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第40届中国控制会议

作者： Guangrong Chen Ming Ma Sheng Guo Bowen Hou Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Firstly,the forward kinematics and inverse kinematics of a five axis manipulator are ***,an easyimplemented optimization method of trajectory planning based on seventh order polynomial interpolation is *** proposed optimization method can capture the time optimal trajectory,while the actuators specifications including speed,acceleration of motor can be guaranteed as ***,simulation results validate the effectiveness and efficiency of proposed optimization *** research provides an insight for the application of trajectory optimization on the controller with low computing capability and real-time requirement.

关键词： Trajectory planning Optimization method Polynomial interpolation Manipulator

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A Novel Fractional Order Impedance Control and Its Performance Analysis

A Novel Fractional Order Impedance Control and Its Performan...

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第33届中国控制与决策会议

作者： Guangrong Chen Huafeng Lu Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

In traditional impedance control model,the contact force can be reduced ***,there exists a tracking error at the stable state due to the existence of stiffness,which is not conducive to tackle tasks based on high performance position control for ***,this paper proposes a novel dynamic interaction model:fractional order impedance control,to address this ***,an integral item is added into the traditional impedance model to eliminate the tracking ***,the idea of fractional order is introduced to make the orders of inertia,damping,and stiffness change from integers to fractions to achieve more significant compliant ***,simulation results validate the advantages of proposed fractional order impedance control and it can be also employed to absorb/increase,hold/keep,and dissipate/decrease system energy to achieve jumping,bouncing and friendly contact,***,stability analysis and three criterions of choosing and tuning 6 classic parameters in the proposed fractional order impedance control are both given out.

关键词： Dynamic interaction Compliance control Fractional order Impedance control Performance analysis

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Driving-Torque Self-Adjusted Triboelectric Nanogenerator for Effective Harvesting of Random Wind Energy

SSRN

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SSRN 2022年

作者： Wang, Yuqi Li, Xiang Yu, Xin Zhu, Jianyang Shen, Ping Wang, Zhong Lin Cheng, Tinghai Beijing Institute of Nanoenergy and Nanosystems Chinese Academy of Sciences Beijing101400 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China State Key Laboratory of Internet of Things for Smart City Department of Civil and Environmental Engineering University of Macau Macao999078 China School of Materials Science and Engineering Georgia Institute of Technology AtlantaGA30332-0245 United States

Triboelectric nanogenerators (TENGs), as a new energy technology for distributed power, are used widely in the field of the natural environment energy harvesting. Because the natural energy is random and unstable, dynamic matching between TENGs driving-torque and natural environment energy is fundamental for improving the applications of TENGs. Therefore, a driving-torque self-adjusted triboelectric nanogenerator (SA-TENG) for effective harvesting of random wind energy is developed in this paper. When the external wind speed is unstable, the SA-TENG automatically self-adjusted its driving-torque to dynamically match the wind speed and obtain higher output power. Experiments showed that the SA-TENG can adjust its driving-torque in accordance to the wind speed ranging in 5.0–13.2 m/s, and that, the output peak power can reach 7.69 mW. Under the same conditions, in comparison with a normal TENG, the power growth rate and the highest energy conversion efficiency of the SA-TENG were boosted by more than 4.3 and 12.2 times, respectively;values that are also 3.2 and 6.5 times higher, respectively, than those of an electromagnetic generator. Additionally, the SA-TENG can supply power to sensors for monitoring environment, proving its feasibility as a distributed energy source. © 2022, The Authors. All rights reserved.

