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IEEE International Conference on Robotics and Biomimetics

作者： Qiuyu Shi Xuan Zhao Haisu Liao Yongji Lin Ruisen Huang Xinyu Wu Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Shatin China

Magnetorheological (MR) fluids-based devices such as MR dampers and brakes can output a continuously controllable damping force via modulating the magnitude of the applied magnetic field. Owing to low energy consumption and fast response, recently vast MR dampers and brakes are widely studied and explored for lower limb prostheses and exoskeletons. This paper proposed a novel MR brake with adjustable interdigitated comb for lower limb prostheses. Through actively adjusting the area the of the comb engagement, the maximum viscous and field-induced damping torque can be increased or decreased. Because of that, the dynamic adjustment interval of the output damping torque can be increased to meet the function requirements of the prosthetic knee in different walking modes. Magnetic analysis via ANSYS is performed to check the magnetic density of the MR fluid under different excitations. Mathematical models of the damping torque are built. Finally, a prototype of the novel MR brake is fabricated.

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Line-of-Sight Strategy-Based Path-Following system for a Multi-Joint Robotic Fish

Line-of-Sight Strategy-Based Path-Following System for a Mul...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Shijie Dai Chao Zhou Zhengxing Wu Min Tan Junzhi Yu School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Naval Research Academy Beijing China State Key Laboratory for Turbulence and Complex System BIC-ESAT College of Engineering Peking University Beijing China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

This paper proposes a real-time path-following control system for a multi-joint robotic fish. The mechanical structure and dynamic model of the robotic fish for pathfollowing are first described. Then, the framework of the path-following control algorithm is established based on the built dynamic model, including a modified line-of-sight (LOS) guidance law, an active disturbance rejection control (ADRC)based heading controller and a proportional-integral-derivative (PID)-based speed controller. Specially, the modified LOS strategy is designed to select the tracking points and also provide the desired heading angle. Afterwards, to overcome systematic uncertainties and environmental disturbances, the ADRC method is adopted to design the heading controller. Meanwhile, the PID controller is also developed to maintain an appropriate swimming speed. Finally, simulations in both linear-and circular-path following are presented to validate the effectiveness of the proposed method.

关键词： Robots Robot kinematics Task analysis Real-time systems Oscillators Mathematical model Force

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Learning Analysis of Kernel Ridgeless Regression with Asymmetric Kernel Learning

arXiv

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arXiv 2024年

作者： He, Fan He, Mingzhen Shi, Lei Huang, Xiaolin Suykens, Johan A.K. STADIUS Center for Dynamical Systems Signal Processing and Data Analytics KU Leuven Leuven Belgium MOE Key Laboratory of System Control and Information Processing Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Shanghai China Shanghai Key Laboratory for Contemporary Applied Mathematics School of Mathematical Sciences Fudan University Shanghai200433 China Shanghai Artificial Intelligence Laboratory Shanghai200232 China MOE Key Laboratory of System Control and Information Processing Institute of Image Processing and Pattern Recognition Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

Ridgeless regression has garnered attention among researchers, particularly in light of the "Benign Overfitting" phenomenon, where models interpolating noisy samples demonstrate robust generalization. However, kernel ridgeless regression does not always perform well due to the lack of flexibility. This paper enhances kernel ridgeless regression with Locally-Adaptive-Bandwidths (LAB) RBF kernels, incorporating kernel learning techniques to improve performance in both experiments and theory. For the first time, we demonstrate that functions learned from LAB RBF kernels belong to an integral space of Reproducible Kernel Hilbert Spaces (RKHSs). Despite the absence of explicit regularization in the proposed model, its optimization is equivalent to solving an 0-regularized problem in the integral space of RKHSs, elucidating the origin of its generalization ability. Taking an approximation analysis viewpoint, we introduce an lq-norm analysis technique (with 0 © 2024, CC BY.

关键词： Vector spaces

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A rough set approach for planner evaluation

A rough set approach for planner evaluation

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IEEE International Conference on systems, Man and Cybernetics

作者： B.K. Sy Wang Jiaxin Pattern Analysis and Machine Intelligence Group System Design Engineering Department University of Waterloo Waterloo ONT Canada Department of Computer Science CUNY Flushing NY USA The State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China

This paper discusses a rough set approach for evaluating solutions of scheduling problems. Algorithms for solving scheduling problems are planners and the scheduling problems are modelled as constraint satisfaction problems. Conventional approach for the analysis of algorithms often focuses on the time and representational complexities, and assumes an identical cost on all operations. The proposed rough set approach augments conventional approaches for the analysis of algorithms in two ways: 1) it permits the consideration of different costs arising from different operations; and 2) it allows one to define a new utility for a complexity analysis.

