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arXiv 2024年

作者： Zheng, Shiqi Ahn, Choon Ki Jiang, Xiaowei Yan, Huaicheng Shi, Peng The School of Automation China University of Geosciences Wuhan430079 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China The Shaoyang Institute of Advanced Manufacturing Technology Shaoyang422000 China The School of Electrical Engineering Korea University Seoul136-701 Korea Republic of The Key Laboratory of Smart Manufacturing in Energy Chemical Process of Ministry of Education East China University of Science and Technology Shanghai200237 China The School of Electrical and Mechanical Engineering The University of Adelaide AdelaideSA5005 Australia

This paper investigates the cooperative output regulation (COR) of nonlinear multi-agent systems (MASs) with long input delay based on periodic event-triggered mechanism. Compared with other mechanisms, periodic event-triggered control can automatically guarantee a Zeno-free behavior and avoid the continuous monitoring of triggered conditions. First, a new periodic event-triggered distributed observer, which is based on the fully asynchronous communication data, is proposed to estimate the leader information. Second, a new distributed predictor feedback control method is proposed for the considered nonlinear MASs with input delay. By coordinate transformation, the MASs are mapped into new coupled ODE-PDE target systems with some disturbance-like terms. Then, we show that the COR problem is solvable. At last, to further save the communication resource, a periodic event-triggered mechanism is considered in the sensor-to-controller transmission in every agent. A new periodic event-triggered filter is proposed to deal with the periodic event-triggered feedback data. The MASs with input delay are mapped into coupled ODE-PDE target systems with sampled data information. Then, Lyapunov-Krasovskii functions are constructed to demonstrate the exponential stability of the MASs. Simulations verify the validity of the proposed results. © 2024, CC BY-NC-ND.

关键词： Feedback control

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Multi-robot Path Planning and Trajectory Smoothing

Multi-robot Path Planning and Trajectory Smoothing

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IEEE International Conference on automation Science and engineering (CASE)

作者： Hub Ali Gang Xiong Huaiyu Wu Bin Hu Zhen Shen Hongxing Bai School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences China Hubei Jointown Technology Co. Ltd Artificial Intelligence Research Institute Wuhan China

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

In this paper we consider a problem in task execution for multi-robot trajectory planning with collision avoidance in a shared working environment. Consider two or more robots generating trajectories towards their respective goal positions. The collision may occur if their trajectory coordinates are intersecting at a point or follow the same path segment simultaneously. The central planner is introduced to control robot motion in the collision state and to reduce the complexity of the multi-robot path planning system. The global path for every robot is generated by the $\mathrm{A}^{*}$ algorithm in a grid-based environment. The path has presented a sequence of optimal grid numbers and later transformed into Cartesian coordinates for smooth trajectory generation. The central planner takes an optimal grid sequence for every robot to analyze the collision state according to its cost value. It regenerates the trajectories to minimize the complexity cost value and replaces the previous trajectory based on minimum cost value. In the collision state, the central planner allows one robot at a time to pass along the conflict path segment and hold others in queue at a safety offset distance until the previous robot passes safely. The algorithm has been applied to robots working in a shared environment in complex maps and the simulations is performed with MATLAB to calculate the efficiency of this approach for handling collision states in a multi-robot path planning system.

关键词： Robot kinematics Trajectory Collision avoidance Task analysis Resource management

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Active Collision Avoidance Maneuver Design Under Constant Thrust ⋆

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IFAC Proceedings Volumes 2011年第1期44卷 9887-9892页

作者： Yongqiang Qi Yingmin Jia Junping Du Fashan Yu The Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Key Laboratory of Mathematics Informatics and Behavioral Semantics (LMIB) Ministry of Education SMSS Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electrical Engineering and Automation Henan Polytechnic University Jiaozuo 454000 Henan China

Abstract In this paper, the relative position parameters of the target spacecraft are obtained by using the vision measurement and the target maneuver positions are calculated through the isochronous interpolation method. Furthermore, new switch control laws under constant thrust are designed for active collision avoidance maneuver of the chaser along a specified trajectory. The switch control laws are obtained based on the acceleration sequences and the working times of thrusters in three axes which can be respectively computed by the time series analysis method. The perturbations and fuel consumptions are addressed during the computation of the working times. The simulation results show that the constant thrust maneuver can effectively guarantee the chaser maneuvering along the specified trajectory.

关键词： Active collision avoidance maneuver Collision possibility Constant thrust Switch control laws

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Parallel Rail Transit system based on ACP approach

Parallel Rail Transit system based on ACP approach

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World Congress on Intelligent control and automation (WCICA)

作者： X.-S. Dong Gang Xiong Dong Fan Y.-S. Lv X.-B. Sun State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Electronics and Information Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9781467313971

This paper presents a novel parallel system for Rail Transit based on ACP approach (Artificial systems, Computational experiments, Parallel execution), which is proposed to address issues on safety, efficiency and reliability of their operation and optimization. Firstly, the construction of dynamic, overall and real Artificial Rail Transit systems and their demonstration are provided. Then, based on these systems, the platform, content and analysis of computational experiments and comprehensive evaluation system are researched. Finally, parallel control and management of the actual systems via parallel execution can be achieved. By Parallel Rail Transit systems, a set of recommendations and strategies of railway can be formed, which would improve the overall functionality of the trail transit system.

