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Artificial Intelligence and automation Control (AIAC), International Conference on

作者： Yu Chai Chen Yang Huijuan Dong Jie Zhao Yuri A. W. Shardt Bingfeng Ju ZJU-Hangzhou Global Scientific and Technological Innovation Center Hangzhou China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Department of Automation Engineering Technical University of Ilmenau Ilmenau Germany School of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (数字)9798331529147

ISBN: (纸本)9798331529154

Safeguarding high voltage direct current (HVDC) systems against direct current faults is an inherently demanding task. A promising solution to tackle this challenge is the application of piezoelectrically actuated fast mechanical switches (PA-FMS). However, mechanical resonance and random vibrations in the travel curves of P A-FMS have a substantial impact on their control accuracy. To tackle this challenge, a robust-tube model predictive control (RTMPC) strategy is developed. RTMPC drives the disturbed system state into the minimal robustly positively invariant (mRPI) set centered on the target and ensures that constraints are satisfied. The error feedback gain is calculated using the proposed linear matrix inequality (LMI) based method to minimize the effect of disturbances on the trajectory. An efficient outer approximation method is used to compute the mRPI set. Simulation results show that the critically damped travel curves have been achieved, along with a reduction of the external disturbances by 98%.

关键词： Vibrations Uncertain systems Uncertainty Simulation Switches High-voltage techniques Predictive models Trajectory Approximation methods Predictive control

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Adaptive Stiffness Control of Series Elastic Actuator Manipulators Based on Dynamic System

Adaptive Stiffness Control of Series Elastic Actuator Manipu...

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IEEE International Conference on automation Science and engineering (CASE)

作者： Kunlin Guo Chao Zeng Weiyong Si Ning Wang Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control School of Automation Science and Engineering South China University of Technology Guangzhou China Department of Computer Science University of Liverpool Liverpool UK School of Computer Science and Electronic Engineering University of Essex Colchester Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In traditional control methods, Series Elastic Actuator (SEA) joint manipulators are limited by their hardware and can only perform simple tasks with low stiffness. To address this issue, we propose a stiffness adjustment control strategy for SEA manipulators based on Dynamic systems (DS) with good generalization performance. By enhancing the generalization capability of DS in complex tasks and combining posture control, the SEA manipulators can autonomously adjust control gains and postures according to task requirements to achieve higher stiffness at the end-effector. Experimental results involving the activation of air switches with different stiffness levels and installation angles have demonstrated the effectiveness of our proposed method. The results indicate that compared to traditional methods of adjusting the control gain and retraining DS for similar tasks, our approach exhibits superior generalization performance while maintaining end-effector stiffness during interactions.

关键词： Actuators Computer aided software engineering automation Adaptive systems Control systems End effectors Hardware Dynamical systems Manipulator dynamics

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Novel Surface Design of Deployable Reflector Antenna Based on Polar Scissor Structures

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Chinese Journal of Mechanical engineering 2020年第5期33卷 4-18页

作者： Pengyuan Zhao Jinguo Liu Chenchen Wu Yangmin Li Keli Chen State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of ScienceShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Department of Industrial and Systems Engineering The Hong Kong Polytechnic UniversityHong Kong 999077China

Space-deployable mechanisms can be used as supporting structures for large-diameter antennas in space *** study proposes a novel method for constructing the surface design of space reflector antennas based on polar scissor *** concurrency and deployability equations of the space scissor unit with definite surface constraints are derived using the rod and vector *** equations of the spatial transformation for space n-edge polar scissor units are summarized.A new closed-loop deployable structure,called the polar scissor deployable antenna(PSDA),is designed by combining planar polar scissor units with spatial polar scissor *** overconstrained problem is solved by releasing the curve constraint that locates at the end-point of the planar scissor *** simulation and error analysis are *** results show that the PSDA can effectively fit the paraboloid of ***,deployment experiments verify the validity and feasibility of the proposed design method,which provides a new idea for the construction of large space-reflector antennas.

关键词： Deployable structures Polar scissor unit Reflector antenna Surface design

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Application of Deep Learning Method to Estimate Bottomhole Pressure Dynamics of Oil Wells

Application of Deep Learning Method to Estimate Bottomhole P...

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IEEE International Symposium on industrial Electronics (ISIE)

作者： Haibo Cheng Shichao Li Peng Zeng Valeriy Vyatkin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden Department of Electrical Engineering and Automation Aalto University Helsinki Finland

Surrogate models, which have become an effective and popular method to close loop reservoir management problems, use a data-driven approach to predict dynamic injection and production wells parameters and optimize waterflooding development. In this study, a deep learning-based surrogate model method is proposed to estimate bottomhole pressure (BHP) of production wells in waterflooding reservoirs. Bidirectional long short-term memory (BiLSTM) network, as an efficient deep learning approach, is applied to BHP estimation using fluctuation data. Extended Fourier amplitude sensitivity test (EFAST) method is employed to analyse the influence of different input factors on BHP dynamics, and a reduced dataset is rebuilt to predict BHP parameter based on BiLSTM-EFAST algorithm. The estimation results are tested on a dataset from Volve oilfield in North Sea, and compared with other deep learning methods. The test results indicate that the proposed method can achieve higher prediction accuracy. A reduced dataset-based approach provides a new attempt to reduce model complexity and improve calculation speed for big data-driven surrogate model in oil and gas industry.

