobile platform and robotic manipulator. Since the robotic arm acts on the mobile platform directly, it is obvious that the shift of manipulator's center of mass has an impact on the mobile platform. In this study, the dynamics properties of robotic arm's center of mass are obtained over the theory of particle system. Then, the dynamic model, connected both the mobile platform and manipulator, is established. In order to verify the effectiveness of the proposed dynamic model, position based control works in combination with force control to guarantee that the involved mobile platform achieves locomotion accurately and compliantly. The experiment are carried out based on a mobile manipulator which is combined with UR5 manipulator and mobile platform. Analyses of the results are validated the correctness and availability of the proposed method. © 2021 IEEE.

关键词： Dynamic models

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A Parameter Identification Method for Coupled Dynamics of Robotic Manipulator with Differential Modular Joints

A Parameter Identification Method for Coupled Dynamics of Ro...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

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

ISBN: (纸本)9781665481090

In the daily nursing care for people with disabilities, lifting is the most basic and common action. A robotic manipulator with differential modular joints (DMJ) is designed to accomplish this task. To better implement force-control applications of the robotic manipulator with DMJs, this paper proposes a coupled dynamics identification method based on the multi-input, multi-output (MIMO) feature. Considering the frictions of transmission parts and links, the dynamics of the DMJ is analyzed based on the transformation of energy, and then the parameter-linearized dynamic model of the robotic manipulator with n DMJs is proposed according to the mapping relationship between transmission part level and link level. The identification and verification experiments show that the presented method can obtain the accurate dynamic model parameters. This work lays a foundation for the force-control research of the robotic manipulator with DMJs in the future. © 2022 IEEE.

关键词： Dynamic models

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A bionic approach for the mechanical and electrical decoupling of an MEMS capacitive sensor in ultralow force measurement

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Frontiers of Mechanical engineering 2023年第2期18卷 297-317页

作者： Wendi GAO Bian TIAN Cunlang LIU Yingbiao MI Chen JIA Libo ZHAO Tao LIU Nan ZHU Ping YANG Qijing LIN Zhuangde JIANG Dong SUN State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265599China State Key Laboratory of Robotics and Systems(HIT) Harbin 150006China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Department of Biomedical Engineering City University of Hong KongHong KongChina

Capacitive sensors are efficient tools for biophysical force measurement,which is essential for the exploration of cellular ***,attention has been rarely given on the influences of external mechanical and internal electrical interferences on capacitive *** this work,a bionic swallow structure design norm was developed for mechanical decoupling,and the influences of structural parameters on mechanical behavior were fully analyzed and optimized.A bionic feather comb distribution strategy and a portable readout circuit were proposed for eliminating electrostatic *** instability was evaluated,and electrostatic decoupling performance was verified on the basis of a novel measurement method utilizing four complementary comb arrays and applicationspecific integrated circuit *** electrostatic pulling experiment showed that the bionic swallow structure hardly moved by 0.770 nm,and the measurement error was less than 0.009% for the area-variant sensor and 1.118% for the gap-variant sensor,which can be easily compensated in *** proposed sensor also exhibited high resistance against electrostatic rotation,and the resulting measurement error dropped below 0.751%.The rotation interferences were less than 0.330 nm and(1.829×10^(-7))°,which were 35 times smaller than those of the traditional differential *** on the proposed bionic decoupling method,the fabricated sensor exhibited overwhelming capacitive sensitivity values of 7.078 and 1.473 pF/μm for gap-variant and area-variant devices,respectively,which were the highest among the current *** immunity to mechanical disturbances was maintained simultaneously,i.e.,less than 0.369% and 0.058% of the sensor outputs for the gap-variant and area-variant devices,respectively,indicating its great performance improvements over existing devices and feasibility in ultralow biomedical force measurement.

关键词： micro-electro-mechanical system capacitive sensor bionics operation instability mechanical and electrical decoupling biomedical force measurement

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Domain-Adaptive Power Profiling Analysis Strategy for the Metaverse

Domain-Adaptive Power Profiling Analysis Strategy for the Me...

