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15th International Conference on Advanced Computer Theory and Engineering, ICACTE 2022

作者： Wang, Jingyang Zou, Tao Yang, Zhijia Wang, Hongrui Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China Guangzhou University College Of Mechanical And Electrical Engineering Guangzhou China State Key Laboratory Of Robotics Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China University Of Chinese Academy Of Sciences Beijing China

ISBN: (数字)9781665481809

ISBN: (纸本)9781665481809

This paper illustrates the application of an autonomous decentralized system introducing edge nodes in a smart factory. The nodes include atomic nodes, the most fundamental autonomic units constituting an autonomous decentralized system that are capable of independently extracting information from the data field and processing that information internally and simultaneously transmitting the processing results and other internal information to the data field proactively in a broadcast mode, where the transmitted information circulates in the data field. The group-based data field enables the sharing of information by atomic nodes. Grouped management nodes are the managers of the whole group, and edge nodes are the terminal intelligent control units of an intelligent autonomous decentralized system. Improvements in system decentralization, fault tolerance characteristics and flexibility of the system can lead to homogenization, autonomous control and autonomous coordination in complex manufacturing environments, as well as excellent online fault tolerance, online expansion and online maintenance of the system. In addition, it enhances the ever-changing and evolving control requirements by deconstructing the complexity in the system. © 2022 IEEE.

关键词： Fault tolerance

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Imitation Learning of Human Operation Based on Visual Demonstration 3

Imitation Learning of Human Operation Based on Visual Demons...

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3rd International Conference on control and Computer Vision, ICCCV 2020

作者： Tong, Xunwei Li, Ruifeng Ge, Lianzheng Zhao, Lijun Wang, Ke State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9781450388023

In this paper, we propose an imitation learning method based on the optimization of the dynamic movement primitives (DMPs). The DMPs framework is one of the common methods of imitation learning because of its adaptability in time and space. On the basis of the traditional framework, we add the consideration of the dynamic performance of the robot during the reproduction process. We optimize the learned parameters (via DMPs) to reduce the average torque of robot joints while keeping the trajectory error small. The proposed method is evaluated with an experiment where a 6-degrees of freedom (6-DOF) robot learned a pick-place task from the visual demonstration of a human teacher. The experimental results show that our method reduced the average torque of robot joints by 73.4 N.m, which proves the effectiveness of the proposed method. © 2020 ACM.

关键词： Robots

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic Engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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Research on Multi-objective Active Power Optimization Simulation of Novel Improved Water Cycle Algorithm

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IAENG International Journal of Applied Mathematics 2021年第1期51卷 1页

作者： Chen, Gonggui Han, Ying Zhang, Zhizhong Zeng, Xianjun Li, Shuaiyong Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China Key Laboratory of Communication Network and Testing Technology Chongqing University of Posts and Telecommunications Chongqing400065 China State Grid Chongqing Electric Power Company Chongqing400015 China

Water cycle algorithm (WCA) is a heuristic algorithm proposed in recent years. To overcome the insufficiency of standard WCA algorithm in solving the non-convex optimal power flow (OPF) problems, the multi-objective novel improved water cycle algorithm (MONIWCA) is proposed in this paper. The evaporation process is improved in WCA by introducing evaporation rate and the normal distribution optimization mechanism is used to mutate the individual position. The modified WCA also adopts a constraint-based strategy to ensure zero constraint violations. In order to obtain a high-quality Pareto optimal solution set (POS) and select the best compromise solution (BCs), a global ranking strategy is proposed. The global ranking strategy includes the novel constraint handling method, the rank index calculation and the BCs on fuzzy satisfaction theory to deal with the complex constraints of the optimization problem. The MONIWCA has been simulated under the constraints of zero violations on IEEE 30, IEEE 57 and IEEE 118 standard test systems, including six dual-objective cases and one tri- objective case. The simulation results are compared with the multi-objective particle swarm optimization (MOPSO). The results show that the improved method can effectively solve the MOOPF problem, not only to obtain a uniform continuous Pareto solution set but also to achieve a better compromise solution. In addition, the two performance indicators of the generational distance (GD) and the spacing (SP) also show that the MONIWCA algorithm has uniform distribution, high convergence and strong stability. © 2021, IAENG International Journal of Applied Mathematics. All Rights Reserved.

关键词： Particle swarm optimization (PSO)

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Application of stand-off double-pulse laser-induced breakdown spectroscopy in elemental analysis of magnesium alloy

Application of stand-off double-pulse laser-induced breakdow...

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作者： Qi, Lifeng Sun, Lanxiang Xin, Yong Cong, Zhibo Li, Yang Yu, Haibin Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

In this study, a stand-off and collinear double pulse laser-induced breakdown spectroscopy (DP LIBS) system was designed, and the magnesium alloy samples at a distance of 2.5 m away from the LIBS system were measured. The effect of inter-pulse delay on spectra was studied, and the signal enhancement was observed compared to the single pulse LIBS (SP LIBS). The morphology of the ablated crater on the sample indicated a higher efficiency of surface pretreatment in DP LIBS. The calibration curves of Ytterbium (Y) and Zirconium (Zr) were investigated. The square of the correlation coefficient of the calibration curve of element Y reached up to 0.9998.

