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2024 International Conference on Machine Learning, Pattern Recognition and automation Engineering, MLPRAE 2024

作者： Rao, Jinjun Wang, Cong Liu, Mei Lei, Jingtao Giernacki, Wojciech Department of Precision Mechanical Engineering School of Mechatronic Engineering and Automation Shanghai University China Institute of Robotics and Machine Intelligence Faculty of Automatic Control Robotics and Electrical Engineering Poznan University of Technology Poland

ISBN: (纸本)9798400709876

Aiming at the problem that the combination of self-play (SP) and deep reinforcement learning (DRL) only involves two-party games and the policy learning of each party is limited, a multi-party asymmetric self-play algorithm (MASP) is proposed. Firstly, by improving the ELO scoring system, the ELO scoring takes into account each party of the unmanned surface vehicle (USV) clusters, and the imbalance of the number of USV clusters, so that the frequency of exchanging strategies of all USV clusters in the confrontation process is equal. Secondly, it ensures that USV clusters have a balanced combat ability, and at the same time ensures that the combat ability of all parties is strong and weak and the gap is not too wide. In addition, the parameters are dynamically set to reduce the update frequency of the policy of the stronger party. The experimental results show that the MASP can make the USV clusters learn more effective policies, have a shorter game time, and obtain higher rewards and ELO scores in the simple 2v2 adversarial game scenario and the three-party game scenario of a warship escort mission. © 2024 ACM.

关键词： Deep reinforcement learning

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Full-state Physical Mirroring Method of Space Manipulator Based on the Multiple Decoupling Principles 2

Full-state Physical Mirroring Method of Space Manipulator Ba...

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2nd International Conference on Artificial Intelligence, Human-Computer Interaction and robotics, AIHCIR 2023

作者： Yang, Tao Qin, Shize Xu, Fang Deng, Songbo Zhang, Hao Shi, Yan Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing University of Chinese Academy of Sciences Beijing Institute of Precision Mechatronics Controls Laboratory of Aerospace Servo Actuation and Transmission State Key Laboratory of Robotics Chinese Academy of Sciences Beijing China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission PR Beijing China Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics PR Shenyang China

ISBN: (纸本)9798350360363

To achieve the goal of an efficient full-state ground test of a 7DOF space manipulator, the kinematic and dynamical coupling characteristics of space manipulator are investigated, and a mirror test method based on the principle of multiple decoupling is proposed to solve the problem of highly dynamic three-dimensional motion conditions of space manipulator that are difficult to verify by ground simulation. It firstly decouples the space manipulator into a 3dof unit,1dof unit and another 3dof unit combination. It achieves joint load reduction through inter-joint dynamics coupling. Afterwards, it designs an air-floating support device to realize the joint space 7DOF motion, and proposes a constant damping joint dynamics compensation control algorithm to eliminate the dynamics disturbances introduced by inter-joint decoupling. Then, an industrial mirror robot arm with consistent kinematic parameters and a highly dynamic mirror control algorithm are designed to map the joint motion states of the space manipulator to the ground robotic arm, and a ground simulation of the Cartesian space motion state of the space robot arm is realized by decoupling the joint space from the Cartesian space motion. Finally, the ground experiment of target grasping based on the physical mirroring method is designed to realize the high-speed full-state ground experiment verification of complex tasks of space manipulator. © 2023 IEEE.

关键词： Robotic arms

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Synchronous Control Method and Simulation Research of Multi-degree of Freedom Humanoid Space Manipulator 2

Synchronous Control Method and Simulation Research of Multi-...

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2nd International Conference on Service robotics, ICoSR 2023

作者： Yang, Tao Xu, Fang Du, Baosen Ni, Yongjian Yu, Chao Shi, Yan Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Beijing China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission China Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China

ISBN: (纸本)9798350304688

The high-precision multi-joint synchronous control problem of the 7 DOF humanoid manipulator is studied. The control system uses a distributed control architecture based on EtherCAT. synchronization error causes tracking error between the end trajectory of the manipulator with theoretical trajectory. In order to achieve the purpose of high-precision synchronous control of manipulators, the kinematics model of manipulators is analyzed, and the method of network distributed clock control mode based on EtherCAT is proposed. Firstly, according to the source of synchronous error of the manipulator, the distributed network clock is used to calibrate the controller master station and the servo slave station to reduce the sampling and control synchronization error of each joint, and then improve the real-time performance of the main station Linux operating system. The station position command synchronization error is calibrated. Finally, the semi-physical simulation system of the joint and manipulator controller in the ring is designed. The simulation experiment analysis of the humanoid manipulator in the joint space and Cartesian space is carried out. The results show that the clock is distributed based on the EtherCAT network. The multi-joint synchronization control method can realize high-precision position control of the humanoid manipulator. © 2023 IEEE.

