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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Zhang, Chuang Wang, Wenxue Xi, Ning Wang, Yuechao Liu, Lianqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Emerging Technologies Institute Department of Industrial and Manufacturing Systems Engineering University of Hong Kong Pokfulam Hong Kong

ISBN: (纸本)9781509046331

Bio-syncretic robots, consisting of living biological materials and traditional electromechanical systems, have attracted lots of attention due to the potentialities of self-sensing, self-actuation and self-repairing with intrinsic safety and high energy conversion efficiency. However, most of current researches focus on the movement of the devices, and have ignored the study on the control of actuation unit 'cells', which is as important as motors for traditional electromechanical robots. In this work, the effects of cell culturing time, seeding concentration and functional drugs (cytochalasin and adrenalin) on contractile frequency and force strength of cardiomyocytes have been studied using scanning ion conductance microscope (SICM) and arrays of micro-pillars made of PDMS. This work will lay the foundation for the further study of quantitatively control of bio-syncretic robots actuated by cardiomyocytes and is also meaningful for the development of cytology, medicine, and clinical science. © 2017 IEEE.

关键词： Cytology

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Design and simulation of a cable-pulley-based transmission for artificial ankle joints

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Frontiers of Mechanical Engineering 2016年第2期11卷 170-183页

作者： Huaxin LIU Marco CECCARELLI Qiang HUANG Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing 100081 China Laboratory of Robotics and Mechatronics (LARM) DICeM University of Cassino and South Latium Cassino 03043 Italy Beijing Innovation Center for Intelligent Robots and Systems Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

关键词： biomimetic designs ankle joints cable-pulleytransmissions multi-body dynamic simulation numericalcharacterization

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Robust controller Design for BTT Missile Equipped with Grid Fin 35

Robust Controller Design for BTT Missile Equipped with Grid ...

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第35届中国控制会议

作者： XU Zhaoqing PEI Hailong College of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781509009107

The robust controller is designed for certain BTT missile which is equipped with grid fin. In order to design the controller of BTT missile, the aerodynamic force of grid fin is analyzed when the grid fin rotates in flying, then the aerodynamic force and aerodynamic moment along with movement equations are linearized based on the small perturbation linear theory, the beginning state of the cruise is chosen as the feature point, and then the dynamical coefficient are calculated, then the longitudinal and lateral perturbation equations are established. The dynamic responses of each motion deviation under the longitudinal and lateral free disturbance are obtained through solving the perturbation equations. The transfer functions and the dynamic responses under the step deflection of grid fin are derived, then the dynamic characteristics of the missile can be obtained. The results indicate that the grid fin can provide favorable stability. The H controller of pitch and lateral bank channels are designed based on dynamic characteristics analysis, the simulation results indicate that the system dynamic performance can satisfy the requirement, and H controller has a fine robustness for the parametric variation.

关键词： BTT missile H control dynamic characteristics grid fin

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Communication Distance Correlates Positively with Electrode Distance in Underwater Electrocommunication

Communication Distance Correlates Positively with Electrode ...

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IEEE International Conference on robotics and Biomimetics

作者： Yang Zhou Wei Wang Han Zhang Chen Wang Gang Xu Guangming Xie College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Department of Urban Studies and Planning Massachusetts Institute of Technology Cambridge MA USA 76315 Troop of the PLA Guangzhou China State Key Laboratory for turbulence and Complex Systems Peking University Beijing China Institute of Ocean Research Peking University Beijing China

ISBN: (纸本)9781728103785;9781728103778

Underwater wireless communication technology has been restricting the development of undersea resources for decades. We have proposed an effective underwater communication method (electrocommunication) for small underwater robots in our previous studies. In this article, we further study how electrode distance/spacing affects the communication range of electrocommunication between the robotic fish models. The working principle of electrocommunication is simplified by an electric dipole model. Based on the electric dipole model, the maximum theoretical distance of electrocommunication is derived as r=K 3 √(d 2 ) where d 2 is the distance between the receiving electrodes, and K is a constant related to the system and environmental parameters. Extensive experiments were conducted by varying the distance between the transmitting electrodes. The results show that the maximum experimental distance is basically consistent with the theoretical predictions, and that the communication distance is positively correlated with the electrode distance.

关键词： Electrodes Robots Receivers Transmitters Unmanned underwater vehicles Microcontrollers Underwater communication

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ADRC for Nonlinear Time-Variant systems with Unknown orders 35

ADRC for Nonlinear Time-Variant Systems with Unknown orders

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第35届中国控制会议

作者： LI Xiangyang AI Wei TIAN Senping Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSchool of Automation Science and EngineeringSouth China University of Technology

ISBN: (纸本)9781509009107

Active disturbance rejection control(ADRC) shows much promise in obtaining consistent response in an industrial control system full of *** traditional applications of ADRC,the system's order is *** paper concerns with the capability of ADRC for nonlinear time-variant systems with unknown *** controlled system's local model whose order is set according to the controller is introduced to make ADRC ***,an extend state filter(ESF) is added to the proposed ADRC to attain smoother control *** proposed ADRC based on local model is validated in simulation for a nonlinear,time-varying system with unknown order and uncertainties.

