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Attitude error compensation for autonomous vehicles using a state variable error-based smoother

Journal of Institute of Control, Robotics and systems 2021年第11期27卷 830-834页

作者： Kim, Sun Young Kang, Chang Ho Song, Jin Woo Department of Mechanical Convergence System Engineering Kunsan National University Korea Republic of Kumoh National Institute of Technology Korea Republic of Department of Intelligent Mechatronics Engineering and Convergence Engineering for Intelligent Drone Sejong University Korea Republic of

In this study, the navigation information of a guided missile was calculated using a smoothing algorithm and used for improving the attitude estimation accuracy of the guided missile. The state variables of the backward filter, designed in the fixed interval smoother, were set to attitude errors in the same way as the forward filter of the fixed interval smoother, which was implemented as a linearized Kalman filter algorithm. To verify the performance of the proposed algorithm, simple guided missile simulations were performed, which confirmed that the attitude error of the guided missile was reduced when the fixed interval smoother was applied. © ICROS 2021.

关键词： Autonomous vehicles

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A Water-Induced Oil Detachment and Antifogging Coating with High Water Resistance Based on Biomass Polyelectrolyte

SSRN

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SSRN 2023年

作者： Jiang, Keda Yang, Zhihua Luo, Yifan Xue, Xiaohang Li, Feiran Pan, Yunlu Huo, Yanqiang Zhao, Xuezeng Li, Libo Wei, Jun Key Laboratory of Micro-Systems and Micro-Structures Manufacturing Ministry of Education School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Key Laboratory of Healthy & Intelligent Kitchen System Integration of Zhejiang Province Ningbo315336 China Ningbo Fotile Kitchen Ware Company Ningbo315336 China

Ecofriendly production of materials with excellent anti-oil-fouling and long-term stability characteristics is highly desired. In this study, we reported on a green design of a water-induced oil detachment coating inspired by seaweed and mussel, that is, oil adhered in dry state can spontaneously detach when the coating is immersed into or rinsed with water. The mechanism of the water-induced oil detachment phenomenon was analyzed firstly in terms of surface energy, and the theoretical model for such materials was proposed. The multifunctional coating formed by intercalating polydopamine (PDA) with crosslinking hydrogel layer composite of calcium alginate (CaAlg) and carboxymethyl cellulose (CMC). The obtained double-layer coating (CCaA@D) with high hardness to 8H shows effective oil self-detaching performance with stability to mechanical rubbing. Further, the water resistance was testified that the CCaA@D coating retained the oil detaching property after being subjected to shearing underwater for more than 48 h. In terms of application, the coating on glass remains the transparency and shows durable, long-term stable antifogging that retains after more than 100 days on the inner windshield. On the other hand, the viscous oil-removal property enables the coated surface oily fume resistance and oily pen self-cleaning. This work could provide a reference for future studies in theory and multifunctional design in anti-fouling applications. © 2023, The Authors. All rights reserved.

关键词： Coatings

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Possible strategies for performance enhancement of asymmetric potential bistable energy harvesters by orbit jumps

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The European Physical Journal B 2022年第3期95卷 1-13页

作者： Wang, Wei Zhang, Ying Wei, Zon-Han Cao, Junyi Nano Opto-Mechatronics and Biomedical Engineering Laboratory School of Mechanics and Safety Engineering Zhengzhou University Zhengzhou China Institute of Intelligent Sensing Zhengzhou University Zhengzhou China Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System School of Mechanical Engineering Xi’an Jiaotong University Xi’an China

Due to the merits of broadband response and high sensitivity, bistable oscillators have garnered a great deal of attention in the field of vibrational energy harvesting. However, it is difficult to achieve a bistable energy harvester (BEH) with a perfectly symmetric potential due to the imperfections in materials and structures, and this will greatly influence the output performance. Therefore, this paper focuses on the possible strategies for performance enhancement of asymmetric potential BEHs. Numerical analysis based on voltage response, bifurcation diagram and basin of attraction demonstrates that the appearance of asymmetric potentials in BEHs has a negative effect on the output performance. Average output power and voltage response under different conditions indicate that proper initial conditions and external disturbance could enable the BEHs to achieve high-energy orbit oscillation. Additionally, it is proved that the BEHs can jump from the low-energy orbit to the high-energy orbit to generate more electrical power by changing the phase of excitation signal and external load resistance. By properly selecting the performance enhancement strategies proposed in this paper, the output power of the asymmetric potential BEHs could be improved in practical application.

