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IEEE Symposium on Intelligent Vehicle

作者： Chris van der Ploeg Michiel Braat Beatrice Masini Jochem Brouwer Jan-Pieter Paardekooper Netherlands Organisation for Applied Scientific Research Integrated Vehicle Safety Group Helmond The Netherlands Mechanical Engineering Dept. Dynamics and Control Group Eindhoven University of Technology Eindhoven The Netherlands Netherlands Organisation for Applied Scientific Research Intelligent Autonomous Systems Group The Hague The Netherlands Cognition and Behaviour Radboud University Donders Institute for Brain Nijmegen The Netherlands

The introduction of highly automated vehicles on the public road may improve safety and comfort, although its success will depend on social acceptance. This requires trajectory planning methods that provide safe, proactive, and comfortable trajectories that are risk-averse, take into account predictions of other road users, and comply with traffic rules, social norms, and contextual information. To consider these criteria, in this article, we propose a non-linear model-predictive trajectory generator. The problem space is populated with risk fields. These fields are constructed using a novel application of a knowledge graph, which uses a traffic-oriented ontology to reason about the risk of objects and infrastructural elements, depending on their position, relative velocity, and classification, as well as depending on the implicit context, driven by, e.g., social norms or traffic rules. Through this novel combination, an adaptive trajectory generator is formulated which is validated in simulation through 4 use cases and 309 variations and is shown to comply with the relevant social norms, while taking minimal risk and progressing towards a goal area.

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Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadrotor with Unicycle-Driven and Rotor-Assisted Turning

Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadroto...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zhi Zheng Jin Wang Yuze Wu Qifeng Cai Huan Yu Ruibin Zhang Jie Tu Jun Meng Guodong Lu Fei Gao The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Institute of Zhejiang University Hangzhou China Robotics Research Center of Yuyao City Ningbo China The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Huzhou Institute of Zhejiang University Huzhou China Center for Data Mining and Systems Biology College of Electrical Engineering Zhejiang University Hangzhou China

The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight capabilities are achieved through a quadrotor config-uration, with four thrust-providing actuators. Additionally, rolling motion is facilitated by a unicycle-driven and rotor-assisted turning structure. By utilizing terrestrial locomotion, the vehicle can overcome rolling and turning resistance, thereby conserving energy compared to its flight mode. This innovative approach not only tackles the inherent challenges of traditional rotorcraft but also enables the vehicle to roll through narrow gaps and overcome obstacles by taking advantage of its aerial mobility. We develop comprehensive models and controllers for the Roller-Quadrotor and validate their performance through experiments. The results demonstrate its seamless transition between aerial and terrestrial locomotion, as well as its ability to safely roll through gaps half the size of its diameter. Moreover, the terrestrial range of the vehicle is approximately 2.8 times greater, while the operating time is about 41.2 times longer compared to its aerial capabilities. These findings underscore the feasibility and effectiveness of the proposed structure and control mechanisms for efficient rolling through challenging terrains while conserving energy.

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Dynamic Movement Primitive based Motion Retargeting for Dual-Arm Sign Language Motions

Dynamic Movement Primitive based Motion Retargeting for Dual...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yuwei Liang Weijie Li Yue Wang Rong Xiong Yichao Mao Jiafan Zhang Robotics Laboratory Institute of Cyber-Systems and Control Zhejiang University China ABB Corporate Research Center China

We aim to develop an efficient programming method for equipping service robots with the skill of performing sign language motions. This paper addresses the problem of transferring complex dual-arm sign language motions characterized by the coordination among arms and hands from human to robot, which is seldom considered in previous studies of motion retargeting techniques. In this paper, we propose a novel motion retargeting method that leverages graph optimization and Dynamic Movement Primitives (DMPs) for this problem. We employ DMPs in a leader-follower manner to parameterize the original trajectories while preserving motion rhythm and relative movements between human body parts, and adopt a three-step optimization procedure to find deformed trajectories for robot motion planning while ensuring feasibility for robot execution. Experimental results of several Chinese Sign Language (CSL) motions have been successfully performed on ABB’s YuMi dual-arm collaborative robot (14-DOF) with two 6-DOF Inspire-robotics’ multi-fingered hands, a system with 26 DOFs in total.

