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Hazard-evaluation-oriented Moving Horizon Parallel Steering Control for Driver-Automation Collaboration During Automated Driving

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IEEE/CAA Journal of Automatica Sinica 2018年第6期5卷 1062-1073页

作者： Hongyan Guo Linhuan Song Jun Liu Fei-Yue Wang Dongpu Cao Hong Chen Chen Lv Partick Chi-Kwong Luk State Key Laboratory of Automotive Simulation and Control and the Department of Con-trol Science and Engineering Jilin University(Campus Nanling)Changchun130025China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense TechnologyChangsha 410073China Mechanical and Mechatronics Engineering Department at the University ot Waterloo 200 University Avenue West WaterlooONNZL3G1Canada Department of Automotive Engineering Cranfield UniversityBedfordshire MK43 0ALUK School of Water Energy and EnvironmentCranfield UniversityBedfordshire MK43 0ALUK

Prompted by emerging developments in connected and automated vehicles, parallel steering control, one aspect of parallel driving, has become highly important for intelligent vehicles for easing the burden and ensuring the safety of human drivers. This paper presents a parallel steering control framework for an intelligent vehicle using moving horizon *** framework considers lateral stability, collision avoidance and actuator saturation and describes them as constraints, which can blend the operation of a human driver and a parallel steering controller effectively. Moreover, the road hazard and the steering operation error are employed to evaluate the operational hazardous of an intelligent vehicle. Under the hazard evaluation,the intelligent vehicle will be mainly operated by the human driver when the vehicle operates in a safe and stable *** automated steering driving objective will play an active role and regulate the steering operations of the intelligent vehicle based on the hazard evaluation. To verify the effectiveness of the proposed hazard-evaluation-oriented moving horizon parallel steering control approach, various validations are conducted, and the results are compared with a parallel steering scheme that does not consider automated driving situations. The results illustrate that the proposed parallel steering controller achieves acceptable performance under both conventional conditions and hazardous conditions.

关键词： Hazard evaluation intelligent vehicle atera stability moving horizon optimization paralle steering control

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Transforming heat transfer with thermal metamaterials and devices

arXiv

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arXiv 2020年

作者： Li, Ying Li, Wei Han, Tiancheng Zheng, Xu Li, Jiaxin Li, Baowen Fan, Shanhui Qiu, Cheng-Wei Department of Electrical and Computer Engineering National University of Singapore Singapore117583 Singapore Interdisciplinary Center for Quantum Information State Key Laboratory of Modern Optical Instrumentation College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China ZJU-Hangzhou Global Science and Technology Innovation Center Key Lab. of Advanced Micro/Nano Electronic Devices & Smart Systems of Zhejiang Zhejiang University Hangzhou310027 China Department of Electrical Engineering Ginzton Laboratory Stanford University StanfordCA94305 United States National Engineering Research Center of Electromagnetic Radiation Control Materials State Key Laboratory of Electronic Thin Film and Integrated Devices University of Electronic Science and Technology of China Chengdu610054 China Department of Physics University of Colorado BoulderCO80309 United States School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Paul M. Rady Department of Mechanical Engineering University of Colorado BoulderCO80309 United States

| The demand for sophisticated tools and approaches in heat management and control has triggered fast development of emerging fields including conductive thermal metamaterials, nanophononics, far-field and near-field radiative thermal management, etc. In this review, we cast a unified perspective on the control of heat transfer, based on which the related studies can be considered as complementary paradigms toward manipulating physical parameters and realizing unprecedented phenomena in heat transfer using artificial structures, such as thermal conductivity in heat conduction, thermal emissivity in radiation, and properties related to multi-physical effects. The review is divided into three parts that focus on the three main categories of heat flow control, respectively. Thermal conduction and radiation are emphasized in the first and second parts at both macro- and micro-scale. The third part discusses the efforts to actively introduce heat sources or tune the material parameters with multi-physical effects in both conduction and radiation, including works using thermal convection. We conclude the review with challenges in this research topic and new possibilities about topological thermal effects, heat waves, and quantum thermal effects. Copyright © 2020, The Authors. All rights reserved.

关键词： Metamaterials

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Positioning accuracy improvement method of industrial robot based on laser tracking measurement

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Measurement: Sensors 2021年 18卷

作者： Hongfei Zu Xuwen Chen Zhangwei Chen Zhirong Wang Xiang Zhang School of Mechanical Engineering & Automation Zhejiang Sci-Tech University China Zhejiang Premax Technology Co. Ltd Ningbo 315048 China State Key Laboratory of Fluid Power and Mechatronics Systems Zhejiang University China Hangzhou ECON Technology Co. Ltd Hangzhou 310015 China School of Computer Science Hangzhou Dianzi University Hangzhou 310000 China

Positioning accuracy is of great significance for industrial robots in high-end industries. In addition to kinematic parameter errors, there are also some dynamic parameter errors, which are nonlinear. This paper proposes a novel method to improve the positioning accuracy of industrial robot, which takes both kinematics and dynamics parameter errors into account. Firstly, the method uses improved Denavit-Hartenberg (DH) model to establish kinematics model and identifies the geometric errors. Then, the deformation of the joint is analysed, and the angle deviation of each joint due to the end load is compensated. Finally, the accuracy improvement experiment is carried out on 6R robot. The experimental results show that the method is very effective.

