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A trajectory-level robot skill learning method based on fuzzy systems

Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Strain sensor on a chip for quantifying the magnitudes of tensile stress on cells

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Microsystems & Nanoengineering 2024年第3期10卷 305-315页

作者： Yuyin Zhang Yue Wang Hongze Yin Jiahao Wang Na Liu Songyi Zhong Long Li Quan Zhang Tao Yue School of Mechatronics Engineering and Automation Shanghai UniversityShanghaiChina School of Future Technology Shanghai UniversityShanghaiChina Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province School of Mechanical EngineeringZhejiang UniversityHangzhouChina Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai UniversityShanghaiChina Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghaiChina

During cardiac development,mechanotransduction from the in vivo microenvironment modulates cardiomyocyte growth in terms of the number,area,and arrangement ***,the response of cells to different degrees of mechanical stimuli is ***-on-a-chip,as a platform for investigating mechanical stress stimuli in cellular mimicry of the in vivo microenvironment,is limited by the lack of ability to accurately quantify externally induced ***,previous technology lacks the integration of external stimuli and feedback sensors in microfluidic platforms to obtain and apply precise amounts of external ***,we designed a cell stretching platform with an in-situ *** in-situ liquid metal sensors can accurately measure the mechanical stimulation caused by the deformation of the vacuum cavity exerted on *** platform was applied to human cardiomyocytes(AC16)under cyclic strain(5%,10%,15%,20 and 25%),and we found that cyclic strain promoted cell growth induced the arrangement of cells on the membrane to gradually unify,and stabilized the cells at 15%amplitude,which was even more effective after 3 days of *** platform’s precise control and measurement of mechanical forces can be used to establish more accurate in vitro microenvironmental models for disease modeling and therapeutic research.

关键词： stress deformation arrangement

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Fabricating AC/DC nanogenerators based on single ZnO nanowires by using a nanomanipulator in a scanning electron microscope

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Nanotechnology and Precision engineering 2024年第2期7卷 25-31页

作者： Mei Liu Mengfan He Aristide Djoulde Lingdi Kong Weilin Su Xin Bai Jinbo Chen Jinjun Rao Zhiming Wang Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444China Guangdong Provincial Key Laboratory of Fuel Cell Technology School of Chemistry and Chemical EngineeringSouth China University of TechnologyGuangzhou 510641China

Single zinc oxide nanowires(ZnO NWs)are promising for nanogenerators because of their excellent semiconducting and piezoelectric properties,but characterizing the latter efficiently is *** reported here,an electrical breakdown strategy was used to construct single ZnO NWs with a specific *** the high operability of a nanomanipulator in a scanning electron microscope,ZnO-NW-based twoprobe and three-probe structures were constructed for fabricating AC/DC nanogenerators,*** a ZnO NW,an AC output of between−15.31 mV and 5.82 mV was achieved,while for a DC nanogenerator,an output of24.3 mV was ***,the three-probe structure’s output method was changed to verify the distribution of piezoelectric charges when a single ZnO NW is bent by a probe,and DC outputs of different amplitudes were *** study provides a low-cost,highly convenient,and operational method for studying the AC/DC output characteristics of single NWs,which is beneficial for the further development of nanogenerators.

关键词： Zinc oxide nanowire Piezoelectric properties Nanomanipulator SEM AC/DC nanogenerators

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Pick-up strategies for and electrical characterization of ZnO nanowires with a SEM-based nanomanipulator

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Nanotechnology and Precision engineering 2023年第1期6卷 26-31页

作者： Mei Liu Lingdi Kong Weilin Su Aristide Djoulde Kai Cheng Jinbo Chen Jinjun Rao Zhiming Wang Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444China Guangdong Key Laboratory of Fuel Cell Technology School of Chemistry and Chemical EngineeringSouth China University of TechnologyGuangzhou 510640China

Because of their unique mechanical and electrical properties,zinc oxide(ZnO)nanowires are used widely in microscopic and nanoscopic devices and structures,but characterizing them remains *** this paper,two pick-up strategies are proposed for characterizing the electrical properties of ZnO nanowires using SEM equipped with a *** pick up nanowires efficiently,direct sampling is compared with electrification fusing,and experiments show that direct sampling is more stable while electrification fusing is more *** nanowires have cut-off properties,and good Schottky contact with the tungsten probes was *** piezoelectric experiments,the maximum piezoelectric voltage generated by an individual ZnO nanowire was 0.07 V,and its impedance decreased with increasing input signal frequency until it became *** work offers a technical reference for the pick-up and construction of nanomaterials and nanogeneration technology.

