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6th International Conference on Intelligent robotics and Control engineering, IRCE 2023

作者： Yue, Wenshuo Wang, Wenrui Ma, Baoping Yang, Hao Cui, Guohua Tang, Qirong School of Mechanical and Automotive Engineering Shanghai University of Engineering and Science China Laboratory of Robotics and Multibody System Tongji University Shanghai China

ISBN: (纸本)9798350326338

Underactuated prosthetic hands possess excellent adaptability, yet they often suffer from issues such as complex structure, limited anthropomorphism, and reduced stability. To address these concerns, this paper presents a novel finger with coupled-Adaptive functionality, consisting of three joints and two degrees of freedom (DOFs). It exhibits notable anthropomorphism, heightened stability, strong adaptability, and a simplified structure. This finger utilizes a novel coupled-Adaptive linkage mechanism, enabling coupled motion in free space and self-Adaptive motion while grasping diverse objects. Additionally, a series of simulation analyses have provided evidence that the finger can effectively and stably perform coupled movements and adaptively grasp objects of different shapes and sizes. © 2023 IEEE.

关键词： Motion analysis

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An adaptive Kalman filter for physiological tremor suppression in robot-assisted minimally invasive surgery

An adaptive Kalman filter for physiological tremor suppressi...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Yang, Daolong Jiang, Li Xu, Kun Robotics Institute of School of Mechanical Engineering and Automation Beijing100191 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150008 China

ISBN: (纸本)9798350325706

Physiological tremors of surgeons' hands bring vibration to the tip of surgical instruments, which may severely damage the accuracy of surgical procedures and even put patients' lives at risk. Thus robot-assisted surgery using a teleoperation system was introduced to solve this problem. Many filter algorithms were implemented into the robot-assisted surgery system to suppress the inevitable tremors, but always overlooking the traits of hand motion. An innovation/residual-based floating forgetting-factor adaptive Kalman filter (IFFAKF) is proposed to address this problem. A floating forgetting-factor is brought into the innovation/residual-based adaptive estimation algorithm to adjust the process noise covariance (Q) and measurement noise covariance (R) of the system, thus generating estimation of voluntary hand movement and suppressing the vibration at the tip of the surgical instrument caused by the physiological tremor during surgeries. The proposed filter has been contrasted with various filters in simulations and experiments. The results confirm that the proposed filter has obvious advantages in terms of time delay, estimation error, and tremor suppression performance. © 2023 IEEE.

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Implemention of LQR controller for HVAC systems and investigating effect of gains on improving performance 8

Implemention of LQR controller for HVAC systems and investig...

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8th International Conference on Control, Instrumentation and Automation, ICCIA 2022

作者： Kia, A. Parsaei Moradi, P. School of Mechanical Engineering IUST Robotics Research Laboratory Tehran Iran

ISBN: (纸本)9781665495691

In particular, it is useful to pay attention to control strategies to reduce energy consumption. In this article, the purpose is to regulate and control the temperature and humidity of the air in a room with specific dimensions. The dynamical equations of the HVAC system are presented as equations of temperature and humidity variation. A control system based on LQR optimal control method is designed for this air conditioning system including two heating and cooling operations. Then, after examining the stability of the system based on the Lyapunov stability criterion, and also a temperature control performance index is defined to express and compare the performance of control system with different gains. Finally, by performing the simulation, the control and HVAC system performance is evaluated with the help of defined performance index in the presence of designed algorithm which results show that LQR gains have direct effect on energy consumption and control system performance. © 2022 IEEE.

关键词： Energy utilization

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Design and construction of a wheel-leg robot and testing the robot for different motion scenarios 8

Design and construction of a wheel-leg robot and testing the...