关键词： DH model Joint deformation Positioning accuracy Laser tracking measurement

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

arXiv

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arXiv 2020年

作者： Wang, Wenshuo Na, Xiaoxiang Cao, Dongpu Gong, Jianwei Xi, Junqiang Xing, Yang Wang, Fei-Yue CA94720 United States Department of Engineering University of Cambridge Trumpington Street CambridgeCB2 1PZ United Kingdom Mechanical and Mechatronics Engineering University of Waterloo 200 University Ave. West Waterloo ONN2L3G1 Canada Department of Mechanical Engineering Beijing Institute of Technology Beijing100081 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore639798 Singapore State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China

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 control. The 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 processes. The 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 humans. Many 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 schemes. Finally, we give a further discussion on the key future challenges and opportunities. They are likely to shape new potential research directions. Copyright © 2020, The Authors. All rights reserved.

关键词： Decision making

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Correction: Analysis of the effects of acoustic levitation to simulate the microgravity environment on the development of early zebrafish embryos

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RSC advances 2021年第7期11卷 3891页

作者： Li Li Ning Gu Huijuan Dong Bingsheng Li Kenneth T V Grattan School of Life Sciences and Technology Harbin Institute of Technology Harbin 150080 China. State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150080 China dhj@***. State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin 150090 China. Key Laboratory of UV Light Emitting Materials and Technology Under Ministry of Education Northeast Normal University Changchun 130024 China libs@***. School of Mathematics Computer Science and Engineering City University of London London EC1V 0HB UK.

[This corrects the article DOI: 10.1039/D0RA07344J.].

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Adaptive Neural Admittance Control for Collision Avoidance in Human-Robot Collaborative Tasks

Adaptive Neural Admittance Control for Collision Avoidance i...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Xinbo Yu Wei He Chengqian Xue Bin Li Long Cheng Chenguang Yang School of Automation and Electrical Engineering Institute of Artificial Intelligence University of Science and Technology Beijing Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Bristol Robotics Laboratory University of the West of England Bristol U.K

This paper proposed an adaptive neural admittance control strategy for collision avoidance in human-robot collaborative tasks. In order to ensure that the robot end-effector can avoid collisions with surroundings, robot should be operated compliantly by human within a constrained task space. An impedance model and a soft saturation function are employed to generate a differentiable reference trajectory. Then, adaptive neural network control with position constraint, based on integral barrier Lyapunov function (IBLF), is designed to achieve precise tracking while guaranteeing constrained satisfaction. Utilizing Lyapunov stability principles, we prove that semi-globally uniformly bounded stability is guaranteed for all states of the closed-loop system. At last, the effectiveness of the proposed algorithm is verified on a Baxter robot experimental platform. Collisions with surroundings can be avoided in human-robot collaborative tasks.

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Toward a Human-Machine Interface Based on Electrical Impedance Tomography for Robotic Manipulator Control

Toward a Human-Machine Interface Based on Electrical Impedan...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Enhao Zheng Yuhua Li Qining Wang Hong Qiao The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences No. 95 of Zhongguancun East Road Beijing China School of information engineering China university of geosciences (Beijing) Beijing China The Robotics Research Group College of Engineering Peking University Beijing China

In this study, we proposed a novel human-machine interface (HMI) for robotic manipulator control. The specific target was to adjust the impedance coefficients of the robot controller in real time by measuring the human forearm muscle contractions. We firstly designed a HMI system. Different from the frequently used sEMG technologies, the interface in our study could detect muscle morphological changes within the skin by the electrical impedance tomography (EIT). The sensing front-end was a soft elastic fabric band which was compatible to different arm shapes. With the specific designed sensing hardware and the re-construction algorithms, EIT images indicating forearm muscle shapes were obtained. We then designed a hybrid positon/impedance controller on a UR5 with the impedance coefficients being tuned in real time by the grasp force estimation. A sigmoid regression algorithm was used to map the EIT images to the grasp forces. After implementation of the whole system, two experiments were carried out. The first experiment was the off-line grasp force estimation. With the 1:1 cross validation, an average R 2 of 0.83±0.04 and an average of the relative root mean square error (RRMSE) of 0.31±0.10 across 5 subjects were yielded. The second experiment was the real-time robot control. Trajectory tracking task with dynamic uncertainties were investigated and grasp forces were estimated in real-time. With higher muscle contraction levels, smaller position errors were observed and shorter time was needed to return to the expected trajectory when there were external disturbances. The results proved the feasibility of the new approach on human-robot interaction tasks. Future endeavours will be made to get more promising results.

