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IEEE International Conference on Robotics and automation (ICRA)

作者： Jungwon Park Inkyu Jang H. Jin Kim Department of Mechanical and Aerospace Engineering Seoul National University (SNU) and Automation and Systems Research Institute (ASRI) Seoul South Korea

This paper presents a decentralized multi-agent trajectory planning (MATP) algorithm that guarantees to generate a safe, deadlock-free trajectory in an obstacle-rich environment under a limited communication range. The proposed algorithm utilizes a grid-based multi-agent path planning (MAPP) algorithm for deadlock resolution, and we introduce the subgoal optimization method to make the agent converge to the waypoint generated from the MAPP without deadlock. In addition, the proposed algorithm ensures the feasibility of the optimization problem and collision avoidance by adopting a linear safe corridor (LSC). We verify that the proposed algorithm does not cause a deadlock in both random forests and dense mazes regardless of communication range, and it outperforms our previous work in flight time and distance. We validate the proposed algorithm through a hardware demonstration with ten quadrotors.

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Stable Contact Guaranteeing Motion/Force Control for an Aerial Manipulator on an Arbitrarily Tilted Surface

Stable Contact Guaranteeing Motion/Force Control for an Aeri...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Jeonghyun Byun Byeongjun Kim Changhyeon Kim Donggeon David Oh H. Jin Kim Department of Aerospace Engineering Automation and System Research Institute(ASRI) and Institute of Advanced Aerospace Technology(IAAT) Seoul National University Seoul South Korea Department of Aerospace Engineering Seoul National University Seoul South Korea

This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this end, we model the force exerted on the end-effector as the Kelvin-Voigt linear model and estimate its parameters by recursive least-squares estimator. Then, the gains of the disturbance-observer (DOB)-based motion/force controller are calculated based on the stability conditions considering both the model uncertainties in the dynamic equation and switching between the free and contact motions. To validate the proposed controller, we conducted the time-varying motion/force tracking experiments with different approach speeds and orientations of the surface. The results show that our controller enables the aerial manipulator to track the time-varying motion/force trajectories.

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Design,Fabrication,and Analysis of Flapping and Folding Wing Mechanism for a Robotic Bird

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Journal of Bionic engineering 2020年第2期17卷 229-240页

作者： Seung Wan Ryu Jong Gu Lee Hyoun Jin Kim Department of Mechanical&Aerospace Engineering and Automation Systems Research Institute Seoul National UniversitySeoul 08826Republic of Korea

Emulating periodic main wing movement of a bird for generating lift and thrust remains a significant challenge in developing a robotic *** sequences of main wing motion are comprised of flapping,folding,bending,and *** this paper,we concentrate on the flapping and folding motion,and design two wing mechanisms based on a 4-bar linkage structure:one is only for Flapping Motion(FM)and the other is for simultaneous Flapping and Folding Motion(FFM)during a wing *** derive relationships between length and angle of links to analyze kinematic characteristics of the mechanisms and conduct an optimization to select the length parameters of links that allow maximization of the flapping *** run a simulation to confirm the performance of the optimized parameters by examining physical properties,and fabricate two wing mechanisms *** particular,the folding motion is achieved without using an additional *** measurements to investigate a lift profile of each mechanism and their quantitative comparison of the performance of both types confirm the benefits of the folding motion in the perspectives of wing frequency and *** expect that our kinematic formulation,design procedures,and comparative measurement results can help develop a wing mechanism to create a truly biomimetic robotic bird.

关键词： biomimetic robotic bird flapping and folding wing mechanism wing kinematics force measurement

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Efficient Battery Management in Maritime Surveillance: MUR-TAP Algorithm Approach

Efficient Battery Management in Maritime Surveillance: MUR-T...

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Asian Control Conference

作者： Hwan-Yong Park Jun-Oh Park Yoo-Bin Bae Hyo-Sung Ahn School of Mechanical Engineering Gwangju Institute of Science and Technology Gwangju Republic of Korea Aeronautics Research Directorate Unmanned Aircraft System Research Division Korea Aerospace Research Institute (KARI) Daejeon Republic of Korea

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

This study deals with the method of unmanned vehicles autonomously allocating their tasks for continuous monitoring of unidentified objects in the ocean. Existing literature primarily discusses methods where maritime surveillance systems perform distance-based centralized task allocation without considering network topology or drone battery status. From a theoretical perspective, the main goal has been to reduce the computational complexity of task allocation. However, this task allocation problem is challenging to apply in real systems due to constraints on battery life and the necessity of a central detection center. In this paper, we discuss performing battery-aware maritime surveillance missions using the C-ADMM based MUR-TAP algorithm. In maritime surveillance missions, drones autonomously exchange state information with neighboring drones when given a network topology. If the battery is low, they autonomously adjust their positions with drones located at charging stations on ships. Simulation results quantitatively demonstrate that drone batteries can be consistently maintained at high levels, enabling decentralized execution of maritime surveillance missions.

