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Nonlinear impedance control with trajectory adaptation for collaborative robotic grinding

Science China(Technological Sciences) 2023年第7期66卷 1928-1936页

作者： HAN FengTao TAM SikYuen CAO ZhiHong ZHAO XingWei TAO Bo DING Han State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Intelligent Manufacturing System Technology for Complex Products Beijing Institute of Electronic System EngineeringBeijing 100854China ROKAE(Beijing)Technology Co. Ltd.Beijing 100193China

Stiffness adjustment is an important feature of human arm *** adaptive variable impedance control can adapt to the robotic stiffness,but may result in a large *** this paper,nonlinear impedance control is proposed for collaborative robotic grinding,where nonlinear force feedback is designed to compensate for the nonlinear stiffness of the ***,the interaction system can be linearization to ensure the system ***,a target trajectory adaptation strategy is studied to ensure the force tracking ***,switching law between trajectory tracking and force tracking is proposed when the robot performs a complex grinding *** stability of the switch control as well as the trajectory adaptation law is *** are conducted in a robotic grinding test rig,where the robot is used to grind a turbine *** results show that the nonlinear impedance control can obtain stable grinding force,and have better grinding quality than the linear impedance control.

关键词： impedance control robotic grinding trajectory adaptation force tracking

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Lunar Rover's Path Tracking Control Strategy Using Zero-Order Optimization Method

Lunar Rover's Path Tracking Control Strategy Using Zero-Orde...

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2024 IEEE International Conference on Control Science and systems Engineering, ICCSSE 2024

作者： Cao, Jianfei Wang, Yaobing Yu, Jiyang Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (纸本)9798331517199

The development of lunar rovers is critical for human exploration of the lunar surface. These rovers will need to travel longer distances at higher speeds, and the efficient control of their paths is essential for mission success. Model Predictive Control (MPC) is a path tracking method with foresight and robustness, capable of predicting vehicle movement and solving optimization problems to minimize cost functions. However, the complexity of lunar environments necessitates simplified models, such as kinematic models, to reduce computational cost. The study proposes a special MPC method that uses zeroth-order gradient optimization to directly solve the nonlinear model and generate precise control commands, significantly reducing computational burden and meeting the computational cost requirements of lunar rover control. © 2024 IEEE.

关键词： Cost functions

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Review on Development of Automatic Docking system for Weapons and Cabins

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Recent Patents on Engineering 2024年第2期18卷 63-87页

作者： Tang, Dedong Cheng, Chao Quan, Qiquan Deng, Zongquan Liu, Hao Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Background: In the manufacturing setup process of weapons, aviation, and aerospace, docking assembly is a key component in determining manufacturing efficiency and quality. The traditional docking method uses manual alignment, which depends on the experience and operation level of the workers, so the docking accuracy is low and the installation speed is slow. In response to this problem, how to achieve automatic docking of weapons and cabins has become a key technology. Objective: The objective of this study is to provide an overview of recent key technologies for automatic docking systems and introduce their respective classification, characteristics, and development. Methods: This paper reviews the patents and products related to the key technologies of automatic docking systems. The structural features, methodological principles, control characteristics and applications of the patents and products are summarized. Results: The key technologies related to different aspects of an automatic docking system are compared and analyzed, and the structural features, and methodological principles are also summarized. The problems of the current key technologies are analyzed, and the current status of research and future directions of the automatic docking system are discussed. Conclusion: According to the key technologies related to different aspects of the automatic docking system, they can be divided into motion mechanism, pose detection technology, and computer control technology. The accuracy, compliance, and flexibility of the automatic docking system can be improved by choosing the proper key technology. Further improvements are needed in terms of fast performance, robustness and authenticity, and more patents on key technologies of automatic docking systems should be invented. © 2024 Bentham Science Publishers.

关键词： Patents and inventions

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A trajectory-level robot skill learning method based on fuzzy systems

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Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Gait Characteristics and Adaptation Strategies of Ants with Missing Legs

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Journal of Bionic Engineering 2024年第5期21卷 2409-2423页

作者： Ming Zeng Chang Meng Bin Han Yuanhao Li Hanshen Yu Huijia Fu Shutong Zhong The Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information EngineeringTianjin UniversityTianjin300072China State Grid Tianjin Electric Power Company Tianjin300000China

This paper systematically studies the movement behavior changes of Camponotus japonicus under one or two leg ***,a linear motion channel matching the size of the ants'legs was designed,and the movements of ants with different leg injuries were captured using high-speed cameras,constructing a comprehensive video dataset of ants'movements with missing ***,stable and reliable motion position information for keypoints on the ants'bodies and legs was obtained by utilizing low-annotation biometric keypoint detection ***,by analyzing the filtered gait data,information about the changes in the step locational points areas,phase differences,and duty factors of the injured ants'remaining legs was *** analysis of the ants'gait characteristics revealed some common adjustment patterns when the ants were in the injured ***,the study found that the loss of a foreleg had a significant impact on the ants'*** two legs were missing,the loss of both legs on the same side had a greater effect on movement,whereas symmetric opposite-side leg loss conditions had a lesser *** research will provide an important reference for the subsequent design of gait adjustment algorithms for biomimetic multi-legged robots under damaged conditions.

