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Development of Method for Generating Trajectories of Movement of End Effectors and control Programs for Industrial Robots in an Uncertain Working Environment

Development of Method for Generating Trajectories of Movemen...

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2021 International Russian automation Conference, RusAutoCon 2021

作者： Yukhimets, Dmitry Gubankov, Anton Mursalimov, Eduard Institute of Automation and Control Processes Robotic Laboratory Vladivostok Russia Far Eastern Federal University Dept. of Automation and Robotics Vladivostok Russia Institute of Marine Technology Problems Laboratory of Intelligent Information Systems for Marine Robots Vladivostok Russia

ISBN: (纸本)9780738131566

the deals with the implementation of the method of the trajectories generating for end effectors and control programs for industrial robots in an uncertain working environment. To generate correct trajectories, it is proposed to sequentially process data from vision systems, correct them in the human-machine interface, generate a control program in a generalized form using universal commands and then translate it into the form that a specific industrial robot requires. Experimental studies of the proposed method were carried out, which confirmed the operability and effectiveness of the proposed method. © 2021 IEEE.

关键词： Trajectories

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Precise LiDAR SLAM in Structured Scene Using Finite Plane and Prior Constraint

Precise LiDAR SLAM in Structured Scene Using Finite Plane an...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Xie, Yuhui Zhao, Wentao Wang, Jiahao Wang, Jingchuan Chen, Weidong Institute of Medical Robotics and Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China School of Mechanical Engineering Shanghai Jiao Tong University Ministry of Education Shanghai200240 China

ISBN: (纸本)9781665481090

In this paper, we propose a precise LiDAR SLAM in optimization framework using plane-like object as landmark. Compared to general methods, finite plane feature is used to represent landmark and a new residual model is designed, making constraint from edge of landmark can be used to limit the parallel position between LiDAR and landmark, leading to a more accurate result. Moreover, floor plan is used to provide global pose for reduction of drift, and additionally feature orientation prior is used to prevent map distortion when updating the inaccurate part of floor plan. Experiments are conducted using data collected in real environment. The result qualitatively shows that proposed method can build a corrected map from floor plan without distortion, and quantitatively verifies that proposed method can outperform other baseline methods in accuracy. © 2022 IEEE.

关键词： Optical radar

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Design and Implementation of High Precision Clock Synchronization System Based on RT1064

Design and Implementation of High Precision Clock Synchroniz...

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International Conference on Communications, Information System and Computer Engineering (CISCE)

作者： Mingxu Gang Bingjun Yan Bo Hu Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350353174

ISBN: (纸本)9798350353181

To realize the high-precision clock synchronization of various types of control equipment in the industrial process control network, a high-precision clock synchronizing system is designed and implemented. The system uses RT1064 microprocessor as the core, combined with ieee1588v2 high-accuracy clock synchronization protocol, and uses the MAC kernel integrated in rt1064 to support hardware timestamp function to achieve high-precision time synchronization between devices; Finally, the test verification platform is built to test and verify the accuracy. The test results show that the clock synchronization accuracy is within ± 400ns after the system runs stably, which meets the design requirements.

关键词： Accuracy Protocols Microprocessors Process control Media Access control Hardware Software

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Localization Using Two Different IMU Sensor-Based Dead Reckoning System

Localization Using Two Different IMU Sensor-Based Dead Recko...

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International Symposium on INFOTEH-JAHORINA (INFOTEH)

作者： Ibrahim Toy Akif Durdu Abdullah Yusefi Research and Development MPG Machinery Production Group Inc. Co. Konya Turkey Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkey

Dead reckoning estimates the current position, speed, and direction of moving objects using known position information. Localization determines an object's location on the map, categorized into human and vehicle localization. Autonomous vehicles rely on accurate vehicle localization for effective task execution. While Global Navigation Satellite System (GNSS) is a popular method, weak or absent signals can pose challenges. This study utilizes Inertial Measurement Unit (IMU) sensors for localization, integrating a second IMU to enhance accuracy. Fusing data from two IMU sensors, a dead reckoning system achieves 1.02 degrees and 1.41 meters errors in rotation and translation with a single IMU, and 1.01 degrees and 1.04 meters with two IMUs, respectively.