关键词： Network topology Surveillance Simulation Software algorithms Software Batteries Resource management

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Distributed Network Embedding: A Distributed Control Approach for Undirected Networks

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IFAC-PapersOnLine 2023年第3期56卷 553-558页

作者： Yoo-Bin Bae Yeong-Ung Kim Aeronautics Research Directorate Unmanned Aircraft System Research Division Korea Aerospace Research Institute (KARI) Daejeon 34133 Republic of Korea School of Mechanical Engineering Gwangju Institute of Science and Technology (GIST) Gwangju 61005 Republic of Korea

In this paper, a new network embedding method is proposed for an effective network representation of vertices. While the existing embedding methods have embedded a set of vertices via network representation learning in a fully centralized way, we present a novel distributed network embedding (DNE) method without representation learning. By coupling first-order proximity and second-order proximity with distance embedding constraints, a distributed and explicit embedding protocol steers a set of vertices in a vector space to preserve local and global structural information of networks. The proposed method does not require representation learning process, and is distributed, explicit, and straightforward. Therefore, we expect our approach to be fast, cost-effective, especially suitable for dynamic networks, and robust for sparse networks. Lastly, numerical experiments will briefly validate the proposed embedding method using a well-known Zachary's karate club network.

关键词： Distributed control information network multi-agent system network embedding network representation learning

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research on the Experimental system for Testing Oil Film Stiffness of the Cylinder Block/Valve Plate Interface of EHA Piston Pump 1

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18th Chinese Intelligent systems Conference, CISC 2022

作者： Li, Yuchen Fu, Jian Zhao, Jiangao Fu, Yongling School of Mechanical Engineering and Automation Beihang University Beijing100191 China The Laboratory of Aerospace Servo Actuation and Transmission Beijing100191 China Research Institute for Frontier Science Beihang University Beijing100191 China

ISBN: (数字)9789811962264

ISBN: (纸本)9789811962257

Electro-hydrostatic actuator (EHA) is a widely used power by wire integrated actuation in aircraft. The cylinder block/valve plate interface is the most critical friction pair of EHA piston pump, which significantly influences the overall performance and service life of EHA. Wide range of speed and pressure condition demanding in real flight causes great challenge to the bearing capacity of the cylinder block/valve plate interface. It is necessary to study the oil film stiffness in this friction pair. This paper presents a new effective test method for the oil film stiffness of the cylinder block/valve plate interface in EHA piston pump. A flow field model is established to describe the pressure distribution, and an oil film stiffness test bench is built. Based on the simulation result, the oil film stiffness test is carried out, and the best oil film support stiffness under different working conditions is obtained. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Stiffness

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Brainmask:an ultrasoft and moist microelectrocorticography electrode for accurate positioning and long-lasting recordings

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Microsystems & Nanoengineering 2023年第5期9卷 295-307页

作者： Bowen Ji Fanqi Sun Jiecheng Guo Yuhao Zhou Xiaoli You Ye Fan Longchun Wang Mengfei Xu Wen Zeng Jingquan Liu Minghao Wang Huijing Hu Honglong Chang Unmanned System Research Institute Northwestern Polytechnical UniversityXi’an 710072China Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace School of Mechanical EngineeringNorthwestern Polytechnical UniversityXi’an 710072China Collaborative Innovation Center of Northwestern Polytechnical University Shanghai 201108China Institute of Medical Research Northwestern Polytechnical UniversityXi’an 710072China College of Electronics and Information Hangzhou Dianzi UniversityHangzhou 310018China National Key Laboratory of Science and Technology on Micro/Nano Fabrication Department of Micro/Nano ElectronicsShanghai Jiao Tong UniversityShanghai 200240China