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Magnetically Driven Capsule Robot for Multi-Targeted Biopsy and Drug Delivery in Stomach

Magnetically Driven Capsule Robot for Multi-Targeted Biopsy ...

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IEEE International Conference on robotics and Biomimetics

作者： Zhihui Xu Tanyong Wei Zongze Li Ding Huang Shoubin Liu Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

Capsule robots have emerged as a promising solution for non-invasive and painless screening of gastrointestinal diseases, offering significant advantages in patient comfort and reduced risk of cross-infection. Despite these advantages, existing capsule robots fall short in their ability to conduct targeted biopsies and deliver drugs to specific gastric lesions. To address this limitation, this paper presents the design and development of a magnetically driven capsule robot that leverages visual feedback to achieve accurate targeting for biopsy and drug administration in gastric lesions. Internal magnets, responsive to an external gradient magnetic field, enable the controlled propulsion of the capsule robot. A kinetic model of the capsule robot is analyzed, allowing it to recognize lesion contours through the endoscopic camera. This recognition determines the rotation angle or small adjustments required for the capsule robot's attitude and positioning. Experimental results in a simplified in vitro stomach model showcase the capability of the capsule robot to achieve targeted biopsy and drug delivery. These results highlight the potential feasibility of the proposed capsule robot in enhancing diagnostic accuracy and treatment efficacy with broader applications within the realm of gastric healthcare.

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Enabling technology and core theory of synthetic biology

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Science China(Life Sciences) 2023年第8期66卷 1742-1785页

作者： Xian-En Zhang Chenli Liu Junbiao Dai Yingjin Yuan Caixia Gao Yan Feng Bian Wu Ping Wei Chun You Xiaowo Wang Tong Si Faculty of Synthetic Biology Shenzhen Institute of Advanced TechnologyShenzhen 518055China Institute of Synthetic Biology Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China National Laboratory of Biomacromolecules Institute of BiophysicsChinese Academy of SciencesBeijing 100101China Frontiers Science Center for Synthetic Biology and Key Laboratory of Systems Bioengineering(Ministry of Education) School of Chemical Engineering and TechnologyTianjin UniversityTianjin 300072China State Key Laboratory of Plant Cell and Chromosome Engineering Institute of Genetics and Developmental BiologyChinese Academy of SciencesBeijing 100101China State Key Laboratory of Microbial Metabolism Shanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Microbial Resources Institute of MicrobiologyChinese Academy of SciencesBeijing 100101China Tianjin Institute of Industrial Biotechnology Chinese Academy of SciencesTianjin 300308China Ministry of Education Key Laboratory of Bioinformatics Center for Synthetic and Systems BiologyBioinformatics DivisionBeijing National Research Center for Information Science and TechnologyDepartment of AutomationTsinghua UniversityBeijing 100084China

Synthetic biology provides a new paradigm for life science research(“build to learn”)and opens the future journey of biotechnology(“build to use”).Here,we discuss advances of various principles and technologies in the mainstream of the enabling technology of synthetic biology,including synthesis and assembly of a genome,DNA storage,gene editing,molecular evolution and de novo design of function proteins,cell and gene circuit engineering,cell-free synthetic biology,artificial intelligence(AI)-aided synthetic biology,as well as *** also introduce the concept of quantitative synthetic biology,which is guiding synthetic biology towards increased accuracy and predictability or the real rational *** conclude that synthetic biology will establish its disciplinary system with the iterative development of enabling technologies and the maturity of the core theory.

关键词： synthetic biology quantitative synthetic biology genome synthesis and assembly DNA storage molecular evolution de novo design computer-aided design cell engineering gene circuit chassis cell artificial intelligent(AI) biofoundry

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Design and preliminary testing of a piezoelectric-based sole energy harvester

Design and preliminary testing of a piezoelectric-based sole...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Wang, Yidi Zhao, Xuan Shi, Qiuyu Liao, Haisu Wu, Xinyu Gao, Fei Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin999077 Hong Kong

ISBN: (纸本)9781665481090

Harvesting energy from the human body to replenish existing energy sources is receiving substantial attention. Recently scientists have been focusing on harvesting biomechanical energy from human feet during walking. This paper develops a piezoelectric-based sole energy harvester that is designed to be worn on the bottom of shoes to harvest energy, thus powering wearable electronic devices. Specifically, a cam with piezoelectric(PZT) stacks is mounted on the heel to scavenge energy during the heel strike. The cam can change the input's direction from the vertical direction to the horizontal direction. In addition, the output power of this part can be optimized or improved by generating a specified cam profile. A bimorph piezoelectric plate is installed on the forefoot to convert the toes' bending deformation into electricity. Herein, piezoelectric Macro Fiber Composites (MFC) are employed to capture the large deformation. Preliminary testing on a healthy subject is conducted to validate this design. The average power output of the harvester is 8.83 m W. © 2022 IEEE.