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8th International Conference on Control, Instrumentation and Automation, ICCIA 2022

作者： Vazifeh Ardalani, M.R. Toorani, A. Korayem, A.H. School of Mechanical Engineering IUST Robotics Research Laboratory Tehran Iran

ISBN: (纸本)9781665495691

This paper examines different test scenarios for a constructed WRLIUST robot. This robot is consisted of 4 wheels and 4 single-link legs. At first, the mechanical design and construction of the robot is argued, then the electronics and robot circuits are described. To build a wheel-leg robot, a detailed design that meets all the desired requirements, is needed. After design, appropriate mechanical and electrical components are specified and along, the communication of the specified equipment is investigated. In order to determine the most appropriate configuration for the robot, different scenarios were planned and tested. Since the robot has height changes, high torque is needed in leg joints. For this reason, motors with high torques should be utilized. To perform these tests, the cinematic results are achieved from gyroscope and dynamic results from motor torques, and by comparing the torques, the best motion for robot is determined so that the robot withstands the least amount of torque and act more perfectly in the best position. © 2022 IEEE.

关键词： Wheels

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Framework for monitoring electric vehicle battery second life health and estimating remaining useful life 12

Framework for monitoring electric vehicle battery second lif...

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12th CIRP Global Web Conference, CIRPe 2024

作者： Rajabzadeh, Mohammad Hargaden, Vincent Ghadimi, Pezhman Strnadl, Christoph F. Papakostas, Nikolaos Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering University College Dublin Belfield Dublin Ireland IOTA Foundation Berlin10437 Germany

The rapid development of electric vehicles has led to the increasingly important role of lithium batteries in the field of performance sources. New technologies make people become more environmentally conscious and switch from buying to controlling electric vehicle life cycles. The mass production of lithium batteries may lead to environmentally friendly transportation. However, traditional lithium battery manufacturers and government policies often focus on the production and recycling phases. The challenges for battery life cycle management and circular economy are increasingly complex and diverse. This paper presents a comprehensive framework for the secondary utilization of lithium batteries by discussing battery aging, monitoring, recycling, secondary use, and lithium battery health prediction. As a result, multiple algorithms were used to evaluate their effectiveness in battery performance prediction. The analysis of the experiments' results revealed the importance of data pre-processing in improving predictive accuracy, the dependence of model selection on data adaptability, and the need for continuous adjustments during the predictive modeling process. © 2025 The Author(s).

关键词： Electric vehicles Lithium batteries Sustainability

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Experimental identification of dynamic friction parameters with the intention of precision optimal control of model based robotic systems 8

Experimental identification of dynamic friction parameters w...

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8th International Conference on Control, Instrumentation and Automation, ICCIA 2022

作者： Lademakhi, N. Yousefi Moradi, P. Korayem, M.H. Robotics Research Laboratory School of Mechanical Engineering IUST Tehran Iran

ISBN: (纸本)9781665495691

In this paper, the difference in the position and the velocity of input and output angles is considered as friction and, its value is estimated using the methods of least-squares error identification with two direct and recursive approaches. The selected techniques, considering simplicity and reduction of computational volume and high execution speed, have a good performance in determining the parameters of friction model, and as a result, achieve a relatively accurate model close to the actual model of system. Then, the SDRE approach is used as a nonlinear optimal control method. The suggested approach is simulated for a two degrees of freedom mechanical arm with assuming a friction model. To verify the performance of identification algorithms, the Experimental tests have been implemented on a single mechanical arm. By satisfactorily identifying the friction parameters and compensating it by the SDRE controller, the final error of End-effector is reduced. © 2022 IEEE.

关键词： Least squares approximations

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Fusing Dynamics and Reinforcement Learning for Control Strategy: Achieving Precise Gait and High Robustness in Humanoid Robot Locomotion 23

Fusing Dynamics and Reinforcement Learning for Control Strat...

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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Zhao, Zida Huang, Haodong Sun, Shilong Li, Chiyao Xu, Wenfu Harbin Institute of Technology Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics School of Mechanical Engineering and Automation Shenzhen518055 China