关键词： Rails automation Intelligent control Laboratories control systems Educational institutions Computational efficiency

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Dynamics of opinions with social biases

arXiv

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arXiv 2018年

作者： Chen, Zihan Qin, Jiahu Li, Bo Qi, Hongsheng Buchhorn, Peter Shi, Guodong Department of Automation University of Science and Technology of China Hefei230027 China Key Lab of Mathematics Mechanization Chinese Academy of Sciences Beijing100190 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Research School of Engineering Australian National University CanberraACT0200 Australia

This paper aims to provide a systemic analysis to social opinion dynamics subject to individual biases. As a generalization of the classical DeGroot social interactions, defined by linearly coupled dynamics of peer opinions that evolve over time, biases add to state-dependent edge weights and therefore lead to highly nonlinear network dynamics. Previous studies have dealt with convergence and stability analysis of such systems for a few specific initial node opinions and network structures, and here we focus on how individual biases affect social equilibria and their stabilities. First of all, we prove that when the initial network opinions are polarized towards one side of the state space, node biases will drive the opinion evolution to the corresponding interval boundaries. Such polarization attraction effect continues to hold under even directed and switching network structures. Next, for a few fundamental network structures, some important interior network equilibria are presented explicitly for a wide range of system parameters, which are shown to be locally unstable in general. Particularly, the interval centroid is proven to be unstable regardless of the bias level and the network topologies. Copyright © 2018, The Authors. All rights reserved.

关键词： complex networks

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Group Feature Learning and Domain Adversarial Neural Network for aMCI Diagnosis System Based on EEG

Group Feature Learning and Domain Adversarial Neural Network...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Chen-Chen Fan Haiqun Xie Liang Peng Hongjun Yang Zhen-Liang Ni Guan’an Wang Yan-Jie Zhou Sheng Chen Zhijie Fang Shuyun Huang Zeng-Guang Hou State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China First People's Hospital of Foshan Foshan China CAS Center for Excellence in Brain Science and Intelligence Technology Beijing China CASIA-MUST Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology China

Medical diagnostic robot systems have been paid more and more attention due to its objectivity and accuracy. The diagnosis of mild cognitive impairment (MCI) is considered an effective means to prevent Alzheimer's disease (AD). Doctors diagnose MCI based on various clinical examinations, which are expensive and the diagnosis results rely on the knowledge of doctors. Therefore, it is necessary to develop a robot diagnostic system to eliminate the influence of human factors and obtain a higher accuracy rate. In this paper, we propose a novel Group Feature Domain Adversarial Neural Network (GF- DANN) for amnestic MCI (aMCI) diagnosis, which involves two important modules. A Group Feature Extraction (GFE) module is proposed to reduce individual differences by learning group- level features through adversarial learning. A Dual Branch Domain Adaptation (DBDA) module is carefully designed to reduce the distribution difference between the source and target domain in a domain adaption way. On three types of data set, GF-DANN achieves the best accuracy compared with classic machine learning and deep learning methods. On the DMS data set, GF-DANN has obtained an accuracy rate of 89.47%, and the sensitivity and specificity are 90% and 89%. In addition, by comparing three EEG data collection paradigms, our results demonstrate that the DMS paradigm has the potential to build an aMCI diagnose robot system.

关键词： Deep learning Neural networks Medical services Human factors Sensitivity and specificity Feature extraction Robot sensing systems

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Fully Robotized 3D Ultrasound Image Acquisition for Artery

Fully Robotized 3D Ultrasound Image Acquisition for Artery

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IEEE International Conference on Robotics and automation (ICRA)

作者： Mingcong Chen Yuanrui Huang Jian Chen Tongxi Zhou Jiuan Chen Hongbin Liu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science and Innovation Chinese Academy of Sciences Hong Kong School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China School of Biomedical Engineering and Imaging Sciences King's College London London UK

Current imaging of the artery relies primarily on computed tomography angiography (CTA), which requires contrast injections and exposure to radiation. In this paper, we present a method for fully autonomous artery 3D image acquisition using a linear ultrasound (US) probe and a 6 DoFs robot arm with a 3D camera. Robotic vessel acquisition can minimize tissue deformation and permit the reproduction of scans. Additionally, the robotic-based acquisition can provide more precise vessel position data that can be utilized for 3D reconstruction as a preoperative image. The first scanning point is determined by the 3D camera using a neural network for leg area estimation. A visual servo algorithm adjusts the in-plane motions using a cross-sectional vessel segmentation produced by a neural network with a UNet structure, while a US confidence map regulates the in-plane rotation. The robot is equipped with impedance control to maintain a constant and safe scan. Experiments on a leg phantom and a volunteer indicate that the robot can follow the vessel and modify its position to provide a sharper US image. The average error of phantom scanning in y-axis and z-axis are 0.2536mm and 0.2928mm, respectively, while the root means square error (RMSE) of contact force in the volunteer experiment is 0.2664N. In addition, a 3D vessel reconstruction demonstrates the possibility of robotic US acquisition as a preoperative image.

