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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Shao, Lei Liu, Hanze Chen, Chao Du, Dongdong Li, Ji Liu, Hongli Tianjin University of Technology Binshui Xidao 391 Tianjin Key Laboratory for Control Theory Applications in Complicated System Tianjin300384 China Institute of Data Management and Application China Academy of Industrial Internet Beijing100020 China

ISBN: (纸本)9781728164151

Aiming at the shortcomings of the basic RRT algorithm, such as the random search ability is relatively strong, and the calculation result is usually not the shortest path, etc., an improved RRT path optimization algorithm is proposed, which uses the ant colony algorithm to obtain the basic RRT algorithm. The path is iterated and optimized, and eventually converges to a shortest path, improving the efficiency of planning the shortest path in advance, and conducting in-depth research on this algorithm. A large number of simulation results show that the improved algorithm has certain feasibility and effectiveness. In multiple iterations, it can eventually converge to a path with a better distance. © 2020 IEEE.

关键词： Motion planning

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Research on Switching Power Supply Based on Soft Switching Technology 8th

Research on Switching Power Supply Based on Soft Switching T...

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8th International Conference on Communications, Signal Processing, and systems, CSPS 2019

作者： Zhang, Zhihong He, Hong Tianjin City Electrical Engineering Technology Research Institute Tianjin300232 China Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9789811394089

Aiming at the problem that it is difficult to realize zero voltage and zero current switching (ZVZCS) in the current switching power supply, the resonance energy of the lagging arm is insufficient. In this paper, with TMS320F2812 as the control core, the DC/DC part of the switching power supply is designed by using the PWM phase shift control full-bridge ZVZCS technology in the series diode of the hysteresis arm of the converter circuit. The soft switch is well implemented in the case of load change. The MATLAB simulation results show that the soft switching power supply has the advantages of high output precision, fast dynamic response and small overshoot. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Three term control systems

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Investigation on Material Removal of the Sub-Aperture Tool Used for Polishing Riblet Surfaces

SSRN

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SSRN 2022年

作者： Wang, Guilian Lv, Bingrui Liu, Bin Fang, Fengzhou Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China School of Mechanical and Materials Engineering University College Dublin Belfield D04 V1W8 Ireland Key Laboratory of Advanced Ceramics and Machining Technology Ministry of Education Tianjin University Tianjin300072 China Tianjin Laboratory of Control Theory and Applications in Complicated System School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin 300384 China Tianjin University Tianjin 300072 China

Riblet surfaces find wide applications owing to their excellent performance such as drag reduction. In this study, sub-aperture tool is investigated to polish the riblet surfaces, two main different curvatures at any point of this kind of tool surface are proposed. A series of simulation studies are conducted to investigate the effect of key parameters on the material removal, such as tool radius, inclination angle, polishing pressure, and tool speed. The results show that a higher difference between the tool radius values in two directions increases the difference between the major and minor axes of the contact area. Based on experimental tests and simulation analysis, it is conluded that the profile and depth of material removal distribution both increase with an increase in polishing pressure, the material removal profile remains constant but the removal detpth increases with an increase in polishing speed, and the parameter K is a time-dependent. © 2022, The Authors. All rights reserved.

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Study on control Strategy of the Vascular Interventional Surgical Robot Based on LADRC

Study on Control Strategy of the Vascular Interventional Sur...

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IEEE International Conference on Mechatronics and Automation

作者： Wenqiang Zhang Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

As a medical device used in surgery, the vascular interventional surgical robot itself needs to have good control accuracy to ensure the safety of the surgery process. Given this security problem, this paper selects the Line Active Disturbance Rejection control (LADRC) as the control strategy of the vascular interventional robot, aiming at improving the master-slave tracking accuracy of the vascular interventional robot. This article compares the LADRC and PID(Proportional-Integral-Derivative) control strategies through simulation and experiments. The experimental results show that LADRC has good control performance for master-slave tracking and can be applied to the vascular interventional surgical robots.

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Research on Improved Particle Swarm Optimized Fuzzy PID control for Quadrotor UAV

Research on Improved Particle Swarm Optimized Fuzzy PID Cont...

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Chinese Automation Congress (CAC)

作者： Guohong Li Pengfei Wei Weiyue Yang Ran Gao Tianjin Key Laboratory of Control Theory and in Complicated System Tianjin University of Technology Tianjin China School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China

ISBN: (纸本)9781665426480

Aiming at the problem of blindness in selecting the scale factor and quantization factor in the fuzzy PID control of quadrotor UA V based on empirical knowledge and simulation debugging, an improved particle swarm algorithm is proposed to optimize the parameter factors of the fuzzy controller, method. Using the adaptive inertia - weight method to optimize the particle swarm can avoid the dilemma of local optimality at the beginning. At the same time, the ITAE criterion is selected as the adaptability of the particle swarm algorithm to achieve better control effect. The adaptive particle swarm fuzzy PID is proved to be faster than fuzzy PID and traditional PID, with less overshoot and shorter stabilization time; the particle swarm fuzzy PID algorithm takes less time to recover the stabilization time when disturbing signals are encountered.

关键词： PI control Quantization (signal) Automation Attitude control Optimal control Debugging Blindness

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Study on 6D Pose Estimation system of Occlusion Targets for the Spherical Amphibious Robot based on Neural Network

Study on 6D Pose Estimation System of Occlusion Targets for ...

