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Magnetically Driven Soft Continuum Microrobot for Intravascular Operations in Microscale

Cyborg and Bionic systems 2022年第1期2022卷 265-272页

作者： Dan Liu Xiaoming Liu Zhuo Chen Zhaofeng Zuo Xiaoqing Tang Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Sytems Ministry of EducationState Key Laboratory of Ielligent Control and Decision.of Complex SystemBeijing Advanced Innovation Center for Itelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBejing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 1828585Japan

Remotely controlled soft continuum robots with active steering capability have broad prospects in medical ***,conventional continuum robots have the miniaturization *** paper presents a microscale soft continuum microrobot with steering and locomotion capabilties based on magnetic field *** magnetically driven soft continuum microrobot is made of NdFeB particles and polyd imethylsiloxane(PDMS),and it can be as small as 200 pum in ***,a hydrogel layer is covered on the surface of the microrobot,which not only overcomes the adhesion force between the microobjects and the soft tip but also reduces the friction between the microrobot and *** performance test indicates the soft continuum microrobot featured excellent control and steering *** experimental results demonstrate that the soft continuum microrobot can travel through the microfluidic channel by its own vibration and flexibly steer in a bifurcation ***,the micromanipulation of microbeads in the microfluidic channels proves that the proposed microscale soft continuum microrobot has a great potential for intravascu lar manipu lation.

关键词： friction robot overcome

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Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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Research on Path Planning of Mobile Robot Based on DWA-IMP-A* Algorithm

Research on Path Planning of Mobile Robot Based on DWA-IMP-A...

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Chinese control Conference (CCC)

作者： Zhi Liu Lin Zhang Shoukun Wang Tianwei Niu Yongkang Xu Jin Cao Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing China

Path planning is one of the most critical links in mobile robots. Its timeliness, security and accessibility are crucial to the development and wide application of mobile robots. However, in solving the problem of path planning, the most popular A* algorithm has some problems, such as heuristic function cannot be estimated accurately, node redundancy, path is not smooth, and obstacle avoidance cannot be achieved in real time. To solve these problems, A fusion algorithm of improved A* combined with reverse path and dynamic window method (DWA-IMP-A*) was proposed. The algorithm refines the heuristic function by incorporating the reverse path. The node optimization algorithm is used to further reduce the path length. The generated trajectories are smoothed by cubic spline interpolation. At the same time, it is integrated with the improved DWA algorithm to improve the efficiency and safety of robot path planning. The algorithm takes ROS mobile robot as the carrier and is tested under typical road conditions. Compared with A* algorithm, the planning time is reduced by 54.6% and the path length is reduced by 6.37%. Experimental results verify the effectiveness and robustness of the algorithm. The research results have certain reference significance for the path planning of various types of mobile robots and the research of driverless vehicles.

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Research of networked fire control system simulation based on component technology

Research of networked fire control system simulation based o...

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Chinese control Conference (CCC)

作者： Chunlei Sun Chen Chen School of Automation Beijing Institute of Technology Beijing Beijing CN Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing School of Automation Beijing Institute of Technology Beijing

The research of networked fire control system simulation plays an important role in modern warfare. Federates of simulation systems based on High Level Architecture (HLA) have a poor reusability. In order to improve their reusability, the idea of componentization was used to divide federates into several smaller reusable modules by analyzing the internal information flow of the federates. By component technology, three types of small components which have better reusability were designed, including common components, special components and communication components. These components can be used to build a multiple complex models which can be combined with new simulation frameworks to form defense simulation systems for different attacking targets. A simulation task was designed to verify the flexibility and reusability of the designed components and to improve the function of the federates, which effectively improved development efficiency of simulation systems.

关键词： Fires control systems Target tracking Load modeling Process control Analytical models Object oriented modeling

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control of Spatially Interconnected systems with Random Communication Losses

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Acta Automatica Sinica 2010年第2期36卷 258-266页

作者： Hui LI Qing-He WU Huang HUANG School of Automation Beijing Institute of Technology Beijing 100081 P. R. China Key Laboratory of Complex System Intelligent Control and Decision (Beijing Institute of Technology) Ministry of Education Beijing 100081 P. R. China

This paper deals with analysis and synthesis problems of spatially interconnected systems where communicated information may get lost between subsystems. Spatial shift operator and temporal forward shift operator are introduced to model the interconnected systems as discrete time-space multidimensional linear systems with Markovian jumping parameters which reflect the state of communication channels. To ensure the whole system s well-posedness and mean square stability for a given packet loss rate, a condition is derived through analysis. Then a procedure of designing distributed dynamic output feedback controllers is proposed. The controllers have the same structure as the plants and are solved within the linear matrix inequality (LMI) framework. Finally, we apply these results to study the effect of communication losses on the multiple vehicle platoon control system, which further illustrates the effectiveness of the proposed model and method.

关键词： Spatially interconnected system communication loss Markovian jump linear system linear matrix inequality (LMI)

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Mechanical Design of the Legs of Hydraulically Actuated Quadruped Bionic Robot

Mechanical Design of the Legs of Hydraulically Actuated Quad...