关键词： Manipulators

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Inverse Origami Design Model for Soft Robotic Development

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Soft robotics 2024年第1期11卷 131-139页

作者： Hu, Qiqiang Li, Junyang Tao, Jian Dong, Erbao Sun, Dong Department of Biomedical Engineering City University of Hong Kong Hong Kong Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China Hefei China Department of Electronic Engineering Ocean University of China Qingdao China CAS Key Laboratory of Mechanical Behavior and Design of Materials School of Engineering Science University of Science and Technology of China Hefei China Centre for Robotics and Automation Shenzhen Research Institute of City University of Hong Kong Shenzhen China

Origami provides an opportunity to construct a wide range of 3D functional structures by folding a flat sheet. It can be used to develop various soft functional robots by combining soft smart actuators. However, a simple and an effective model that can address the challenging problem of designing origami patterns to connect origami design with robotics is lacking, thereby greatly increasing the threshold of soft origami robots and hindering its development. This study proposes an easy-to-use inverse origami design model to generate the flat crease pattern from the desired folded shape automatically while simulating origami morphing by simply providing the shape parameters or 2D shape graphics. This method overcomes the difficulty of origami design and enables a close connection between origami and robotics. Through this method, various soft origami robots can be developed with low design complexity and time cost to achieve different functions, thereby promoting the development of soft origami robots. © 2024 Mary Ann Liebert Inc.. All rights reserved.

关键词： Robots

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Correction to: Third-order geometric stiffness formulation for improved mesh convergence of thin and wide spatial beams in the generalized strain beam formulation (Computational Mechanics, (2024), 10.1007/s00466-024-02570-5)

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Computational Mechanics 2025年第4期75卷 1449-1449页

作者： Nijenhuis, M. Meijaard, J.P. Naves, M. Aarts, R.G.K.M. Precision Engineering Faculty of Engineering Technology University of Twente Enschede Netherlands Applied Mechanics & Data Analysis Faculty of Engineering Technology University of Twente Enschede Netherlands Industrial Automation & Robotics University of Applied Sciences Windesheim Zwolle Netherlands

The original version of the article has a error in the equation 70 (Derivative was missing). The corrected equation is given below: (Formula presented.) The uncorrected equation is given below: (Formula presented.) Th...

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Full-state Physical Mirroring Method of Space Manipulator Based on the Multiple Decoupling Principles

Full-state Physical Mirroring Method of Space Manipulator Ba...

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Artificial Intelligence, Human-Computer Interaction and robotics (AIHCIR), International Conference on

作者： Tao Yang Shize Qin Fang Xu Songbo Deng Hao Zhang Yan Shi State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing University of Chinese Academy of Sciences Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing PR China Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing PR China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang PR China

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Synchronous Control Method and Simulation Research of Multi-degree of Freedom Humanoid Space Manipulator

Synchronous Control Method and Simulation Research of Multi-...

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Service robotics (ICoSR), International Conference on

作者： Tao Yang Fang Xu Baosen Du Yongjian Ni Chao Yu Yan Shi State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Beijing China Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

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Lumbar spine localisation method based on feature fusion

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CAAI Transactions on Intelligence Technology 2023年第3期8卷 931-945页

作者： Yonghong Zhang Ning Hu Zhuofu Li Xuquan Ji Shanshan Liu Youyang Sha Xiongkang Song Jian Zhang Lei Hu Weishi Li Robotics Institute School of Mechanical Engineering and AutomationBeihang UniversityBeijingChina Beijing Zhuzheng Robot Co. LTDBeijingChina Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKnoxvilleTennesseeUSA Department of Orthopaedics Peking University Third HospitalBeijingChina Engineering Research Center of Bone and Joint Precision Medicine Ministry of EducationBeijingChina Beijing Key Laboratory of Spinal Disease Research BeijingChina School of Biological Science and Medical Engineering Beihang UniversityBeijingChina Department of Computer Science University of WarwickCoventryUK

