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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yao, Qingfeng Wang, Jilong Yang, Shuyu Wang, Cong Meng, Linghan Zhang, Qifeng Wang, Donglin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Guangzhou511458 China School of Engineering Westlake University Hangzhou310024 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781665481090

Due to their ability to adapt to different terrains, quadruped robots have drawn much attention in the research field of robot learning. Legged mobile manipulation, where a quadruped robot is equipped with a robotic arm, can greatly enhance the performance of the robot in various manipulation tasks. Several prior works have investigated legged mobile manipulation from the viewpoint of control theory. However, modeling a unified structure for various robotic arms and quadruped robots is a challenging task. In this paper, we propose a unified framework disturbance predictive control where a reinforcement learning scheme with a latent dynamic adapter is embedded into our proposed low-level controller. Our method can be well adapted to various types of robotic arms with a few random motion samples, and the experimental results demonstrate the effectiveness of our method. © 2022 IEEE.

关键词： Robotic arms

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Improved Stiffness Modeling for An Exechon‑Like Parallel Kinematic Machine(PKM)and Its Application

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Chinese Journal of Mechanical engineering 2020年第3期33卷 130-141页

作者： Nanyan Shen Liang Geng Jing Li Fei Ye Zhuang Yu Zirui Wang Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai UniversityShanghai 200444China School of Mechatronic Engineering and Automation Shanghai UniversityShanghaiChina.

Hole drilling or contour milling for the large and complex workpieces such as automobile panels and aircraft fuselages makes a high combined demand on machining accuracy,stiffness and workspace of machining ***,a 5-DOF(degrees of freedom)parallel kinematic machine(PKM)with redundant constraints is *** on the kinematics analysis of the parallel mechanism using intermediate variables,the kinematics problems of the PKM are solved through equivalent kinematics *** structural stiffness matrix method is adopted to model the stiffness of the parallel mechanism of the PKM,where the stiffness of each joint and branch component is obtained by stiffness formula and finite element *** the stiffness model of the parallel mechanism is improved by correction coefficient matrix,each element of which is constructed as a polynomial function of three independent end variables of the parallel *** terminal stiffness matrices obtained by simulation result are used to determine the coefficients of polynomial function by least square fitting to describe the correction coefficient over the workspace of the parallel mechanism *** experiment results prove that the modification method can greatly improve the stiffness model of the parallel *** enhance the machining accuracy of the PKM,the proposed kinematics model and the improved stiffness model are utilized to optimize the working stiffness of parallel machine by searching the best relative position of parallel machine and workpiece.A plate workpiece taken as example is examined in the case study section,which demonstrates the effectiveness of optimization method.

关键词： PKM 5-DOF Equivalent kinematics model Intermediate variables Stiffness correction coefficient Optimal working stiffness

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Learning to Identify Footholds from Geometric Characteristics for a Six-legged Robot over Rugged Terrain

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Journal of Bionic engineering 2020年第3期17卷 512-522页

作者： Jie Chen Chong Liu Haibin Zhao Yanhe Zhu Jie Zhao School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Foothold identification is a key ability for legged robots that allows generating terrain adaptive behaviors(e.g.,gait and control parameters)and thereby improving mobility in complex *** this end,this paper addresses the issue of foothold characterization and identification over rugged terrain,from the terrain geometry point of *** a terrain region that might be a potential foothold of a robotic leg,the characteristic features are extracted as two first-order partial derivatives and two curvature parameters of a quadric regression surface at this *** features are able to give an intuitive and,more importantly,accurate characterization towards the specific geometry of the ground *** this basis,a supervised learning technique,Support Vector Machine(SVM),is employed,seeking to Ieam a foothold identification policy from human expert *** a result,an SVM classifier is leamt using the extracted features and human-demonstrated labels,which is able to identify whether or not a certain ground location is suited as a safe foot support for a robotic *** is shown that over 90%identification rate can be achieved with the proposed ***,preliminary experiment is implemented with a six-legged robot to demonstrate the effectiveness of the proposed approach.