关键词： Nanogenerators

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An Optimal Hand-Eye Calibration Method for Robots Based on Precision Compensation

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Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University 2020年第8期54卷 99-106页

作者： Tian, Pengfei Yang, Shuming Wu, Ziyue Li, Zhan Hu, Pengyu Qu, Xing State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an710049 China School of Mechatronics Engineering Henan University of Science and Technology LuoyangHenan471023 China Ltd. ShenzhenGuangdong518057 China

A simultaneous calibration method based on Lie group theory and iterative optimization for robot orientation and hand-eye calibration is proposed to solve the problem of high precision vision measurement and position for industrial manufacturing field robots. The method uses optimization after enhancing the accuracy of robot. Firstly, the pose relationships between the vision system and the robot, that is, the hand-eye relationship and the spatial conversion relationship between calibration plate and robot coordinate system, are taken as the objects for optimization. The forward kinematics solution of the robot and the pose relationship between the vision system and the calibration plate are represented by a homogeneous coordinate matrix, and then a closed-loop optimization equation of the hand-eye relationship of the robot is constructed. Furthermore, a three-dimensional rotation group is used to represent a rotation matrix and to establish a calibration model equation. Then the nonlinear global optimization is used to simultaneously obtain initial solutions of rotation and translation of the matrix in the calibration equation. The calibration accuracy is improved by minimizing the reprojection error of the camera. Finally, the model accuracy of the robot is improved by using the robot kinematics calibration equipment, and more accurate calibration result is achieved by carrying out visual calibration. Experimental results show that the calibration method can be completed automatically by teaching a few points in advance, and the operation is simple and efficient. Precision analysis shows that the accuracy of the visual calibration algorithm is significantly improved from 0.15 mm to 0.1 mm by compensating the arm length and joint zero error of the robot body. Comparisons with the classical hand-eye calibration methods show that the proposed algorithm has the best calibration accuracy and stability in different test data sets. © 2020, Editorial Office of Journal of

关键词： Robots

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Decision-Making in Driver-Automation Shared Control:A Review and Perspectives

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IEEE/CAA Journal of Automatica Sinica 2020年第5期7卷 1289-1307页

作者： Wenshuo Wang Xiaoxiang Na Dongpu Cao Jianwei Gong Junqiang Xi Yang Xing Fei-Yue Wang IEEE California PATH University of CaliforniaBerkeleyCA 94720 USA Department of Engineering University of CambridgeCambridge CB21PZU.K. Mechanical and Mechatronics Engineering University of WaterlooWaterloo N2L3G1Canada Department of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190and also with the Research Center for Military Computational Experiments and Parallel Systems TechnologyNational University of Defense TechnologyChangsha 410073China

Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver’s abilities to *** human driver,as an essential agent in the driver-vehicle shared control systems,should be precisely modeled regarding their cognitive processes,control strategies,and decision-making *** interactive strategy design between drivers and automated driving agents brings an excellent challenge for human-centric driver assistance systems due to the inherent characteristics of *** open-ended questions arise,such as what proper role of human drivers should act in a shared control scheme?How to make an intelligent decision capable of balancing the benefits of agents in shared control systems?Due to the advent of these attentions and questions,it is desirable to present a survey on the decision making between human drivers and highly automated vehicles,to understand their architectures,human driver modeling,and interaction strategies under the driver-vehicle shared ***,we give a further discussion on the key future challenges and *** are likely to shape new potential research directions.

关键词： Automated vehicle decision-making human driver human-vehicle interaction shared control

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Holographic MIMO Communications with Arbitrary Surface Placements: Near-Field LoS Channel Model and Capacity Limit

arXiv

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arXiv 2023年

作者： Gong, Tierui Wei, Li Huang, Chongwen Yang, Zhijia He, Jiguang Debbah, Mérouane Yuen, Chau School of Electrical and Electronics Engineering Nanyang Technological University Singapore639798 Singapore College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Hangzhou310027 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Technology Innovation Institute Masdar City Abu Dhabi9639 United Arab Emirates KU 6G Research Center Khalifa University of Science and Technology P O Box 127788 Abu Dhabi United Arab Emirates CentraleSupelec University Paris-Saclay Gif-sur-Yvette91192 France