ISBN: (纸本)9798350373578

Achieving precise gait planning and high robustness in locomotion control is crucial for the development and application of humanoid robots. In this paper, a novel control strategy is proposed, which combines dynamics control and reinforcement learning (RL), leveraging the precision of dynamics control and the robustness of RL. Specifically, foot placements for each step of the humanoid robot are designed, and the trajectories of the center of mass (CoM) and feet are obtained using a 3D linear inverted pendulum model (3D LIPM). Subsequently, joint angles during motion are calculated based on the trajectories of the CoM and feet using inverse kinematics equations. Finally, the obtained joint angles are trained as baseline actions using RL algorithms. To enhance control robustness, parameter domain randomization is introduced during the training process. By employing this control strategy, simulations of various single-step gaits, such as walking forward, walking to the right, and making right turns, are achieved. Additionally, trajectory tracking, locomotion tests on different terrains, and disturbance resistance are conducted. The simulation results demonstrate that the proposed control strategy enables precise gait control and exhibits strong robustness in humanoid robots. © 2024 IEEE.

关键词： Inverse kinematics

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Piezoelectric inertial robot for operating in small pipelines based on stick-slip mechanism:modeling and experiment

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Frontiers of mechanical engineering 2022年第3期17卷 109-124页

作者： Jichun XING Chao NING Yingxiang LIU Ian HOWARD School of Mechanical Engineering Yanshan UniversityQinhuangdao066004China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Civil and Mechanical Engineering Curtin UniversityPerth6001Australia

Small pipes exist in industrial and biomedical fields,and require microrobots with high operational precision and large load capacity to inspect or perform functional tasks.A piezoelectric inertial pipeline robot using a“stick-slip”mechanism was proposed to address this *** this study,the driving principle of the proposed robot was analyzed,and the strategy of the design scheme was presented.A dynamics model of the stick-slip system was established by combining the dynamics model of the driving foot system and the LuGre friction model,and the simulation analysis of the effect of system parameters on the operating trajectory was *** experimental system was established to examine the output characteristics of the proposed *** results show that the proposed pipeline robot with inertial stick-slip mechanism has a great load capacity of carrying 4.6 times(70 g)its own mass and high positioning *** speed of the pipeline robot can reach up to 3.5 mm/s(3 mm/s)in the forward(backward)direction,with a minimum step distance of 4µ*** potential application for fine operation in the pipe is exhibited by a demonstration of contactless transport.

关键词： pipeline robot piezoelectric inertial drive stick-slip large load capacity dynamics model small pipeline

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A Microrobot with an Attached Microforce Sensor for Transurethral Access to the Bladder Interior Wall

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Journal of engineering and Science in Medical Diagnostics and Therapy 2023年第3期6卷 031001页

作者： Adejokun, Samson A. Kumat, Shashank S. Shiakolas, Panos S. MARS Lab Mechanical and Aerospace Engineering The University of Texas at Arlington ArlingtonTX76019 United States Micro Medical Manufacturing Automation Robotics Systems Laboratory Mechanical and Aerospace Engineering The University of Texas at Arlington ArlingtonTX United States

We present the conceptual design and limited functionality prototype and characterization of a system for application in transurethral palpation of any targeted area of the bladder interior wall tissue consisting of a robotic manipulator and a microforce sensor attached at its tip all less than 3.5 mm in diameter. A hyper-redundant ten-joint six degrees-of-freedom (6DOF) manipulator (5DOF rigid and five-joint continuum segments) is presented along with the forward and inverse kinematics analyses based on a Jacobian formulation to prevent configuration singularities. Simulated motion studies demonstrate the ability of the proposed manipulator to attain a desired pose (normal to the tissue) with any area in the bladder including the difficult to reach trigone area. A strain gauge-based microforce sensor is designed using finite element analysis (safety factor > 3), prototyped using additive manufacturing, and characterized. The characterized sensor was used to acquire in vivo measurements to evaluate human palm tissue viscoelastic properties. A single module of the continuum segment is designed and prototyped using additive manufacturing, and used to characterize its tension-bend angle behavior. Finite element analysis is used to improve structurally weak regions of the vertebra. A three-joint four-vertebrae prototype was successfully actuated to reach a bend state using tendons. The developed robot and sensor prototypes demonstrate capabilities of the proposed concept which could be a possible solution to quantitatively evaluate localized biomechanical properties of the bladder tissue to improve treatment and provide better patient care. Copyright © 2023 by ASME.

关键词： Inverse kinematics

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