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automation, Control and robotics engineering (CACRE), International Conference on

作者： Hongmin Wang Meng Jiang Longhua Wu Junlin Huang Zengxi Pan Dagang Li Yingying Song Hui Huang School of Mechanical and Automation Engineering Institute of Carbon Peaking and Carbon Neutralization Wuyi University Jiang Men China School of Mechanical and Automation Engineering Wuyi University Jiang Men China Robotics and Welding Automation Laboratory University of Wollongong Australia School of Computer Science and Engineering Macau University of Science and Technology Macau China Faculty of Innovation and Entrepreneurship Wuyi University Jiang Men China

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

This study aims to solve the dual robotic arm collaboration problem by proposing a method based on an adaptive conductivity control algorithm for nondestructive grasping and handling of unknown manipulated objects by dual robotic arms. The method is capable of dynamically tracking the intended force of the unknown entity while maintaining the desired trajectory and compensating for the error in the state of the unknown object. In this paper, adopting a two-arm collaborative robotic arm motion planning method oriented to the manipulated object, the kinematics of a singular appendage is calculated by closed-loop constraints. The collaborative control strategy of the dual robotic arms for the operated object is established, which facilitating the pursuit of the intended force and the rectification of the positional path deviation induced by external interference. Through simulation and experimental verification, the method demonstrates satisfactory performance regarding the error in tracking position and the steady state deviation in force, offering a viable solution for attaining heightened precision in tracking both position and force.

关键词： Trajectory tracking Force Collaboration Kinematics Manipulators Trajectory Steady-state

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Multi-Objective Optimization Design for DC-Link Capacitor of Motor Driver

Multi-Objective Optimization Design for DC-Link Capacitor of...

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2024 CPSS and IEEE International Symposium on Energy Storage and Conversion, CPSS and ISESC 2024

作者： Liu, Qian Huang, Kangxing Wei, Xueliang Zheng, Yihong Xiang, Hao School of Automation Wuhan University of Technology Wuhan China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Hong Kong College of Artificial Intelligence China University of Petroleum-Beijing Beijing China Wuhan IActuator Robotics Co. Ltd Software Development Department Wuhan China

ISBN: (纸本)9798350380514

The capacitor is a common weak point in motor drive system design, necessitating targeted selection, design, and optimization of capacitor banks within these systems. Traditional capacitor design often relies on engineering experience, usually meeting specific capacitance and voltage requirements through simple parallel or series connections of capacitors. This approach often fails to fully optimize volume, cost, and reliability. This paper uses comprehensive theoretical modeling to optimize capacitor module design, effectively balancing capacitor lifespan, cost, and volume. For the design and selection of DC-link capacitors in a 1kW permanent magnet synchronous motor drive system, a multi-objective optimization design method for capacitor banks is proposed. The study treats the individual capacitance values of parallel capacitors as variables, significantly enhancing the overall performance of the capacitor module through precise optimization and the introduction of necessary constraints in the selection design. The proposed method is validated with a 1kW permanent magnet synchronous motor drive system. The optimization results show that under the guidance of a multi-objective optimization framework, the designed DC-link capacitor module meets physical size requirements while achieving overall optimization in terms of volume, cost, and lifespan, significantly improving system reliability. © 2024 IEEE.

关键词： Permanent magnets

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Shallow Binary Features Enhance the Robustness of Deep Convolutional Neural Networks

Shallow Binary Features Enhance the Robustness of Deep Convo...