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作者： Li, Xiang Yang, Ning Liu, Weifeng Chen, Aidong Zhang, Yanlong Wang, Shuo Zhou, Jing Beijing Key Laboratory of Information Service Engineering Beijing Union University Beijing China Institute of Semiconductors Chinese Academy of Sciences Beijing China College of Robotics Beijing Union University Beijing China Research Center for Multi-Intelligent Systems Beijing Union University Beijing China Information System Laboratory Beijing Microelectronics Technology Institution Beijing China

In the surge of the digital era, the metaverse, as a groundbreaking concept, has become a focal point in the technology sector. It is reshaping human work and life patterns, carving out a new realm of virtual and real interaction. However, the rapid development of the metaverse brings along novel challenges in security and privacy. In this multifaceted and complex technological environment, data protection is of paramount importance. The innovative capabilities of high-end devices and functions in the metaverse, owing to advanced integrated circuit technology, face unique threats from side-channel analysis (SCA), potentially leading to breaches in user privacy. Addressing the issue of domain differences caused by different hardware devices, which impact the generalizability of the analysis model and the accuracy of analysis, this paper proposes a strategy of portability power profiling analysis (PPPA). Combining domain adaptation and deep learning techniques, it models and calibrates the domain differences between the profiling and target devices, enhancing the model's adaptability in different device environments. Experiments show that our method can recover the correct key with as few as 389 power traces, effectively recovering keys across different devices. This paper underscores the effectiveness of cross-device SCA, focusing on the adaptability and robustness of analysis models in different hardware environments, thereby enhancing the security of user data privacy in the metaverse environment. © 2024 John Wiley & Sons Ltd.

关键词： Data privacy

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Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

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IEEE International Conference on Control Science and systems engineering (CCSSE)

作者： Delun Li Jianfei Cao Yiliang Chen Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798331517199

ISBN: (纸本)9798331517205

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers.

关键词： Space vehicles Energy consumption Torque Distribution strategy Moon Wheels Optimization methods systems engineering and theory Vehicle dynamics Transient analysis

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PCE: Multi-Agent Path Finding via Priority-Aware Communication & Experience Learning

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Gao, Jianqi Li, Yanjie Ye, Zhaohui Wu, Xinyu Department of Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics and School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

Multi-agent path finding (MAPF) is an essential issue for warehouse automation, where multiple agents plan collision-free paths from the start to goal positions. Reinforcement learning (RL) has been employed to develop partially observable distributed MAPF methods that can be scaled to any number of agents. However, existing RL-based MAPF methods still have some limitations in handling redundant information and avoiding deadlock, resulting in a low success rate or longer makespan. This paper proposes a Priority-aware Communication & Experience learning method (PCE), which combines RL with a novel priority-aware multi-agent communication and a new priority-aware deadlock experience replay to tackle this challenge. To be specific, our innovation encompasses two-fold. Our proposed communication mechanism aims to handle redundant information, which establishes a dynamic communication topology based on agents' priorities and proposes a two-head priority-aware graph attention network to aggregate information. In order to help the agent avoid deadlock, we prioritize the expert experience that solves the deadlock when performing experience replay. We conduct multiple simulation experiments on warehouse-like structured grid maps. Compared with the state-of-the-art RL-based MAPF methods, PCE performs significantly better with a higher success rate and lower makespan in small and large MAPF and higher average throughput in the lifelong MAPF, which can further improve the efficiency of warehouse automation. Finally, we validate PCE using three Turtlebot3-Burger robots, which shows that PCE can be applied in real warehouse automation scenarios. IEEE

关键词： Aggregates

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Design of a Novel Autonomous Docking system With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

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Effect of variable-angle trajectory structure on mechanical performance of CF/PEEK laminates made by robotic fiber placement

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Chinese Journal of Aeronautics 2022年第12期35卷 336-356页

作者： Shouzheng SUN Haiyang MEI Yang WANG Jiahai ZHANG Zhenyu HAN Jinglan GUO State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Wuhu Robot Technology Research Institute Harbin Institute of TechnologyWuhu 241000China Shanghai Spaceflight Precision Machinery Institute Shanghai 201600China School of Mechanical and Power Engineering Harbin University of Science and TechnologyHarbin 150080China