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Efficient Hybrid Multi-Population Genetic Algorithm for Multi-UAV Task Assignment in Consumer Electronics Applications

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IEEE Transactions on Consumer Electronics 2025年

作者： Bai, Xiaoshan Jiang, Haoyu Li, Chao Ullah, Inam Dabel, Maryam M. Al Bashir, Ali Kashif Wu, Zongze Sam, Shuzhi Shenzhen University College of Mechatronics and Control Engineering National Engineering Laboratory for Big Data System Computing Technology Shenzhen518060 China Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China Shenzhen University Shenzhen City Joint Laboratory of Autonomous Unmanned Systems and Intelligent Manipulation Shenzhen518060 China Tashkent State University of Economics Department of Artificial Intelligence Tashkent100066 Uzbekistan University of Hafr Al Batin Department of Computer Science and Engineering College of Computer Science and Engineering Saudi Arabia Manchester Metropolitan University Manchester United Kingdom Shenzhen518060 China National University of Singapore Department of Electrical and Computer Engineering Singapore117576 Singapore

In recent years, as people’s living standards have improved and consumption concepts have been transformed, the demand for purchasing consumer electronics online has continued to grow, further stimulating the development of the logistics industry. Consequently, how to deliver consumer electronics to households at minimal cost has become a crucial factor that limits the development of the consumer technology industry. To tackle this problem, this paper studies the task assignment problem for multiple initially dispersed UAVs to deliver products to target locations while minimizing their total operation time. Each UAV can continuously provide delivery services to multiple target locations within its limited loading capacity and operation time. To solve this problem, we propose several hybrid multipopulation genetic algorithms. First, a novel crossover operator for the genetic algorithms is designed, through which a single parent chromosome can generate offspring individually. Second, two mutation mechanisms are performed to increase gene diversity. Third, multiple local search strategies are employed to enhance the populations’ fitness during each iteration of evolution. An improved 2-opt local search strategy is applied to optimize individual chromosomes when their similarity with the current best chromosome falls below a prescribed threshold. Alternatively, local search strategies are utilized for 1-opt, 2h-opt and interchange processes. Combining local search strategies, genetic operators, and the multi-population mechanism leads to several hybrid multi-population genetic algorithms. Numerical simulations and experimental tests demonstrate that the hybrid multi-population genetic algorithm, integrated with the improved 2-opt and 1-opt local search strategies, exhibits superior performance among the designed hybrid genetic algorithms, the minimum marginal cost algorithm (MMA), and the existing popular Co-evolutionary Multi-population Genetic Algorithm (CMGA). In exp

关键词： Genetic algorithms

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Self-Tuning Clamping Force Control with Optimal Trajectory Tracking for Autonomous Pipe Inspection Robots

SSRN

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SSRN 2025年

作者： Sun, Guoxin Xia, Longfei Du, Xinpeng Yu, Qihui Zhang, Jianlong Qin, Ripeng School of Mechanical Engineering Inner Mongolia University of Science and Technology Inner Mongolia Autonomous Region Baotou014010 China Inner Mongolia Engineering Technology Research Center of Mechatronics System Intelligent Diagnosis & Control Engineering 014010 China Inner Mongolia Ming yang North Smart Energy Research and Development Center Co LTD China Department of Mechanical Engineering Denmark Inner Mongolia University of Science and Technology China

In response to the limitations of existing external pipe-crawling robots, which are unable to automatically adjust clamping force during operation, a novel external pipe-crawling robot has been designed. To enable adaptive clamping based on varying pipeline conditions, an adaptive clamping force control method based on optimal speed curve tracking is proposed. First, the target clamping force is calculated according to pipeline conditions, and it is then converted into a target speed signal through optimal speed curve planning. Subsequently, the motor precisely tracks the speed signal to achieve accurate clamping force control. Experimental results from the robot prototype demonstrate that the proposed algorithm maintains a clamping force control error rate of less than 8.0% under pipelines with different diameters, inclination angles, and surface roughness, ensuring stable operation across various pipeline conditions. © 2025, The Authors. All rights reserved.

