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Modeling, Design and Simulation of Crown Block Grab Anti-Swing Control Based on LQR and PSO Algorithm 9

Modeling, Design and Simulation of Crown Block Grab Anti-Swi...

引用

9th International Conference on Advances in Machinery, Materials Science and Engineering Applications, MMSE 2023

作者： Guo, Xin Yu, Xiaolin Wang, Hongwei Liu, Zhaoming Bai, Ning Cui, Long School of Mechanical Engineering Shenyang Ligong University Shenyang110159 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9781643684383

In today's society, crown block is widely used in the construction industry, metallurgy industry and manufacturing industry. Its main task is to move goods to the target position quickly and accurately, and make the swing of goods as small as possible. How to reduce or restrain the swing of cargo load is a major problem faced by the research of crown block. In this paper, a control method based on linear quadratic optimal control algorithm (LQR) and particle swarm optimization algorithm (PSO) is proposed to reduce the swing of the crown block grab. The simplified mathematical model of the system based on the prototype is established through the derivation of Lagrange equation, and the stability of the system is judged by Lyapunov theory;PSO algorithm is used to search and optimize the output matrix parameters of LQR on the designed LQR controller for eliminating swing of crown block, and the final effect is verified through simulation. The final results show that the LQR controller optimized by PSO algorithm makes the swing time of the crown block grab significantly shorter, and the maximum overshoot of the grab swing reduces. © 2023 The Authors.

关键词： Controllers

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Speed and heading joint control of an unmanned sailboat based on NMPC 3

Speed and heading joint control of an unmanned sailboat base...

引用

3rd International Conference on Control and Intelligent robotics, ICCIR 2023

作者： Liu, Kai Yu, Jiancheng Zhao, Wentao Huang, Yan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781510671867

Aiming at the strong coupling of speed and heading control of unmanned sailboats, this study proposes joint control of the speed and heading of unmanned sailboats based on nonlinear model predictive control (NMPC). Different from the existing control methods, which only carry out maximum speed and heading separation control, this study proposes the joint control of unmanned sailboats at any speed based on NMPC. A 4-DOF dynamic model of the unmanned sailboat is used, and the roll angle is limited to prevent the unmanned sailboat from capsizing. Simulation experiments prove that the proposed method can realize the speed and heading joint control of unmanned sailboats, and the roll angle can be limited, preventing the unmanned sailboat from capsizing. © 2023 SPIE.

关键词： Model predictive control

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Research on Motion Mode Conversion Control of Wheel-legged Biped Robot 20

Research on Motion Mode Conversion Control of Wheel-legged B...

引用

20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Fu, Yili Li, Xu Dong, Xinyu Intelligent Robot Research Center Zhejiang Laboratory Hangzhou China Harbin Institute of Technology State Kay Laboratory of Robotics and System Heilongjiang Province Harbin China Harbin Institute of Technology Heilongjiang Province Harbin China

ISBN: (纸本)9798350320831

The bipedal wheel-legged robot with auxiliary legs studied in this paper has two motion modes, two wheels and four wheels, and can transform motion modes according to operation requirements. This paper focuses on how to realize motion mode transformation control under stable equilibrium. Firstly, kinematics analysis and dynamics modeling of the robot are carried out to complete the motion description and dynamics description of the robot in Cartesian space. Then the robot is simplified into a wheeled inverted pendulum model, and the driving wheel and other parts are decoupled to analyze its dynamic characteristics. In this paper, LQR controller will be used to ensure the robot is always in a balanced state, and then priority task space control (PTSC) based on quadratic programming (QP) will be adopted to track the robot trajectory. Finally, the smooth transformation of the robot under two motion modes of two wheels and four wheels is completed by experiments, which verifies the effectiveness of the control algorithm designed in this paper. © 2023 IEEE.

关键词： Quadratic programming

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Mechanical Design of a Single Degree of Freedom Coupling Interface for the Modular Reconfigurable Space Robot 9

Mechanical Design of a Single Degree of Freedom Coupling Int...

