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General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of exponential model

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Frontiers of Mechanical engineering 2022年第2期17卷 85-101页

作者： Tao SONG Bo PAN Guojun NIU Jiawen YAN Yili FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechanical Engineering and Automation Zhejiang Sci-Tech UniversityHangzhou 310018China

The inverse kinematics problems of robots are usually decomposed into several Paden–Kahan subproblems based on the product of exponential model. However, the simple combination of subproblems cannot solve all the inverse kinematics problems, and there is no common approach to solve arbitrary three-joint subproblems in an arbitrary postural relationship. The novel algebraic geometric (NAG) methods that obtain the general closed-form inverse kinematics for all types of three-joint subproblems are presented in this paper. The geometric and algebraic constraints are used as the conditions precedent to solve the inverse kinematics of three-joint subproblems. The NAG methods can be applied in the inverse kinematics of three-joint subproblems in an arbitrary postural relationship. The inverse kinematics simulations of all three-joint subproblems are implemented, and simulation results indicating that the inverse solutions are consistent with the given joint angles validate the general closed-form inverse kinematics. Huaque III minimally invasive surgical robot is used as the experimental platform for the simulation, and a master–slave tracking experiment is conducted to verify the NAG methods. The simulation result shows the inverse solutions and six sets given joint angles are consistent. Additionally, the mean and maximum of the master–slave tracking experiment for the closed-form solution are 0.1486 and 0.4777 mm, respectively, while the mean and maximum of the master–slave tracking experiment for the compensation method are 0.3188 and 0.6394 mm, respectively. The experiments results demonstrate that the closed-form solution is superior to the compensation method. The results verify the proposed general closed-form inverse kinematics based on the NAG methods.

关键词： inverse kinematics Paden-Kahan subproblems three-joint subproblems product of exponential closed-form solution

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Breast Tumor Classification with Fine-Tuned Hyperparameter Training using Deep Learning Models

Breast Tumor Classification with Fine-Tuned Hyperparameter T...

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2025 AI-Driven Smart Healthcare for Society 5.0, AdSoc5.0 2025

作者： Maini, Yash Singh, Sanjay Kumar Saxena, Pranshu University School of Automation and Robotics Guru Gobind Singh Indraprastha University East Delhi Campus Surajmal Vihar Delhi110092 India School of Computer Science Engineering and Technology Bennett University Greater Noida India

ISBN: (纸本)9798331536336

Breast tumor classification plays a crucial role in early detection and treatment planning for breast cancer. In recent years, deep learning models have shown remarkable success in image-based medical diagnosis. This study focuses on improving breast tumor classification using fine-tuned hyperparameter training of deep learning models. By optimizing key parameters such as learning rate, batch size, and network architecture, the classification accuracy of models like ResNet, AlexNet, GoogleNet and VGG is enhanced. The proposed approach leverages advanced techniques such as transfer learning, data augmentation, and hyperparameter optimization algorithms (Bayesian Optimization along with population-based training) to achieve robust performance on breast cancer datasets. The proposed method is able to achieve 98.46% accuracy while classifying breast cancer dataset. Experimental results demonstrate significant improvements in classification accuracy, precision, recall, and F1-score compared to conventional approaches, making the fine-tuned models more suitable for clinical applications. The findings suggest that hyperparameter tuning in deep learning models is critical to improving model performance and generalization in breast tumor classification tasks. © 2025 IEEE.

关键词： Deep learning

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BLE beacons for sample position estimation in a life science automation laboratory

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Transportation Safety and Environment 2024年第3期6卷 111-123页

作者： Haiping Wu Steffen Junginger Thomas Roddelkopf Hui Liu Kerstin Thurow Institute of Artificial Intelligence&Robotics(IAIR) Key Laboratory of Traffic Safety on Track of Ministry of EducationSchool of Traffic and Transportation EngineeringCentral South UniversityChangsha 410075HunanChina Institute of Automation(IAT) University of Rostock18119 RostockGermany Center of Life Science Automation(celisca) University of Rostock18119 RostockGermany

Estimation of the sample position is essential for working process monitoring and management in the life science automation lab*** low-energy(BLE)beacons have the advantages of low price,small size and low energy consumption,which make them a promising solution for sample position estimation in the automated *** fingerprinting models have been proposed to achieve indoor localization with the received signal strength(RSS)***,most of the research depends on intensive beacon *** estimation,which depends entirely on one beacon,is more suitable for sample position estimation in large automated *** complexity of the life science automation laboratory environment brings challenges to the traditional path loss model(PLM),which is a widely used radio wave propagation model-based proximity estimation *** this paper,BLE sensing devices for sample position estimation are *** BLE beacon-based proximity estimation is discussed in the framework of machine learning,in which the support vector regression(SVR)is utilized to model the nonlinear relationship between the RSS data and distance,and the Kalman filter is utilized to decrease the RSS data *** experimental results over different environments indicate that the SVR outperforms the PLM significantly,and provides 1 m absolute errors for more than 95%of the testing *** Kalman filter brings benefits to stable distance *** from proximity-based sample position estimation,the proposed framework turned out to be effective in position estimation between parallel workbenches and position estimation on an automated workstation.

