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A New Noise-Tolerant Dual-Neural-Network Scheme for Robust Kinematic Control of Robotic Arms With Unknown Models

IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1778-1791页

作者： Ning Tan Peng Yu Zhiyan Zhong Fenglei Ni IEEE the School of Computer Science and Engineering&Key Laboratory of Machine Intelligence and Advanced Computing Ministry of EducationSun Yat-sen UniversityGuangzhou 510006China the School of Automation Guangdong Polytechnic Normal UniversityGuangzhou 510665China the State Key Laboratory of Robotics and Systems Harbin Institute of Technology(HIT)Harbin 150080China

Taking advantage of their inherent dexterity,robotic arms are competent in completing many tasks *** a result of the modeling complexity and kinematic uncertainty of robotic arms,model-free control paradigm has been proposed and investigated ***,robust model-free control of robotic arms in the presence of noise interference remains a problem worth *** this paper,we first propose a new kind of zeroing neural network(ZNN),i.e.,integration-enhanced noise-tolerant ZNN(IENT-ZNN)with integration-enhanced noisetolerant ***,a unified dual IENT-ZNN scheme based on the proposed IENT-ZNN is presented for the kinematic control problem of both rigid-link and continuum robotic arms,which improves the performance of robotic arms with the disturbance of noise,without knowing the structural parameters of the robotic *** finite-time convergence and robustness of the proposed control scheme are proven by theoretical ***,simulation studies and experimental demonstrations verify that the proposed control scheme is feasible in the kinematic control of different robotic arms and can achieve better results in terms of accuracy and robustness.

关键词： Dual zeroing neural networks(ZNN) finite-time convergence model-free robot control robustness analysis

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A Real-Time Hardware-Accelerator-Aided MJ-EKF SLAM Algorithm for Large-Scale Map Based on Heterogeneous Multi-Core SoC

A Real-Time Hardware-Accelerator-Aided MJ-EKF SLAM Algorithm...

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Annual Conference of Industrial Electronics Society

作者： Zhendong Fan Ke Wang Minjie Bao Ruifeng Li State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

As a classic SLAM algorithm, LIDAR-based EKF SLAM still remains a problem. An open issue is high computational complexity, which leading a very limited map size to sufficient real-time requirements. To address this problem, in this paper, we propose an MJ-EKF SLAM system that is fully implemented on a Heterogeneous Multi-Core SoC(HMS). To limit the EKF SLAM computation complexity, the Map Joining algorithm participates in the framework. The most computation cost step in EKF SLAM and Map Joining algorithms is implemented on an MJ-EKF dedicated accelerator. Meanwhile, several hardware optimization methods are proposed to save logic resources, avoid redundant computation and reduce data communication between on-chip memory and off-chip main memory. Field experiments demonstrate the HMS-based MJ-EKF algorithm achieved high real-time performance (over 30Hz) in a large-scale map with 500 landmarks.

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A Novel Framework for Autonomous Landing of the Quadrotor on the Moving Platform by Onboard Vision Sensors 3

A Novel Framework for Autonomous Landing of the Quadrotor on...

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3rd International Conference on Industrial Artificial Intelligence, IAI 2021

作者： Cao, Qianqian Yu, Hai Fang, Yongchun Liang, Xiao Tianjin Key Laboratory of Intelligent Robotics Nankai University Institute of Robotics and Automatic Information System College of Artificial Intelligence Tianjin China

ISBN: (纸本)9781665435178

This paper addresses the autonomous landing of a quadrotor equipped with sensors and an on-board computer on a moving platform. An autonomous landing framework is proposed, including modules of target detection, state estimation, trajectory planning and tracking control. Specifically, the target detection module utilizes an on-board camera to recognize targets with Apriltags, owing to the high efficiency and accuracy. The state estimation module combines the detected target information and the measurements from the on-board sensors to estimate the absolute motion state of the quadrotor and the platform at the current moment, but also predicts the platform state at the target moment. A dynamically feasible and non-conservative trajectory is generated by the trajectory planning module based on the state estimation. According to the results of the trajectory planning and the state estimation modules, the tracking control module issues control commands to make the quadrotor track the trajectory efficiently. Simulation tests are conducted to validate the feasibility and effectiveness of the proposed framework. © 2021 IEEE.

关键词： state estimation

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The controller architecture of dexterous hand with switchable coupling mechanism*

The controller architecture of dexterous hand with switchabl...

