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13th Asian Control Conference, ASCC 2022

作者： Qiu, Tianyu Zhang, Han Wang, Jingchuan Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9788993215236

In this paper, a traditional one v.s. one pursuit and evasion scenario is considered. The evader aims to reach her target and avoid being captured by the pursuer, while the pursuer, without the knowledge of the evader's cost function, intends to capture the evader before she successfully escapes. We formulate this problem as a Model Predictive Control Decoupled Pursuit and Evasion Game (MPC-DPEG) model with incomplete information. We apply Inverse Optimal Control (IOC) technique to estimate the evader's cost function and give a Nash pursuit strategy for MPC-DPEG as the optimal strategy for the pursuer. Numerical examples reveal the improvement of pursuit performance of the Nash pursuit strategy based on the estimated cost function over naive pursuit strategies. © 2022 ACA.

关键词： Simulation Optimal control Games Predictive models Cost function Numerical models Predictive control

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Real-Time Control of Intelligent Production Line for Automatic Assembly of Aerospace Products

Real-Time Control of Intelligent Production Line for Automat...

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Aerospace engineering and Systems (ISAES), International Symposium on

作者： Hailong Song Shengluo Yang Shuoxin Yin Junyi Wang Zhigang Xu Shenyang Institute of Automation 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 Mechanical Engineering University of Shanghai for Science and Technology Shanghai China

ISBN: (数字)9798350350418

ISBN: (纸本)9798350350425

Due to the wide variety and small number of aerospace products, the assembly process of related products becomes very complicated. In order to achieve the production requirements of safer, more efficient, better production quality and higher resource utilization, we integrate the control system into the assembly line of aerospace products to make it automated. In order to further verify the feasibility of the system, we use 3D virtual reality visualization to design the onsite real-time operation system scheme.

关键词： Visualization Three-dimensional displays Process control Production Virtual reality Control systems Real-time systems Resource management Assembly Aerospace control

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Microsphere Superlenses-Based Optical Super-Resolution Imaging of Ovarian Tissue Sections

Microsphere Superlenses-Based Optical Super-Resolution Imagi...

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IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems

作者： Shuai Yuan Chaodi Jiang Hao Luo Shendi Li Xiaoduo Wang School of Electrical & Control Engineering Shenyang Jianzhu University Shenyang Liaoning Province China State Key Laboratory of Robotics Shenyang Institute of Automation 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 Shenyang Ligong University Shenyang China Institutes for Robotics and Intelligent Manufacturing Shenyang China

Tissue sections can reveal tumour-specific changes, and a tumour diagnosis can be made by analyzing the arrangement and distribution of cells on the surface. Although histopathological diagnosis based on tissue section observation has been the gold standard for tumour diagnosis, there is still much room for improvement in terms of scale due to the limited spatial resolution of conventional optical microscopy. Microsphere super-resolution microscopy offers a potential solution to these problems. Super-resolution imaging of the surface of tissue sections was achieved with the aid of microspheres fixed to the surface of the tissue section and a removable piezoelectric ceramic displacement stage. A single microsphere of barium titanate, measuring $50\mu\mathrm{m}$ in diameter, is capable of achieving super-resolution and is particularly suitable for observing the surface nanostructure of tissue sections. In our experiment, we successfully combined the microsphere super-resolution microscope with scanning stitching techniques to obtain tissue section structure images with a resolution lower than 200nm. Our research results will help improve the accuracy of tissue section observations and promote advancements in this field.

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Optimization of Simulation Parameters of Input Shaper Based on Genetic Algorithm 2

Optimization of Simulation Parameters of Input Shaper Based ...

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2nd IEEE International Conference on Advanced Technologies in Intelligent Control, Environment, Computing and Communication engineering, ICATIECE 2022

作者： Yi, Tao Pei, Quanshen Li, Deying Wei, Shugong Jia, Danping Zhang, Hualiang Hunan University of Information Changsha China School of Information Science and Engineering Shenyang University of Technology Shenyang China College of Physics and Electronic Engineering Guangxi Normal University for Nationalities Chongzuo China Chinese Academy of Sciences Shenyang Institute of Automation Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (纸本)9781665493963

In the motion control system, input shaper is often used to suppress the residual oscillation of high-precision positioning system, but the selection of input shaper parameters is difficult. In view of the difficulty of selecting input shaper parameters, this paper proposes to use genetic algorithm to select the parameters of input shaper. Firstly, the input shaper is designed in the light of the three-loop mathematical model of motor;Secondly, because the genetic algorithm directly optimizes the output of the motor and the algorithm can reduce the influence of the deviation of generator parameters on the parameter selection of the input shaper to a certain extent, the parameters of the input shaper are selected by the genetic algorithm to optimize the output of the motor;In the finish, a comparative experiment between a system with input shaper and a system with simple PID control is carried out. The results show that the optimized system can obtain higher robustness and smaller tracking deviation. © 2022 IEEE.