关键词： BLE beacon position estimation proximity estimation received signal strength(RSS) support vector regression(SVR) life science automation laboratory

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Design of a magnetic hemispherical wheeled pipeline robot

Design of a magnetic hemispherical wheeled pipeline robot

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IEEE International Conference on Mechatronics and automation

作者： Yize Xu Mingyuan Wang Liang Du Sheng Bao Zhengtao Hu Jianjun Yuan Shanghai Robotics Institute School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

The paper designed a wheeled pipeline robot with a magnetic hemispherical wheel for pipeline with various curvatures. The magnetic hemispherical wheel can adapt to pipes with different curvatures. By changing the direction of the magnetic hemispherical wheel’s spherical surface, the robot can crawl inside or outside the pipe. Two different magnet holders suitable for the hemispherical wheel were designed. Parametric simulations were conducted to analyze the magnetic force magnitude at different angles of the magnet holder. The pitch angle of the swing arms of the robot was analyzed when turning angles changed. Finally, a prototype was built, and motion performance tests were conducted to show its performance.

关键词： Analytical models Adhesives Pipelines Force Wheels Prototypes Magnetic forces

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BLE beacon-based floor detection for mobile robots in a multi-floor automation laboratory

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Transportation Safety and Environment 2024年第2期6卷 114-121页

作者： Haiping Wu Hui Liu Thomas Roddelkopf Kerstin Thurow Institute of Artificial Intelligence&Robotics(IAIR) Key Laboratory of Traffic Safety on Track of Ministry of EducationSchool of Traffic and Transportation EngineeringCentral South UniversityChangshaHunan 410075China Center of Life Science Automation(celisca) 18119 Rostoc kGerman y Institute of Automation(IAT) University Rostock18119 RostockGermany

As an important task of multi-floor localization,floor detection has elicited great *** infrastructures like Wi-Fi and Bluetooth Low Energy(BLE)play important roles in floor ***,most floor detection research tends to focus on data modelling but pays little attention to the data collection system,which is the basis of wireless infrastructure-based floor *** fact,the floor detection task can be greatly simplified with proper data collection system *** this paper,a floor detection solution is developed in a multi-floor life science automation lab.A data collection system consisting of BLE beacons,a receiver node and an Internet of Things(IoT)cloud is *** features of the BLE beacon under different settings are evaluated in detail.A mean filter is designed to deal with the fluctuation of the received signal strength indicator data.A simple floor detection method without a training process was implemented and evaluated in more than 100 floor detection *** time delay and floor detection accuracy under different settings are ***,floor detection is evaluated on the H20 multi-floor transportation *** sensor nodes are installed on the robot at different *** floor detection performance with different installation heights is *** experimental results indicate that the proposed floor detection method provides floor detection accuracy of 0.9877 to 1 with a time delay of 5s.

关键词： BLE beacon floor detection multi-floor automation transportation robot

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Dynamic Friction Model with Velocity and Asymmetric Load Dependency for Robot Joints

Dynamic Friction Model with Velocity and Asymmetric Load Dep...

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IEEE International Conference on Mechatronics and automation

作者： Menghui Liu Ruiqing Luo Zhengtao Hu Sheng Bao Liang Du Jianjun Yuan Shanghai Robotics Institute School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

In robot control, accurate modeling of joint friction behavior contributes to enhancing friction compensation, which is important for robust torque control of robots. In this paper, a nonlinear friction model of robot joints is proposed that takes into account the effects of velocity and asymmetric load torque. For the friction induced by velocity, a cubic polynomial is employed to describe the viscous friction across the entire velocity range, while introducing two parameters to characterize the Coulomb friction and Stribeck effect. For the load torque, a four-quadrant is utilized to describe the asymmetry of friction. Furthermore, the proposed static friction model is integrated the standard Generalized Maxwell slip (GMS) model, thereby getting an improved dynamic friction model. Finally, the comparative experiments are implemented on a robot joint, the results indicate that the model proposed in this paper achieves higher accuracy.

