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42nd Chinese Control Conference, CCC 2023

作者： Li, Bingxin Zhang, Yujie Liu, Yaowei Zhao, Xin Nankai University Institute of Robotics and Automatic Information System The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

In the paper, stability analysis of a class of incommensurate fractional-order systems (IFOS) is studied. These sufficient conditions are based on the linear matrix inequality (LMI) and straightforwardly used to solve the feasible solutions with the LMI toolbox. Finally, two examples including a circuit example are given to illustrate the effectiveness of the proposed method, and the comparison with the previous results shows that the proposed method is less conservative. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Linear matrix inequalities

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Improved Rover Mobility Over Loose Deformable Slopes through Active Control of Body-Rotating Mechanism

Improved Rover Mobility Over Loose Deformable Slopes through...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Shipeng Lv Yuntian Zhao Zhenyang Chen Chengyuan Gao Longteng Hu Zhenzhong Jia Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology (SUSTech) Shenzhen China

ISBN: (纸本)9781665431545

Changing the center of mass (COM) by adjusting rover’s posture is a commonly used design and control strategy to improve its mobility over sandy slopes. Different from traditional passive/active suspension system and wheel-leg designs, we use a novel rover design for improved sloped mobility over soft terrains. Our rovers consist of a mobile base (with differential suspension), a main body, and a 2-degree-of-freedom (2-DOF) body-rotating mechanism that can change the pose of the main body relative to the mobile base. By taking full advantage of the main body weight which accounts for most of the robot weight, we can effectively adjust the rover COM and load distributions for improved mobility. Based on mechanics analysis, the wheel-load model and terramechanics model, we propose a control strategy for slope climbing and traversing tasks. When given input information such as slope angle and travel direction, the control algorithm can adjust the rover posture for optimal mobility over slopes. Experimental results indicate that the proposed design and control strategy can effectively improve the rover mobility performance (improved traction, reduced slippages) over soft sloped terrains.

关键词： Analytical models Mechatronics Machine vision Mobile robots Task analysis Load modeling

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Droplet-based Microfluidic Platform for High-throughput Formation of Multicellular Spheroids

Droplet-based Microfluidic Platform for High-throughput Form...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Zhen Zhan Hanhan Xie Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China

Cell culture in vitro is essential for drug screening, disease modeling, and stem cell-related research. Previous studies have indicated that two-dimensional (2D) cellular environments can significantly differ from physiological cells in vivo, leading to a high failure rate when translating therapeutics developed in 2D cell models to clinical applications. Therefore, there is a strong focus on developing three-dimensional (3D) cell culture techniques that more closely mimic in vivo cell microenvironments. These techniques hold great promise for enhancing precision in drug discovery and tissue regeneration. In this study, we introduce a novel microfluidic technique that utilizes droplets to fabricate hydrogel microspheres, each exhibiting a unique internal morphology suitable for 3D cell culture applications. Specifically, we employed this method to cultivate human umbilical vein endothelial cells (HUVECs) within the interior canals of the hydrogel microspheres, forming monolayers on the surfaces of the spiral canals. This setup effectively mimicked the configurations of native blood vessels. Furthermore, we successfully demonstrated the fabrication of heterogeneous spheroids with spiral blood vessel lumens, which can be utilized to construct spiral vascularized bone tissue.

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Design of a Small-Scale Locust-Inspired Robot Capable of Jump-gliding Locomotion

Design of a Small-Scale Locust-Inspired Robot Capable of Jum...

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2023 IEEE International Conference on robotics and biomimetics, ROBIO 2023

作者： Zhang, Weitao Wei, Zisen Xu, Yi Peng, Liang Dong, Changwen Jin, Yanzhou Shi, Qing Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing100081 China

ISBN: (纸本)9798350325706

Small-scale robots are widely used in real-world rescue missions, but their mobility and movement range are still limited. One solution to improve their adaptability to complex environments is to introduce jumping and gliding strategies into the robot design. In this paper, we developed a small-scale locust-inspired robot capable of active (propeller-driven) gliding after launching from the ground, which had a body length of 19.1 cm and a weight of 97 g. On the basis of the locust's musculoskeletal model, the jumping system was designed by a six-bar mechanism which can amplify the power. To improve the lift in gliding phase while reducing the draft in jumping phase, the gliding system with a folding wing and a front propeller was proposed corresponding to the fixed-wing principle. The results obtained through a series of experimental tests reveal that the robot achieves a jumping height of 0.15 m and a passive gliding distance of 1.5 m, which has a glide ratio of 1.13. Remarkably, actuating by a propeller, the robot can jump up to a height of 0.20 m, covering a gliding distance of 2.9 m. It is worth noting that the glide ratio of the robot improves by 91.2% in the propeller-driven jump-gliding mode. © 2023 IEEE.