关键词： Clamping devices

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A Soft Robotic system Imitating the Multimodal Sensory Mechanism of Human Fingers for intelligent Grasping and Recognition

SSRN

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SSRN 2024年

作者： Xu, Jinsui Xu, Boyi Zhan, Hao Xie, Zhijie Tian, Zhen Lu, Yifan Wang, Zheping Yue, Honghao Yang, Fei South China University of Technology China State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Wu Xianming School of Intelligent Engineering South China University of Technology Guangzhou510641 China College of Mechanical and Electrical Engineering Northeast Forestry University Harbin150042 China Science and Technology on Space Physics Laboratory China Academy of Launch Vehicle Technology Beijing100000 China

The sensory function is crucial for achieving precise feedback control and environmental interaction in soft robots. Therefore, the multimodal sensory capabilities that mimic human fingers have always been a research hotspot. This study proposes a design method for a soft robotic gripper that can emulate the multimodal perception mechanism of human fingers and achieve high-precision recognition of grasped objects using machine learning algorithms. In addition, a finger texture structure inspired by human fingerprints is designed using a negative pressure-induced buckling method to enhance the soft gripper's ability to perceive minute surface textures. Inspired by slow adapting (SA) receptors and fast adapting (FA) receptors of human fingers, this study designs a capacitive curvature sensor (CS) and a triboelectric texture sensor (TS) to detect the size, material, and texture of objects. Furthermore, a non-contact medium identification sensor (MIS), having a sensitivity of more than 1300 times higher compared to the traditional MISs, is fabricated using the principle of electromagnetic resonance. It is shown that by employing a deep learning-based multi-channel feature fusion network, the soft grasping system with multimodal sensing can achieve an object recognition accuracy of 98.43%. This work provides an innovative approach for the application of soft robots in various fields, such as logistics sorting and food safety. © 2024, The Authors. All rights reserved.

关键词： Textures

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Compliance Control and Simulation of a Next-Generation Chewing Robot

Compliance Control and Simulation of a Next-Generation Chewi...

引用

Chinese Control Conference (CCC)

作者： Xudong Wang Weiliang Xu Jaspreet Dhupia John Bronlund Jianda Han Department of Mechanical & Mechatronics Engineering the University of Auckland Auckland New Zealand Reddit Institute Palmerston North New Zealand School of Food and Advanced Technology Massey University Palmerston North New Zealand Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China

The aim of the development of the chewing robots is to study the biomechanics of chewing process or produce the bolus for further research by in vitro experiments. Some chewing robots are open loop controlled and couldn't behave like a human. However, to make the chewing robots more bin-mimic, force feedback based closed loop control is required. To improve the efficiency of the in-vitro chewing experiments, a next generation chewing robot with cam-follower based multi-chambers was developed previously, which can be used test the effect of different chewing parameters on the chewing performance and food texture changes simultanously. In this paper, modified admittance control based on the force feedback was applied to the chewing robot. At first, to improve food particle size reduction to a distribution which closely matches that produced by human and protect the components of the robot from breakage or impact damage, a spring mass based system, called remote center compliance (RCC), was developed and applied to the robot to control the chewing force. Then, based on the knowledge of human chewing process, power-based algorithm, and modified admittance control method were used as the feedback to adjust the angular velocity of the motor and corresponding chewing velocity of the teeth. The performance of the control model was also simulated, results showed that the model is reliable to control the robot and make it bio-mimic.