关键词： six-legged robot foothold characterization foothold identification geometric characteristics support vector machine

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Minimizing Long-Term Energy Consumption in RIS-Assisted UAV-Enabled MEC Network

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IEEE Internet of Things Journal 2025年第12期12卷 20942-20958页

作者： Yao, Zheng Zhu, Qiwu Zhang, Yanhui Huang, Haibo Luo, Min Hubei University of Automotive Technology School of Robotics and Automation Shiyan442002 China Hong Kong Polytechnic University National Rail Transit Electrification and Automation Engineering Technology Research Center Hong Kong Branch Hongkong999077 Hong Kong Chinese Academy of Sciences Shenzhen Institute of Advanced Technology Shenzhen517085 China

In recent years, Unmanned Aerial Vehicles (UAVs) are increasingly becoming flight-based communicative and computing platforms, but the scarcity of communication resources can significantly hinder their performance and scalability. Therefore, this paper proposes a Reconfigurable Intelligent Surface (RIS)-assisted UAV-enabled Mobile Edge Computing (MEC) network, aiming to reduce long-term energy consumption while maintaining system stability by jointly optimizing computing resources, time slot allocation, transmit power, RIS phase angles, and UAV trajectory. By applying the Lyapunov method, we transform the long-term stochastic optimization problem into manageable deterministic online subproblems, and obtain approximate optimal solutions using successive convex approximation, penalty functions, and convex optimization techniques. Simulation results show that compared to the baseline scheme, the proposed scheme approximately reduces energy consumption by 10%, improves system stability by approximately 16%, and maintains computational efficiency. © 2014 IEEE.

关键词： Aircraft communication

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Development of a bionic interactive interface for Owl robot using stereo vision algorithms

Advanced Control for Applications: Engineering and Industria...

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Advanced Control for Applications: engineering and Industrial Systems 2022年第1期4卷

作者： Rogers, James Culverhouse, Philip Wickenden, Benjamin Li, Chunxu Centre for Robotics and Neural Systems University of Plymouth United Kingdom School of Automation and Electrical Engineering Qingdao University of Science and Technology China

With the requirements for improving life quality, companion robots have gradually become hotspot of application for healthy home living. In this article, a novel bionic human-robot interaction (HRI) strategy using stereo vision algorithms has been developed to imitate the animal vision system on the Owl robot. Depth information of a target is found via two methods, vergence and disparity. Vergence requires physical tracking of the target, moving each camera to align with a chosen object, and through successive camera movements (saccades) a sparse depth map of the scene can be built up. Disparity however requires the cameras to be fixed and parallel, using the position of the target within the field of view, of a stereo pair of cameras, to calculate distance. As disparity does not require the cameras to move, multiple targets can be chosen to build up a disparity map, providing depth information for the whole scene. In addition, a salience model is implemented imitating how people explore a scene. This is achieved with feature maps, which apply filtering to the scene to highlight areas of interest, for example color and edges, which is purely a bottom-up approach based on Itti and Koch's saliency model. A series of experiments have been conducted on Plymouth Owl robot to validate the proposed interface. © 2020 John Wiley & Sons Ltd

关键词： Human robot interaction

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Predictive Maintenance in Urban Railway Systems Using Machine Learning Models

Predictive Maintenance in Urban Railway Systems Using Machin...

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Wireless and Optical Technologies (GCWOT), 2020 Global Conference on

作者： Muhammad Zakir Shaikh Sahil Ali Sara Ali Enrique Nava Baro Yaqoob Ali Baloch Bhawani Shankar Chowdhry NCRAAI Mehran University (MUET) Jamshoro Pakistan Mechanical Engineering and Energy Efficiency School of Industrial Engineering University of Malaga Malaga Spain National Center of Robotics and Automation - CMS Lab Mehran University of Engineering and Technology (MUET) Jamshoro Pakistan Departamento de Ingeniería de Comunicaciones Campus de Teatinos Universidad de Malaga Malaga Spain National Center for Robotics Automation and Artificial Intelligence Mehran University of Engineering and Technology (MUET) Jamshoro Pakistan

ISBN: (数字)9798331534271

ISBN: (纸本)9798331534288

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.

关键词： Wireless communication Wireless sensor networks Costs Transportation Production Predictive models Rail transportation Maintenance Regression tree analysis Predictive maintenance

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A Pillbug-Inspired Morphing Mechanism Covered with Sliding Shells 24th

A Pillbug-Inspired Morphing Mechanism Covered with Sliding S...

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24th IFToMM China International Conference on Mechanism and Machine Science and engineering, IFToMM CCMMS 2024

作者： Wang, Jieyu Tian, Yingzhong Xi, Fengfeng Chablat, Damien Lin, Jianing Ren, Gaoke Zhao, Yinjun School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China Department of Aerospace Engineering Toronto Metropolitan University Toronto Canada Laboratoire Des Sciences du Numerique de Nantes (LS2N) UMR CNRS 6004 Centre National de la Recherche Scientifique (CNRS) Nantes France School of Mechanical Engineering University of Shanghai for Science and Technology Shanghai China