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IEEE International Conference on robotics and Biomimetics

作者： Ziqi Liu Li Jiang Wangyang Li Ming Cheng Xiaoqiao Wu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

This work investigates the design of the sensor system and control system for the coupled adaptive multi-fingered dexterous hand with actively switchable modalities. Considering the specific mechanical structure characteristics of the dexterous hand, a master-slave distributed control system design approach is adopted to integrate the sensor system and control system inside the finger, which completes the mechatronic integration of the whole hand. It can realize the modularity at the finger level and simplify the system complexity. This paper also introduces a fuzzy adaptive PID control method and develops the control strategy in active switchable mode. The experimental results show that the controller architecture can adapt to the changes in the institutional characteristics of the system when the finger switches between coupled and coupled adaptive states. It can complete the high-precision tracking of the target trajectory, achieve accurate position control, and have superior real-time performance.

关键词： Adaptive systems Target tracking Position control Switches Control systems Sensor systems Real-time systems

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A Hollow FBG-Based 3-Axis Force Sensor for Surgical Robots

A Hollow FBG-Based 3-Axis Force Sensor for Surgical Robots

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Li, Jie Deng, Weiquan Wang, Chongyang Cheng, Haoning Cui, Junlin Liang, Ming Liu, Hao Shenyang Jianzhu University School of Mechanical Engineering Shenyang110168 China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang1100169 China Key Laboratory of Minimally Invasive Surgical Robot Shenyang110016 China The General Hospital of Northern Theater Command of the Chinese People's Liberation Army Department of Cardiology China

ISBN: (纸本)9798350372601

The ability to perceive forces is crucial for surgical robots to perform operations safely and achieve effective treatment. This paper presents the design of a hollow force sensor based on fiber Bragg gratings (FBGs) to detect 3-Axis forces between the instrument and tissue. The sensor, consisting of an elastic body and four optical fibers with FBGs, is designed for convenient integration into instruments. Unlike most previous force sensors proposed by researchers, which fail to balance sensitivity across axes and have a hollow structure, the sensor designed in this paper positions the optical fibers away from the center to reserve sufficient space for the instrument channel. Additionally, the proposed elastic body comprises both an outer tube of flexible deformable beams and inner support pillars that enhance radial stiffness. This design ensures sensitivity along the axis while increasing stiffness against bending deformation radially. Furthermore, the force sensor is manufactured using 3D printing, making assembly simple and enabling easy interchangeability of instrument tips for various surgical instruments. Finite element simulations and experiments were conducted to verify the sensor's excellent linearity. The measurement range for each axis extends from 0 to 4 N. The axial resolution is 6 mN, while the radial resolution is 3.1 mN. At last, temperature compensation was implemented for the sensor environment to mitigate temperature-induced interference, ensuring precise measurements of three-Axis forces. The sensor is expected to be integrated into surgical robots to ensure surgical safety and enhance surgical quality. © 2024 IEEE.

关键词： Fiber Bragg gratings

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An Autonomous Obstacle Avoidance Path Planning Method Involving PSO for Dual-Arm Surgical Robot

An Autonomous Obstacle Avoidance Path Planning Method Involv...

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IEEE International Conference on Mechatronics, robotics and Automation (ICMRA)

作者： Qiao Chen Yiwei Liu Zhuo Chen Yangjunjian Zhou State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Currently, motion planning and reasonable obstacle avoidance of surgical robots are essential research directions. Most surgical robots adopt a simple master-slave control strategy and cannot avoid obstacles autonomously. To this end, we propose an autonomous obstacle avoidance method for the dual-arm surgical robot. Firstly, the obstacle avoidance path planning is based on the artificial potential field method. We propose the splicing algorithm to make the manipulator jump out of the local minimum and improve the planning efficiency. And using the adaptive step to stable motion. Secondly, for collision detection, we use the Gilbert-Johnson-Keerthi (GJK) algorithm to calculate the distance between the obstacle and the equivalent convex body of the manipulator. A warning appears when there is a collision. Because the artificial potential field method lacks time planning, we use the time-optimized 3-5-3 polynomial interpolation based on the Particle Swarm optimization (PSO) to the obtained path. And make manipulators perform the surgery without collision for a suitable period. Finally, we carry out the system simulation, physical experiments, and dual-arm obstacle avoidance experiments based on the above autonomous obstacle avoidance algorithm. Experiments show that this study can make the dual-arm surgical robot move quickly and smoothly on the premise of avoiding obstacles, which provides a reference for the automation of surgical robots.