关键词： Ant gait characteristics Leg missing Adaptation strategies Biometric keypoint detection Hexapod

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Femtosecond laser fabrication of 3D vertically aligned micro-pore network on thick-film Li_(4)Ti_(5)O_(12)electrode for high-performance lithium storage

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Journal of Energy Chemistry 2024年第8期95卷 250-262,I0006页

作者： Quansheng Li Xiaofei Sun Xuesong Mei Lingzhi Wang Minxing Yang Jianlei Cui Wenjun Wang State Key Laboratory for Manufacturing System Engineering Xi'an Jiaotong UniversityXi'an 710049ShaanxiChina Shaanxi Key Laboratory of Intelligent Robots Xi'an Jiaotong UniversityXi'an 710049ShaanxiChina School of Mechanical Engineering Xi'an Jiaotong UniversityXi'an 710049ShaanxiChina

The development of energy storage devices with high energy density relies heavily on thick film electrodes,but it is challenging due to the limited ion transport kinetics inherent in thick ***,we report on the preparation of a directional vertical array of micro-porous transport networks on LTO electrodes using a femtosecond laser processing strategy,enabling directional ion rapid transport and achieving good electrochemical performance in thick film *** three-dimensional(3D)vertically aligned micro-pore networks are innovatively designed,and the structure,kinetics characteristics,and electrochemical performance of the prepared ion transport channels are analyzed and discussed by multiple characterization and testing ***,the rational mechanisms of electrode performance improvement are studied experimentally and simulated from two aspects of structural mechanics and transmission *** ion diffusion coefficient,rate performance at 60 C,and electrode interface area of the laser-optimized 60-15%micro-porous transport network electrodes increase by 25.2 times,2.2 times,and 2.15 times,respectively than those of untreated ***,the preparation of 3D micro-porous transport networks by femtosecond laser on ultra-thick electrodes is a feasible way to develop high-energy *** addition,the unique micro-porous transport network structure can be widely extended to design and explore other high-performance energy materials.

关键词： Femtosecond laser Micro-porous transport networks Laser processing Thick film electrodes Ion transport kinetics

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A Noise-Excitation Generative Adversarial Network for Actuator Fault Diagnosis of Multi-legged Robot

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无人系统（英文） 2023年第2期11卷 159-173页

作者： Liling Ma Jian Guo Jiehao Li Junzheng Wang State Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of TechnologyBeijing 100081P.R.China

This research provides a novel approach for detecting multi-legged robot actuator *** most significant concept is to design the Fault Diagnosis Generative Adversarial Network(FD-GAN)to fully adapt to the fault diagnosis problem with insufficient *** found that it is difficult for methods based on classification and prediction to learn failure patterns without enough data.A straightforward solution is to use massive amounts of normal data to drive the diagnostic *** introduce frequency-domain information and fuse multi-sensor data to increase the features and expand the difference between normal data and fault data.A GAN-based framework is designed to calculate the probability that the enhanced data belongs to the normal *** uses a generator network as a feature extractor,and uses a discriminator network as a fault probability evaluator,which creates a new use of GAN in the field of fault *** the many learning strategies of GAN,we find that a key point that can distinguish the two types of data is to use the hidden layer noise with appropriate discrimination as the *** also design a fault location method based on binary search,which greatly improves the search efficiency and engineering value of the entire *** have conducted a lot of experiments to prove the diagnostic effectiveness of our architecture in various road conditions and working *** compared FD-GAN with popular diagnostic *** results show that our method has the highest accuracy and recall rate.