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Fast sheath-driven electrothermal artificial muscles with high power densities

Research Square

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Research Square 2021年

作者： Hu, Xinghao Jia, Jingjing Wang, Yingming Tang, Xintian Fang, Shaoli Wang, Yilun Wang, Jian Baughman, Ray Ding, Jian-Ning The University of Texas Dallas United States Institute of Intelligent Flexible Mechatronics Jiangsu University China State Key Laboratory of Robotics and System Harbin Institute of Technology China Jiangsu University China

Electrothermal carbon nanotube (CNT) yarn muscles can provide large strokes during heating-cooling cycles. However, the slow cooling rate of thermal muscles limit their applications, since large diameter prior-art thermal muscles cannot be rapidly cycled. We here report an ultrafast thermally powered sheath-driven yarn muscle that uses a hybrid CNT sheath and an inexpensive polymer core. Our coiled muscle contracts 14.3% at 1 Hz and 7.3% at 8 Hz in air when powered by a square-wave electrical voltage input. The 70-mm-diameter actuated muscle cools in air to 16℃ from 150℃ within 0.5 s, compared with 6 s for a 65-mm-diameter sheath-run muscle that uses an electrothermally heated CNT core and 9 s for a 78-mm-diameter muscle that uses the sheath material for the entire muscle. An average power density of 12 kW/kg was obtained for a sheath-driven muscle, which is 42 times that for human skeletal muscle. This high performance results since the heating that drives fast actuation cycles is largely restricted to the muscle sheath, and this sheath is in direct contact with ambient temperature air. © 2021, CC BY.

关键词： Carbon nanotubes

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Force-based Feedback for Haptic Device of Mobile Assembly Robot 27

Force-based Feedback for Haptic Device of Mobile Assembly Ro...

引用

27th International Workshop on Electric Drives: MPEI Department of Electric Drives 90th Anniversary, IWED 2020

作者： Lukin, Aleksandr Demidova, Galina L. Rassolkin, Anton Vaimann, Toomas Roozbahani, Hamid ITMO University Faculty of Control System and Robotics Saint Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallin Estonia Lappeenranta University of Technology Laboratory of Intelligent Machines Lappeenranta Finland

ISBN: (纸本)9781728141589

This paper describes the control system for twin serial robot manipulators, installed on TIERA mobile robot, focusing in Robot Operating system (ROS) based control network and haptic feedback. Forward and inverse kinematics were used to translate the angular positions of Geomagic touch into joint angles of both UR10 manipulators. Force feedback allows the operator to sense forces applied to both grippers of robotic arms simultaneously using two Geomagic touch. Field tests of TIERA have shown that haptic feedback was established accurately, directions of forces inside the haptic device correspond with directions of forces affecting the gripper, and the current scaling coefficient is enough to sense forces on the haptic device. © 2020 IEEE.

关键词： Mobile robots

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Multi-UAV collaborative system with a feature fast matching algorithm

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Frontiers of Information Technology & Electronic Engineering 2020年第12期21卷 1695-1712页

作者： Tian-miao WANG Yi-cheng ZHANG Jian-hong LIANG Yang CHEN Chao-lei WANG School of Mechanical Engineering&Automation Beihang UniversityBeijing 100191China School of Physics and Mechatronics Engineering Longyan UniversityLongyan 364000China State Key Laboratory of Intelligent Manufacturing System Technology Beijing Institute of Electronic System EngineeringBeijing 100040China

We present a real-time monocular simultaneous localization and mapping(SLAM)system with a new distributed structure for multi-UAV collaboration *** system is different from other general SLAM systems in two aspects:First,it does not aim to build a global map,but to estimate the latest relative position between nearby vehicles;Second,there is no centralized structure in the proposed system,and each vehicle owns an individual metric map and an ego-motion estimator to obtain the relative position between its own map and the neighboring vehicles'.To realize the above characteristics in real time,we demonstrate an innovative feature description and matching algorithm to avoid catastrophic expansion of feature point matching workload due to the increased number of *** on the hash and principal component analysis,the matching time complexity of this algorithm can be reduced from 0(logN)to 0(1).To evaluate the performance,the algorithm is verified on the acknowledged multi-view stereo benchmark dataset,and excellent results are ***,through the simulation and real flight experiments,this improved SLAM system with the proposed algorithm is validated.

关键词： Multiple UAVs Collaboration Simultaneous localization and mapping(SLAM) Feature description and matching

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