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Chinese automation Congress (CAC)

作者： Jin Ding Jie-Chao Zhao Yong-Zhi Sun Ping Tan Ji-En Ma School of Automation and Electrical Engineering & Key Institute of Robotics of Zhejiang Province Zhejiang University of Science and Technology Hangzhou China School of Electrical Engineering Zhejiang University Hangzhou China

It is known that small noise can mislead the deep convolutional neural networks and have them make misclassifications. The researchers have poured much effort to study the effective and efficient approaches to enhance the robustness of deep networks, among which, adversarial training is a popular one. However, adversarial training is time-consuming and resource-consuming properties, which limit its applicability. It is natural to ask: can we enhance the robustness of deep models without adversarial training? In this paper, motivated by the binary edge features of clean examples and adversarial examples, we propose a binary feature branch module (BFBM for short) for deep convolutional networks. This module consists two kinds of layers, one is called Sobel layer, and the other is called threshold layer. The effect of Sobel layer is to learn four parallel edge feature maps using horizontal edge detector, vertical edge detector, positive edge detector, and negative edge detector, respectively. The goal of threshold layer is to convert the edge features to the binary features. After finishing this, the binary features along with the conventional texture features are taken as the inputs for the fully connected layers to output logits. The module is lightweight, and can work with any existing backbone. The experiments on CIFAR-10 and MNIST show that the BFBM-VGG16 model and BFBM-ResNet34 model can achieve averagely 35% higher accuracy than the original ones under FGSM and PGD attacks.

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AEROENGINE remaining life prediction based on grey similarity multiscale matching 20

AEROENGINE remaining life prediction based on grey similarit...

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20th International Conference on Condition Monitoring and Asset Management, CM 2024

作者： Sun, Shilong Huang, Haodong Ding, Jian Lu, Wenjie Wang, Dong School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Shenzhen518055 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9780903132848

In this paper, we address the challenge of predicting the remaining useful life (RUL) of aero-engines, which are critical components of aircraft that operate under increasingly extreme conditions as engine performance enhances. Ensuring the safety and reliability of these engines is paramount. To this end, we introduce a novel RUL prediction methodology that leverages grey similarity multiscale matching. This approach employs the robust capabilities of Long Short-Term Memory (LSTM) networks for processing time-series data. Specifically, an LSTM Stacked AutoEncoder (L-SAE) is designed to extract pivotal operational features of the engine, thereby delineating its degradation trajectory. Furthermore, the grey correlation analysis is utilized to assess the similarity between these degradation trajectories, which is complemented by a multi-time scale sliding window technique for enhanced similarity matching. Subsequently, kernel density estimation is applied to gauge the uncertainty associated with the prediction outcomes. The efficacy and superiority of our proposed method are demonstrated through the validation of the experiment study. Comparative analysis reveals that our method outperforms existing techniques in key evaluation metrics, underscoring its potential applicability to large-scale datasets. This validation not only confirms the method’s effectiveness but also its advantage in predicting the RUL of aero-engines with greater accuracy and reliability. © 2024 20th International Conference on Condition Monitoring and Asset Management, CM 2024. All rights reserved.

关键词： Long short-term memory

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A Hollow FBG-Based 3-Axis Force Sensor for Surgical Robots

A Hollow FBG-Based 3-Axis Force Sensor for Surgical Robots

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Li, Jie Deng, Weiquan Wang, Chongyang Cheng, Haoning Cui, Junlin Liang, Ming Liu, Hao Shenyang Jianzhu University School of Mechanical Engineering Shenyang110168 China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang1100169 China Key Laboratory of Minimally Invasive Surgical Robot Shenyang110016 China The General Hospital of Northern Theater Command of the Chinese People's Liberation Army Department of Cardiology China

ISBN: (纸本)9798350372601

The ability to perceive forces is crucial for surgical robots to perform operations safely and achieve effective treatment. This paper presents the design of a hollow force sensor based on fiber Bragg gratings (FBGs) to detect 3-Axis forces between the instrument and tissue. The sensor, consisting of an elastic body and four optical fibers with FBGs, is designed for convenient integration into instruments. Unlike most previous force sensors proposed by researchers, which fail to balance sensitivity across axes and have a hollow structure, the sensor designed in this paper positions the optical fibers away from the center to reserve sufficient space for the instrument channel. Additionally, the proposed elastic body comprises both an outer tube of flexible deformable beams and inner support pillars that enhance radial stiffness. This design ensures sensitivity along the axis while increasing stiffness against bending deformation radially. Furthermore, the force sensor is manufactured using 3D printing, making assembly simple and enabling easy interchangeability of instrument tips for various surgical instruments. Finite element simulations and experiments were conducted to verify the sensor's excellent linearity. The measurement range for each axis extends from 0 to 4 N. The axial resolution is 6 mN, while the radial resolution is 3.1 mN. At last, temperature compensation was implemented for the sensor environment to mitigate temperature-induced interference, ensuring precise measurements of three-Axis forces. The sensor is expected to be integrated into surgical robots to ensure surgical safety and enhance surgical quality. © 2024 IEEE.