关键词： ZnO nanowires nanomanipulator picking up strategy piezoelectric properties electrical characterization

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Deep Reinforcement Learning Based Mobile Robot Navigation in Unknown Environment with Continuous Action Space 5

Deep Reinforcement Learning Based Mobile Robot Navigation in...

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5th International Conference on Intelligent Autonomous Systems, ICoIAS 2022

作者： Phueakthong, Phuwanat Varagul, Jittima Pinrath, Nattawat School of Mechatronics Engineering Suranaree University of Technology Nakhon Ratchasima Thailand School of Manufacturing Automation and Robotics Engineering Suranaree University of Technology Nakhon Ratchasima Thailand School of Industrial Engineering Suranaree University of Technology Nakhon Ratchasima Thailand

ISBN: (数字)9781665498388

ISBN: (纸本)9781665498388

This work aims to propose the use of deep reinforcement learning for mobile robot navigation and obstacle avoidance in previously unknown areas or without pre-made maps with continuous action control to increase the capabilities of mobile robots beyond conventional map-based navigation. Deep reinforcement learning is used to enable the robot to learn how to make decisions and interact with the environment observed from sensor data to safely navigate itself to its destination. The robot has a two-dimensional laser scanner, ultrasonic sensors and odometry sensor. Deep Deterministic Policy Gradient, which can function in continuous action space, was chosen as the deep reinforcement learning model. The robot is trained and tested in a Gazebo simulator with Robot Operating System. After the training process, the robot is put to the challenge to complete a waypoint navigation mission in four unknown areas as part of an assessment. The results indicate that the mobile robot is adaptable and has the capability of traveling to the specified waypoints and completing the job without the need for a pre-drawn route or an obstacle map in unidentified environments with the minimum success rate of 69.7 percent. © 2022 IEEE.

关键词： Reinforcement learning

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Construction of laser-induced graphene/silver nanowire composite structures for low-strain,high-sensitivity flexible wearable strain sensors

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Science China(Technological Sciences) 2024年第11期67卷 3524-3534页

作者： YANG PingAn ZHAO JingYuan LI Rui ZHOU ZhiHao GUI YinGang SUN RuiXue WU DeCheng WANG XiaoJie School of Automation Chongqing University of Posts and TelecommunicationsChongqing 400065China College of Engineering and Technology Southwest UniversityChongqing 400715China Bio-inspired Robotics and Intelligent Material Laboratory Institute of Advanced Manufacturing TechnologyHefei Institutes of Physical ScienceChinese Academy of SciencesChangzhou 213164China

Sandwich-structured flexible sensors based on graphene have high sensitivity and *** graphene is combined with a flexible substrate in a sandwich structure,the weak bonding between them compromises the sensor's stability and sensitivity at low *** presents challenges in monitoring subtle physiological activities,such as hand bending and pulse *** this purpose,laser-induced graphene(LIG)is proposed to be used to prepare flexible sensors in order to improve the sensitivity and stability of the sensors at low ***(PDMS)with low modulus and polyimide(PI)with rich carbon content are selected as precursor materials for LIG,and graphene is formed through laser ***,silver nanowires(Ag NWs)solution is added to LIG to give the sensor low strain and high sensitivity *** the PI/PDMS ratio is 1:3,the Ag NWs/LIG flexible strain sensor exhibits excellent sensitivity(GF=778.468)over a small strain range(8.76%-11.25%).Meanwhile,the sensor still shows excellent stability after 2000 cycle *** Ag NWs/LIG flexible strain sensor shows good performance when placed on the back of the hand,around the eyes,*** is demonstrated that Ag NWs/LIG flexible strain sensors have good application potential in human physiological activity monitoring,health management and medical fields,and provide a low-strain,high-sensitivity sensor design strategy for flexible wearable devices.

关键词： flexible strain sensors high sensitivity strain range Ag NWs laser-induced graphene

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Experimental system of active-passive integrated vibration isolation for robot with weak rigid support 4

Experimental system of active-passive integrated vibration i...