关键词： Magnesium alloys

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GPS/SINS/MC Integrated Navigation Algorithm Research Based on Zero Velocity Update 36

GPS/SINS/MC Integrated Navigation Algorithm Research Based o...

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第36届中国控制会议

作者： Fuchun Liu Shengjie Cao Yifeng Chen Xuan Su College of Automation Science and Engineering the Key Laboratory of Autonomous Systems and Networked Control（ASNC）Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781538629185

The navigation output accuracy of SINS/GPS integrated navigation system will decline when GPS is not *** Velocity Update（ZUPT） technology is used for the error correction in this *** a relevant algorithm,the zero velocity detection algorithm is applied in the carrier *** method has achieved an integrated navigation system filtering algorithm based on *** simulation and experiment results show that the algorithm effectively improves the accuracy of navigation by limiting the velocity value of GPS in zero-velocity condition.

关键词： Integrated Navigation Zero Velocity Update Kalman Filter

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Research on Indoor Robot SLAM of RBPF Improved with Geometrical Characteristic Localization 29

Research on Indoor Robot SLAM of RBPF Improved with Geometri...

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第29届中国控制与决策会议

作者： Liu Fuchun Chen Yifeng Li Yunze College of Automation Science and Engineering the Key Laboratory of Autonomous Systems and Networked Control(ASNC)Ministry of EducationSouth China University of Technology

ISBN: (纸本)9781509046584

LIDAR and odometer are used as the main sensors in this paper, with the two-wheeled self-balancing robot as the research and experiment platform, this topic has researched the way to SLAM when the robot is in unfamiliar environment with uncertain position and orientation. On the issue of setting the dynamic threshold value to zone the LIDAR scanning points in the process of constructing the geometry map, with the consideration of the character of RPLIDAR which is used in our research, this paper has analyzed and proposed the specific dynamic threshold values, which make the zoning of LIDAR scanning points more reasonable. In order to improve the robustness of SLAM, we have used regular particle filter(RPF) as the location algorithm. In order to solve the problem of unable to add auxiliary information under the traditional MCL framework, we have taken full use of the high accuracy character of the geometry matching and locating, and have used the result of it to improve the importance density function of RPF. Based on the idea of Rao-Blackwellization, the improved RBPF-SLAM has been proposed. The validity and feasibility of the improved RBPF-SLAM have been proved with simulations and experiments.

关键词： Simultaneous Localization and Mapping LIDAR robot particle filter

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Active knee joint exoskeleton for stair ascent augmentation

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Science China(Information Sciences) 2021年第3期64卷 243-245页

作者： Zongwei ZHANG Jizhuang FAN Hongzhe JIN Tianjiao ZHENG Sikai ZHAO Shun MA Jie ZHAO Yanhe ZHU State Key Laboratory of Robotics and Systems

Dear editor,Stair climbing is a strenuous daily movement that is challenging for older adults and those with lower limb *** this study, we describe a novel stairclimbing exoskeleton that was designed to help weak-knee... 详细信息

关键词： exoskeleton stair climbing hybrid control zero-force tracking switching controller

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Optimal motion generation for heavy duty industrial robotscontrol scheme and algorithm

Optimal motion generation for heavy duty industrial robotsco...

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IEEE International Conference on Mechatronics

作者： You, Wei Kong, Minxiu Sun, Lining State Key Laboratory of Robotics and Systems Harbin Institute of Technology 150001 Harbin China

ISBN: (纸本)9781612849836

In this paper an optimal motion generation approach for a heavy duty industrial robot, including both the control scheme and algorithm, was designed and tested. Aiming for the main defects in data sampling interpolation process of traditional motion control scheme, a FC based control scheme is proposed, An industrial computer with a TwinCAT real-time system was chosen as the motion control unit,and EtherCAT was used for command transmission. With the bask requirements of motion generation, a navel time and power optimal motion generation algorithm based on modified cubic spline interpolation is proposed. The execution time and work were chosen as the objective function. The constraints are the limits of torque, velocity and jerk. The position and velocity of the optimized motion were smooth. Acceleration was continuous throughout the execution period, including at the start point and end point Then the proposed control scheme and motion generation algorithm was applied for control of heavy duty material handling robots. The final experimental results showed that after obtaining motion parameters in an off-line stage, the computation of interpolation in Cartesian space could be finished very rapidly, within a short sample time (about four times the sample time of the position control loop). And the motion generation algorithm has a great effect on energy saving and production efficiency improvement © 2011 IEEE.

关键词： Multiobjective optimization

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Secure resource allocation for green and cognitive device-to-device communication

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Science China(Information Sciences) 2018年第2期61卷 296-298页

作者： Chi XU Peng ZENG Wei LIANG Haibin YU Key Laboratory of Networked Control Systems Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

Dear editor,Spectrum efficiency,energy efficiency and communication security are the most significant concerns in the 5G era[1].Cognitive radio which employs dynamic spectrum sharing,energy harvest-

关键词： CDR CDT

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