关键词： Fiber Bragg gratings

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Geometric design of a kirigami gripper with form-enclosing grasping mode

Geometric design of a kirigami gripper with form-enclosing g...

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IEEE International Conference on robotics and Biomimetics

作者： Bingyan Hu Liang Du Mingyuan Wang Sheng Bao Jianjun Yuan Shugen Ma School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China Shanghai Robotics Institute Shanghai University Shanghai China Department of Robotics Ritsumeikan University Shiga Japan

Although various grasp strategies have been proposed in soft gripper area, form-enclosing grasping mode always plays a marginal role because of the challenges to calculate the deformations of soft materials. In this study, we propose a easy-to-make kirigami gripper and a geometric optimization method to obtain the fingers boundary shape that achieves a complete form-enclosing grasping after bending. We used a FEM model to represent the finger shape and calculated the finger boundary, and then used a iterative method to find the best finger shape that generates the form-enclosing grasping result. The optimization method is based on the minimum energy rule, and has the advantages of being computationally efficient and being universal for optimizing the boundary of gripper with form-enclosing grasping mode. The effectiveness of the proposed method was validated by ANSYS simulation and practical experimental results. Moreover, an objective functions and multiple geometric constraints were derived to quantitatively evaluate the gripper designs.

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Gesture Control Method for Oral Blood Mixed Liquid Removal Robot∗ 5

Gesture Control Method for Oral Blood Mixed Liquid Removal R...

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5th World Robot Conference Symposium on Advanced robotics and automation, WRC SARA 2023

作者： Ma, Xudong Kuang, Ziao Li, Han Chen, Anqi Li, Changsheng Liu, Wenyong Wang, Junchen Hu, Yida David Gao, Li Su, Bai-Quan Beijing University of Posts and Tele-communications Medical Robotics Laboratory School of Automation Beijing100876 China Beijing University of Posts and Tele-communications School of Computer Beijing100876 China Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beihang University Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beijing100083 China Beihang University School of Mechanical Engineering and Automation Beijing100083 China Brigham and Women's Hospital Harvard Medical School BostonMA02115 United States Peking University School and Hospital of Stomatology National Clinical Research Center for Oral Diseases National Stomatological Center Department of Periodontology Beijing China

ISBN: (纸本)9798350307320

All of oral surgeries are accompanied by bleeding. Manual removal of blood is carried out by a nurse and dozens of repetitive blood suction operations are implemented by the nurse during a single oral surgery. In our previous work, a robot for removal of blood-water mixed liquid is designed. However, the robot requires an initial order to autonomous removal of blood mixed liquid. In this paper, a hand gesture control method for typical operations of the robot is developed. Gesture dataset are developed at first and a deep learning neural network is trained for detection of hand gesture. The gesture control procedures for four typical operations are provided in detail. In a group of experiments, it's demonstrated that an oral surgeon controls the robot's motion by presenting prescribed hand gesture. The proposed method could be an alternative manner for blood mixed liquid removal. © 2023 IEEE.

