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R-SIEL: a physics-informed learning algorithm for discovering dynamics of serial manipulators

Expert systems with Applications 2025年 287卷

作者： Omar, Mohamed Li, Ruifeng Wang, Ke Asker, Ahmed State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Production and Mechanical Design Engineering Department Faculty of Engineering Mansoura University Mansoura35516 Egypt Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China School of Engineering and Applied Sciences Nile University Giza12573 Egypt

Dynamic modeling is essential for serial manipulators’ design and control. Multi-body dynamics simulators, such as SIMULINK and Adams, can precisely replicate a robot's dynamic behavior but are incapable of determining its nonlinear dynamic model. This work aims to identify serial manipulators’ dynamics from simulation data, which extends the capability of using an algorithm that combines the Euler-Lagrange method and sparse identification of nonlinear dynamics (SINDy) with physics-based constraints and Akaike Information Criterion (AICc). The algorithm is called Recursive SINDy Euler-Lagrange (R-SIEL). The Euler-Lagrange method is used to construct a preliminary library of symbolic functions. The physics-informed constraints, which utilize the similarities between the symbolic coefficients of the dynamic equations, are employed to decrease the number of functions in the library to get a constrained library. SINDy is equipped with three kinds of constraints: the constrained library, the dataset, and similarities between links’ dynamic equations. The generation of the three distinct datasets—training, constraints, and testing data—uses simulated data from the MATLAB® SIMULINK environment. The algorithms of sequential threshold least-squares and L0-minimization are coded with the convex optimization package CVX to determine the best dynamic model. The resulting models are tested with the testing dataset, and based on the lowest AICc, the best model is chosen. The proposed algorithm is applied to different serial manipulators: 2DOF robot, Stanford, PRR robot, ABB SCARA, UR5, and KUKA KR4 AGILUS robots. The resulting model is validated with the dynamic model derived using the conventional Euler-Lagrange method. For the considered manipulators, the R-SIEL algorithm shows a high capability to identify the dynamic model compared to the one identified compared to the previous algorithm. © 2025 Elsevier Ltd

关键词： Lagrange multipliers

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Corrections to “Intelligent Traffic Data Transmission and Sharing Based on Optimal Gradient Adaptive Optimization Algorithm”

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IEEE Transactions on Intelligent Transportation systems 2024年第3期25卷 3202-3204页

作者： Xing Li Haotian Zhang Yajing Shen Lina Hao Wanfeng Shang School of Electrical Engineering and Intelligentization Dongguan University of Technology Dongguan China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China College of Computer Science and Technology Jilin University Changchun China Department of Biomedical Engineering City University of Hong Kong Hong Kong China School of Mechanical and Engineering Northeastern University Shenyang China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

In [1] , inaccuracies in several critical equations along with their accompanying descriptions appear in the article. Furthermore, some references are missing, and certain analyses of experiments are flawed.

关键词： Adaptive systems Data communication Optimization Intelligent transportation systems

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4D printing of direct-driven deformable wheel with multiple programmable configurations

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International Journal of Extreme Manufacturing 2025年第03期 374-387页

作者： Huichun Tian Guanghao Chu Bin Zhou Dekai Zhou Jing Qiao Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of Technology Zhengzhou Research Institute Harbin Institute of Technology Avic Shenyang Aircraft Corporation School of Materials Science and Engineering Harbin Institute of Technology

Conventional deformable wheel systems in robots and other mechatronic systems face significant challenges in achieving miniaturization, intelligence, and integration. To address these issues, we propose a novel integrated structural design method and four-dimensional printing strategy for deformable wheels capable of shaping among multiple programmable direct-driven deformation configurations. The load-bearing capacity of the printed wheel is strengthened by employing deformed components in various locations and actuated ***, a novel analytical design method is presented to determine the structure, actuation,and deformation parameters of each component under complex coupled deformation. Our findings reveal that the designed wheel can transform into three different configurations,exhibiting desired deformations of 12.5%in the radial direction and 19.6%in the axial direction. It also demonstrates robust deformation behavior and structural stability under multi-directional loads. By integrating a terrain sensing system, the designed wheel exhibits highly adaptive deformation capabilities on various terrains, showing great potential for exploring complex environments.