引用

9th Symposium on Novel Photoelectronic Detection Technology and Applications

作者： Feng, Jingkai Liu, Jinguo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781510664432

Due to the difficulty of traditional spacecraft to meet the requirements of the multi-mission, the modular reconfigurable space robot is proposed which combines the modular reconfigurable concept with the design of the space robot. Contrary to the traditional spacecraft with only one fixed configuration, the modular reconfigurable space robot has rich configurations. By docking/undocking operation of the interfaces between modules, the configuration of the modular reconfigurable space robot is transformed from the initial configuration to the target configuration. The connecting interface is the key mechanism for docking/undocking operation. While ensuring the function and effect of the connecting interface, the space occupancy should be reduced and the degree of freedom should be minimized. In view of this, a single degree of freedom coupling interface is designed in this paper. The interface mechanism is compact and driven by a micro DC-motor to achieve the coupling linear motion and rotational motion. The results of the dynamic analysis show that the required driving force of the interface is small, and the motion of the docking/undocking process is stable. It verifies the feasibility of the mechanical design. The principle prototype with the self-locking in power off verifies the effectiveness of the coupling interface. The coupling interfaces can reliably dock and undock. © 2023 SPIE.

关键词： DC motors

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Real-Time Break-Through Detection in Craniotomy Using Long Short-Term Memory Networks

Real-Time Break-Through Detection in Craniotomy Using Long S...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yunle Chen Xingjian Shen Xianghe Meng Hui Xie State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

An important step before the implantation of an invasive brain-computer interface (BCI) is craniotomy, which provides direct access to the brain. During the craniotomy, the precision of cranial drilling is critical, as any deviation or exces-sive penetration can pose significant risks, potentially leading to severe brain injury. Traditional methods of force signal analysis lack effective feedback in complex situations, leading to a risk of over-drilling and potential brain damage. Here, we proposes a Long Short-Term Memory (LSTM) neural network to detect the break-through of the drill bit in real-time. Thrust force data from five drilling experiments on a fancy rat skull specimen are collected. The force data are then split into 0.2-second intervals corresponding to different stages of the drilling process. An LSTM network is trained with these labeled datasets to detect changes in the drilling stage, thereby determining the break-through point. The trained classicfication network gets a accuracy of 96%. Practical drilling experiments on a fancy rat skull specimen validates the feasibility and accuracy of the break-through detection algorithm. The experimental results demonstrate that the method can achieve an over-penetration distance within 15 μm, which is safe for performing craniotomy in rats. Given that this method ensures safety for the stringent requirements of rat craniotomy, it can be expected to provide even greater safety for human craniotomy procedures.

关键词： Drilling Accuracy Force Rats Skull Real-time systems Safety Classification algorithms Long short term memory Biological neural networks

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Trajectory Planning of Aerial Manipulators Based on Inertial Decomposition 16th

Trajectory Planning of Aerial Manipulators Based on Inertial...

引用

16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Zhang, Xuan Yang, Liying Zhang, Guangyu Li, Siliang He, Yuqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789819964857

Aerial manipulator poses a challenging trajectory planning problem because of the dynamical coupling between the quadrotor and the robotic arms. Aiming at the system trajectory planning problems of the center of mass(CoM) offset after the dynamic swing of manipulator, this paper proposes a trajectory planning method based on inertial decomposition. Meanwhile, in the proposed method, the dynamic constraints of the quadrotor are also taken into account to ensure the pitch angle and angular velocity of quadrotors are suitable and feasible. A geometry controller is used to ensure accurate tracking of the planned trajectory. Simulations are carried out to verify the proposed method. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Manipulators

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A Modular Robotic system for Tibial Fracture Reduction and Rehabilitation with Vibrational Stimuli Generation

A Modular Robotic System for Tibial Fracture Reduction and R...