关键词： Blood

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Park-Shield: Two-Wheeler Anti-Theft System 6

Park-Shield: Two-Wheeler Anti-Theft System

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6th International Conference on Computing, Communication, Control and automation, ICCUBEA 2022

作者： Pillai, Chanthu S Pedram, Rushal Salumuri, Nishanth Nath, Deepa Pakhrani, Kishita School of Electronics and Communication Engineering Dr.Vishwanath Karad Mit World Peace University Pune India School of Mechanical Engineering Dr.Vishwanath Karad Mit World Peace University Pune India School of Robotics and Automation Engineering Dr.Vishwanath Karad Mit World Peace University Pune India

ISBN: (纸本)9781665484510

In India the number of two-wheelers is greater than the cardinal number of parking spots available, hence people tend to park their vehicles at undesignated spots and open spaces which increases the risk of damage to the vehicle. To prevail over this situation, we contemplated, designed, and came up with a solution. Park Shield predominantly aims towards providing an all-inclusive system for two-wheeler vehicles that notifies the attempts of theft and live location tracking for your vehicle with absolute authentication of the users. The uniqueness of the system is that it can be controlled using an android application with authorized users registered on the database. In case the vehicle is hoisted or hauled, the live location update with an alert notification will be sent to the owner's cellular device via the application. © 2022 IEEE.

关键词： Authentication

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GPU Accelerated Color Correction and Frame Warping for Real-time Video Stitching

arXiv

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arXiv 2023年

作者： Yang, Lu Kong, Zhenglun Li, Ting Bai, Xinyi Lin, Zhiye Cheng, Hong Center for Robotics University of Electronic Science and Technology of China Chengdu China Center for Robotics School of Automation Engineering University of Electronic Science and Technology of China Sichuan Chengdu611731 China

Traditional image stitching focuses on a single panorama frame without considering the spatial-temporal consistency in videos. The straightforward image stitching approach will cause temporal flcking and color inconstancy when it is applied to the video stitching task. Besides, inaccurate camera parameters will cause artifacts in the image warping. In this paper, we propose a real-time system to stitch multiple video sequences into a panoramic video, which is based on GPU accelerated color correction and frame warping without accurate camera parameters. We extend the traditional 2D-Matrix (2D-M) color correction approach and a present spatio-temporal 3D-Matrix (3D-M) color correction method for the overlap local regions with online color balancing using a piecewise function on global frames. Furthermore, we use pairwise homography matrices given by coarse camera calibration for global warping followed by accurate local warping based on the optical flow. Experimental results show that our system can generate high-quality panorama videos in real time. Copyright © 2023, The Authors. All rights reserved.

关键词： Real time systems

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Enhanced RF Characteristics of Slotted Frequency-Reconfigurable Microstrip Patch Antenna Using RF MEMS Switches at 3.5 GHz

Enhanced RF Characteristics of Slotted Frequency-Reconfigura...

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Artificial Intelligence and Signal Processing (AISP), INDIA, International Conference on

作者： Narayanan R Murali G Ramkumar G Anitha Department of Automation and Robotics Engineering Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences (SIMATS) Saveetha University Chennai Department of ECE Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences (SIMATS) Saveetha University Chennai

ISBN: (数字)9798350350654

ISBN: (纸本)9798350350661

In this study,a frequency-reconfigurable microstrip patch antenna that has a central slot and RF MEMS shunt switches is optimized and improved. The substrate material for the investigation was chosen to be FR4 epoxy, with dimensions of 40 mm by 65 mm and 1.6 mm for height. The measurements of the microstrip patch were found to be 19.5 mm by 31 mm, and the feed dimension was 16.4 mm by 1.3 mm. After preliminary research, a center slot was added and slots were added on both sides of the patch to accommodate RF MEMS switches. In order to maximize the antenna's performance, parametric analysis was carried out, which involved making iterative changes to the patch dimensions and slot characteristics. Notably, the improved antenna configuration produced a gain of 5.1 dBi and a VSWR of 1, making it appropriate for 3.5 GHz applications such as wireless local area networks (WLANs), mobile phones, and radar systems. The outcomes show how well the suggested design strategy works to improve antenna performance for real-world implementation in modern communication systems.

关键词： Radio frequency Micromechanical devices Slot antennas Microswitches Patch antennas Microstrip antennas Radar antennas Microstrip Optimization Substrates

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