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IEEE International Conference on Mechatronics and Automation

作者： Chaofeng Du Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications in Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology BinshuiXidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing China

The amphibious robot needs to accurately estimate the 6D pose of the target in tasks such as target tracking, docking with the recovery module, and target grasping. The current research on target 6D pose estimation is mainly applied to unoccluded targets, but when the target is occluded, the target’s pose cannot be accurately identified. Compared with other algorithms, the PVNet algorithm shows better robustness when target is occluded, but the accuracy is still low. To improve the accuracy of the PVNet algorithm, this paper adds the confidence score prediction of the prediction vector at the last layer of the PVNet network, and designs a vector confidence score loss function to train the network. Before generating the hypothetical keypoints, the pixels whose confidence score is lower than the set threshold are screened out, so that the generated hypothetical 2D keypoints are closer to the true 2D keypoints. Finally, the method in this paper is compared with the Tekin, PoseCNN, Oberweger and Pvnet algorithm, and demonstrate the superiority of the proposed method.

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A DDPG-Based Method of Autonomous Catheter Navigation in Virtual Environment

A DDPG-Based Method of Autonomous Catheter Navigation in Vir...

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IEEE International Conference on Mechatronics and Automation

作者： Wei Tian Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

Vascular interventional surgery is the main method for treating cardiovascular diseases. But navigating endovascular catheters through the vascular tree is a highly challenging task even for highly trained specialists. Automation of this task can reduce the burden on surgeons and is expected to improve the surgical outcomes. Although there have been relevant studies utilizing reinforcement learning algorithms to realize autonomous navigation of catheter in the virtual environment Cathsim. However, the kinematics model of the catheter in Cathsim does not conform to the operating mode of the catheter in real vascular interventional surgery. Besides, there are problems such as low success rates of catheter autonomous navigation tasks. To address these issues, this paper modifies the kinematics model of the catheter in Cathsim and designs a catheter autonomous navigation model based on reinforcement learning DDPG (Deep Deterministic Policy Gradient) algorithm. The experimental results show that the agents trained through DDPG in this paper performs better than the agents trained through PPO (Proximal Policy optimization) in other studies in terms of navigation task success rate, completion time, and contact force between the catheter and vascular wall during the navigation process.

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Study on Autonomous Surgical control system of The Vascular Interventional Surgical Robot Based on Catheter Tip Location Tracking

Study on Autonomous Surgical Control System of The Vascular ...

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IEEE International Conference on Mechatronics and Automation

作者： Zhimin Feng Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

The control system of vascular interventional surgical robot is a complex nonlinear system. When the catheter is inserted into human blood vessels, due to the irregular and curved shape of human blood vessels, the catheter will undergo small deformation, which will affect the displacement of the catheter. In order to reduce the displacement tracking error, a BP neural network PID controller was designed to compensate the displacement error of the autonomous vascular interventional surgical robot. Firstly, the dynamic analysis is carried out according to the axial displacement motion of the vascular interventional surgical robot, and the catheter displacement tracking controller was designed. According to the displacement error, BP neural network PID control is used to output three parameters of PID. Finally, in the experiment and PID control simulation comparison, the results show that the BP neural network PID control has a small displacement tracking error and superior tracking performance, which can meet the requirements.

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Design of control system for Lower Limb Rehabilitation Robot on the Healthy Side sEMG Signal

Design of Control System for Lower Limb Rehabilitation Robot...

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IEEE International Conference on Mechatronics and Automation

作者： Shiqin Yu Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing China

With the number of stroke patients increasing year by year, rehabilitation exoskeleton robot has been paid more and more attention. For the rehabilitation exoskeleton robot, human-computer interaction ability is an important index, which affects the effect of rehabilitation therapy to a great extent. Surface Electromyography (sEMG) signals are the combined effect of sEMG signals and electrical activities on nerve stem on the skin surface, which can reflect neuromuscular activities in advance and can be used to predict movement intention by sEMG signals. Therefore, this article proposes to use sEMG signals to monitor the motion information of the healthy leg in real-time, extract the characteristics of the electromyography signals, use the sEMG of the healthy leg as the control signal, reflect the motion patterns reflected by the sEMG collected from the healthy side, and then use the motion intention recognition method of Long Short Term Memory(LSTM) neural network to identify the motion intention of the prosthetic limb by identifying the motion patterns of the swing phase of the healthy side. The results indicate that the predicted maximum Root Mean Squared Error(RMSE) is 5.3729, which proves the feasibility of using LSTM model for motion intention recognition and contributes to the real-time and accuracy of lower limb exoskeleton rehabilitation.

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Intelligent Management and control system of Polluted Site Remediation Based on Internet of Things

Intelligent Management and Control System of Polluted Site R...

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Advances in Electrical Engineering and Computer applications( AEECA), 2020 IEEE International Conference on

作者： Peiye Sun Baofeng Zhang Rui Tian Junchao Zhu Tianjin Key Laboratory for Control Theory & Applications in Complicated System Tianjin University of Technology Tianjin China

ISBN: (数字)9781728165219

ISBN: (纸本)9781728165226

For the lack of effective security guarantee and risk assessment and forewarning in the process of remediation of contaminated sites, as well as the potential safety problem of secondary pollution, an intelligent management and control system of polluted site remediation based on internet of things is proposed. The safety state of the working environment can be evaluated and forewarned by real-time monitoring the toxic gas state and the physiological state of the workers. Intelligent video monitoring, GPS and GIS technology are used to realize whole-process and all-round monitoring, so as to prevent secondary pollution and ensure the safe and orderly construction of pollution remediation. The Emergency command plan can be activated quickly with one key when dangerous abnormal state occurs. The application experiment of the system shows that the system is stable and robust, and can meet the technical requirements of the remediation of contaminated sites.

关键词： Monitoring Pollution Biomedical monitoring Safety Internet of Things Personnel Sensors

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