关键词： Algorithm design and analysis Processor scheduling Set theory machine intelligence Computer science Costs Search problems Educational institutions Pattern analysis system analysis and design

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Design and preliminary testing of a piezoelectric-based sole energy harvester

Design and preliminary testing of a piezoelectric-based sole...

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IEEE International Conference on Robotics and Biomimetics

作者： Yidi Wang Xuan Zhao Qiuyu Shi Haisu Liao Xinyu Wu Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin Hong Kong China

ISBN: (纸本)9781665481106

Harvesting energy from the human body to replenish existing energy sources is receiving substantial attention. Recently scientists have been focusing on harvesting biomechanical energy from human feet during walking. This paper develops a piezoelectric-based sole energy harvester that is designed to be worn on the bottom of shoes to harvest energy, thus powering wearable electronic devices. Specifically, a cam with piezoelectric(PZT) stacks is mounted on the heel to scavenge energy during the heel strike. The cam can change the input's direction from the vertical direction to the horizontal direction. In addition, the output power of this part can be optimized or improved by generating a specified cam profile. A bimorph piezoelectric plate is installed on the forefoot to convert the toes' bending deformation into electricity. Herein, piezoelectric Macro Fiber Composites (MFC) are employed to capture the large deformation. Preliminary testing on a healthy subject is conducted to validate this design. The average power output of the harvester is 8.83 m W.

关键词： Legged locomotion Biomechanics Wearable computers Bending Optical fiber devices Piezoelectric devices Optical fiber testing

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Impact Time and Angle control Guidance Based on Cubic Bézier Curves: Theory and Experiment

SSRN

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SSRN 2024年

作者： Li, Heng Lv, Xiaokang Yu, Jianglong Zhang, Kun Wang, Yanyan Dong, Xiwang Institute of Artificial Intelligence Beihang University Beijing100191 China School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Institute of Unmanned System Beihang University Beijing100191 China School of Astronautics Beihang University Beihang University Beijing100191 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing100074 China

A trajectory-shaping guidance strategy with constraints on impact time, impact angle, and maximum lateral acceleration is proposed based on a cubic Bézier curve fitting method. Firstly, an optimal guidance model is formulated, in which the Bézier curves are employed to fit the guidance trajectory, ensuring compliance with the required constraints. The manipulation transforms the optimal guidance problem into an optimal Bézier guidance trajectory design problem and a trajectory tracking problem. Then, by parameterizing the Bézier curves and analyzing the trajectory constraints in detail, the optimal Bézier guidance trajectory design is transformed into optimizing the control parameters of the Bézier curves. Moreover, a multi-layer zeroth-order Adam trajectory optimization algorithm based on general and fine tuning is introduced to determine the control parameters without relying on gradient information. Subsequently, a hyperbolic tangent vector field path tracking guidance algorithm is proposed to follow the designed trajectory and fulfill the guidance missions. Finally, numerical simulations and equivalent physical experiments verify the effectiveness of the proposed guidance strategy. © 2024, The Authors. All rights reserved.

关键词： Trajectories

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A method of cliff detection in robot navigation based on multi-sensor

A method of cliff detection in robot navigation based on mul...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Zhilong Su Can Wang Yuxiao Li Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence Synergic Systems Shenzhen Institutes of Advanced Technolog Shenzhen China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

This paper proposed a method to detect cliff edge by using an RGB-D camera, and then to fuse the cliff information with LiDAR, finally to provide navigation information for robot autonomous exploration and autonomous movement. Compared with the prior methods which set sonar or infra-red sensor in the bottom of the robot, our method could detect cliff earlier by set the RGB-D camera forward. In cliff detection, we use region growing algorithm and the normal vector of plane to segment out ground plane in point cloud, then extract the boundary points of ground, and we proposed an Edge Point Filter (EPF) to get the edge points of cliff, then use the edge points to simulate LiDAR data and combine with real LiDAR data to mark the untraversable area. We verified the practicability of this method in simulation, and verified the accuracy with real sensors.