Bacterial cellulose(BC),a natural biomaterial synthesized by bacteria,has a unique structure of a cellulose nanofiberweaved three-dimensional reticulated *** films can be ultrasoft with sufficient mechanical strength,strong water absorption and moisture retention and have been widely used in facial *** films have the potential to be applied to implantable neural interfaces due to their conformality and moisture,which are two critical issues for traditional polymer or silicone *** this work,we propose a micro-electrocorticography(micro-ECoG)electrode named“Brainmask”,which comprises a BC film as the substrate and separated multichannel parylene-C microelectrodes bonded on the top *** can not only guarantee the precise position of microelectrode sites attached to any nonplanar epidural surface but also improve the long-lasting signal quality during acute implantation with an exposed cranial window for at least one hour,as well as the in vivo recording validated for one *** novel ultrasoft and moist device stands as a next-generation neural interface regardless of complex surface or time of duration.

关键词： recording electrode moisture

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A comprehensive review of electrochemical hybrid power supply systems and intelligent energy managements for unmanned aerial vehicles in public services

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Energy and AI 2022年第3期9卷 148-171页

作者： Caizhi Zhang Yuqi Qiu Jiawei Chen Yuehua Li Zhitao Liu Yang Liu Jiujun Zhang Chan Siew Hwa College of Mechanical and Vehicle Engineering The State Key Laboratory of Mechanical TransmissionsChongqing Automotive Collaborative Innovation CentreChongqing UniversityChongqing400044China College of Automation Chongqing UniversityKey Laboratory of Complex System Safety and ControlMinistry of EducationChongqing UniversityChongqing400044China School of Mechanical Engineering University of Science and Technology BeijingBeijing100083China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou310027China Institute for Sustainable Energy/College of Sciences Shanghai UniversityShanghai 200444China School of Mechanical and Aerospace Engineering Nanyang Technological University50 Nanyang Avenue639798Singapore Sichuan Energy Internet Research Institute Tsinghua UniversityChengdu 610213Sichuan ProvinceChina

The electric unmanned aerial vehicles (UAVs) are rapidly growing due to their abilities to perform some difficult or dangerous tasks as well as many public services including real-time monitoring, wireless coverage, search and rescue, wildlife surveys, and precision agriculture. However, the electrochemical power supply system of UAV is a critical issue in terms of its energy/power densities and lifetime for service endurance. In this paper, the current power supply systems used in UAVs are comprehensively reviewed and analyzed on the existing power configurations and the energy management systems. It is identified that a single type of electrochemical power source is not enough to support a UAV to achieve a long-haul flight;hence, a hybrid power system architecture is necessary. To make use of the advantages of each type of power source to increase the endurance and achieve good performance of the UAVs, the hybrid systems containing two or three types of power sources (fuel cell,battery, solar cell, and supercapacitor,) have to be developed. In this regard, the selection of an appropriate hybrid power structure with the optimized energy management system is critical for the efficient operation of a UAV. It is found that the data-driven models with artificial intelligence (AI) are promising in intelligent energy management. This paper can provide insights and guidelines for future research and development into the design and fabrication of the advanced UAV power systems.

关键词： Unmanned aerial vehicles(UAVs) Power supply system Fuel cell system Artificial intelligence(AI) Energy management systems

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Ground Contact Parameter Estimation Guided Gait Planning for Hexapod Robots

Ground Contact Parameter Estimation Guided Gait Planning for...

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IEEE International Conference on Robotics and Biomimetics

作者： Guiyu Dong Ripeng Qin Liangliang Han Jiawei Chen Kun Xu Xilun Ding Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China Institute of Aerospace System Engineering Shanghai Shanghai China

ISBN: (纸本)9781665481106

Environment sensing for legged robots can improve their mobility performance. A foot-ground contact model can be used to evaluate the properties of the robot's contact with the environment. A contact parameter estimator based on artificial neural networks was developed to guide the gait planning of a hexapod robot so that it can achieve higher mobility efficiency. This contact parameter estimator can use acceleration, velocity, and contact force data as inputs and output contact parameters. The estimator avoided using deformations as input which are difficult to measure. Meanwhile, the robot's cost of transport with different contact parameters is tested and recorded. Accordingly, the hexapod robot was guided to choose a better gait shape between cycloid and rectangular. The simulation proved that changes in the gait shape according to the contact parameters can reduce the hexapod's cost of transport.

关键词： Robot motion Costs Parameter estimation Shape Force Robot sensing systems Real-time systems

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