ISBN: (纸本)9789819614639

This research proposes a novel morphing structure with shells inspired by the movement of pillbugs. Instead of the pillbug body, a loop-coupled mechanism based on slider-crank mechanisms is utilized to achieve the rolling up and spreading motion. This mechanism precisely imitates three distinct curves that mimic the shape morphing of a pillbug. To decrease the degree-of-freedom (DOF) of the mechanism to one, scissor mechanisms are added. 3D curved shells are then attached to the tracer points of the morphing mechanism to safeguard it from attacks while allowing it to roll. Through type and dimensional synthesis, a complete system that includes shells and an underlying morphing mechanism is developed. A 3D model is created and tested to demonstrate the proposed system’s shape-changing capability. Lastly, a robot with two modes is developed based on the proposed mechanism, which can curl up to roll down hills and can spread to move in a straight line via wheels. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： 1-DOF Bio-inspired mechanism Loop-coupled Morphing structure Multiple-mode

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The generalized synchronization for double-layer delayed coupling complex networks by dynamic soft variable structure control method

The generalized synchronization for double-layer delayed cou...

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2022 Chinese automation Congress, CAC 2022

作者： Qian, Kang Chen, Zhihuan Sun, Yanqin Engineering Research Center for Metallurgical Automation and Measurement Technology Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China

ISBN: (纸本)9781665465335

This study focuses on the synchronization problem of double-layer complex networks with time delayed coupling. Distinguish from most of previous works, a more general network model is introduced, where the number and the dimension of the nodes can be different between the drive network and the response network. This network model is more close to the practice. In order to obtain the synchronization of double-layer complex networks, an ingenious dynamic soft variable structure controller is proposed, where three sub-controllers and one adaptive observers are designed, and the stability of the controller is demonstrated by a strict mathematical proof. Numerical simulations verify the effectiveness of proposed strategy. © 2022 IEEE.

关键词： Complex networks

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Learning Goal-oriented Bimanual Dough Rolling Using Dynamic Heterogeneous Graph Based on Human Demonstration

Learning Goal-oriented Bimanual Dough Rolling Using Dynamic ...

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IEEE International Conference on robotics and Biomimetics

作者： Junjia Liu Chenzui Li Shixiong Wang Zhipeng Dong Tin Lun Lam Sylvain Calinon Miao Li Fei Chen Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong School of Science and Engineering The Chinese University of Hong Kong Shenzhen and Shenzhen Institute of Artificial Intelligence and Robotics for Society Sylvain Calinon is with the Idiap Research Institute Martigny Switzerland School of Microelectronics and the Institute of Technological Sciences Wuhan University Wuhan China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Soft object manipulation poses significant chal-lenges for robots, requiring effective techniques for state representation and manipulation policy learning. State representation involves capturing the dynamic changes in the environment, while manipulation policy learning focuses on establishing the relationship between robot actions and state transformations to achieve specific goals. To address these challenges, this research paper introduces a novel approach: a dynamic heterogeneous graph-based model for learning goal-oriented soft object manipulation policies. The proposed model utilizes graphs as a unified representation for both states and policy learning. By leveraging the dynamic graph, we can extract crucial information regarding object dynamics and manipulation policies. Furthermore, the model facilitates the integration of demonstrations, enabling guided policy learning. To evaluate the efficacy of our approach, we designed a dough rolling task and conducted experiments using both a differentiable simulator and a real-world humanoid robot. Additionally, several ablation studies were performed to analyze the effect of our method, demonstrating its superiority in achieving human-like behavior.

关键词： Robot kinematics Biomimetics Pipelines Humanoid robots Interference Robustness Pins Data mining Manipulator dynamics

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Sparsity via Sparse Group k-max Regularization

arXiv

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arXiv 2024年

作者： Tao, Qinghua Xi, Xiangming Xu, Jun Suykens, Johan A.K. STA-DIUS ESAT KU Leuven Belgium Research Center for Intelligent Robotics Zhejiang Lab Zhejiang Hangzhou China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

For the linear inverse problem with sparsity constraints, the l0 regularized problem is NP-hard, and existing approaches either utilize greedy algorithms to find almost-optimal solutions or to approximate the l0 regularization with its convex counterparts. In this paper, we propose a novel and concise regularization, namely the sparse group k-max regularization, which can not only simultaneously enhance the group-wise and in-group sparsity, but also casts no additional restraints on the magnitude of variables in each group, which is especially important for variables at different scales, so that it approximate the l0 norm more closely. We also establish an iterative soft thresholding algorithm with local optimality conditions and complexity analysis provided. Through numerical experiments on both synthetic and real-world datasets, we verify the effectiveness and flexibility of the proposed method. © 2024, CC BY-NC-SA.

关键词： Iterative methods

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