关键词： Genetic algorithms

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Sliding Mode Even-Triggered Tracking Control for Robot Manipulators With State Constrains 48

Sliding Mode Even-Triggered Tracking Control for Robot Manip...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Soni, Sandeep Kumar Kumar, Sunil Wang, Siyuan Sachan, Ankit Boutat, Driss Geha, Daniel University d'Orleans Insa Centre Val de Loire Prisme Ea 4229 Bourges18000 Cedex France Department of Electrical Engineering U.P. Varanasi221005 India Hiroshima University Graduate School of Advanced Science and Engineering Higashi Japan Industrial Automation Robotics 1 Chemin de La Bourellerie Thenioux18100 France

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

This paper presents the sliding mode event-triggered control to solve the trajectory tracking problem of robot manipulator systems under state constraints. Through the design of time-varying control gains, a Lyapunov function ensures the fulfilment of the state constraints despite external disturbances. The designed sliding mode event-triggered control ensures that the sliding variable reaches the vicinity of the sliding surface in the finite-time. Furthermore, the proposed method ensures the uniform ultimate boundedness of the tracking error. There is no accumulation of inter-event time, which provides Zeno-free study. Simulation results of two-link robotic manipulator demonstrate the effectiveness of the proposed theory. © 2022 IEEE.

关键词： Lyapunov functions

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A heterogeneous master-slave teleoperation method for 7-DOF manipulator

A heterogeneous master-slave teleoperation method for 7-DOF ...

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2021 China automation Congress, CAC 2021

作者： Su, Rong Xu, Ke Zhao, Liang Yu, Peng School of Information and Control Engineering Shenyang Jianzhu University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665426473

Teleoperation is widely used because of its ability to extend human behavior and perception to slave robots. In this paper, we use a wearable exoskeleton as the master device for human-robot interaction, which can obtain the movement posture of the operator naturally and intuitively. The slave device uses a 7-DOF redundant manipulator similar to the human arm structure, which improves flexibility without being over redundant. In addition, an inverse kinematics method is proposed to meet the requirements of anthropomorphic remote operation of master-slave heterogeneity. Simulation experiments are carried out in combination with MATLAB and ROS RVIZ environment to prove the performance of the heterogeneous teleoperation control method. © 2021 IEEE

关键词： Inverse kinematics

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Single Frame Lidar-Camera Calibration Using Registration of 3D Planes

Single Frame Lidar-Camera Calibration Using Registration of ...

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IEEE International Conference on Robotic Computing (IRC)

作者： Ashutosh Singandhupe Hung Manh La Quang Phuc Ha Department of Computer Science and Engineering Advanced Robotics and Automation (ARA) Lab University of Nevada Reno NV USA School of Electrical and Data Engineering University of Technology Sydney Australia

ISBN: (纸本)9781665472616

This work focuses on finding the extrinsic parameters (rotation and translation) between Lidar and an RGB camera sensor. We use a planar checkerboard and place it inside the Field-of-View (FOV) of both sensors, where we extract the 3D plane information of the checkerboard acquired from the sensor’s data. The plane coefficients extracted from the sensor’s data are used to construct a well-structured set of 3D points. These 3D points are then ’aligned,’ which gives the relative transformation between the two sensors. We use our proposed Correntropy Similarity Matrix Iterative Closest Point (CoSMICP) Algorithm to estimate the relative transformation. This work uses a single frame of the point cloud data acquired from the Lidar sensor and a single frame from the calibrated camera data to perform this operation. From the camera image, we use the projection of the calibration target’s corner points to compute the 3D points, and along the process, we calculate the 3D plane equation using the corner points. We evaluate our approach on a simulated dataset with complex environment settings, making use of the freedom to assess under multiple configurations. Through the obtained results, we verify our method under various configurations.