关键词： Robot motion Service robots Robot kinematics Dynamics Gesture recognition Assistive technologies Programming

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Stability Analysis and Performance Evaluation of Delayed Bilateral Telerobotic systems over a Lossy Communication Channel

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Journal of systems Science & Complexity 2021年第1期34卷 157-179页

作者： BAKHSHI Ali ALFI Alireza TALEBI Heidar Ali SOURATGAR Amir Aboulfazl YOUSEFI Mahdi Faculty of Electrical and Robotic Engineering Shahrood University of TechnologyShahrood 36199-95161Iran Power Plants Control Systems Technology Development Plan Department of monitoring and ControlNiroo Research InstituteTehran 14665-517Iran Real-Time and Robotics system Laboratory Faculty of Electrical EngineeringAmirkabir University of TechnologyHafez AvenueTehran 15914Iran Electrical and Computer Engineering Department The University of British Columbia2385East MallVan couverBC V6T 1Z4Canada

The focus of this paper is to address a novel control technique for stability and transparency analysis of bilateral telerobotic systems in the presence of data loss and time delay in the communication channel. Different control strategies have been reported to compensate the effects of time delay in the communication channel;however, most of them result in poor performance under data loss. First, a model for data loss is proposed using a finite series representation of a set of periodic continuous *** improve the performance and data reconstruction, a holder circuits is also introduced. The passivity of the overall system is provided via the wave variable technique based on the proposed model for the data loss. The stability analysis of the system is then derived using the Lyapunov theorem under the time delay and the data loss. Finally, experimental results are given to illustrate the capability of the proposed control technique.

关键词： Lossy channel passivity stability telerobotic transparency

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A Graphical-User-Interface-Based System for Removal of ECG Data Measurement Noises Using Newton filters: New Data

A Graphical-User-Interface-Based System for Removal of ECG D...

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2021 IEEE International Conference "Quality Management, Transport and Information Security, Information Technologies", T and QM and IS 2021

作者： Altay, Yeldos A. Lyamin, Andrey V. Berngardt, Edvard R. ITMO University Faculty Control Systems and Robotics St. Petersburg Russia ITMO University Open Education Department St. Petersburg Russia Institute Medical Education Almazov National Medical Research Centre St. Petersburg Russia

ISBN: (纸本)9781665433020

This article presents the filtering results for the removal of ECG data measurement noises using Newton filters. In order to minimize the measurement error and introduced phase shifts by Newton filters, the results of uni-directional and bi-directional processing of ECG data are presented. Quantitative indicators were calculated that characterize the increase in the efficiency of processing and analysis of ECG data at uni-directional and bi-directional filtration. To substantiate the practical significance of the proposed Newton filters, a GUI-based system has been developed. GUI-based Newtonian filters system was implemented. The test results showed that Newton's filters implemented by the GUI system allow filtering out natural low-frequency and high-frequency noises and will improve the ECG data processing. © 2021 IEEE.

关键词： Graphical user interfaces

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Compensation control of PMSMs Based on a High-order Sliding Mode Observer with Inertia Identification

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IEEE Journal of Emerging and Selected Topics in Power Electronics 2025年

作者： Li, Ke Ding, Jie Sun, Xiaodong Lei, Gang Dianov, Anton Demidova, Galina Prakht, Vladimir Jiangsu University School of Electrical and Information Engineering Zhenjiang212013 China Jiangsu University Automotive Engineering Research Institute Zhenjiang212013 China University of Technology Sydney School of Electrical and Data Engineering NSW2007 Australia Wenzhou University Pingyang Institute of Intelligent Manufacturing Wenzhou325035 China ITMO University Faculty of Control Systems and Robotics Petersburg197101 Russia Ural Federal University Department of Electrical Engineering Ekaterinburg620062 Russia

This article proposes a new sliding mode control (NSMC) reaching law to improve the speed tracking and anti-interference performance of permanent magnet synchronous motors (PMSMs). The NSMC improves the sliding mode control (SMC) in approaching speed and reducing chattering. Firstly, considering that the external load interference will adversely affect the control system, a high-order sliding mode observer (HOSMO) is designed to observe the load torque, and the observed value is compensated to the output of the speed controller. Then, combined with the Landau algorithm, a variable adaptive gain algorithm is introduced to decrease the impact of inertia mismatch on the system control performance. The algorithm identifies the rotational inertia online, reduces the effect of load disturbance on the identification performance, and updates the identification results to the observation in processors and controllers. Experimental results show that the proposed control method reduces the speed and current fluctuations of the system when load torque and inertia vary and improves the system's robustness. © 2013 IEEE.

关键词： Permanent magnets

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Adaptive single-stage control for uncertain nonholonomic Euler-Lagrange systems

Adaptive single-stage control for uncertain nonholonomic Eul...