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Hitchhiker: A Quadrotor Aggressively Perching on a Moving Inclined Surface Using Compliant Suction Cup Gripper

arXiv

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arXiv 2022年

作者： Liu, Sensen Wang, Zhaoying Sheng, Xinjun Dong, Wei The State Key Laboratory of Mechanical System and Vibration Robotics Institute School of Mechanical and Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai China

Perching on the surface of moving objects, like vehicles, could extend the flight time and range of quadrotors. Suction cups are usually adopted for surface attachment due to their durability and large adhesive force. To seal on a surfaces, suction cups must be aligned with the surface and possess proper relative tangential velocity. However, quadrotors' attitude and relative velocity errors would become significant when the object surface is moving and inclined. To address this problem, we proposed a real-time trajectory planning algorithm. The time-optimal aggressive trajectory is efficiently generated through multimodal search in a dynamic time-domain. The velocity errors relative to the moving surface are alleviated. To further adapt to the residual errors, we design a compliant gripper using self-sealing cups. Multiple cups in different directions are integrated into a wheel-like mechanism to increase the tolerance to attitude errors. The wheel mechanism also eliminates the requirement of matching the attitude and tangential velocity. Extensive tests are conducted to perch on static and moving surfaces at various inclinations. Results demonstrate that our proposed system enables a quadrotor to reliably perch on moving inclined surfaces (up to 1.07m/s and 90◦) with a success rate of 70% or higher. The efficacy of the trajectory planner is also validated. Our gripper has larger adaptability to attitude errors and tangential velocities than conventional suction cup grippers. The success rate increases by 45% in dynamic perches. Copyright © 2022, The Authors. All rights reserved.

关键词： Grippers

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A Method for Measurement of Workpiece Form Deviations Based on Machine Vision

SSRN

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SSRN 2022年

作者： Zhang, Wei Han, Zongwang Li, Yang Rong, Weibin Zheng, Hongyu Cheng, Xiang School of Mechanical Engineering Shandong University of Technology Zibo255000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

Machine vision has been studied for measurements of workpiece form deviations due to its ease for automation. However, the measurement accuracy limits its wide implementation in industrial applications. In this study, a method based on machine vision for measurement of straightness, roundness, and cylindricity of a workpiece is presented. A subsumed line search algorithm and an improved particle swarm optimization algorithm are proposed to evaluate the straightness and roundness deviations of the workpiece. Moreover, an image evaluation method of cylindricity deviation by the least square fitting of circle’s center coordinates is investigated. An image acquisition system incorporating image correction and sub-pixel edge positioning technology is developed. Performance of the developed system is evaluated against the measurement results of the standard cylindricity measuring instrument. The differences in measurement of straightness, roundness, and cylindricity are -4.69μm, 3.98μm, and 5.33μm, respectively. The proposed method would provide a viable industrial solution for measurement of workpiece form deviations. © 2022, The Authors. All rights reserved.

关键词： Computer vision

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Live Demonstration: A Reconfigurable, Energy-efficient and High-frame-rate EKF-SLAM Accelerator Based SoC Design for Autonomous Mobile Robot Applications

Live Demonstration: A Reconfigurable, Energy-efficient and H...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Dingcheng Jiang Bingqiang Liu Jipeng Wang Ao Hu Yequan Zhao Minjie Bao Zhendong Fan Zixuan Shen Ke Wang Chao Wang School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China School of Optical and Electronic Information Huazhong University of Science and Technology Wuhan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Future Technology Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9798350330991

ISBN: (纸本)9798350331004

This demonstration shows a Extend Kalman Filter-Simultaneous Localization And Mapping (EKF-SLAM) accelerator based system On Chip (SoC) design for Autonomous Mobile Robots (AMR). The AMR platform consists of a multi-sensor system with a wheel encoder and LiDAR, and a ZYNQ-7000 FPGA based SoC featuring an EKF-SLAM hardware accelerator. This AMR system achieves real-time SLAM with significant energy efficient improvement against the state-of-the-art designs.

关键词： Location awareness Simultaneous localization and mapping Laser radar Wheels Energy efficiency Real-time systems system-on-chip

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Perching on Moving Inclined Surfaces using Uncertainty Tolerant Planner and Thrust Regulation

arXiv

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arXiv 2022年

作者： Liu, Sensen Hu, Wenkang Wang, Zhaoying Dong, Wei Sheng, Xinjun The State Key Laboratory of Mechanical System and Vibration Robotics Institute School of Mechanical and Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai China

Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and terminal state accuracy in SE(3). However, in the perching process, uncertainties in target surface prediction, tracking control and external disturbances may cause trajectory planning failure or lead to unacceptable terminal errors. To address these challenges, we first propose a trajectory planner that considers adaptation to uncertainties in target prediction and tracking control. To facilitate this work, the reachable set of quadrotors’ states is first analyzed. The states whose reachable sets possess the largest coverage probability for uncertainty targets, are defined as optimal waypoints. Subsequently, an approach to seek local optimal waypoints for static and moving uncertainty targets is proposed. A real-time trajectory planner based on optimized waypoints is developed accordingly. Secondly, thrust regulation is also implemented in the terminal attitude tracking stage to handle external disturbances. When a quadrotor’s attitude is commanded to align with target surfaces, the thrust is optimized to minimize terminal errors. This makes the terminal position and velocity be controlled in closed-loop manner. Therefore, the resistance to disturbances and terminal accuracy is improved. Extensive simulation experiments demonstrate that our methods can improve the accuracy of terminal states under uncertainties. The success rate is approximately increased by 50% compared to the two-end planner without thrust regulation. Perching on the rear window of a car is also achieved using our proposed heterogeneous cooperation system outdoors. This validates the feasibility and practicality of our methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Trajectories