Envisioned as one of the most promising technologies, holographic multiple-input multiple-output (H-MIMO) recently attracts notable research interests for its great potential in expanding wireless possibilities and achieving fundamental wireless limits. Empowered by the nearly continuous, large and energy-efficient surfaces with powerful electromagnetic (EM) wave control capabilities, H-MIMO opens up the opportunity for signal processing in a more fundamental EM-domain, paving the way for realizing holographic imaging level communications in supporting the extremely high spectral efficiency and energy efficiency in future networks. In this article, we propose a generalized EM-domain near-field channel modeling and study its capacity limit of point-to-point H-MIMO systems that equips arbitrarily placed surfaces in a line-of-sight (LoS) environment. Two effective and computational-efficient channel models are established from their integral counterpart, where one is with a sophisticated formula but showcases more accurate, and another is concise with a slight precision sacrifice. Furthermore, we unveil the capacity limit using our channel model, and derive a tight upper bound based upon an elaborately built analytical framework. Our result reveals that the capacity limit grows logarithmically with the product of transmit element area, receive element area, and the combined effects of 1/d2mn, 1/d4mn, and 1/d6mn over all transmit and receive antenna elements, where dmn indicates the distance between each transmit element n and receive element m. Particularly, 1/d6mn dominates in the near-field region whereas 1/d2mn dominates in the far-field region. Numerical evaluations validate the effectiveness of our channel models, and showcase the slight disparity between the upper bound and the exact capacity, which is beneficial for predicting practical system performance. Copyright © 2023, The Authors. All rights reserved.

关键词： MIMO systems

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Joint Task Offloading and Uav Trajectory Optimization in Dynamic Edge Computing systems: A Deep Reinforcement Learning Approach

SSRN

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SSRN 2025年

作者： Wang, Yitian Wang, Hui Ding, Jingfang Yu, Haibin School of Information Engineering Shenyang University of Chemical Technology Shenyang110142 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

This paper addresses latency challenges in cloud-based task offloading caused by geographical server-user disparities by integrating Unmanned Aerial Vehicles (UAVs) with Mobile Edge Computing (MEC). We propose a dynamic UAV-assisted framework that optimizes real-time parameter adjustments to minimize system latency. key challenges include joint task offloading, UAV trajectory optimization, and User Equipment (UE) occlusion detection under mobility constraints. To resolve these, we transform the problem into a Markov Decision Process (MDP) and develop an enhanced Adaptive Delayed Deep Deterministic Policy Gradient (AD3PG) algorithm, which improves upon DDPG by incorporating delayed updates and neural network tuning. The algorithm dynamically optimizes three critical aspects: UAV-UE connectivity establishment, occlusion-aware dual noise power configuration, and adaptive task offloading ratios. Extensive simulations demonstrate AD3PG’s superiority over baseline methods such as DDPG and Twin-Delayed DDPG (TD3) in reducing total system latency by 13.2–35.3% under dynamic scenarios. These results validate the framework’s efficacy for latency-sensitive applications in UAV-MEC systems. © 2025, The Authors. All rights reserved.

关键词： Drones

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Conditions for active assistance control of exoskeleton robot

Conditions for active assistance control of exoskeleton robo...

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International Conference on Advanced robotics and mechatronics (ICARM)

作者： Shiyin Qiu Wei Guo Fusheng Zha Xin Wang Wentao Sheng Fei Chen Darwin Caldwell State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China Shenzhen Academy of Aerospace Technology Robotics Institute of Shenzhen Academy of Aerospace Technology Shenzhen China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The condition of active assistance is the basic design criteria of target assistance torque profile. Based on the human-exoskeleton interaction model, the condition of active assistance was derived first. And then, some biomechanical simulation experiments based on OpenSim were carried out to demonstrate the the condition of active assistance. The condition of active assistance for exoskeleton robot is that the target assistance torque and the human joint muscle torque should be in a same direction and the assistance ratio should be greater than 0 and less than 1.