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Wheeled Mobile Robot Based on Adaptive Linear Quadratic Gaussian Control 29

Wheeled Mobile Robot Based on Adaptive Linear Quadratic Gaus...

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第29届中国控制与决策会议

作者： Yubin Liao Yongsheng Ou Shan Meng Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Shenzhen College of Advanced Technology University of Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Shenzhen University

ISBN: (纸本)9781509046584

To deal with the existing issues of input saturations and uncertain positioning corrupted by Gaussian noises in the tracking control of Wheeled Mobile Robot(WMR),this paper presents a framework which applies the Adaptive Linear Quadratic Gaussian(ALQG) control with Genetic Algorithm based on linear discrete *** work of ALQG includes three ***,to address the problem of input saturations,we consider a linear discrete system as the Lagrangian multiplier and saturation constraint as the inequality constraint,and the linear quadratic controller with the penalty function as the objective function is solved by the interior point ***,in the above implementation of Linear Quadratic Regulator control,the weighting matrix under different conditions may result in different tracking *** address this issue,weighting matrices of different initial poses and reference trajectories are adaptively explored by Genetic Algorithm with control performance indexes as constraint functions,and the optimal weighting matrix is final ***,concerning the uncertainty problem in positioning,the Kalman Filter algorithm with real-time measurement of the disturbed position of the posture filter is applied in real time to obtain more accurate *** ALQG simulation of the WMR is carried out in the MATLAB software platform,and the tracking quality of the ALQG is discussed *** results show that the trajectory tracking controller of wheeled mobile robot based on ALQG can track the target trajectory stably and has good anti-interference abilities.

关键词： Mobile Robot Trajectory Tracking Linear Quadratic Gaussian Control

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Pipe-finder: Adaptive, Lightweight Pipe Robot Integrating Origami Anisotropic Stiffness Structure

Pipe-finder: Adaptive, Lightweight Pipe Robot Integrating Or...

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2023 IEEE International Conference on robotics and biomimetics, ROBIO 2023

作者： Chen, Yifei Yang, Deyu Liu, Ziyu Yang, Boyu Wang, Hongqiang Southern University of Science and Technology Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Shenzhen518055 China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Southern Marine Science and Engineering Guangdong Laboratory Guangzhou510000 China

ISBN: (纸本)9798350325706

Pipeline inspection poses challenges that require robots to navigate complex environments. However, existing pipeline robots with the rigid bodies often face limitations in terms of efficiency, flexibility, and adaptability considering the significant size variations and complex terrains in pipelines. This paper introduces a novel design of wheel pipeline robots that addresses these limitations by incorporating the Origami Anisotropic Stiffness Structure (OASS). Inspired by the desert iguana's skin, the OASS offers a unique combination of rigidity and flexibility in different directions, making it an ideal skeletal framework for the robot with only 146 g weight. By integrating the OASS with PLA and resin materials, we enhance the robot's support and enable it to effectively navigate diverse pipeline configurations. Experimental results demonstrate the robot's capability to maneuver through pipelines of different diameters, U-shaped turns, obstacles, and even vertical sections. This research provides a promising solution for inspection tasks in complex pipeline systems. © 2023 IEEE.

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A novel multi-scale fourier descriptor based on plane orthogonal vectors for fast shape retrieval

A novel multi-scale fourier descriptor based on plane orthog...

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2019 IEEE International Conference on robotics and biomimetics, ROBIO 2019

作者： Ma, Jiajun Zhu, Jiafeng Liang, Guoyuan Wu, Xinyu Guangdong Provincial Key Lab of Robotics and Intelligent System CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen Guangdong Province China

ISBN: (纸本)9781728163215

Shape retrieval is an interesting and challenging issue in computer vision and robot vision. The recent works employing Fourier-based multi-scale descriptors achieve some success in shape retrieval, especially make real-time application possible by improving the efficiency. However, these methods are commonly adopting really complex shape descriptors to present the shape information which is not intuitive enough. In our work, we propose a new Fourier-based method with novel multi-scale descriptor which is a combination of contour feature and regional feature. This novel descriptor has two main characteristics: First, utilize six different invariant signatures which are based on plane orthogonal vectors;Second, leverage multiple scale structures to describe local and global information of shapes. Except the easiness in understanding, this descriptor approach also produces a more distinct topology of shapes than other approaches which means the property of stability on variations, linear or nonlinear. The method is tested on some popular databases that provides a promising retrieval rate(87.46% and 99.27%) with constant time complexity optimization. The results confirm that our method is more capable of representing the topology of shapes than most other methods based on Fourier descriptor. © 2019 IEEE.