In comparison to the traditional fixed-angle trajectory,the variable-angle trajectory has a greater design ***,it is a challenge to determine which common design curve structure is the most effective for improving mechanical *** work explores the effects of various design curves such as fixed-angle curve,linear curve,arc curve,sine curve,Bezier curve,and cubic polynomial curve trajectories on mechanical performance of laminates,including vibration modal performance and buckling *** algorithm and improved NSGA-II algorithm are then used to optimize various curve *** results are confirmed utilizing thermoplastic Carbon Fiber(CF)/Polyether-Ether-Ketone(PEEK)laminates made by robotic fiber placement *** relationship model between different mechanical performance and curve design variables is *** optimization of variable-angle structure with mechanical properties as input variables is ***,a full-process angle-variable laying software platform from trajectory planning(CAD),trajectory optimization to manufacturing(CAM)is developed for facilitating the fiber placement application.

关键词： Fiber reinforced plastics Mechanical properties Robotic fiber placement Thermoplastics Trajectory design Variable-angle laminate

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Learning Agile Quadrotor Flight in Restricted Environments with Safety Guarantees

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第9期9卷 1-8页

作者： Chen, Shiyu Li, Yanjie Lou, Yunjiang Lin, Ke Wu, Xinyu Department of Control Science and Engineering Harbin Institute of Technology Shenzhen and Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

With the increasing requirement for agile and efficient controllers in safety-critical scenarios, controllers that exhibit both agility and safety are attracting attention, especially in the aerial robotics domain. This paper focuses on the safety issue of Reinforcement Learning (RL)-based control for agile quadrotor flight in restricted environments. To this end, we propose a unified Adaptive Safety Predictive Corrector (ASPC) to certify each output action of the RL-based controller in real-time, ensuring its safety while maintaining agility. Specifically, we develop the ASPC as a finite-horizon optimal control problem, formulated by a variant of Model Predictive Control (MPC). Given the safety constraints determined by the restricted environment, the objective of minimizing loss of agility can be optimized by reducing the difference between the actions of RL and ASPC. As the safety constraints are decoupled from the RL-based control policy, the ASPC is plug-and-play and can be incorporated into any potentially unsafe controllers. Furthermore, an online adaptive regulator is presented to adjust the safety bounds of the state constraints with respect to the environment changes, extending the proposed ASPC to different restricted environments. Finally, simulations and real-world experiments are demonstrated in various restricted environments to validate the effectiveness of the proposed ASPC. IEEE

关键词： Reinforcement learning

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COMPENSATION OF THE COUPLED VIBRATION AND VISCOELASTIC NONLINEARITY OF DIELECTRIC ELASTOMER ACTUATORS THROUGH CLOSED-LOOP INPUT SHAPER AND DIRECT INVERSE HYSTERESIS CONTROL 1

COMPENSATION OF THE COUPLED VIBRATION AND VISCOELASTIC NONLI...

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1st International Conference on Mechanical system Dynamics, ICMSD 2022

作者： Zou, Jiang Gu, Guoying Zhu, Xiangyang State Key Laboratory of Mechanical System and Vibration The Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan Road Minhan Distinct Shanghai China

ISBN: (数字)9781839537837

ISBN: (纸本)9781839537837

In this work, we present a control approach to remove the coupled vibration and viscoelastic nonlinearity of DEAs. To this end, we firstly characterize the dynamical responses of DEAs, demonstrating complex nonlinearities, including vibration, viscoelastic creep and hysteresis nonlinearities. Then, a closed-loop input shaper is designed to remove the vibration phenomenon and viscoelastic creep nonlinearity. Finally, based on a phenomenological hysteresis model, a direct inverse hysteresis controller is further developed to eliminate the viscoelastic hysteresis nonlinearity of the compensated system. To verify the effectiveness of the proposed control approach, several static and periodical trajectories tracking experiments are conducted. The experimental results demonstrate that: with our control approach, DEA can precisely track sinusoidal trajectories with different frequencies, and the maximum tracking error and the root mean square error decrease from 63.56% to 19.81% and 29.02% to 9.58%, respectively. This work is the early attempt to remove the coupled vibration and viscoelastic nonlinearity, which capable of improving the working bandwidth of DEAs and may pave the way for practical applications. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Hysteresis

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