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Full Resolution Repetition Counting

arXiv

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arXiv 2023年

作者： Li, Jianing Chen, Bowen Wang, Zhiyong Liu, Honghai School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and System Harbin Institute of Technology China

Given an untrimmed video, repetitive actions counting aims to estimate the number of repetitions of class-agnostic actions. To handle the various length of videos and repetitive actions, also optimization challenges in end-to-end video model training, down-sampling is commonly utilized in recent state-of-the-art methods, leading to ignorance of several repetitive samples. In this paper, we attempt to understand repetitive actions from a full temporal resolution view, by combining offline feature extraction and temporal convolution networks. The former step enables us to train repetition counting network without down-sampling while preserving all repetition regardless of the video length and action frequency, and the later network models all frames in a flexible and dynamically expanding temporal receptive field to retrieve all repetitions with a global aspect. We experimentally demonstrate that our method achieves better or comparable performance in three public datasets, i.e., TransRAC, UCFRep and QUVA. We expect this work will encourage our community to think about the importance of full temporal *** Codes 68 © 2023, CC BY-NC-ND.

关键词： Convolution

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Semantic Assisted LiDAR Odometry with Loop Closure in Large Scale Urban Environment

Semantic Assisted LiDAR Odometry with Loop Closure in Large ...

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International Conference on systems and Informatics (ICSAI)

作者： Jiaye Lin Yanjie Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665474498

Compared to the vision-based approach, LiDAR-based SLAM has shown a great advantage in depicting geometric characteristics but still suffers from accumulated localization errors during long-term operation in large-scale scenarios. Introducing semantic information to the current system helps to discover higher-level features and establish a stronger association of features in different frames. In this paper, we utilize semantic information to present an integral LiDAR odometry that combines adaptive downsampling feature with label-specified registration to boost the performance of odometry estimation, together with Scan Context as the loop closure module to constrain the amplification of cumulative errors. Experiments are conducted based on the well-known KITTI dataset, which reveals that the proposed framework achieves higher accuracy with an average RTE of 0.97% in real-time and shows great robustness toward various scenarios.

关键词： Location awareness Technological innovation Laser radar Simultaneous localization and mapping Motion estimation Semantics Urban areas

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LQR-based Ground Resonance Suppression of Helicopter with Adaptive Landing Gear*

LQR-based Ground Resonance Suppression of Helicopter with Ad...

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IEEE International Conference on robotics and Biomimetics

作者： Zhen Yan Haitao Yu Jifeng Xia Baolin Tian Haibo Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

Ground resonance (GR) is a potentially destructive mechanical instability involving the coupling of the regressive rotor mode to the fuselage motion. Vibration can be disastrous if measures are not taken in time to mitigate vibrations. This paper presents a study on the use of adaptive landing gear to eliminate GR in helicopters. A GR model considering adaptive landing gear is established, and the dynamic characteristics of the system are analyzed. In this paper, the Linear Quadratic Regulator (LQR) controller is applied to suppress the GR. The setting of the weighting matrix coefficients directly determines the effect of the control system. Therefore, a design method of LQR weighting matrix based on multi-objective genetic algorithm is proposed, which enables the control system to meet multiple performance indicators concurrently. Numerical simulations of GR suppression were performed for the rotor speed range where GR is most likely to occur. The results show that even if the rotor system is not equipped with any dampers, the suppression of helicopter GR can be achieved by using the control strategy proposed in this paper to control the adaptive landing gear. Therefore, the application of adaptive leg landing gear to helicopters can provide some ideas to eliminate GR.

关键词： Vibrations Legged locomotion Adaptive systems Gears Helicopters Rotors Vibration measurement

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A High-Speed Centerline Extraction Method for Multiple Laser Stripe based on Hessian Matrix

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Procedia Computer Science 2024年 250卷 235-243页

作者： Juntian Shi Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China

Laser centerline extraction is a critical step in the machine vision-aided measurement process, especially in the field of aerospace drilling and riveting. We propose a novel and efficient algorithm for the extraction of multiple laser centerlines, which consists of three major parts: laser linewidth estimation, ROI (Region of Interest) extraction, and precise positioning. In the linewidth estimation part, a method based on second-order moment is used to estimate the linewidth, and the scanning frame to linewidth ratio is adopted as the convergence condition to achieve a stable estimation result. In the ROI extraction part, we use a scanning frame to perform raster scanning on the entire image, and calculate the feature function threshold based on the sampling and grayscale volume method to complete ROI extraction. In the precise positioning part, we employ an improved method based on the Hessian matrix to reduce computation time, and use a λ filtering method to eliminate noise. Finally, the K-means method is used to classify the center points belonging to different laser centerlines, and RANSAC is utilized to perform line fitting. The final results demonstrate that the proposed algorithm has certain improvements in accuracy and also exhibits high computational efficiency.

关键词： Manufacturing Laser centerline extraction Hessian matrix

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