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Research on Predictive control Method of Permanent Magnet Synchronous Motor Based on Using Ultra-local Model

Research on Predictive Control Method of Permanent Magnet Sy...

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第43届中国控制会议

作者： Yiqiang Zhang Tao Zhang Yong Li Hualiang Zhang Guopeng Zhang Hao Wang School of Electrical Engineering Shenyang University of Technology Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The traditional finite set model predictive control has the advantages of fast response and strong robustness. The threevector model predictive current control(TV-MPCC) improves the problem of large current ripple based on single-vector model predictive current control(MPCC) and can realize deadbeat current control. Still, it cannot avoid the influence of parameter disturbance. To solve this problem, this paper constructs an ultra-local model based on the input and output information of the motor and designs an adaptive sliding mode observer to estimate the unknown part of the model. Finally, the designed threevector model-free predictive current control with adaptive sliding mode observer(TV-MFPCC-ASMO) is simulated and compared with the traditional three-vector model predictive control. It has been proved that the proposed method can effectively suppress the system disturbance when the motor parameters are mismatched and improve the motor's steady-state and dynamic performance during operation.

关键词： Permanent magnet synchronous motor Three-vector model predictive control Ultra-local model Adaptive sliding mode observer

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Enhanced Obstacle Detection in Autonomous Vehicles using 3D LiDAR Mapping Techniques

Enhanced Obstacle Detection in Autonomous Vehicles using 3D ...

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International Symposium on INFOTEH-JAHORINA (INFOTEH)

作者： Muhammed Enes Tokgöz Abdullah Yusefi İbrahim Toy Akif Durdu Research and Development MPG Machinery Production Group Inc. Co. Konya Turkey Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkey

In this study, a method utilizing a 3D LiDAR(Light Detection and Ranging) sensor for mapping and obstacle detection in autonomous vehicles has been developed. The LiDAR sensor employs laser beams to detect the positions and distances of surrounding objects. Data from the LiDAR were processed to generate 2D maps from the 3D point cloud. During this process, obstacles within the vehicle's navigable height range, as well as those that wouldn't impede its movement were identified. Using a filtering method, points outside of these obstacles were removed to create a map. In experimental studies, it was observed that the developed method can accurately detect challenging obstacles such as fences made of thin wires. Consequently, it is evident that this method holds the potential to offer more reliable and safe obstacle detection for autonomous vehicles.

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A Biofuel Risk Management Model for Biomass-Based Heat Sources Considering Supply-Demand-Side Uncertainties 12

A Biofuel Risk Management Model for Biomass-Based Heat Sourc...

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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering, QR2MSE 2022

作者： Fu, Dianzheng Zhou, Tingting Yang, Tianji Zhang, Tao Dong, Jingya Key Laboratory of Networked Control Systems Institutes for Robotics and Intelligent Manufacturing Digital Factory Department Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Technical Management Division Guodian Technology & Environment Group Co Ltd Beijing China Digital Factory Department Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781839538360

Biofuel-based heat sources are gradually penetrated into heating systems in Northern China in the background of carbon neutrality. It is essential to conduct biofuel risk management study, not only for enhancing the ability of continuous heat supply for heating systems, but also improving the ability of effective cost control. A biofuel risk management model is thus proposed innovatively for biomass-based heat sources considering supply-demand-side uncertainties. The developed model integrates Chance-constrained programming, Two-stage stochastic programming and the traditional linear programming into a general framework. After that, the developed model is applied in to a real heat-source case of biofuel risk management under uncertainties and the corresponding solutions on biofuel risk management are generated. The beneficial results of biofuel allocation pattern can be obtained for decision-makers to provide the fuel management support under different risk levels. Besides, a trade-off analysis between the constraint-violation risk and the system cost can also be provided to conduct in-depth analysis. © 2022 IEEE.