关键词： Laser radar Robots Three-dimensional displays Robot sensing systems Indexes Cameras Image edge detection

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A Learning Human-Based Method For Peg-In-Hole Assembly Using ELM

A Learning Human-Based Method For Peg-In-Hole Assembly Using...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Juyi Sheng Sheng Liu Bing Zhu Chi Zhu Yongsheng Ou Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Sciences Beijing China Maebashi Institute of Technology Japan Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems (#2019B121205007)

This paper focuses on using sensor information to adjust the position for assembly in the presence of uncertainty error in vision. Firstly, a human demonstration of the peg-in-hole assembly is provided, and the data is collected for the next step of training. We start with a human demonstration and collect training data. A network is trained with 6D Force/Torque sensor (F/T sensor) as input and a strategy of which direction the robot end-effector needs to move as output. An algorithm using Extreme Learning machines (ELM) search is proposed. This is a human-like method of searching for holes. We validated the effectiveness of our method on a KUKA iiwa 7 robot arm.

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Robust Bayesian optimization with reinforcement learned acquisition functions

arXiv

引用

arXiv 2022年

作者： Liu, Zijing Qu, Xiyao Liu, Xuejun Lyu, Hongqiang Ministry of Industry and Information Technology Key Laboratory of Pattern Analysis and Machine Intelligence College of Computer Science and Technology Nanjing University of Aeronautics and Astronautics Nanjing211106 China College of Aerospace Engineering Nanjing University of Aeronautics and Astronautics Nanjing210016 China Collaborative Innovation Center of Novel Software Technology and Industrialization Nanjing210023 China Key Laboratory of Aerodynamic Noise Control State Key Laboratory of Aerodynamics Mianyang621000 China

In Bayesian optimization (BO) for expensive black-box optimization tasks, acquisition function (AF) guides sequential sampling and plays a pivotal role for efficient convergence to better optima. Prevailing AFs usually rely on artificial experiences in terms of preferences for exploration or exploitation, which runs a risk of a computational waste or traps in local optima and resultant re-optimization. To address the crux, the idea of data-driven AF selection is proposed, and the sequential AF selection task is further formalized as a Markov decision process (MDP) and resort to powerful reinforcement learning (RL) technologies. Appropriate selection policy for AFs is learned from superior BO trajectories to balance between exploration and exploitation in real time, which is called reinforcement-learning-assisted Bayesian optimization (RLABO). Competitive and robust BO evaluations on five benchmark problems demonstrate RL's recognition of the implicit AF selection pattern and imply the proposal's potential practicality for intelligent AF selection as well as efficient optimization in expensive black-box problems. Copyright © 2022, The Authors. All rights reserved.

关键词： Reinforcement learning

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Interaction Design between Train Master control Unit and ETBN and SDTv2 Application

Interaction Design between Train Master Control Unit and ETB...

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IEEE International Conference on Intelligent Transportation Engineering (ICITE)

作者： Zhaoling Gao Wei Wang Haoshang Zhou Demin Wang School of Intelligence and Electronic Engineering Dalian Neusoft University of Information DaLian China State Key Laboratory for Traction and Control System of EMU and Locomotive CRRC Dalian Electric Traction R&D Center Co. Ltd. DaLian China

At present, the train level network control communication mostly adopts the twisted Wire Train Bus (WTB) cable transmission. But its speed is slow and the amount of transmitted data is small, so it is difficult to meet the current requirements. Therefore, the high-speed and large amount of industrial Ethernet communication will become the mainstream of the future train level network control communication. It will research the train level network control communication based on the Train Real-time Data Protocol (TRDP) in combination with the requirements of the research project-200 km/h power centralized Electric Multiple Unit (EMU), and compare the international standards and the national standards of China in this paper. It will adopt the method of combining process data and message data to realize the data interaction requirements between the central control unit and the Ethernet Train Backbone Node (ETBN), acquire relevant data of Ethernet Train Backbone (ETB) nodes and vehicle formation information of the whole vehicle, and further acquire control data of the multiple connected vehicles. At the same time, transmit the control data and message data of the own vehicle to the multiple connected vehicles, so as to realize interconnection and mutual control between multiple connected vehicles. In order to improve the correctness and real-time of data transmission, it introduced the Secure Data Transmission protocol version2(SDTv2) for communication between the central control unit and other equipment in this project, and completed the interconnection test with the Ethernet card of Swiss Duagon company to ensure the safety and reliability of important data.

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