关键词： Actuator fault diagnosis multi-legged robot generative adversarial network attention mechanism

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Meter-Scale Thin-Walled Structure with Lattice Infill for Fuel Tank Supporting Component of Satellite:Multiscale Design and Experimental Verification

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Computer Modeling in Engineering & Sciences 2024年第1期138卷 201-220页

作者： Xiaoyu Zhang Huizhong Zeng Shaohui Zhang Yan Zhang Mi Xiao Liping Liu Hao Zhou Hongyou Chai Liang Gao Beijing Key Laboratory of Lightweight Multi-Functional Composite Materials and Structures Beijing Institute of TechnologyBeijing100081China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringChina Academy of Space TechnologyBeijing100094China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of EducationWuhan University of Science and TechnologyWuhan430081China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan430074China

Lightweight thin-walled structures with lattice infill are widely desired in satellite for their high stiffness-to-weight ratio and superior buckling strength resulting fromthe sandwich *** structures can be fabricated bymetallic additive manufacturing technique,such as selective laser melting(SLM).However,the maximum dimensions of actual structures are usually in a sub-meter scale,which results in restrictions on their appliance in aerospace and other *** this work,a meter-scale thin-walled structure with lattice infill is designed for the fuel tank supporting component of the satellite by integrating a self-supporting lattice into the thickness optimization of the *** designed structure is fabricated by SLM of AlSi10Mg and cold metal transfer welding ***-static mechanical tests and vibration tests are both conducted to verify the mechanical strength of the designed large-scale lattice thin-walled *** experimental results indicate that themeter-scale thin-walled structure with lattice infill could meet the dimension and lightweight requirements of most spacecrafts.

关键词： Thin-walled structure lattice infill supporting component selective laser melting satellite

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Modeling method of photovoltaic power generation grid connection based on particle swarm optimization neural network

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Energy Informatics 2024年第1期7卷 88页

作者： Zhang, Jie Lu, Yuanhong Huang, Libin Guo, Haiping Tu, Liang State Key Laboratory of HVDC China Southern Power Grid Guangzhou510000 China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System China Southern Power Grid Guangzhou510000 China CSG Key Laboratory for Power System Simulation China Southern Power Grid Guangzhou510000 China

Aiming at the complex structure, numerous equipment, intricate control and protection logic, as well as the existence of numerous unmodeled dynamics and black-box device models in photovoltaic (PV) grid-connected systems, a modeling method based on Particle Swarm Optimization Neural Network (PSO-NN) is proposed to address the inability of pure mechanism models to accurately simulate their operational dynamics. Utilizing the differences in active power response waveforms under Voltage-Frequency (Vf) control, Power-Reactive Power (PQ) control, and Droop control as criteria for control strategy identification, a PSO-NN model is constructed for PV grid-connected systems, with inputs comprising temperature, humidity, light intensity, voltage, and frequency disturbances, and outputs being active and reactive power. To validate the model's effectiveness, a PV grid-connected system model is built in a self-developed simulation software and connected to an IEEE 14-bus distribution network for simulation verification. The results demonstrate that the proposed PV grid-connected model can effectively identify the types of Vf control, PQ control, and Droop control strategies, and accurately reflect the dynamic response characteristics of active and reactive power under various voltage and frequency disturbances. © The Author(s) 2024.

关键词： Particle swarm optimization (PSO)

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WaveCRNet: Wavelet Transform-Guided Learning for Semantic Segmentation in Adverse Railway Scenes

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IEEE Transactions on intelligent Transportation systems 2025年第6期26卷 8794-8809页

作者： Wang, Zhangyu Liao, Zhihao Wang, Pengcheng Chen, Peng Luo, Wenwen Beihang University State Key Laboratory of Intelligent Transportation System School of Transportation Science and Engineering Beijing100191 China Beihang University School of Cyber Science and Technology Beijing100191 China

Semantic segmentation is pivotal in autonomous train perception, significantly impacting the system’s intelligence and reliability. However, its performance in railway scenes is hindered by various challenges, including severe weather conditions, low-light situations, tunnel settings, and diverse and dynamic unstructured scenes. To address these challenges, this study proposes WaveCRNet, a novel architecture for real-time semantic segmentation in challenging conditions, simulating wavelet-constrained PID controller in feature and wavelet space. This study first designs an effective wavelet information enhancement algorithm using a differentiable wavelet transform to bridge the gap between the wavelet and feature information domains. Then, the wavelet-guided attention pag module (WAPM) is introduced to guide the learning and fusion of detailed features based on wavelet priors. Moreover, the traditional wavelet transforms are spectral aliasing and shift sensitivity. Inspired by dual-tree complex wavelet transform (DTCWT), the DTCWT-based channel reconstruction module (DCRM) is designed to assist the channel-based learning of boundary information from coarse to fine. Finally, the proposed architecture is evaluated by the public dataset RailSem19. The experimental results validate the consistent performance gains between accuracy and inference speed, improving by 63.7% mIoU and 87 FPS, surpassing those of the advanced methods for real-time segmentation. © 2000-2011 IEEE.

关键词： Semantic Segmentation

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