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检索条件"机构=the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems"

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Research on the application of WIA industrial wireless technology in the substation auxiliary control system 33

Research on the application of WIA industrial wireless techn...

引用

第三十三届中国控制会议

作者： YUAN Ting CUI Shijie ZHAO Qingqi SHANG Zhijun ZENG Peng GAO Qiang LI Ping WANG Tao WANG Gang Key Laboratory of Networked Control Systems Chinese Academy of Sciences

ISBN: (纸本)9781479947249

This paper presents a new substation auxiliary control system communication scheme based on WIA industrial wireless technology. The structure and operation principle are introduced, and the technical difficulties and solutions of the WIA industrial wireless technology in substation auxiliary control system application are analyzed from the network protocol and hardware design. The validity of the schema has been verified through the practical application in the pilot project.

关键词： WIA auxiliary control system substation wireless communication network protocol hardware design

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FPAA-based control of Bilateral Teleoperation systems

FPAA-based Control of Bilateral Teleoperation Systems

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第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

Discretizing the continuous-time controller of a master-slave teleoperation system can simplify control implementation. However, in teleoperation systems, discrete-time control can cause a performance degradation compared to continuous-time control. In digitally controlled bilateral teleoperation systems, there exist stability-imposed bounds on the gains of the discrete-time controller and the sampling period, and a trade-off between the two. This means that given a sampling period, it is impossible for the discretized controller to have gains above a threshold, which may well be necessary for successful performance of teleoperated tasks requiring highly accurate master-slave position tracking. In a teleoperation system with analog controller, however, stability does not impose any upper bound on the control gains, thus facilitating the performance of tasks that do require highly accurate master-slave position tracking. Inspired by this advantage of analog control, in this paper we develop a Field Programmable Analog Arrays(FPAA) based controller for bilateral teleoperation, which can achieve higher control gain than its discrete-time counterpart. We present the results of a user study measuring the human performance for a task involving flipping a stiff switch through a teleoperation system. We experimentally show that large sampling periods, necessitating low control gains for maintaining stability, lead to unacceptable task performance. We then show that humans can successfully perform the same task with the FPAA-based controller for the teleoperation system.

关键词： Bilateral teleoperation,stability,discrete-time control,FPAA-based control,task performance

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An Analysis of Sampling Effect on Bilateral Teleoperation System Transparency

An Analysis of Sampling Effect on Bilateral Teleoperation Sy...

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第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

The performances of continuous-time controlled and discrete-time controlled bilateral teleoperation systems are mathematically and experimentally studied and compared. The results show that under stability conditions, continuous-time controlled teleoperation systems have hybrid matrix parameters that are closer to their ideal values than their discrete-time controlled counterparts. This means better force tracking and position tracking performance under continuous-time control, which can lead to better task performance.

关键词： Bilateral teleoperation,hybrid parameters,discrete-time control,continuous-time control,system performance

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Active Disturbance Rejection-based Sliding Mode control for a Surface Vessel

Active Disturbance Rejection-based Sliding Mode Control for ...

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第三十四届中国控制会议

作者： Yuli Wei Tairen Sun Guohai Liu School of Electrical Information and Engineering Jiangsu University Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781467374439

Active disturbance rejection-based sliding mode control is proposed for the surface vessel with exogeneous disturbances to track desired trajectory robustly. A sliding surface based extended state observer is presented to estimate the lumped disturbances and compensate them in a feedforward form. To enhance the disturbances estimation speed and accuracy, a composite adaptive extended state observer, which is adjusted by tracking error and sliding surface estimation error, is proposed to estimate disturbances. The composite adaptive estimation based tracking control is constructed in feedforward-feedback composite control strategy. The effectiveness of the designed controllers is illustrated by theoretical analysis and simulations results.

关键词： Surface vessel,Trajectory tracking,Extended state observer,Active disturbance rejection control,Sliding mode control

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Design and evaluation of a bio-inspired robotic hand for percutaneous coronary intervention

Design and evaluation of a bio-inspired robotic hand for per...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Zhen-Qiu Feng Gui-Bin Bian Xiao-Liang Xie Zeng-Guang Hou Jian-Long Hao State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479969241

The percutaneous coronary interventions (PCI) require complex operating skills of the interventional devices and make the surgeons being exposed to heavy X-ray radiation. Accurate delivery of the interventional devices and avoiding the radiation are especially important for the surgeons. This paper presents a novel dedicated dual-finger robotic hand (DRH) and a console to assist the surgeons to deliver the interventional devices in PCIs. The system is designed in the master-slave way which helps the surgeons to reduce the exposure to radiation. The mechanism of the DRH is bio-inspired and motions are decoupled in kinematics. In PCI procedures, the accuracy of the guidewire delivery and the catheter tip placement have significant effects on the surgical results. The performances of the DRH in delivering the guidewire and the balloon/stent catheter were evaluated by three surgical manipulations. The results show that the DRH has the ability to deliver the guidewire and the balloon/stent catheter precisely.

关键词： Catheters Surgery Trajectory Robot sensing systems Magnetic resonance imaging Thumb

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Enhancing swimming performance of a biomimetic robotic fish by optimizing oscillator phase differences of a CPG model

Enhancing swimming performance of a biomimetic robotic fish ...