To eliminate unnecessary background information,such as soft tissues in original CT images and the adverse impact of the similarity of adjacent spines on lumbar image segmentation and surgical path planning,a two‐stage approach for localising lumbar segments is ***,based on the multi‐scale feature fusion technology,a non‐linear regression method is used to achieve accurate localisation of the overall spatial region of the lumbar spine,effectively eliminating useless background information,such as soft *** the second stage,we directly realised the precise positioning of each segment in the lumbar spine space region based on the non‐linear regression method,thus effectively eliminating the interference caused by the adjacent *** 3D Intersection over Union(3D_IOU)is used as the main evaluation indicator for the positioning *** an open dataset,3D_IOU values of 0.8339�0.0990 and 0.8559�0.0332 in the first and second stages,respectively is *** addition,the average time required for the proposed method in the two stages is 0.3274 and 0.2105 s ***,the proposed method performs very well in terms of both pre-cision and speed and can effectively improve the accuracy of lumbar image segmentation and the effect of surgical path planning.

关键词： CT image lumbar spatial orientation multi‐scale information fusion

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Experimental Study on the Improvement of Yaw Stability by Coordination Control between the Caudal Fin and Anal Fin

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Journal of Bionic Engineering 2022年第5期19卷 1261-1271页

作者： Jiang Ding Changzhen Zheng Chaocheng Song Qiyang Zuo Yaohui Xu Bingbing Dong Jiaxu Cui Kai He Fengran Xie College of Mechanical Engineering Guangxi UniversityNanning 530004China Guangxi Key Lab of Manufacturing System and Advanced Manufacturing Technology Nanning 530004China Shenzhen Institute of Advanced Technology Chinese Academy of SciencesShenzhen 518055China Shenzhen Key Laboratory of Precision Engineering Shenzhen 518055China University of Chinese Academy of Sciences Beijing 100049China College of Mechanical Automation Wuhan University of Science and TechnologyWuhan 430000China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen 518055China

Due to the unique locomotion,the head-shaking problem of biomimetic robotic fish inevitably occurs during rectilinear locomotion,which strongly hinders its practical *** this paper,we experimentally study this problem by proposing the method of coordination control between the caudal fin and anal ***,an untethered biomimetic robotic fish,equipped with an anal fin,a caudal fin and two pectoral fins,is developed as the experimental ***,a Central Pattern Generator(CPG)-based controller is used to coordinate the motions of the anal fin and caudal ***,extensive experiments are conducted to explore different combinations of the flapping frequencies,the flapping amplitudes,and the phase differences between the anal fin and caudal ***,through proper control of the anal fin,the amplitude of the yaw motion can be as small as 4.32°,which sees a 65%improvement compared to the scenario without anal fin,and a 57%improvement compared to that with a stationary anal *** paper provides a novel way to alleviate the head-shaking problem for biomimetic robotic fish,and first test this method on an untethered,freely swimming robotic platform,which can shed light on the development of underwater robotics.

关键词： Biomimetic robotic fish Anal fin Head-shaking Yaw stability

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Permanent Magnet Shape Optimization Method for PMSM Air Gap Flux Density Harmonics Reduction

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CES Transactions on Electrical Machines and Systems 2021年第4期5卷 284-290页

作者： Chengsi Liu Yongxiang Xu Jibin Zou Guodong Yu Liang Zhuo School of Electrical Engineering and Automation of HIT Department of Electrical Engineering Harbin Institute of Technology the State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Institute of Technology and National Engineering Research Center for Small and Special Precision Motors Guizhou Aerospace Linquan Motor Co.Ltd

This paper proposed a permanent magnet optimization method to suppress the air gap flux density harmonic of permanent magnet synchronous motor(PMSM).The method corrected the effective air gap length of the motor,calculated the magnetization length of the permanent in the case of parallel magnetization,and took the influence of the permanent magnet relative permeability into *** on these works,for a given sinusoidal air gap flux density waveform,the corresponding structural parameters can be calculated,so as to achieve the optimization of the permanent *** using this method to optimize the shape of the magnet,the fundamental wave of the air gap flux density can be retained to the greatest extent,so as to eliminate harmonics and maintain the output capacity at the same *** feasibility and accuracy of the method have been verified by finite element analysis(FEA)and prototype machine *** method is simple and time-saving,and has a satisfactory accuracy,which provides a reference method for permanent magnet optimization of PMSM.

关键词： Permanent magnet synchronous motor(PMSM) analytical method finite element analysis(FEA) magnet shape optimization.

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