关键词： Risk management

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Joint Moment Estimation for Hip Exoskeleton control: A Generalized Moment Feature Generation Method

arXiv

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arXiv 2024年

作者： Zhang, Yuanwen Xiong, Jingfeng Xian, Haolan Chen, Chuheng Chen, Xinxing Fu, Chenglong Leng, Yuquan Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China The Key Laboratory of Image Processing and Intelligent Control The Hubei Key Laboratory of Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

Hip joint moments during walking are the key foundation for hip exoskeleton assistance control. Most recent studies have shown estimating hip joint moments instantaneously offers a lot of advantages compared to generating assistive torque profiles based on gait estimation, such as simple sensor requirements and adaptability to variable walking speeds. However, existing joint moment estimation methods still suffer from a lack of personalization, leading to estimation accuracy degradation for new users. To address the challenges, this paper proposes a hip joint moment estimation method based on generalized moment features (GMF). A GMF generator is constructed to learn GMF of the joint moment which is invariant to individual variations while remaining decodable into joint moments through a dedicated decoder. Utilizing this well-featured representation, a GRU-based neural network is used to predict GMF with joint kinematics data, which can easily be acquired by hip exoskeleton encoders. The proposed estimation method achieves a root mean square error of 0.1180 ± 0.0021 Nm/kg under 28 walking speed conditions on a treadmill dataset, improved by 6.5% compared to the model without body parameter fusion, and by 8.3% for the conventional fusion model with body parameter. Furthermore, the proposed method was employed on a hip exoskeleton with only encoder sensors and achieved an average 20.5% metabolic reduction (p Copyright © 2024, The Authors. All rights reserved.

关键词： Exoskeleton (robotics)

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Camera/LiDAR Sensor Fusion-based Autonomous Navigation

Camera/LiDAR Sensor Fusion-based Autonomous Navigation

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International Symposium on INFOTEH-JAHORINA (INFOTEH)

作者： Abdullah Yusefi Akif Durdu Ibrahim Toy Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkey Research and Development MPG Machinery Production Group Inc. Co. Konya Turkey

This research presents a novel approach for autonomous navigation of Unmanned Ground Vehicles (UGV) using a camera and LiDAR sensor fusion system. The proposed method is designed to achieve a high rate of obstacle detection, distance estimation, and obstacle avoidance. In order to thoroughly study the form of things and decrease the problem of object occlusion, which frequently happens in camera-based object recognition, the 3D point cloud received from the LiDAR depth sensors is used. The proposed camera and LiDAR sensor fusion design balance the benefits and drawbacks of the two sensors to produce a detection system that is more reliable than others. The UGV's autonomous navigation system is then provided with the region proposal to re-plan its route and navigate appropriately. The experiments were conducted on a UGV system with high obstacle avoidance and fully autonomous navigation capabilities. The outcomes demonstrate that the suggested technique can successfully maneuver the UGV and detect impediments in actual situations.

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Performance Analysis for Polar Codes under Successive Cancellation List Decoding with Fixed List Size

arXiv

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arXiv 2023年

作者： Piao, Jinnan Li, Dong Yu, Xueting Li, Zhibo Yang, Ming Liu, Jindi Zeng, Peng The State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China The Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China The Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

In this paper, we first indicate that the block error event of polar codes under successive cancellation list (SCL) decoding is composed of path loss (PL) error event and path selection (PS) error event, where the PL error event is that correct codeword is lost during the SCL decoding and the PS error event is that correct codeword is reserved in the decoded list but not selected as the decoded codeword. Then, we simplify the PL error event by assuming the all-zero codeword is transmitted and derive the probability lower bound via the joint probability density of the log-likelihood ratios of information bits. Meanwhile, the union bound calculated by the minimum weight distribution is used to evaluate the probability of the PS error event. With the performance analysis, we design a greedy bit-swapping (BS) algorithm to construct polar codes by gradually swapping information bit and frozen bit to reduce the performance lower bound of SCL decoding. The simulation results show that the BLER performance of SCL decoding is close to the lower bound in the medium to high signal-to-noise ratio region and we can optimize the lower bound to improve the BLER performance of SCL decoding by the BS algorithm. Copyright © 2023, The Authors. All rights reserved.

关键词： Decoding

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