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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Zhu, Shijing Pan, Xinan Wang, Hongguang Li, Dianqi School of Mechanical Engineering Shenyang University of Technology Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9798350312201

In the operation of a collaborative robot, the inertial force, gravity force, and other factors can cause elastic deformation of links and joints, and hence results in considerable deviations from the desired trajectory. However, the effects of inertial force, gravity force, and Jacobian matrix are rarely considered in common deformation analyses. This paper proposes a method for modeling dynamic elastic deformation of collaborative robots including joint torsional stiffness and complementary stiffness. Firstly, the dynamics equation was established based on the Newton-Euler method, and the driving torque of the joint was analyzed. Secondly, a dynamic-elastic deformation error model was established based on the joint torsional stiffness and complementary stiffness. Finally, the simulation results show that the established dynamic error model has good predictability, and the relative error is less than 1.63% compared with the ADAMS simulation results. © 2023 IEEE.

关键词： Errors

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An improved pear recognition and localization algorithm based on yolov5 model

An improved pear recognition and localization algorithm base...

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2022 International Conference on Neural Networks, Information, and Communication engineering, NNICE 2022

作者： Hu, Xiaomei Chen, Yi Wu, Jun Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai China

ISBN: (纸本)9781510655171

Improving the visual recognition and positioning accuracy in the outdoor environment is an important way to improve the picking efficiency of fruit picking robots. With the rapid development of artificial intelligence, the convolutional neural network algorithm has gradually become an important research direction for machine recognition and localization. It can automatically extract target features, with high recognition accuracy, high speed and strong robustness. This paper takes pears as the research object, and proposes an improved pear recognition and localization algorithm based on the yolov5 model. The generalization ability of the model is improved by preprocessing and data enhancement of the data set, and an improved k-means clustering algorithm is proposed to realize the optimal calculation of the initial anchor frame. Compared with the original yolov5 model, the fitness and best recall rate of the improved algorithm in recognizing pears are increased by 6% and 9%, respectively. © 2022 SPIE.

关键词： Fruits

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Design and Research of Digital Twin System for Hybrid Robot 5

Design and Research of Digital Twin System for Hybrid Robot

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5th World Conference on Mechanical engineering and Intelligent Manufacturing, WCMEIM 2022

作者： Ma, Zehui Li, Jing Shen, Nanyan Zhao, Jun Wang, Hao Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9781665473699

Based on the digital twin technology, this paper studies the mechanism modeling and monitoring method of a five degrees of freedom hybrid robot, establishes the forward and inverse kinematics models of the robot by using the intermediate parameter method, analyzes the end error by introducing the idea of kinematic equivalent chain, and proposes to extract the flutter characteristics based on the variational mode decomposition. Application modules are designed to monitor the working state of the robot. © 2022 IEEE.

关键词： Condition monitoring

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Base position planning of mobile manipulators for assembly tasks in construction environments

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Advances in Manufacturing 2023年第1期11卷 93-110页

作者： Dai-Jun Xie Ling-Dong Zeng Zhen Xu Shuai Guo Guo-Hua Cui Tao Song Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai200444People’s Republic of China National Demonstration Center for Experimental Engineering Training Education Shanghai UniversityShanghai200444People’s Republic of China School of Mechanical and Automotive Engineering Shanghai University of Engineering ScienceShanghai201620People’s Republic of China Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components Shanghai201620People’s Republic of China

With good mobility and flexibility,mobile manipulators have shown broad applications in construction *** position(BP)planning,which refers to the robot autonomously determining its working station in the environment,is an important technique for mobile manipulators when performing the construction assembly task,especially in a large-scale construction ***,the BP planning process is tedious and time-consuming for a human worker to carry ***,to improve the efficiency of construction assembly tasks,a novel BP planning method is proposed in this paper,which can lead to appropriate BPs and minimize the number of BPs at the same ***,the feasible BP regions are generated based on the grid division and the variable workspace of the mobile ***,the positioning uncertainties of the mobile manipulator are considered in calculating the preferred BP areas using ***,a set coverage optimization model is established to obtain the minimum number of BPs using an optimization algorithm according to the greedy *** simulated experiment based on a 9-degree of free(DoF)mobile manipulator has been *** results illustrated that the time for BP planning was significantly reduced and the number of BPs was reduced by 63.41%compared to existing manual planning,which demonstrated the effectiveness of the proposed method.

关键词： Base position(BP)planning Mobile manipulators Variable workspace Positioning uncertainties Construction environments

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Research on 3D Model Search Technology Based on Sketches 11th

Research on 3D Model Search Technology Based on Sketches

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11th International Workshop of Advanced Manufacturing and automation, IWAMA 2021

作者： Zhou, Chuanhong Tan, Youquan Ding, Lei School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China

ISBN: (纸本)9789811905711

In the field of intelligent manufacturing, how to construct the parts of 3D model has become a major problem in the process of modeling. At present, the major industrial parts manufacturers have developed an available 3D model part library, so an effective search method is needed to help users find the required 3D model from the large 3D model database. The most commonly used 3d model search method is by name, although this method is very accurate, some of the models are only a general name, unable to achieve accurate positioning, so I need another way which has the function of automatic classification search, together with the name of the search method, according to actual needs to choose a suitable method to use. Due to the rapid development of deep learning technology, this paper proposes a method to realize 3D model search by hand sketching. The application of deep learning to the classification and search of 3D models can significantly improve the searching ability of 3D models. In this way, it can realize the search of 3D models more intelligently. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： 3D modeling

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Digital twin-based sustainable intelligent manufacturing: a review

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Advances in Manufacturing 2021年第1期9卷 1-21页

