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第29届中国控制与决策会议

作者： Maoxiang Chu Jie Zhao Rongfen Gong Liming Liu State Key Laboratory of Robotics and System (HIT) School of Electronic and Information Engineering University of Science and Technology Liaoning

ISBN: (纸本)9781509046584

Aiming at steel surface defects recognition, this paper proposed a multi-label classifier with hyper-sphere support vector machine(HSVM-MC). Firstly, in order to describe steel surface defects well, a new set of edge distance statistical features are proposed. Then, based on twin-hypersphere support vector machine(THSVM), HSVM-MC is built by introducing binary relevance(BR) idea. This novel classifier has merits of THSVM and BR. Moreover, it can make up the shortcomings of BR method. Experimental resuslts show that the novel multi-label classificatin method has superior accuracy and efficiency for steel surface defects recognition.

关键词： Steel Surface Defect Recognition HSVM-MC Edge Distance

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Reconfigurable Control Design Based on Complete Parametric Approach for Spacecraft Rendezvous 36

Reconfigurable Control Design Based on Complete Parametric A...

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第36届中国控制会议

作者： Guangren Duan Qin Zhao State Key Laboratory of Robotics and System(HIT) Center for Control Theory and Guidance Technology Harbin Institute of Technology

ISBN: (纸本)9781538629185

This paper studies the problem of reconflgurable fault tolerant controller design for linear time-invariant systems with measurement unavailability based on a complete parametric *** attention is focused on completely recovering eigenvalues of the pre-fault system by resynthesizing an output feedback controller while the restrictions on assignable eigenvalues of existing results are ***,the complete parametric method is introduced to give the parametric expressions for all output feedback matrices with the advantage of guaranteeing the stability of the reconfigured ***'s more,reconflgurable controllers for the spacecraft rendezvous system are studied as the example in cases of different measurement failure ***,numerical calculations are given and results show the effectiveness of the proposed method.

关键词： Reconfigurable Control Spacecraft Rendezvous Measurement Unavailability Complete Parametric Approach Output Feedback

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Sparse Kernel Regression with Coefficient-based `q−regularization

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Journal of Machine Learning Research 2019年 20卷

作者： Shi, Lei Huang, Xiaolin Feng, Yunlong Suykens, Johan A.K. Shanghai Key Laboratory for Contemporary Applied Mathematics School of Mathematical Sciences Fudan University Shanghai China Institute of Image Processing and Pattern Recognition Institute of Medical Robotics Shanghai Jiao Tong University MOE Key Laboratory of System Control and Information Processing Shanghai China Department of Mathematics and Statistics State University of New York at Albany New York United States Department of Electrical Engineering ESAT-STADIUS KU Leuven Kasteelpark Arenberg 10 LeuvenB-3001 Belgium

In this paper, we consider the `q−regularized kernel regression with 0 q−penalty term over a linear span of features generated by a kernel function. We study the asymptotic behavior of the algorithm under the framework of learning theory. The contribution of this paper is two-fold. First, we derive a tight bound on the `2−empirical covering numbers of the related function space involved in the error analysis. Based on this result, we obtain the convergence rates for the `1−regularized kernel regression which is the best so far. Second, for the case 0 ©c 2019 Lei Shi, Xiaolin Huang, Yunlong Feng, and Johan A.K. Suykens.

关键词： Regression analysis

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EMG dataset augmentation approaches for improving the multi-DOF wrist movement regression accuracy and robustness

EMG dataset augmentation approaches for improving the multi-...