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2013 ICME International Conference on complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Xin Li Wentao Sun Junyao Gao Xingguang Duan Qiang Huang Hui Li Huaxin Liu Wenxue Zhao Zhe Xu Yi Liu Intelligent Robotics Institute State Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped *** paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot *** addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the *** all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.

关键词： hydraulic quadruped robot the output force of the hydraulic cylinder structural parameters

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Cooperative output regulation for networked multi-agent systems based on the self-tuning adaptive distributed observer

Cooperative output regulation for networked multi-agent syst...

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American control Conference

作者： Yi Dong Jie Chen Jie Huang Department of Automation Nanjing University of Science and Technology China The State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology China Department of Mechanical and Automation Engineering the Chinese University of Hong Kong HK

ISBN: (纸本)9781467386838

In this paper, we first propose a self-tuning adaptive distributed observer for a multi-agent system, which is capable of providing the estimation of the leader's signal to various followers without assuming all the followers know the system matrix of the leader and which avoids calculating the observer gain off-line. We then further develop an adaptive distributed control law to solve the cooperative output regulation problem for linear heterogeneous multi-agent systems. This control law offers two advantages in that it makes the least use of the information of the network and the information of the leader system, and it avoids calculating the observer gain.

关键词： Observers Multi-agent systems Communication networks Closed loop systems Nickel Decentralized control Multi-agent systems Closed loop systems decentralised control networks(communications) Output Regulation Observers Nickel Telecommunications control law Self tuning

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Distributed differential evolution algorithm with adaptive parameters

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Kongzhi yu Juece/control and decision 2014年第4期29卷 701-706页

作者： Zhang, Chun-Mei Chen, Jie Xin, Bin School of Automation Ministry of Education Beijing Institute of Technology Beijing 100081 China Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing Institute of Technology Beijing 100081 China School of Electronic Information Engineering Taiyuan University of Science and Technology Taiyuan 030024 China

An adaptive distributed differential evolution algorithm is proposed based on the change of the individual's fitness value. Firstly, the initial population is divided into several subpopulations. When the migration condition is satisfied, the best individual in each subpopulation will replace the worst individual of its neighbor subpopulations according to the Von Neumann topology. The migration mechanism among subpopulations enables the information to be communicated in the whole population. Meanwhile, the adaptive mechanism of F and CR is presented for assigning different F and CR to each individual according to the individual's fitness. Numerical results show that, the proposed algorithm is beneficial to explore the solution space, which can avoid the premature convergence and search the excellent solutions.

关键词： Optimization

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Learning GMM Using Elliptically Contoured Distributions

Learning GMM Using Elliptically Contoured Distributions

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International Conference on Pattern Recognition

作者： Bo Li Wenju Liu Lihua Dou Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy and Sciences China Beijing Institute of Technology Beijing Beijing CN

Model order selection and parameter estimation for Gaussian mixture model (GMM) are important issues for clustering analysis and density estimation. Most methods for model selection usually add a penalty term in the objective function that can penalize the models and choose an optimal one from a set of candidate models. This paper presents a simple and novel approach to determine the number of components and simultaneously estimate the parameters for GMM. By introducing the degenerating model, the proposed approach overcomes the drawback of likelihood estimate that is a non-decreasing function and can not be used to select the number of components. The degenerating model is a more general form of mixture component density and it can degenerate into the component density or a crater-like density when its parameter K varies from 1 to a bigger value. The likelihood of the crater-like density evaluated for the training data approximates to zero. This characteristic of the degenerating model forms the foundation of the proposed approach. The experimental results show robust and evident performance improvement of the approach.

关键词： Hidden Markov models Training Programming Gaussian distribution Density functional theory Computational modeling Estimation

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Adaptive Dynamic Programming and Optimal Stabilization for Linear systems with Time-varying Uncertainty

Adaptive Dynamic Programming and Optimal Stabilization for L...

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Asian control Conference

作者： Meng Zhang Ming-Gang Gan Jie Chen Zhong-Ping Jiang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Department of Electrical and Computer Engineering New York University Brooklyn NY

ISBN: (纸本)9781509015740;9781509015733

This paper focuses on the optimal control of continuous-time linear time-varying uncertain systems with completely unknown internal dynamics and proposes a novel approach which leads to an optimal controller with guaranteed stability. A model-free algorithm of adaptive dynamic programming is employed to deal with the uncertainty of system parameters, yielding an optimal feedback controller for the system subject to a predefined cost. Then the stability of the system in time-varying uncertain situation which may undergo parameter changes or jumps is analyzed from the perspective of finite-time stability. On the basis of these results, a switching control strategy is presented to ensure the stability of the time-varying uncertain system with desired optimality properties in the long run. The effectiveness of the strategy is verified by simulations on a DC torque motor servo system.

关键词： Time-varying systems Stability analysis Symmetric matrices Asymptotic stability Uncertainty Optimal control

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