关键词： Topology

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Modeling of the Constant-Current Stimuli Response of a Bio-Robot for Long-Term Motion Control

Modeling of the Constant-Current Stimuli Response of a Bio-R...

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2024 IEEE International Conference on robotics and biomimetics, ROBIO 2024

作者： Zhou, Jie Fang, Yuan Chen, Yang Li, Yao Li, Bing Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China

ISBN: (纸本)9781665481090

Bio-robots continue to receive attention because of their small size and low power consumption. Unfortunately, it currently faces two major obstacles before practical application. The first is the habituation issue, insects are difficult to be effectively controlled for a long time by electrical stimuli signals. The other one is the lack of model for motion control. In this research, we established a stimuli-response model for cockroach bio-robot based on long time current. A more convenient optic lobe implantation method has been proposed, which has lower attenuation and better stimuli effect. Constant electrical stimuli also significantly increased the number of effective controls for crawling. A cockroach bio-robot stimuli distance response model was established and validated with experiment data. Five parameters were including in this model, namely sex, length, weight, current amplitude and equivalent stiumated-number. This model can predict the movement distance of biological robots well. © 2024 IEEE.

关键词： Microrobots

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Cooperative Operation of the Fleet Operator and Incentive-aware Customers in an On-demand Delivery System: A Bi-level Approach

arXiv

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arXiv 2021年

作者： Yao, Canqi Chen, Shibo Yang, Zaiyue Harbin150000 China Shenzhen518055 China The Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems School of System Design and Intelligent China Shenzhen518055 China

In this paper, we study the cooperative operation problem between the fleet operator and incentive-aware customers in an on-demand delivery system. Specifically, the fleet operator offers discounts on transportation costs in exchange of customers’ delivery time flexibility. In order to capture the interaction between the fleet operator and customers, a novel bi-level optimization framework is proposed. By exploiting the strong duality, and the Karush–Kuhn–Tucker (KKT) optimality condition of customer optimization problems, we can reformulate the bi-level optimization problem as a mixed integer nonlinear programming (MINLP) problem. Considering the inherent difficulties of MINLP, a computationally efficient algorithm, which combines the merits of Lagrangian dual decomposition and Benders decomposition, is devised to solve the resulting MINLP problem in a distributed manner. Finally, extensive numerical experiments demonstrate that the proposed cooperation scheme can decrease the delivery fees for the customers, and reduce the operation cost of the fleet operator at the same time, thus leading to a win-win situation for both sides. © 2021, CC BY-NC-SA.

关键词： Sales

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POMDP-Based Real-Time Path Planning for Manipulation of Multiple Microparticles via Optoelectronic Tweezers

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Cyborg and Bionic systems 2022年第1期2022卷 303-313页

作者： Jiaxin Liu Huaping Wang Menghua Liu Ran Zhao Yanfeng Zhao Tao Sun Qing Shi Intelligent Robotics Institute School of Mechatronical Engineering Bejing Institute of TechnologyBeijing 10081China Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China School of Medical Technology Beijing Institute of TechnologyBeijing 100081China Bejing Advanced Innovation Center for Itelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China

With high throughput and high flexibility,optoelectronic tweerers(OETs)hold huge potential for massively parallel ***,the trajectory of the virtual electrode has been planned in advance in most synchronous manipulations for multiple targets based on an optically induced dielectrophoresis(ODEP)mechanism,which is insuficient to ensure the stability and eficiency in an environment with potential collision *** this paper,a synchronously discretized manipulation method based on a centralized and decoupled path planner is proposed for transporting microparticles of diferent types with an OET *** approach based on the K uhn-Munkres algorithm is utilized to achieve the goal assignment between target microparticles and goal *** the assistance of a visual feedback module,a path planning approach based on the POMDP algorithm dynamically determines the motion strategies of the particle movement to avoid potential *** geometrical parameters of the virtual electrodes are optimized for different types of particles with the goal of maximum transport *** experiments of micropatterning with different morphologies and transporting multiple micropartides(e.g,polystyrene microspheres and 3T3 cells)to goal positions are *** results demonstrate that the proposed manipulation method based on optoelectronic tweezers is effective for multicell transport and promises to be used in biomedical manipulation tasks with high flexibility and efficiency.

关键词： manipulation positions assignment

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