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Autonomous Formation Flight Control of Large-Sized Flapping-Wing Flying Robots Based on Leader–Follower Strategy

Journal of Bionic engineering 2023年第6期20卷 2542-2558页

作者： Hui Xu Yuanpeng Wang Erzhen Pan Wenfu Xu Dong Xue School of Mechanical Engineering and Automation Harbin Instwitute of TechnologyShenzhen518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150000China School of Aeronautics Northwestern Polytechnical UniversityXi’an710072China

Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight *** by the biological habits of birds,this paper proposes an autonomous formation flight control method for Large-sized Flapping-Wing Flying Robots(LFWFRs),which can enhance their search range and flight ***,the kinematics model for LFWFRs is ***,an autonomous flight controller based on this model is designed,which has multiple flight control modes,including attitude stabilization,course keeping,hovering,and so ***,a formation flight control method is proposed based on the leader–follower strategy and periodic characteristics of flapping-wing *** up and down fluctuation of the fuselage of each LFWFR during wing flapping is considered in the control algorithm to keep the relative distance,which overcomes the trajectory divergence caused by sensor delay and fuselage ***,typical formation flight modes are realized,including straight formation,circular formation,and switching ***,the outdoor formation flight experiment is carried out,and the proposed autonomous formation flight control method is verified in real environment.

关键词： Bionic Large-sized flapping-wing flying robot HIT-Phoenix Periodic flight characteristics Formation flight Leader follower strategy

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Circulating Current Suppression of Power Conversion Systems Under Unbalanced Conditions: Large-Signal Model-Based Analysis

CPSS Transactions on Power Electronics and Applications

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CPSS Transactions on Power Electronics and Applications 2024年第2期9卷 152-165页

作者： Song, Guangyu Liu, Xinghua Xiao, Gaoxi Xiong, Liansong Chen, Badong Wang, Peng The School of Electrical Engineering Xi’an University of Technology Xi’an710048 China The School of Electrical and Electronic Engineering Nanyang Technological University Singapore The School of Automation Nanjing Institute of Technology Nanjing211167 China The Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China

This paper proposes a large-signal model-based circulating current control approach to achieve the circulating current suppression and power quality improvement for power conversion systems (PCSs) under unbalanced conditions. Specifically, first of all, the adaptive capacitive virtual impedance (VI) is developed based on the change of the current difference to minimize the positive-sequence circulating current (PSCC). The robust droop control is introduced to tune the positive-sequence voltage output and implement the load sharing. Secondly, the negative-sequence reference signal is generated to enable negative-sequence current sharing. The secondary control signal is integrated with the positive-sequence voltage output to modify the voltage reference of the PCS and realize the unbalanced voltage compensation. Finally, the zero-sequence circulating current (ZSCC) controller is proposed by introducing the Q-PR controller and the feedforward term to suppress the ZSCC and attenuate the effect of filtering parameters on zero-axis current. The Lyapunov theory-based stability analysis is provided to prove the stabilization of the system modeled by a large signal. Experiments are presented to demonstrate the effectiveness of the proposed approach. © 2024 China Power Supply Society. All rights reserved.

关键词： Voltage control Inverters Stability analysis Impedance Power system stability Circuit stability Capacitors

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Dynamics Modeling and Parameter Identification for a Coupled-Drive Dual-Arm Nursing Robot

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Chinese Journal of Mechanical engineering 2024年第4期37卷 243-257页

作者： Hao Lu Zhiqiang Yang Deliang Zhu Fei Deng Shijie Guo College of Electronic Information and Automation Tianjin University of Science and TechnologyTianjin 300222China Academy for Engineering&Technology Fudan UniversityShanghai 200433China Shanghai Engineering Research Center of AI&Robotics Shanghai 200433China School of Mechanical Engineering Hebei University of TechnologyTianjin 300130China

A dual-arm nursing robot can gently lift patients and transfer them between a bed and a *** its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well suited for these ***,the coupled nature of the joint disrupts the direct linear relationship between the input and output torques,posing challenges for dynamic modeling and practical *** study investigated the transmission mechanism of this joint and employed the Lagrangian method to construct a dynamic model of its internal *** on this foundation,the Newton-Euler method was used to develop a dynamic model for the entire robotic arm.A continuously differentiable friction model was incorporated to reduce the vibrations caused by speed transitions to *** experimental method was designed to compensate for gravity,inertia,and modeling errors to identify the parameters of the friction *** method establishes a mapping relationship between the friction force and motor *** addition,a Fourier series-based excitation trajectory was developed to facilitate the identification of the dynamic model parameters of the robotic *** tracking experiments were conducted during the experimental validation phase,demonstrating the high accuracy of the dynamic model and the parameter identification method for the robotic *** study presents a dynamic modeling and parameter identification method for coupled-drive joint robotic arms,thereby establishing a foundation for motion control in humanoid nursing robots.