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IEEE International Conference on robotics and Biomimetics

作者： Wei Yang Dapeng Yang Jiaming Li Yu Liu Hong Liu State Key Laboratory of Robotics and System (SKLRS) Harbin Institute of Technology Harbin China Artificial Intelligence Laboratory (HAI) Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728103785;9781728103778

Benefiting from the powerful learning capacity of deep learning (DP), a general model for predicting 3-DOF wrist movements could achieve good prediction accuracy for those subjects even not involved in the training. This paper tends to verify this assumption. Since the quantity of training dataset in DP largely influences the model's performance, a limited dataset collected from a number of subjects should be extended first through some data-augmentation approaches. In this paper, we first summarized the possible mistakes happen in the EMG data-collection procedures. Then, according to these mistakes, we designed six data-augmentation approaches to expend our EMG dataset. Through experiments, we found the prediction accuracy can be improved when some approaches are introduced during training. As well, the model robustness could also be improved when the same mistakes occur in the predicting process. With regards to those approaches, placing all electrodes in opposite direction and random switching two channels have significant positive effect on both accuracy and robustness. These two data-augmentation approaches are highly advocated in the pre-processing of the training data for DP-based prediction models.

关键词： Myoelectric signal Simultaneous control Regression Data augmentation Convolutional neural network

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Connectors Based on 2-Way SMA Actuator for Self-reconfigurable Chain Robots

Connectors Based on 2-Way SMA Actuator for Self-reconfigurab...

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IEEE International Conference on Mechatronics and Automation

作者： Fenglei Ni Yongqiang Li Yunhu Zhou Hong Liu Yuan Tang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu China

Self-reconfigurable modular robots have shown great potential in carrying out multiple tasks in different conditions. A connection of both flexibility and reliability is critical for realizing the docking and transformation of the modular robots. We propose a new design of connectors based on SMA which has the advantages of high autonomy, small size and high speed. The couples of connectors consist of active and passive connector. In the active connector, a two-way rotary SMA actuator is used as the actuation mechanism. The double-layer cam and claws are used as an executive mechanism. The passive connector can be securely docked in five different facets for 3D reconfigurations. The multisensory system and hardware architecture provide the foundation for control strategies. The design and the prototype of the connector are described in this paper. Finally, experimental results to evaluate the performance of docking are presented.

关键词： Connectors Robots Contacts Wires Actuators Springs Task analysis

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Shape-Memory Polymers: Mechanically Robust and UV-Curable Shape-Memory Polymers for Digital Light Processing Based 4D Printing (Adv. Mater. 27/2021)

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Advanced Materials 2021年第27期33卷

作者： Biao Zhang Honggeng Li Jianxiang Cheng Haitao Ye Amir Hosein Sakhaei Chao Yuan Ping Rao Yuan-Fang Zhang Zhe Chen Rong Wang Xiangnan He Ji Liu Rui Xiao Shaoxing Qu Qi Ge Frontiers Science Center for Flexible Electronics (FSCFE) Xi'an Institute of Flexible Electronics (IFE) and Xi'an Institute of Biomedical Materials and Engineering (IBME) Northwestern Polytechnical University 127 West Youyi Road Xi'an 710072 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen 518055 China School of Engineering and Digital Arts University of Kent Canterbury Kent CT2 7NT UK State Key Laboratory for Strength and Vibration of Mechanical Structures Department of Engineering Mechanics Xi'an Jiaotong University Xi'an 710049 China Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen 518055 China Digital Manufacturing and Design Centre Singapore University of Technology and Design Singapore 487372 Singapore State Key Laboratory of Fluid Power and Mechatronic System Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Department of Engineering Mechanics Zhejiang University Hangzhou 310027 China

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Demagnetization and Permanent-Magnet Minimization Anal-yses of Less-Rare-Earth Interior Permanent-Magnet Synchronous Machines Used for Electric Vehicles.

Demagnetization and Permanent-Magnet Minimization Anal-yses ...

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International Conference on Magnetics (INTERMAG)