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High-density Baropodometry Platform Based on Vision Based Tactile Sensing

High-density Baropodometry Platform Based on Vision Based Ta...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Yueshi Dong Jieji Ren Ningbin Zhang Weijing Zhao Jian Zhou Guoying Gu School of Mechanical Engineering The State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Shanghai Sixth People’s Hospital Affiliated to Shanghai Jiao Tong University University School of Medicine Shanghai China Department of Endocrinology and Metabolism Sixth People’s Hospital Shanghai Jiao Tong University School of Medicine Shanghai China

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

Plantar pressure distribution measurement is significant for healthy monitoring and disease diagnosis. However, existing equipment lack of high-density resolution and may lead under-diagnosed of small abnormal regions. To address problem, we propose a special high resolution and low cost Baropodometry based on vision based tactile sensing (VBTS). Specially, we design a measurement platform with larger-scale sensing range (280 mm x 150 mm) and high-density resolution (440 ppi). To achieve the homogeneous illumination for the measure area, we also propose normally distributed light sources around the platform, and delicately adjust the incident angle to optimize the reconstruction performance. Besides, we design a example-based method to calibrate the platform and build a look-up table to reconstruct the plantar geometry from observed image. Experiments show the high lateral resolution that can discriminate the details (<2 mm), and the depth measurement accuracy is 68.5%. The experiments of reconstruction of plantar pressure depth map and identification of tumours show its’ advantage for providing adaptive high-resolution plantar topography and pressure measurement.

关键词： Performance evaluation Sensors Pressure measurement Surface topography Table lookup Object recognition Surface cracks Monitoring Image reconstruction Tumors

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A cooperative positioning approach of unmanned aerial vehicles with accuracy and robustness

A cooperative positioning approach of unmanned aerial vehicl...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Zhou, Ziwei Lin, Ziying Ni, Yi Dong, Wei Zhu, Xiangyang Shanghai Jiao Tong University Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Shanghai Electro-Mechanical Engineering Institute Shanghai201109 China

ISBN: (纸本)9781665436786

Efficient localization is crucial for the autonomous navigation of Unmanned Aerial Vehicles (UAVs) in GPS-denied environments. Current onboard visual positioning approach may easily deteriorate with varying illumination and unpredicted obstacles. To tackle this issue, a novel cooperative positioning approach is proposed in this paper. This approach is comprised of a marker-based position estimation and an end-to-end UAV detection. For the marker-based method, a prior known pattern is attached on UAV and the Perspective-n-point (PnP)algorithm is implemented to provide an accurate estimation of the UAV's position. Meanwhile, to enhance the localization robustness, an end-to-end detection method is designed based on FCOS neural network and ultra-wideband (UWB) range measurement. Then, with an additional data fusion, the aforementioned two methods are integrated eventually. In this way, the accuracy and robustness of the localization can be enhanced accordingly. Extensive experiments under different environments are carried out to verify the effectiveness of the proposed method. Results demonstrate that the proposed method can estimate the flight trajectory of UAV with high accuracy and robustness in cluttered environments with varying illumination. © 2021 IEEE.

关键词： Data fusion

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Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton

Optimal Energy Shaping Control for a Backdrivable Hip Exoske...

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American Control Conference (ACC)

作者： Jiefu Zhang Jianping Lin Vamsi Peddinti Robert D. Gregg Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Robotics University of Michigan Ann Arbor MI USA

Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. Energy shaping, on the other hand, provides task-invariant assistance by altering the human body’s dynamic characteristics in the closed loop. While human-exoskeleton systems are often modeled using Euler-Lagrange equations, in our previous work we modeled the system as a port-controlled-Hamiltonian system, and a task-invariant controller was designed for a knee-ankle exoskeleton using interconnection-damping assignment passivity-based control. In this paper, we extend this framework to design a controller for a backdrivable hip exoskeleton to assist multiple tasks. A set of basis functions that contains information of kinematics is selected and corresponding coefficients are optimized, which allows the controller to provide torque that fits normative human torque for different activities of daily life. Human-subject experiments with two able-bodied subjects demonstrated the controller’s capability to reduce muscle effort across different tasks.

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