关键词： Nursing-care robot Coupled-drive joint Dynamic modeling Parameter identification

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A Lightweight Network Framework for Fault Diagnosis of Quadruped Robot Joint Modules 5

A Lightweight Network Framework for Fault Diagnosis of Quadr...

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5th International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2024

作者： Shi, Maoping Xiong, Xin Fan, Beibei Chen, Yufan School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China

ISBN: (纸本)9798331529192

With the widespread deployment of quadruped robots across various application scenarios, they are required to adapt to diverse motion patterns when performing different tasks. This necessity imposes complex stresses and loads on the components within the robot's joint modules during movement, leading to a higher risk of wear and failure. To address these challenges, this study proposes a novel lightweight multi-scale neural network based on a dual attention mechanism and Depthwise Separable Convolution (DSconv), named Atten-MSDsN, for diagnosing faults in joint modules. This approach captures critical fine-grained features across the global scope of the signal through the attention mechanism, extracts multi-scale features from fault signals using convolution kernels of varying sizes, and reduces the number of parameters in the feature extractor via DSconv. Experimental analysis demonstrates that the Atten-MSDsN framework offers the advantages of being lightweight and robust. © 2024 IEEE.

关键词： Multipurpose robots

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Fault Diagnosis of Quadruped Robot Joint Modules Based on TDIC and Random Forest 5

Fault Diagnosis of Quadruped Robot Joint Modules Based on TD...

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5th International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2024

作者： Chen, Yufan Fan, Beibei Xiong, Xin Shi, Mapping School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China

ISBN: (纸本)9798331529192

As robotics technology advances, quadruped robots are increasingly instrumental in diverse applications, including rescue operations and healthcare. However, the intricate operating conditions expose the components within the joint modules of these robots to alternating and impact loads. Consequently, research into signal processing and fault diagnosis techniques for planetary gearboxes in joint modules holds significant engineering importance. Given the challenges associated with fault signal extraction from planetary gearboxes, this study proposes a novel fault feature extraction method based on Time-Dependent Intrinsic Correlation (TDIC), integrated with a random forest classifier for fault classification. This approach leverages signal frequency analysis to adaptively extract segments characterized by high correlation among different physical field signals as fault features. The random forest model is utilized for fault classification and its performance is compared against CNN, KNN, and XGBoost models. Experimental results validate the superior fault classification efficacy of the proposed method. © 2024 IEEE.

关键词： Multipurpose robots

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Numerical simulation and experimental research on the wheel brush sampling process of an asteroid sampler

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Frontiers of Mechanical engineering 2023年第2期18卷 205-226页

作者： Haitao LUO Qiming WEI Yuxin LI Junlin LI Wei ZHANG Weijia ZHOU State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Mechanical Engineering Shenyang Ligong UniversityShenyang 110159China

To examine the environmental characteristics of the microgravity force and the weathered layer on an asteroid surface,a symmetric wheel brush asteroid sampler is proposed for the collection of particles on the asteroid *** study the influence of the wheel brush rotation speed on the sampling efficiency and the driving torque required for the wheel brush,the contact dynamics model between particles and sampling wheel brushes is established and a simulation and experimental verification of the sampling process are *** parameter calibration of the sampled particles is studied first,and the calibrated particle parameters are used in the numerical simulation of the sampling *** sampling results and the particle stream curves are obtained for the working conditions of different rotation speeds,and the effects of different parameter settings on the sampling efficiency are *** addition,a set of rotating symmetrical sampling wheel brush devices is built for the ground test,and the dynamic torque sensor is used to test the torque change of the wheel brush during the sampling *** relationship between the speed of the wheel brush and the driving torque of the wheel brush motor is determined by comparing the simulation results with the test *** indicate that when the rotating speed of the wheel brush is faster,the sampling efficiency is higher,and the driving torque required for the sampling wheel brush is ***,a numerical simulation analysis of the sampling process of the wheel brush sampler in a microgravity environment is conducted to determine the optimal speed condition,and the brushing test of the wheel brush sampler in the microgravity environment is verified with the drop tower *** research proposes the structural optimization design and motor selection of a wheel brush asteroid sampler,which provides important reference value and engineering significance.

关键词： asteroid sampling wheel brush sampler discrete element method parameter calibration experimental research

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Optimal Exciting Trajectories for Identifying Dynamic Parameters of Serial Robots 20

Optimal Exciting Trajectories for Identifying Dynamic Parame...