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IEEE International Conference on Mechatronics and Automation

作者： Zhenyi Wang Hongjian Yu Zijia Guo Xiangyu Shen Zhijiang Du State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

This paper introduces a modular robotic system aimed at tibial fracture reduction and rehabilitation with vibrational stimuli generation. With the development of the economy and the diversification of entertainment, the incidence of traumatic orthopedics is increasing, especially tibial shaft fractures rank first among lower limb fracture types. Compared to traditional manual techniques by physicians, robot-assisted reduction surgery offers higher precision and reduces the risk of physician exposure to X-ray radiation. Studies have shown that mechanical stimuli help promote trabecular bone growth, resulting in stronger postoperative calluses. However, vibration has not yet been applied to fracture rehabilitation in reduction medical devices. Therefore, this article innovatively designs a modular robotic system capable of both reduction operations and vibrational stimulation, aiming to achieve the integration of reduction and rehabilitation of tibial fractures.

关键词： Vibrations Analytical models Dynamics Surgery Medical services Kinematics Motors

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Deep Learning-Enhanced Super-Resolution Ultrasound for Efficient Brain Vascular Mapping

Deep Learning-Enhanced Super-Resolution Ultrasound for Effic...

引用

IEEE International Conference on robotics and Biomimetics

作者： Andi Sun Xingjian Shen Xianghe Meng Hui Xie State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Robotic implantation of neural electrodes for in-vasive brain-computer interface(BCI) requires precise vascular mapping to avoid major blood vessels. While super-resolution ultrasound imaging offers superior resolution compared to traditional methods, it typically requires probes with numer-ous elements, demanding substantial hardware resources. This paper presents a novel approach combining deep learning with reduced-element probes for high-resolution vascular imaging. The proposed method employs a transformer-based neural network to accurately localize high-density microbubbles while reducing the required number of probe elements. Simulations reveal that a 32-element linear probe with deep learning outper-forms a 64-element probe using 2D normalized cross-correlation for microbubble concentrations below 1.95 microbubbles/mm2. The overall localization precision and Jaccard index demon-strate superior performance of the deep learning approach, particularly at lower microbubble densities. In vivo experiments on a mouse brain model using a 64-element probe (15 MHz) and deep learning achieved vascular network reconstruction with 21 um resolution, distinguishing vessels 26 um apart. This technique significantly lowers the hardware requirements for constructing high-resolution vascular networks, thereby providing detailed cerebrovascular distribution maps. These maps have the potential to enable more precise planning and safer execution of neural electrode implantation for BCI research, while reducing overall system complexity.

关键词： Deep learning Electrodes Location awareness In vivo Ultrasonic imaging Superresolution Hardware Probes Image reconstruction Robots

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MC-Tac: Modular Camera-Based Tactile Sensor for Robot Gripper 16th

MC-Tac: Modular Camera-Based Tactile Sensor for Robot Gripp...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Ren, Jieji Zou, Jiang Gu, Guoying Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789819964949

Camera-based tactile sensors provide a convenient and low-cost approach for robot tactile perception. However, existing sensors are customized and only suit limited robots, which retards tactile applications. In this work, we proposed a modular design for camera-based tactile sensor to facilitate their integration on various robot grippers and fingers. Specifically, we disassemble tactile sensors into sense module for sensing surface interaction, receptor module for arranging camera, illumination, and structure elements, and adapter module for connection with robot gripper. Experiments show the proposed sensors can adopt various robot grippers and achieve high tactile perception performance. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Cameras

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Performance Analysis of 4-RPUR Parallel Mechanism for Ankle Rehabilitation

Performance Analysis of 4-RPUR Parallel Mechanism for Ankle ...

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IEEE International Conference on Mechatronics and Automation

作者： Hongjian Yu Zijia Guo Zhenyi Wang Sheji Sun Zhijiang Du State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Four-degrees-of-freedom (4-DoFs) ankle fracture surgery assistant and rehabilitation robot based on 4-RPUR was developed to help the patients recover movement ability of the ankle. Furthermore, to evaluate the performance of the robot, we use a spatial search method to calculate and depict the workspace images, and analyze the sensitivity of the workspace to different parameters; based on screw theory, a singularity evaluation indicator is proposed, and singularity images are drawn; the robot is subjected to stiffness modeling, constructing a stiffness matrix for the mechanism and establishing stiffness evaluation indicators, and creating performance spectra, with further analysis and discussion on the physical variation rules and physical meanings of the spectra.

关键词： Ankle Analytical models Sensitivity systematics Mechatronics Search methods Surgery

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