关键词： Cams

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An Integrated Software Application for the Ancient Coptic Language

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Journal of Computer Science Research 2023年第4期5卷 38-42页

作者： Argyro Kontogianni Evangelos C.Papakitsos Theodoros Ganetsos Department of Industrial Design&Production Engineering University of West AtticaEgaleoAthens12241Greece Research Laboratory of Electronic Automation Telematics and Cyber-Physical SystemsUniversity of West AtticaEgaleoAthens12241Greece

Coptic language was an important period of the Egyptian language,coinciding with a period of social and cultural *** is also associated with the Greek language,as its alphabet is used for the transcription of *** the fact that the Coptic element is strong in Greece,the theoretical background is rather *** this reason,it is considered necessary to create a software tool that aims to help in the translation of Coptic into Greek and at the same time to overcome various obstacles that the researcher may encounter while processing the various corpora or artifacts,such as processing issuer,diacritics *** tool consists of a database,a search engine and an interface.

关键词： Coptic software tools Computer-assisted translation Digital heritage

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Transcranial Direct Current Stimulation Associated with Visual and Auditory Cueing during Gait Training: A Case Study with a Parkinson's Disease Patient

Transcranial Direct Current Stimulation Associated with Visu...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Angie Pino Patricio Barria Karim Baleta Rolando Aguilar José M. Azorín Marcela Múnera Carlos A. Cifuentes Club de Leones Cruz del Sur Rehabilitation Center Punta Arenas Chile Department of Electrical Engineering University of Magallanes Punta Arenas Chile Department of Systems Engineering and Automation Miguel Hernández University of Elche Elche Spain Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Parkinson's Disease (PD) is a neurodegenerative disorder that leads to motor dysfunctions and restricts walking independence. Approaches such as transcranial direct current stimulation (tDCS) and cueing gait are potential rehabilitation strategies that have proven efficient in improving motor function in individuals with PD in preliminary and separate studies. This case study with a single PD patient explores the feasibility and potential effects of combining anodal tDCS (a-tDCS) with visual and auditory cues during 15 gait training sessions. The patient was assessed before the first intervention and after completing all training weeks regarding kinematic parameters of gait, neuronal activation, muscle strength, and functional skills. Results showed a beneficial impact in significantly increasing the participant's speed, stride length, step length, and muscle strength. Furthermore, the decrease in beta brain activity and increase in the delta were associated with a reduction in the effects of the disease, improved motor performance, and shorter functional task times. This study suggests the a-tDCS strategy with double cueing gait can lead to therapeutic potential in relieving the disease's motor symptoms.

关键词： Training Visualization Motor drives Parkinson's disease Kinematics Muscles Motors Neurorehabilitation Transcranial direct current stimulation Robots

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Adaptive Pseudo Inverse Control for a Class of Nonlinear Asymmetric and Saturated Nonlinear Hysteretic systems

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IEEE/CAA Journal of Automatica Sinica 2021年第4期8卷 916-928页

作者： Xiuyu Zhang Ruijing Jing Zhiwei Li Zhi Li Xinkai Chen Chun-Yi Su School of Automation Engineering Northeast Electric Power Universityand also with Jilin Province International Research Center of Precision Drive and Intelligent ControlJilin 132012China State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819China Department of Electronic and Information Systems Shibaura Institute of TechnologySaitama 337-8570Japan Department of Mechanical and Industrial Engineering Concordia UniversityQCMontreal H3B 1R6Canada

This paper aims at eliminating the asymmetric and saturated hysteresis nonlinearities by designing hysteresis pseudo inverse compensator and robust adaptive dynamic surface control(DSC)***"pseudo inverse"means that an on-line calculation mechanism of approximate control signal is developed by applying a searching method to the designed temporary control signal where the true control signal is *** main contributions are summarized as:1)to our best knowledge,it is the first time to compensate the asymmetric and saturated hysteresis by using hysteresis pseudo inverse compensator because the construction of the true saturated-type hysteresis inverse model is very difficult;2)by designing the saturated-type hysteresis pseudo inverse compensator,the construction of true explicit hysteresis inverse and the identifications of its corresponding unknown parameters are not required when dealing with the saturated-type hysteresis;3)by combining DSC technique with the tracking error transformed function,the"explosion of complexity"problem in backstepping method is overcome and the prespecified tracking performance is *** of stability and experimental results on the hardware-inloop platform illustrate the effectiveness of the proposed adaptive pseudo inverse control scheme.

关键词： Adaptive dynamic surface control adaptive pseudo inverse control asymmetric and saturated hysteresis robust control

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