关键词： Accuracy Torque Mechatronics Friction Robot control Torque control Polynomials

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Numerical simulation of laser transmission welding of PEEK and CF-PEEK composite pipe fittings 8

Numerical simulation of laser transmission welding of PEEK a...

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8th International Conference on Electrical, Mechanical and Computer engineering, ICEMCE 2024

作者： Huang, Mingqiang Luo, Haitao Li, Yuxin Li, Yanbin Shenyang University of Technology School of Mechanical Engineering Liaoning Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Liaoning Shenyang China

ISBN: (纸本)9798331506230

In order to realize the erection of large structural bodies in space for on-orbit construction, we are looking for the mechanical property parameters in line with the large structural unit body in space. Now based on finite element software for PEEK and CF-PEEK laser transmission welding numerical simulation, study the welding process temperature field, stress field and welding deformation distribution law, after the pre-experiment, from the point of view of numerical simulation of heat transfer to analyze the laser power, spot diameter on the overall impact of the pipe fittings to verify the correctness of the experiment as a whole. The surface of the upper layer of modified transparent PEEK material has no ablation damage, and the average fracture load of the joint in tensile test is 3585 N. The microscopic scale analysis of the three groups of welded pipe fittings is carried out by light microscope scanning, and it is proved that the two materials on the surface of weld fusion area are well fused by the observation of weld morphology with different magnification, and the weld width under the light microscope is compared with that in the simulation to validate the accuracy of the weld model. © 2024 IEEE.

关键词： Tensile testing

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Predictive Maintenance in Urban Railway Systems Using Machine Learning Models 7

Predictive Maintenance in Urban Railway Systems Using Machin...

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7th Edition Global Conference on Wireless and Optical Technologies, GCWOT 2024

作者： Shaikh, Muhammad Zakir Ali, Sahil Ali, Sara Baro, Enrique Nava Baloch, Yaqoob Ali Chowdhry, Bhawani Shankar Jamshoro Pakistan School of Industrial Engineering University of Malaga Malaga Spain National Center of Robotics and Automation Cms Lab Jamshoro Pakistan Universidad de Malaga Departamento de Ingeniería de Comunicaciones Campus de Teatinos Malaga Spain National Center for Robotics Automation and Artificial Intelligence Jamshoro Pakistan

ISBN: (纸本)9798331534271

The Air Production Unit (APU) is responsible for managing the load in the metro train by making sure that the load is evenly distributed on the wheels despite passenger congestion. The failure of APU results in a complete halt of operations. Therefore, it is pivotal to timely maintain the APU system. In this paper, a predictive maintenance (PdM) approach has been suggested using multiple state-of-the-art machine learning algorithms to predict failure in the APU. Sensor parameters that lead to failures in APUs of the electric trains were identified from the MetroPT train dataset by employing a variety of baseline models including linear regression (LR), decision tree regressor (DTR), random forest regressor (RFR), gradient boosting regressor (GBR) and XGBoost Regressor (XGBR) models. This will significantly reduce both the operational cost as well as the downtime of the trains. It will also help in the identification of faulty parts at a faster rate and reduce the failure rate of urban transportation systems. © 2024 IEEE.

关键词： Predictive maintenance

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Design of an active suspension mechanism for obstacle traversal of in-pipe robots

Design of an active suspension mechanism for obstacle traver...

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IEEE International Conference on Mechatronics and automation

作者： Jiawei Ni Mingyuan Wang Liang Du Sheng Bao Zhengtao Hu Jianjun Yuan Shanghai Robotics Institute School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

The installation and usage of pipelines within modern buildings are increasingly common, rust removal and internal exploration of these pipelines have become highly demanding robotic tasks. However, robots often encounter issues such as getting stuck due to obstacles or slipping on the surface of the pipes due to insufficient friction. This paper introduces a pipeline inspection robot designed for application in nuclear power plants. The robot can change its shape according to the size of the pipe and use high-pressure water to remove rust. The robot has a passable diameter range of 600-800mm, demonstrating strong adaptability. By incorporating an active suspension mechanism, the pressure between the wheels and the pipeline can be adjusted during climbing, while ensuring conformity between the wheels and the pipeline surface when crossing obstacles. This effectively addresses the slipping issue encountered by pipeline robots. Through simulation experiments and analysis, we have demonstrated the feasibility of this mechanism, which exhibits outstanding mobility compared to existing robots.

关键词： Mechatronics Shape Pipelines Wheels Prototypes Inspection Mobile robots

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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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