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4th International Conference on Artificial Intelligence, robotics, and Communication, ICAIRC 2024

作者： Chen, Lele Yin, Jiawei Huang, Liang He, Bin Zhan, Yuhan Xue, Lei Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai China COMAC Shanghai Aircraft Manufacturing Co. Ltd Aviation Manufacturing Technology Research Institute Shanghai China

ISBN: (纸本)9798331531225

In the manufacturing and assembly process of domestic large airplanes, the vibration in the surrounding environment greatly affects the working efficiency and precision of automated equipment. According to the vibration characteristics of the cabin environment, a multi-degree-of-freedom vibration isolation platform mechanism of robotics with weak rigid support applied in the cabin section of the aircraft is proposed, an experimental platform for the vibration isolation capability of a single outrigger is constructed, and a finite element analysis is carried out on the fixed frame of this experimental platform to verify its reliability. © 2024 IEEE.

关键词： Degrees of freedom (mechanics)

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Robust Practical Stabilization for Complex Dynamical Networks With DoS Attacks and Actuator Saturation

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3108-3118页

作者： Shi, Xueya Peng, Zhinan Yu, Junzhi Li, Hongfei Southwest University College of Electronic and Information Engineering Chongqing400715 China Sichuan Artificial Intelligence Research Institute Yibin644000 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China

This article addresses the problem of designing an attack-resilient adaptive event-triggered (AET) controller for complex dynamical networks (CDNs) under DoS attacks and actuator saturation, with a focus on robust practical stability (RPS). First, considering the impact of DoS attacks on closed-loop systems, an AET controller against DoS attacks is designed. Unlike other event-triggered controllers, the complete timeline is divided, and the AET controller is built with two switching modes based on the intervals of dormant and active periods of DoS attacks in which the system is located. Second, to reconcile AET controller with actuator saturation, a switched system modeling approach is established that explicitly incorporates saturation constraints into the coupled network dynamics. Third, a switched Lyapunov-Krasovskii functional (LKF) is proposed, with which sufficient conditions are provided to ensured the RPS, and a joint design strategy is developed for the desired triggered matrix and feedback gain using linear matrix inequalities (LMIs). Moreover, the results are generalized to the case of actuator faults, indicating that the system is able to achieve RPS with actuator faults. Finally, the proposed method is verified through an example. © 2013 IEEE.

关键词： Lyapunov functions

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A 3D Streamline Selection Algorithm Based on Comprehensive Similarity 3

A 3D Streamline Selection Algorithm Based on Comprehensive S...

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3rd International Conference on Artificial Intelligence and Computer engineering, ICAICE 2022

作者： Hu, Xiaomei Weng, Jiahong Chai, Jianfei Zhang, Mingnan Li, Yilin Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Information Technology Office School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China

ISBN: (纸本)9781510663473

In order to avoid the occlusion problems and missing important features of streamlines in the flow field, this paper proposes a 3D streamline selection algorithm based on comprehensive similarity. The method starts with a hierarchical clustering of streamline sets and then extracts streamlines with high similarity based on their comprehensive similarity. The comprehensive similarity of streamlines requires the calculation of the distance and contour similarity of the streamlines. In this paper, the Hausdorff distance is improved by proposing a partially matched Hausdorff distance to reduce the influence of streamline length on the similarity calculation. Then the contour similarity is calculated according to the ICP algorithm and the entropy weighting method is used to calculate the weights to obtain the combined similarity. The final comparison with the result of another algorithm shows that the flow field structure is clearer, more complete and more evenly distributed when the streamlines are selected using this algorithm. © 2023 SPIE.

关键词： Flow fields

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Lightweight pear detection algorithm based on improved YOLOv5

Lightweight pear detection algorithm based on improved YOLOv...

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2022 International Conference on Mechatronics engineering and Artificial Intelligence, MEAI 2022

作者： Hu, Xiaomei Zhang, Yunyou Chen, Yi Chai, Jianfei Wu, Jun Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Information Technology Office School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China

ISBN: (纸本)9781510663169

Pear recognition is one of the key technologies of pear picking robot, and the pear recognition algorithm based on convolutional neural network has high computing cost and large parameters, which is difficult to be deployed on pear picking robot with low computer resources. This paper presents a lightweight pear real-time detection method based on YOLOv5. This method designs a lightweight feature extraction network based on Ghost bottomleneck, and embeds the SE module into the designed network, which improves the ability of feature extraction while reducing the amount of network parameters. The experimental results show that compared with YOLOv5l, the parameters of the improved lightweight model are reduced by 48.17 %, mAP is increased by 0.9 %, and the recognition speed is increased by 36 %. The improved model is more suitable to be deployed on the picking robot with limited computing power and provides a solution for the vision system of pear picking robot. © 2023 SPIE.

关键词： Feature extraction

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