作者： W. Wang P. Zheng M. Wang Y. Liu Z. Fu Department of Electrical Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Rare-earth permanent magnet synchronous machines (RE-PMSMs) are widely used in electric vehicles (EVs) due to their characteristics of high efficiency, high torque density and high power factor. While the dramatic price fluctuations of the rare-earth permanent magnets (PMs) have been restricted the application of RE-PMSMs. Hence, the less-rare-earth interior permanent magnet synchronous machines (LRE-IPMSMs), which combine the features of high electromagnetic performance as well as low cost, have attracted increasing attention in recent years [1]. The anti-demagnetization ability of the LRE-IPMSMs is crucial to the machine safety [2]. In [3], the tapered flux barriers are adopted to improve the anti-demagnetization ability of the LRE-IPMSMs. In [4], a practical analytical approach is proposed to express the direct link between the PM thickness and the demagnetization limit. In addition, the PM minimization is also a significant issue for the LRE-IPMSMs as it is crucial to decrease the machine cost. In [5], an analytical procedure is proposed to reduce the PM quantity in the LRE-IPMSMs without affecting the torque versus speed performance. In this paper, the demagnetization equivalent magnetic circuit (EMC) model of the investigated LRE-IPMSM is established and the effects of structure parameters on the PM flux density are investigated. The PM minimization design of the LRE-IPMSMs is obtained on the premise of no side effect on the machine output toque and anti-demagnetization ability.

关键词： Magnetics Conferences

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Plantbot: A New ROS-based Robot Platform for Fast Building and Developing

Plantbot: A New ROS-based Robot Platform for Fast Building a...

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IEEE International Conference on Mechatronics and Automation

作者： Liulong Ma Yanjie Liu Yibo Gao Chuanming Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China School of Mechanical Engineering Tongji University Shanghai China

In recent years, the Robot Operating system (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and easy-to-expand advantages. In scientific research, the corresponding hardware platform is indispensable for the experiment. In the field of mobile robots, PR2, Turtlebot2, and Fetch are commonly used as research platforms. Although these platforms are fully functional and widely used, they are expensive and bulky. What's more, these robots are not easily redesigned and expanded according to requirements. To overcome these limitations, we propose Plantbot, an easy-building, low-cost robot platform that can be redesigned and expanded according to requirements. It can be applied to not only fast algorithm verification, but also simple factory inspection and ROS teaching. This article describes this robot platform from several aspects such as hardware design, kinematics, and control methods. At last two experiments, SLAM and Navigation, on the robot platform are performed. The source code of this platform is available: https://***/marooncn/plantbot.

关键词： Mobile robots Wheels Hardware Simultaneous localization and mapping

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Reducing the drag of underwater vehicle in the shape of a small boat by using piezoelectric transducers

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IOP Conference Series: Materials Science and Engineering 2019年第1期531卷

作者： Lu Zhang Xiaobiao Shan Yingxiang Liu Gaoliang Peng Tao Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China

Reducing the flow resistance of moving underwater vehicles can improve their performance and reduce the energy consumption. This paper presents a method to interfere the turbulent boundary layer for achieving the drag reduction by using piezoelectric transducers. The transducer produces ultrasonic traveling waves vibration near the hull surface. The working frequency and the maximum vibration amplitude of the transducers placed in different locations were obtained through the structural dynamic analysis. The fluid-solid coupling simulations were performed to explore the reduction drag performance. The simulation results show that better drag reduction performance can be obtained when the angle between the vibration direction of the piezoelectric transducer and the flow direction is 67.62°. The method of using piezoelectric transducer vibration for drag reduction is proved to be feasible. The present work provides a valuable reference for the study of drag reduction of underwater vehicles.

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Integrated guidance and control with input saturation 36

Integrated guidance and control with input saturation

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第36届中国控制会议

作者： Wangkui Liu Yiyin Wei Guangren Duan State Key Laboratory of Robotics and System Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin Institute of Technology

ISBN: (纸本)9781538629185

Based on backstepping control technique,a novel adaptive integrated guidance and control(IGC) law is presented for missile intercepting maneuvering target with input *** deal with the uncertainties in the IGC system,adaptive control technique is utilized to estimate the upper bounds of the ***,an auxiliary system is designed to cope with the input *** state of the auxiliary system is used in the IGC law design and stability *** detailed stability analysis of the closed-loop IGC system is carried out based on the Lyapunov ***,the effectiveness of the proposed adaptive IGC law is verified by the nonlinear numerical simulation results.

关键词： Backstepping control Adaptive Integrated guidance and control(IGC) Input saturation

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