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Sidewall Imaging of Microstructures with a Tilted Quartz Tuning Fork (QTF) Force Sensor

Sidewall Imaging of Microstructures with a Tilted Quartz Tun...

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International Conference on Manipulation, Automation and robotics at Small Scales (MARSS)

作者： Danish Hussain Wen Yongbing Hui Xie Department of Mechatronics Engineering National University of Sciences and Technology Islamabad Pakistan State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

Sidewall imaging of micro and nano structures is essential for critical dimensional metrology in the semiconductor industry. Atomic force microscope is an important sidewall imaging instrument due to its three dimensional imaging capability, high accuracy and ultra high resolution. We propose an AFM method for sidewall imaging of high step sidewalls. A tuning fork force sensor with a tungsten tip is tilted at a suitable angle (θ) to access the sidewall. Sidewalls of a micro electromechanical systems (MEME) structure fabricated by deep reactive ion etching (DIRE) process is scanned and sidewall roughness is measured.

关键词： Probes Servomotors Vibrations Force sensors Microscopy Metrology

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Target localization intervention and prognosis evaluation for an individual with mild cognitive impairment

Brain‐X

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Brain‐X 2023年第3期1卷

作者： Weiping Wang Haiyan Zhao Chang He Yuanbo Cui Zhen Wang Alexander Hramov Ping Luan Xiong Luo Jipeng Ouyang Kurths Jürgen School of Computer and Communication Engineering University of Science and Technology Beijing Beijing China Shunde Graduate School University of Science and Technology Beijing Foshan Guangdong China Beijing Key Laboratory of Knowledge Engineering for Materials Science Beijing China Contribution: Writing - review & editing Department of Neurology Peking University Third Hospital Beijing China Contribution: Resources Zhen Wang The Center for Optical Imagery Analysis and Learning and School of Mechanical Engineering Northwestern Polytechnical University Xi'an Shaanxi 710072 China. Contribution: Writing - original draft The 6th Research Institute of China Electronics Corporation Beijing China The Center for Optical Imagery Analysis and Learning and School of Mechanical Engineering Northwestern Polytechnical University Xi'an Shaanxi China Chang He School of Computer and Communication Engineering University of Science and Technology Beijing Beijing 100083 China. Contribution: Investigation Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Saratov State Medical University Saratov Russia Contribution: Data curation Guangdong Second Provincial General Hospital & Health Science Center Shenzhen Guangdong China Department of Neurology Shunde Hospital Southern Medical University Foshan Guangdong China Institute of Physics Humboldt-University Berlin Germany Potsdam Institute for Climate Impact Research Potsdam Germany

Currently, no specific treatments are available for Alzheimer's disease (AD). Mild cognitive impairment (MCI), the preclinical stage of AD, has a high possibility of reversing symptoms through neural regulation. A state dynamics model for single brain regions was developed to simulate blood oxygen level-dependent signals in a patient with early mild cognitive impairment. Subsequently, the analysis of functional connections was used to comprehensively consider multiple complex network centralities to locate the intervention targets, and a multiple brain region collaborative control scheme was designed. Finally, the reliability and effectiveness of the intervention were verified at the brain region and subnetwork levels. This technique provides a basis for future clinical diagnosis and treatment of AD and MCI.

关键词： adaptive pinning control Alzheimer's disease BOLD signals computational modeling Sub_network

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Shape-Memory Polymers: Mechanically Robust and UV-Curable Shape-Memory Polymers for Digital Light Processing Based 4D Printing (Adv. Mater. 27/2021)

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Advanced Materials 2021年第27期33卷

作者： Biao Zhang Honggeng Li Jianxiang Cheng Haitao Ye Amir Hosein Sakhaei Chao Yuan Ping Rao Yuan-Fang Zhang Zhe Chen Rong Wang Xiangnan He Ji Liu Rui Xiao Shaoxing Qu Qi Ge Frontiers Science Center for Flexible Electronics (FSCFE) Xi'an Institute of Flexible Electronics (IFE) and Xi'an Institute of Biomedical Materials and Engineering (IBME) Northwestern Polytechnical University 127 West Youyi Road Xi'an 710072 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen 518055 China School of Engineering and Digital Arts University of Kent Canterbury Kent CT2 7NT UK State Key Laboratory for Strength and Vibration of Mechanical Structures Department of Engineering Mechanics Xi'an Jiaotong University Xi'an 710049 China Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen 518055 China Digital Manufacturing and Design Centre Singapore University of Technology and Design Singapore 487372 Singapore State Key Laboratory of Fluid Power and Mechatronic System Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Department of Engineering Mechanics Zhejiang University Hangzhou 310027 China

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