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IEEE Conference on Decision and control

作者： Tian Tao Spandan Roy Simone Baldi Delft Center for Systems and Control Delft University of Technology (TU Delft) Netherlands Robotics Research Centre International Institute of Information Technology Hyderabad India School of Mathematics Southeast University Nanjing China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This work introduces a new single-stage adaptive controller for Euler-Lagrange systems with nonholonomic constraints. The proposed mechanism provides a simpler design philosophy compared to double-stage mechanisms (that address kinematics and dynamics in two steps), while achieving analogous stability properties, i.e. stability of both original and internal states. Meanwhile, we do not require direct access to the internal states as required in state-of-the-art single-stage mechanisms. The proposed approach is studied via Lyapunov analysis, validated numerically on wheeled mobile robot dynamics and compared to a standard double-stage approach.

关键词： Adaptive systems Philosophical considerations Kinematics control systems Stability analysis Mobile robots Numerical stability

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Toward Physical Implementation of Multi-Scroll Attractors

Toward Physical Implementation of Multi-Scroll Attractors

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CHILEAN Conference on Electrical, Electronics Engineering, Information and Communication Technologies (CHILECON)

作者： Irwin A. Diaz-Diaz Eric Campos Division of Control and Dynamical Systems Institute for Scientific and Technological Research of San Luis Potosi (IPICYT) SLP Mexico

ISBN: (纸本)9781665408745

The study of systems of third-order differential equations is of interest due to its wide dynamic range and its applications in secure communication systems, cryptography, among others. A special class of these systems is the jerk system, which is easy and simple to achieve. In this paper, we present the physical implementation of a multi-scroll system in ℝ 3 . The system is simulated in Simulink and implemented in an electronic circuit. The solution of the ordinary differential equations is represented by the voltage of the physical solution of the implemented system. The experimental tests are compared against the numerical simulation and that of the implemented circuit.

关键词： Resistors Software packages Simulation Potentiometers Ordinary differential equations Dynamic range Numerical simulation

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Development of a Robotic Hand Glove System for Secure Grasp with AI Wireless Sensor Data

Development of a Robotic Hand Glove System for Secure Grasp ...

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IEEE International Conference on Mechatronics and Automation

作者： Ahmed Almassri Ken’Ichi Koyanagi Chikamune Wada Keiichi Horio Wan Zuha Wan Hasan Department of Intelligent Robotics Toyama Prefectural University 5180 Kurokawa Imizu Toyama Japan Israa Institute for Scientific Research (IISR) Israa University Gaza Palestine Department of Life Science and Systems Engineering Kyushu Institute of Technology 2-4 Hibikino Kitakyushu Fukuoka Japan Department of Electrical and Electronic Universiti Putra Malaysia Selangor Malaysia

Robotic Hand glove is one of the most commonly used technique in the rehabilitation systems. In this paper, we developed a robotic hand system with a proposed sensing mechanism-based AI algorithm, which can acquire grasping forces from human fingers. It is composed of five low-cost force sensors attached to the glove’s fingertips and wireless data logger. Several experiments including grasping a plastic bottle and squeezing a tennis ball are implemented to verify the efficiency of the proposed system using the developed glove. As a result, it accurately estimates the forces applied by each finger with the aim of achieving a secure grasp comparison with conventional methods.

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基于自解耦三明治结构的横向运动栅场效应晶体管MEMS微力传感器

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Engineering 2023年第2期21卷 61-74,M0004页

作者：高文迪乔智霞韩香广王小章 Adnan Shakoor 刘存朗卢德江杨萍赵立波王永录王久洪蒋庄德孙东 State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265503China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150006China Eleventh Research Institute Sixth Academy of China Aerospace Science and Technology Co.Xi’an 710100China Department of Control and Instrumentation Engineering King Fahd University of Petroleum and MineralsDhahran 31261Saudi Arabia Department of Biomedical Engineering City University of Hong KongHong Kong 999077China

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵... 详细信息

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵列层和两个软光阻层SU-8组成。通过所提出的双差分传感结构,LMGFET横向工作在垂直干扰下的输出电流被大大消除,所提出传感器的相对输出误差从4.53%(传统差分结构)降低到0.01%。提出了一种实用的传感器制造工艺,并对其进行了模拟。基于LMGFET的力传感器的灵敏度为4.65μA·nN^(-1),可与垂直可移动栅极场效应晶体管(VMGFET)器件相媲美,但非线性度提高了0.78%,测量范围扩大了±5.10μN。这些分析为LMGFET器件的电气和结构参数提供了全面的设计优化,并证明了所提出的传感器在生物医学显微操作应用中具有良好的力传感潜力。

关键词：力传感器场效应晶体管横向运动三明治结构电气模型显微操作非线性度双差分

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