关键词：

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Finite-time Robust Fault-tolerant Trajectory Tracking control for QUAVs with Actuator Fault

Finite-time Robust Fault-tolerant Trajectory Tracking Contro...

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Robotics, control and automation engineering (RCAE), International Conference on

作者： Rongsheng Xia Chunlei Bu Han Jiang Chery Automobile Stock Limited Company Wuhu China School of Electrical and Information Engineering Anhui University of Technology Ma’Anshan China Key Laboratory of Multidisciplinary Management and Control of Complex Systems of Anhui Higher Education Institutes Anhui University of Technology Ma’Anshan China

ISBN: (数字)9798350355642

ISBN: (纸本)9798350355659

This paper proposed a finite-time robust fault-tolerant trajectory tracking control strategy for quadrotor unmanned aerial vehicles (QUAVs) suffering from actuator saturation, unknown external disturbance and actuator fault. Firstly, robust compensation terms are used to handle unknown external disturbance in position subsystem. On this basis, parameter adaptive method is introduced to remove the adverse effects of actuator saturation in attitude subsystem. Then, a fault detection mechanism is designed to estimate the actuator fault in real time. Subsequently, a finite-time robust fault-tolerant tracking strategy based on backstepping framework are proposed and and the finite-time convergence of all error signals are ensurend. Finally, a numerical simulation result is displayed to validate the effectiveness of the proposed trajectory tracking control scheme for the QUAVs dynamic system.

关键词： Actuators Fault tolerance Trajectory tracking Fault tolerant systems Stability analysis Real-time systems Robots Numerical stability Quadrotors Convergence

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Automated Assembly by Two-Fingered Microhand for Fabrication of Soft Magnetic Microrobots

Automated Assembly by Two-Fingered Microhand for Fabrication...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Yue Zhao Xiaoming Liu Ruixi Wang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Department of Intelligent Manufacturing Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Materials Engineering Science Osaka University Osaka Japan Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Micro-assembly is an emerging method to fabricate microrobots with multiple modules or particles. However, there is always a lack of a flexible and efficient method to freely create the desired magnetic soft microrobots. In this paper, an automated assembly system based on a two-fingered microhand is presented for fabricating magnetic soft microrobots. Our proposed system can automatically pick and place components to assemble microrobots with a two-fingered micromanipulator, and orient these components through an external magnetic field. The automated assembly has the advantages of high accuracy, high speed, and high success rate. It can endow magnetic microrobots with flexible material selection, arbitrary geometry design, and programable magnetization profile. We can make full use of this system to fabricate multiple magnetic soft microrobots. The experiment results demonstrate that this system can efficiently fabricate microrobots with excellent mechanical properties, which have application potential in robotics, biomedical engineering, and environmental governance.

关键词： Three-dimensional displays Shape Micromanipulators Magnetization Manuals Three-dimensional printing Soft magnetic materials

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The 110kV Live-Maintaining Robot control System Design for Substation Equipment in complex Working Conditions 42

The 110kV Live-Maintaining Robot Control System Design for S...

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42nd Chinese control Conference, CCC 2023

作者： Hu, Chenyu Chen, Xin Li, Chengyu Huang, Guangxian Zhou, Cheng Jian, Xu School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China School of Future Technology China University of Geosciences Wuhan430074 China State Grid Hubei Electric Power Co. Ltd. Xianning Power Supply Company Distribution Department Xianning437000 China State Grid Hubei Electric Power Co. Ltd Operations and Maintenance Department Xianning xian'An District Power Supply Company Xianning437000 China Equipment Technology Center State Grid Hubei Electric Power Co. Ltd. Electric Power Science Research Institute Wuhan430077 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9789887581543

Live-maintaining work is essential for continuous power supply to the substation. To improve the safety and efficiency of live-maintaining work, this paper proposes an equipotential live-maintaining robot system suitable for 110kV voltage levels. Considering the narrow space, complex working conditions and strong electromagnetic interference in substations, binocular vision technology, manipulator trajectory planning algorithm based on time-energy optimization, high voltage electromagnetic shielding technology are utilized to develop the system, and the live-maintaining robot is successfully applied in actual substation. By accurately identifying and locating the joint bolts and insulator, the robot system can achieve equipotential live-disassemble, live-assemble the joint bolts within 18 minutes and live-clean insulator within 5 minutes, demonstrating its the effectiveness and practicability. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Electromagnetic pulse

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