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IEEE International Conference on robotics and Biomimetics

作者： Jun Yuan Junzhi Yu Zhengxing Wu Min Tan State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467396769

This paper presents a novel approach on swimming performance improvement for a bio-inspired robotic fish. The main idea of this approach lies in optimizing the oscillator phase differences of a central pattern generator (CPG) model, which governs the rotation of the joints. Definitely, the swimming performance includes steady forward velocity, head stability, and energy-efficiency. A dynamic model is firstly built to describe the swimming motion of the robotic fish. Taking advantage of the dynamic model, we analyze the influence on the swimming performance exerted by the phase differences. Specifically, two conditions are studied and compared together: consistent and inconsistent phase differences. To the best of our knowledge, this issue has not been addressed in previous literature sufficiently. The optimal swimming performance is searched under both of the conditions. Simulation results reveal that the CPG model with inconsistent phase differences is able to realize better swimming performance, especially for head stability and energy-efficiency.

关键词： Force Dynamics Head Oscillators Biological system modeling Robot kinematics

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Development of a novel robotic jellyfish based on mechanical structure drive and barycenter adjustment

Development of a novel robotic jellyfish based on mechanical...

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IEEE International Conference on robotics and Biomimetics

作者： Xiangbin Li Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467396769

Jellyfish-inspired jet propulsion and robotic implementation have drawn much attention among the scientific community. In this paper, we report a novel robotic jellyfish synthesizing mechanical structure drive and barycenter adjustment mechanism. The robotic jellyfish relies on six-bar linkage mechanisms as actuators to realize the contraction-relaxation jet propulsion motion. To imitate the real jellyfish and to reduce drag, the robotic jellyfish is comprised of a streamlined head, a cavity shell, and a latex skin is enwraped around the drive units. To achieve free switch between different motion modes and transform attitude arbitrarily, a barycenter adjustment mechanism is embedded in the robot body. Through the upward, downward, balancing, as well as leaning-down motion of clump weights, the center of gravity of the robot can enwrap its center of buoyancy. Experimental tests on the actual robotic jellyfish verify the great 3D swimming ability.

关键词： Robots Cavity resonators Gears Servomotors Actuators Gravity Propulsion

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Dynamic modeling and control of a parallel upper-limb rehabilitation robot

Dynamic modeling and control of a parallel upper-limb rehabi...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Liang Peng Zeng-Guang Hou Weiqun Wang State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479918096

This paper aims at dynamic modeling and control of a new upper-limb rehabilitation robot which has a parallel structure. Dynamic modeling of parallel robot is a complicated problem, and the dynamics and voluntary force of the patient arm increase the difficulty of dynamic analysis and control in rehabilitation training. The novelties of this study are: (1) dynamics of the robot and the patient are considered together, and this human-robot interaction system is modeled as a redundantly actuated closed-chain system (2 DOFs, 4 active joints); (2) the system dynamics are derived in workspace using a new method based on the dynamics of its three serial open-chain branches, and both kinematic constrains and interaction forces are considered during the derivation. Compared with the other two previous methods reviewed in this paper, the proposed method is easier to derive, more computationally efficient, and it can be used in both redundant and non-redundant cases. Besides, a model based PD-computed torque controller is designed and the simulation of passive training task along a circular path is presented to prove the effectiveness of this method.

关键词： Joints Dynamics Robot kinematics Force Mathematical model Training

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An RBF-based neuro-adaptive control scheme to drive a lower limb rehabilitation robot

An RBF-based neuro-adaptive control scheme to drive a lower ...

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IEEE International Conference on robotics and Biomimetics

作者： Chengkun Cui Gui-Bin Bian Zeng-Guang Hou Min Tan Dongxu Zhang Xiao-Liang Xie Weiqun Wang State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467396769

In this paper, a novel robust adaptive control scheme is proposed for a lower limb rehabilitation robot designed by our laboratory. The proposed control strategy is based on the radial basis function (RBF) neural networks and the parameters of the system dynamics are unknown. The weights of the RBF neural networks are updated by an adaptive law according to the Lyapunov stability analysis. The robustness against possible variations of the system dynamics and the external disturbance are considered in the control design. The proposed control strategy can not only avoid the complex procedure of system parameters identification, but also guarantee high robustness, small trajectory tracking errors and the assistance of the patient's voluntary participation. Using this control algorithm, the robot can regulate its exerted torque to adapt to the patient's active torque in real time during rehabilitation. The effectiveness of our control method is demonstrated by a simulation.

关键词： Robots Torque Neural networks Robustness Adaptation models Adaptive control Training

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A simple technique for structured light calibration in welding robots

A simple technique for structured light calibration in weldi...

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IEEE International Conference on robotics and Biomimetics

作者： Prasarn Kiddee Zaojun Fang Min Tan The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781467396769

Structured light calibration is one of the most crucial parts in a visual sensing system of welding robots. And the main aspect of the structured light calibration is the accuracy. Besides, a practical and simplistic calibration approach is preferable. In this paper, we propose a simple technique for structured light calibration. The vertical and horizontal lines are added to the planar object to facilitate points detection. The information from the camera calibration is fully used to detect the points on the light stripe. Then parameters of the structured light plane are estimated based on three non-collinear points definition. It could be said that the computation in this study is straight forward. Furthermore, it does not require any additional equipment. Thus, it is a truly simple and practical calibration method. According to the experimental results, the calibration errors are less than 0.2 mm. It shows that our proposed method is acceptable to measurement system of welding robots.

关键词： Cameras Calibration Transmission line matrix methods Mathematical model Robot vision systems

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