关键词： Exoskeletons Torque Muscles Robots Trajectory Force Dynamics

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Blackhole-Inspired Thermal Trapping with Graded Heat-Conduction Metadevices

arXiv

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arXiv 2022年

作者： Xu, Liujun Liu, Jinrong Jin, Peng Xu, Guoqiang Li, Jiaxin Ouyang, Xiaoping Li, Ying Qiu, Cheng-Wei Huang, Jiping Fudan University Shanghai200438 China Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore Graduate School of China Academy of Engineering Physics Beijing100193 China School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China School of Materials Science and Engineering Xiangtan University Xiangtan411105 China Interdisciplinary Center for Quantum Information State Key Laboratory of Modern Optical Instrumentation ZJU-Hangzhou Global Scientific and Technological Innovation Center Zhejiang University Hangzhou310027 China International Joint Innovation Center Key Laboratory of Advanced Micro/Nano Electronic Devices and Smart Systems of Zhejiang The Electromagnetics Academy of Zhejiang University Zhejiang University Haining314400 China

Black holes are one of the most intriguing predictions of general relativity. So far, metadevices have enabled analogous black holes to trap light or sound in laboratory spacetime. However, trapping heat in a conductive ambient is still challenging because diffusive behaviors are directionless. Inspired by black holes, we construct graded heat-conduction metadevices to achieve thermal trapping, resorting to the imitated advection produced by graded thermal conductivities rather than the trivial solution of using insulation materials to confine thermal diffusion. We experimentally demonstrate thermal trapping for guiding hot spots to diffuse towards the center. Graded heat-conduction metadevices have advantages in energy-efficient thermal regulation because the imitated advection has a similar temperature field effect to the realistic advection that is usually driven by external energy sources. These results also provide insights into correlating transformation thermotics with other disciplines such as cosmology for emerging heat control schemes. Copyright © 2022, The Authors. All rights reserved.

关键词： Advection

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Understanding the friction behavior and surface characteristic in multiple ball-end milling passes of soft-brittle KH 2 PO 4 optics

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Tribology International 2025年 211卷

作者： Hongqin Lei Qiang Zhao Jian Cheng Linjie Zhao Mingjun Chen Qi Liu Dinghuai Yang Guang Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou 450000 China Department of Mechanical Engineering University of Bath Bath BA2 7AY United Kingdom

The utilization of a ball-end cutter to fabricate multi-layer microstructures is the preferred technique for eliminating surface defects in soft-brittle KH 2 PO 4 (KDP) optics. However, the previous milling pass would inevitably affect the tool-workpiece friction behavior and surface characteristics in the next milling process, which poses a great challenge to obtaining a defect-free microstructure surface. In this study, the effect of the multiple ball-end milling (MBEM) passes on material removal mode is explored according to tensile stress, residual stress and cutting force, which is verified from the perspectives of surface characteristics and roughness. The spindle speed, feed rate and milling depth of each-pass machining process are 50,000 r/min, 3 mm/s and 2 μm. The evaluation models of tool-workpiece friction behavior during the MBEM passes are developed, and the influence of soft-brittle materials on tool wear is analyzed. The results show that with when the number of milling passes ( i ) rises, the normalized plowing friction coefficient, tool-chip contact length and area increase, indicating that the tool-workpiece friction becomes severe. Meanwhile, with the rise in the i , the stress concentration area and surface roughness increase, which is attributed to the intensified tool-workpiece friction leading to an increase in cutting forces, thereby elevating the tensile stress exerted on the brittle KDP materials. When the i reaches 4, the brittle-plastic transition behavior occurs and edge chippings appear on the down-cut side. Furthermore, after the MBEM passes (the length of the milling path reaches 330 mm), there is no crack at the grain boundary, single grain spalling or even tool fracture on the CBN tool surface. Nevertheless, the low hardness of the KDP materials (2.18 GPa), coupled with the thermal softening effect, results in many chips adhering to the tool surface. The chemical composition of the built-up edge (BUE) consists of K, P and O. In part

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