作者： Bin He Kai-Jian Bai Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444People's Republic of China

As the next-generation manufacturing system,intelligent manufacturing enables better quality,higher productivity,lower cost,and increased manufacturing *** concept of sustainability is receiving increasing attention,and sustainable manufacturing is *** digital twin is an emerging technology used in intelligent manufacturing that can grasp the state of intelligent manufacturing systems in real-time and predict system *** intelligent manufacturing based on a digital twin has advantages in practical *** fully understand the intelligent manufacturing that provides the digital twin,this study reviews both technologies and discusses the sustainability of intelligent ***,the relevant content of intelligent manufacturing,including intelligent manufacturing equipment,systems,and services,is *** addition,thesustainability of intelligent manufacturing is ***,a digital twin and its application are introduced along with the development of intelligent manufacturing based on the digital twin ***,combined with the current status,the future development direction of intelligent manufacturing is presented.

关键词： Intelligent manufacturing Digital twin Advanced manufacturing Industry 4.0 Sustainable manufacturing

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Adaptive Control of Wiener Systems with Polynomial Description

Adaptive Control of Wiener Systems with Polynomial Descripti...

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2023 China automation Congress, CAC 2023

作者： Li, Jiwei Wu, Chen Shi, Enming Zhi, Wenzhuo Zhang, Bi Zhao, Xingang Shenyang Institute of Automation State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China

ISBN: (纸本)9798350303759

For plenty of practical applications, Wiener model structures are believed to play important roles for modeling and controller design tasks. Such models have physical insights and are close to realistic systems. This brief tries to introduces a new control scheme based on Wiener models. A criterion function is firstly presented, which fully considers the output tracking and minimizes the control effort. According to reasonable principles, these weighting terms can be easily designed. Derived from the cost function, an extended system of the original plant is further analyzed, the parameters of which are online updated by robust estimator. Then based on these estimates, the control law is developed. Intriguingly, to enhance the tracking performance, the estimate of unmodeled dynamics is designed as an important feedback information as well. Rigorous theoretical analysis has proven the closed-loop system stability. Finally, representative simulation studies have been conducted to show the merits of the novel controller. © 2023 IEEE.

关键词： Model structures

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Feature Space Augmentation and Old Class Space Preservation for Class Incremental Learning 42

Feature Space Augmentation and Old Class Space Preservation ...

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42nd Chinese Control Conference, CCC 2023

作者： Zeng, Ming Li, Siying Liu, Jiazhe Li, Yuanhao Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin University Tianjin300072 China

ISBN: (纸本)9789887581543

The ability of continuously learning new knowledge without forgetting old ones is crucial to adapt to an ever-changing world. This scenario becomes more challenging when the previous data are not available. Current class incremental learning (CIL) approaches tend to incorporate new classes with backward compatibility, i.e., maintaining discriminability of old ones. By contrast, we focus on the extensibility and compatibility for future new classes in the early stage. Our proposed method achieves this by augmenting feature space. In detail, a large number of pseudo-new classes are generated via real example mixture and then train the initial spatially augmented model using pseudo-new classes and the base classes. Besides, considering the fact that it is impossible to maintain backward compatibility with only one prototype for each old class, the updated model also needs to preserve old class space in incremental stages. We employ a certain perturbation to the old class prototypes to effectively avoid old class space from being over-squeezed by the samples of new classes. The experiments on CIFAR-100 and ImageNet-Subset (100 classes) demonstrate that our method substantially reduces the overlap of old and new classes, outperforming state-of-the-art various baselines. © 2023 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Catastrophic forgetting Class incremental learning Feature space augmentation Old class space preservation Pseudo-new classes

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A Method for High-Voltage Electric Field to Control Inkjet 3D Printing 41

A Method for High-Voltage Electric Field to Control Inkjet 3...

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第41届中国控制会议

作者： Jian Liu Yang Zhou Huixuan Zhu Jingwei Guo School of Information and Control Engineering Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Aiming at the problem of low printing resolution due to the excessively fast droplet falling speed of traditional inkjet 3D printing,a new method of high-voltage electric field controlled inkjet 3 D printing was *** applying a high-voltage electric field during the printing process,the droplets are subjected to the reverse electric field force to control the speed of the droplets during printing,there by ensuring high printing resolution and obtaining better *** this paper,a feasible printing method will be proposed and the feasibility of the method will be verified through confirmatory experiments and simulation studies.

关键词： inkjet 3D printing speed high-voltage electric field control

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Research on Semi-automatic Coronary Artery Centerline Extraction Based on Deep Learning 11th

Research on Semi-automatic Coronary Artery Centerline Extrac...

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11th International Workshop of Advanced Manufacturing and automation, IWAMA 2021

作者： Zhou, Chuanhong Xu, Yang Ye, Qiuyi School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China

ISBN: (纸本)9789811905711

In recent years, Cardio vascular disease (CVD) has become a major cause of premature morbidity and mortality in our population, and the prevention and treatment of CVD have become urgent. Currently, the mainstream method to diagnose coronary artery disease is Coronary Computed Tomography Angiography (CCTA). The processing and analysis of CCTA images can help doctors understand the connection and trend of a coronary artery. Aiming at the problem that the radius error of the centerline obtained by the traditional semi-automatic coronary centerline extraction network is large, and it is easy to extend to the non-coronary tissue at the coronary ostium and end, this paper proposes a new three-dimensional convolutional neural network: MST-Net (Multi-Scale Tracking Net), through the multi-scale feature extraction layer, enables the network to extract more local and global features, to obtain more accurate predictions in the coronary centerline extraction task. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Convolutional neural networks

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