关键词： ADRC local model extended state observer nonlinear time-variant system unknown order data-driven control

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An Improved CFSFDP Algorithm with Cluster Center Automatically Selected Based on Weighted Average Method

An Improved CFSFDP Algorithm with Cluster Center Automatical...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Zhe Lv Zhonghua Han Liying Yang Wei Gong State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang China

Motived by that clustering by fast search and find of density peaks algorithm (CFSFDP) could not select the cluster center automatically, an improved CFSFDP algorithm was presented. The improved method uses the weighted average method and calculates the weighted averages of center weight for each point as the screening indices of cluster center. The data point will be selected as cluster center if its center weight is greater than the calculated weighted average. With aforesaid method, the improved algorithm could select the cluster center automatically, and effectively avoid the err by human made according to the decision graph. Simulation experiments comparing with K-means and CFSFDP on 4 kinds of UCI datasets are shown that the improved algorithm could retain the accurate and fast characteristics of CFSFDP and select the cluster center automatically.

关键词： Clustering algorithms Machine learning algorithms Software algorithms Automation Mathematical model Turning Market research

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Euler-Precision ZFD Formula 3NgPFD_G Extended to Future Minimization with Theoretical Guarantees and Numerical Experiments

Euler-Precision ZFD Formula 3NgPFD_G Extended to Future Mini...

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2017 IEEE 第2届先进信息技术,电子与自动化控制国际会议(IAEAC 2017)

作者： Yunong Zhang Huihui Gong Jian Li Huanchang Huang Min Yang School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Reseach Institute

In this paper, we propose and investigate a new Eulerprecision 3-node g-proportional finite difference formula [also named Zhang finite difference(ZFD) formula 3 NgPFDG], which achieves an error patte

ISBN: (纸本)9781467389808

关键词： Zhang finite difference (ZFD) 1st-order derivative Future minimization (FM) Theoretical guarantees Numerical experiments formula error model Frequency modulation FACTORY MUTUAL Optical gain Taylor series Finite differences

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Solving Ordinary Differential Equations by ZFD 4IgSFDL Method

Solving Ordinary Differential Equations by ZFD 4IgSFDL Metho...

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第36届中国控制会议

作者： Yunong Zhang Xuyun Yang Huanchang Huang Wan Li Fangzheng Lai School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute

Ordinary differential equations(ODEs) are commonly used in physical system and automation researches,describing the relationship among *** there are practical significances to discuss and to research the solutions of *** initial value problem(IVP) is one of the important parts,and we usually use traditional methods,*** method,to obtain the *** this paper,we propose a new method named ZFD(Zhang finite difference) 4IgSFD

关键词： ZFD 4IgSFDL Method IVP of ODE Numerical Experiments High Accuracy

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Parse geometry from a line: Monocular depth estimation with partial laser observation

Parse geometry from a line: Monocular depth estimation with ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yiyi Liao Lichao Huang Yue Wang Sarath Kodagoda Yinan Yu Yong Liu State Key Laboratory of Industrial Control Technology Zhejiang University Zhejiang China Horizon Robotics Inc. Beijing Shenzhen China Centre for Autonomous Systems (CAS) The University of Technology Sydney Australia

Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing capability, knowledge of depth is an essential part in many robotics activities. Therefore, recently, there is an increasing interest in depth estimation using monocular images. As this task is inherently ambiguous, the data-driven estimated depth might be unreliable in robotics applications. In this paper, we have attempted to improve the precision of monocular depth estimation by introducing 2D planar observation from the remaining laser range finder without extra cost. Specifically, we construct a dense reference map from the sparse laser range data, redefining the depth estimation task as estimating the distance between the real and the reference depth. To solve the problem, we construct a novel residual of residual neural network, and tightly combine the classification and regression losses for continuous depth estimation. Experimental results suggest that our method achieves considerable promotion compared to the state-of-the-art methods on both NYUD2 and KITTI, validating the effectiveness of our method on leveraging the additional sensory information. We further demonstrate the potential usage of our method in obstacle avoidance where our methodology provides comprehensive depth information compared to the solution using monocular camera or 2D laser range finder alone.

关键词： Estimation Lasers Two dimensional displays Neural networks Robot sensing systems Three-dimensional displays

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Real-time 3D human tracking for mobile robots with multisensors

Real-time 3D human tracking for mobile robots with multisens...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mengmeng Wang Daobilige Su Lei Shi Yong Liu Jaime Valls Miro State Key Laboratory of Institute of Cyber-Systems and Control Zhejiang University Zhejiang China Centre for Autonomous Systems (CAS) University of Technology Sydney Australia

Acquiring the accurate 3-D position of a target person around a robot provides fundamental and valuable information that is applicable to a wide range of robotic tasks, including home service, navigation and entertainment. This paper presents a real-time robotic 3-D human tracking system which combines a monocular camera with an ultrasonic sensor by the extended Kalman filter (EKF). The proposed system consists of three sub-modules: monocular camera sensor tracking model, ultrasonic sensor tracking model and multi-sensor fusion. An improved visual tracking algorithm is presented to provide partial location estimation (2-D). The algorithm is designed to overcome severe occlusions, scale variation, target missing and achieve robust re-detection. The scale accuracy is further enhanced by the estimated 3-D information. An ultrasonic sensor array is employed to provide the range information from the target person to the robot and Gaussian Process Regression is used for partial location estimation (2-D). EKF is adopted to sequentially process multiple, heterogeneous measurements arriving in an asynchronous order from the vision sensor and the ultrasonic sensor separately. In the experiments, the proposed tracking system is tested in both simulation platform and actual mobile robot for various indoor and outdoor scenes. The experimental results show the superior performance of the 3-D tracking system in terms of both the accuracy and robustness.

关键词： Target tracking Visualization Cameras Acoustics Robot vision systems

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