关键词： Point cloud compression Three-dimensional displays Laser radar Transmission line matrix methods Robot vision systems Cameras Real-time systems

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Design of a Flexible Robot for Inspection in Confined Spaces

Design of a Flexible Robot for Inspection in Confined Spaces

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IEEE International Conference on robotics and Biomimetics

作者： Jie Li Ji Shen Chongyang Wang Dingjia Li Junlin Cui Hao Liu school of mechanical engineering Shenyang Jianzhu University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Minimally Invasive Surgical Robot Liaoning Province Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

The complex shape of aircraft engine blades, combined with their location in confined spaces, poses significant challenges for inspection tasks. These confined spaces not only limit the operational range of inspection equipment, making the task more difficult, but also hinder traditional rigid robots from flexibly adapting to complex paths. Additionally, manual inspection methods often require disassembling the engine, which is both costly and inefficient. To address these challenges, this paper presents a flexible robot designed for use in confined spaces. The robot features a hinge-joint design, with a continuum flexible arm at the proximal end, allowing it to adapt flexibly to narrow environments, and a jointed flexible arm at the distal end, providing high load-bearing capacity. Furthermore, coordinated movement and pose decoupling of the two-segment continuum are achieved through fixed tendons at both ends. Experimental results demonstrate that this robot exhibits high flexibility and load capacity during blade inspection, significantly improving inspection efficiency and showing great potential for applications in confined-space inspections.

关键词： Service robots Deformation Robot kinematics Blades Wires Inspection Arms Manipulators Aircraft propulsion Tendons

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LSEPNet:Joint Prediction of Disparity and Semantics Based on Binocular Vision

LSEPNet:Joint Prediction of Disparity and Semantics Based on...

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Control engineering and robotics (ISCER), International Symposium on

作者： Yang Yang Hongxia Gao An Chen Jianliang Ma Guoheng Liang Jiegeng Liu School of Automation Science and Engineering South China University of Technology Guangzhou China KUKA Robotics (Guangdong) Co. Ltd Foshan China Zhaoqing Honghua Electronic Technology Co. Ltd Zhaoqing China

Visual perception networks are often used to provide the necessary environmental information such as semantics and depth for mobile robots or autonomous driving. However, these networks can usually only complete one task. In practical applications, people often hope that an visual perception network can complete multiple tasks at the same time. In this work, We propose a lightweight visual perception network called LSEPNet with two branches of semantic segmentation and disparity estimation based on binocular vision system, which is composed of lightweight feature extraction module, feature fusion module based on attention mechanism, semantic decoder and disparity refinement module. Through feature fusion and joint loss function, LSEPNet can jointly train disparity estimation and semantic segmentation tasks end-to-end in real time. We evaluate the proposed network LSEPNet on KITTI2015 and Cityscapes datasets, and compare it with classic disparity estimation network and semantic segmentation network respectively, proving that LSEPNet can complete semantic segmentation task and disparity estimation task together in real-time with acceptable speed and accuracy.

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Active Visuo-Haptic Object Shape Completion

arXiv

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arXiv 2022年

作者： Rustler, Lukas Lundell, Jens Behrens, Jan Kristof Kyrki, Ville Hoffmann, Matej The Department of Cybernetics Faculty of Electrical Engineering CTU Prague Czech Republic The Intelligent Robotics Group Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo02150 Finland The Czech Institute of Informatics Robotics and Cybernetics CTU Prague Czech Republic

Recent advancements in object shape completion have enabled impressive object reconstructions using only visual input. However, due to self-occlusion, the reconstructions have high uncertainty in the occluded object parts, which negatively impacts the performance of downstream robotic tasks such as grasping. In this work, we propose an active visuo-haptic shape completion method called Act-VH that actively computes where to touch the objects based on the reconstruction uncertainty. Act-VH reconstructs objects from point clouds and calculates the reconstruction uncertainty using IGR, a recent state-of-the-art implicit surface deep neural network. We experimentally evaluate the reconstruction accuracy of Act-VH against five baselines in simulation and in the real world. We also propose a new simulation environment for this purpose. The results show that Act-VH outperforms all baselines and that an uncertainty-driven haptic exploration policy leads to higher reconstruction accuracy than a random policy and a policy driven by Gaussian Process Implicit Surfaces. As a final experiment, we evaluate Act-VH and the best reconstruction baseline on grasping 10 novel objects. The results show that Act-VH reaches a significantly higher grasp success rate than the baseline on all objects. Together, this work opens up the door for using active visuo-haptic shape completion in more complex cluttered scenes. Copyright © 2022, The Authors. All rights reserved.

关键词： Deep neural networks

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