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20th IEEE International Conference on Mechatronics and automation, ICMA 2023

作者： Luo, Ruiqing Bao, Sheng Du, Liang Hu, Zhengtao Liu, Yukun Yuan, Jianjun Shanghai University Shanghai Robotics Institute School of Mechatronic Engineering and Automation Shanghai China Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai China Osaka University Graduate School of Engineering Science Osaka Toyonaka Japan

ISBN: (纸本)9798350320831

Accurate parameter identification of serial robots is of paramount importance to achieve satisfactory performance in performing highly dynamic tasks or obtaining realistic simulations. Focusing on the issue of optimizing excitation trajectory in the parameter identification process, a novel optimization algorithm is proposed by taking into account the interplay among different optimization criteria, in which the initial optimization index is introduced. To this end, the Lie-theory-based dynamic identification approach is introduced to illustrate the impact of trajectory optimization for the identification result, and we conduct a one-way analysis of torque prediction variance to determine whether significant improvements have been made or not. Finally, an experimental comparison between several optimization criteria is implemented for a 7 degrees-of-freedom (DoFs) Franka collaborative robot, the findings show that the proposed approach is capable of minimizing the overall trajectory optimization time while ensuring the identification robustness as compared to several other optimization criteria, which can offer a significant advantage in achieving fast and robust identification. © 2023 IEEE.

关键词： Trajectories

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Research on Active Disturbance Rejection Control of PMSM Based on Improved BOA 2

Research on Active Disturbance Rejection Control of PMSM Bas...

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2nd International Conference on Signal Processing and Intelligent Computing, SPIC 2024

作者： Chen, Tong Jiang, Qiang Jin, Bopi Yang, ShengXuan Shenyang Ligong University School of Automation and Electrical Engineering Shenyang China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China

ISBN: (纸本)9798350368888

In order to solve the problems of low control accuracy, poor anti-interference ability and poor robustness due to the interference and parameter changes of the servo system of permanent magnet synchronous motor (PMSM) under PI control, an improved active disturbance rejection control strategy is proposed. On the basis of linearisation and bandwidth of the extended state observer, the controller parameters are combined with the bandwidth in the project. Furthermore, to improve the parameter optimization tuning effect, the butterfly optimization algorithm is not high in convergence accuracy, speed and stationarity, and it is easy to avoid falling into the problem of local optimum, the reverse learning strategy, Cauchy variation and sine and cosine guidance mechanism are introduced to optimise the algorithm, and simulation experiments are carried out. The results show that compared with the traditional Proportion Integral(PI) control and active disturbance rejection control, the proposed method can quickly track a given speed, has higher control speed, and can be used to control the local optimum. The results show that compared with the traditional PI control and active disturbance rejection control, the proposed method can quickly track a given speed, has higher control accuracy and anti-interference ability, and effectively ensures the robustness of the PMSM servo system. © 2024 IEEE.

关键词： Permanent magnets

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Force perception -based active breath-following control of a puncture ablation surgery robot end effector

Force perception -based active breath-following control of a...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Yong, Tao Han, Dongming Wang, Tianmiao Zhang, Yufan Duan, Lian Wang, Yiru Beihang University School of Mechanical Engineering & Automation Research Institute of Aero-Engine China School of Mechanical Engineering & Automation Beihang University Robotics Institute of School of Mechanical Engineering and Automation China Beihang University Research Institute of Aero-Engine China

ISBN: (纸本)9798350325706

During the process of remote microwave puncture ablation surgery in areas such as the liver and thoracic cavity, there are accompanying physiological movements due to the body's respiratory motion, as well as possible spasms and twitching of the body's muscles caused by factors like anesthesia and temperature. These physiological activities can easily lead to skin lacerations near the rigid percutaneous puncture ablation needle due to relative motion. To prevent this secondary harm to the surrounding skin caused by such movements, we designed a robot end-effector active respiration tracking method based on fuzzy variable admittance control of a robotic arm and sliding window half-wave analysis debounce algorithm. This method not only enables smooth zero-force tracking but also monitors real-time end-effector motion information to adjust the admittance parameters, thus avoiding the occurrence of potential oscillations. Finally, we conducted experiments by applying a random step-like oscillation to simulate spasms and twitching phenomena. The robot not only achieved zero-force tracking with forces less than 1.5N but also demonstrated excellent resistance to oscillations, showcasing remarkable flexibility and stability. © 2023 IEEE.

关键词： Breath Following Debounce Algorithm Muscle Cramps Variable Admittance Control

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Research on 3D Model Retrieval Technology Based on Audio Fingerprint and Contour View 14th

Research on 3D Model Retrieval Technology Based on Audio Fin...

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14th International Workshop of Advanced Manufacturing and automation, IWAMA 2024

作者： Lv, Yingshou Zhou, Chuanhong Ma, Chuanqi School of Automation and Mechanical Engineering Shanghai University Shanghai200072 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200072 China

ISBN: (纸本)9789819626243

With the sustained development of CAD technology in the field of mechanical design, the volume of three-dimensional (3D) CAD model data has been growing exponentially. To meet the challenge of rapidly increasing 3D model repositories in the mechanical industry and the demand for efficient retrieval, this paper proposes a 3D model retrieval algorithm based on audio fingerprints and contour views for STL format 3D models. The aim is to provide mechanical designers with an efficient and accurate method of retrieving the required parts from the vast model repository. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： 3D model retrieval Audio fingerprint extraction Contour view Rotational normalization

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