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International Conference on Mechatronics (ICM)

作者： Chuanqi Hu Jin Wang Yikai Chen Yonghang Chen Zhi Zheng Jun Meng Guodong Lu Polytechnic Institute Zhejiang University Hangzhou China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems Zhejiang University Hangzhou China Robotics Research Center of Yuyao City Ningbo China School of Mechanical Engineering Zhejiang University Hangzhou China National Elite Institute of Engineering Chongqing University Chongqing China College of Electrical Engineering Zhejiang University Hangzhou China Center for Data Mining and Systems Biology College of Electrical Engineering Zhejiang University Hangzhou China

ISBN: (数字)9798331533892

ISBN: (纸本)9798331533908

This paper presents a trajectory tracking algorithm designed for autonomous quadrotors to navigate complex dy-namic environments that is resilient to collision disturbances. Since it combines Model Predictive Contouring control (MPCC) with the capabilities of neural networks, our method is named MPCC Integrated with Neural Augmentation (MINA). By equip-ping the quadrotor with PVDF piezoelectric sensors, we achieve real-time perception of collision forces and utilize S4D-Conv Adaptive Net Architecture (SANA) for state computation, a network that integrates the advantages of S4D and convolutional kernels to enhance the accuracy of state predictions. We incorporate the predicted results into the MPCC framework to optimize the thrust output of the quadrotor for the next time step, ensuring precise trajectory tracking. Experimental validation demonstrates the reliability and effectiveness of our algorithm, providing an innovative solution for autonomous flight and trajectory tracking of quadrotors in complex dynamic environments.

关键词： Trajectory tracking Navigation Heuristic algorithms Neural networks Reliability theory Predictive models Prediction algorithms Real-time systems Sensors Quadrotors

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Application of Stand-off Double-Pulse Laser-Induced Breakdown Spectroscopy in Elemental Analysis of Magnesium Alloy

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Plasma Science and Technology 2015年第8期17卷 676-681页

作者：齐立峰孙兰香辛勇丛智博李洋于海斌 Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of Sciences

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： laser-induced breakdown spectroscopy stand-off double-pulse magnesiumalloy

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A Bioinspired Soft Robot Combining the Growth Adaptability of Vine Plants with a Coordinated control System

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Research 2021年第1期2021卷 1266-1273页

作者： Pengchun Li Yongchang Zhang Guangyu Zhang Dekai Zhou Longqiu Li State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbinHeilongjiang 150001China

Tip-extending soft robots,taking flexible film or rubber as body material and fluid pressure as input power,exhibit excellent advantages in constrained and cluttered environments for detection and ***,existing soft continuum robots are of great challenges in achieving multiple,mutually independent,and on-demand active steering over a long distance without precise steering *** this paper,we introduce a vine-like soft robot made up of a pressurized thin-walled vessel integrated with the high controllability of a control system with multiple degrees of freedom in three ***,steering and kinematic models to relate the steering angle and robot length to the location of the robot tip are provided,and a dynamic finite element model for analyzing the motion of the spatial consecutive steering is *** demonstrate the abilities of disinfection of the robot moving in a long and tortuous pipeline and detection in a multi-obstacle constrained *** is established that the robot exhibits great advantages in active consecutive steering over a long distance,high controllability in completing more complex path planning,and significant ability of carrying operational tools for ventilation pipeline disinfection and multi-obstacle *** bionic soft robot shows great promise for use in environment sensing,target detecting,and equipment servicing.

关键词： robot Robot obstacle

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Sim2Real Learning With Domain Randomization for Autonomous Guidewire Navigation in Robotic-Assisted Endovascular Procedures

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 13842-13854页

作者： Yao, Tianliang Wang, Haoyu Lu, Bo Ge, Jiajia Pei, Zhiqiang Kowarschik, Markus Sun, Lining Seneviratne, Lakmal Qi, Peng Tongji University College of Electronics and Information Engineering Shanghai Institute of Intelligent Science and Technology Department of Control Science and Engineering Shanghai200092 China Shanghai University of Engineering Science School of Electronic and Electrical Engineering Shanghai201620 China Soochow University Robotics and Microsystems Center School of Mechanical and Electrical Engineering Jiangsu Suzhou215131 China Advanced Therapies Siemens Healthineers Ltd. Shanghai201318 China University of Shanghai for Science and Technology Oriental Pan-Vascular Devices Innovation College Shanghai200093 China Bavaria Forchheim91301 Germany Khalifa University KUCARS Department of Mechanical and Nuclear Engineering Abu Dhabi United Arab Emirates Tongji University College of Electronics and Information Engineering Shanghai Institute of Intelligent Science and Technology State Key Laboratory of Cardiovascular Diseases and Medical Innovation Center Shanghai East Hospital Department of Control Science and Engineering School of Medicine Shanghai200092 China

Over the past decade, significant advancements have been made in the research and industrialization of robotic systems for endovascular procedures, yet their clinical application remains relatively limited. Physicians commonly report that these robots lack certain intelligent assistive capabilities during procedures. There has been increasing interest and attempts to apply learning-centered algorithms to the training and enhancement of surgical robot skills. This paper proposes an autonomous navigation algorithm for interventional guidewires that is initially trained solely in a virtual simulation environment and subsequently deployed to a real-world robot. Experimental results demonstrate the feasibility of this approach for real-world applications. The proposed approach can help physicians reduce the learning curve for guidewire manipulation and elevate the robot to a higher level of autonomous operation, thereby breaking through the current bottleneck in the level of intelligence for clinical applications of interventional robots. It also holds promise for bringing intelligent transformation to future interventional procedures. © 2004-2012 IEEE.

关键词： Adversarial machine learning

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Quantitative analysis of the main components in ceramic raw materials based on the desktop LIBS analyzer

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Plasma Science and Technology 2022年第8期24卷 46-54页

作者： Peng ZHANG Lanxiang SUN Haibin YU Peng ZENG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People's Republic of China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016People's Republic of China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110016People's Republic of China

The concentrations of SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiO,and loss on ignition(L.O.I.) are the main inorganic components of geological *** of the eight oxides and *** also the main indicators of concern in the production of building *** analysis of the eight oxides and *** performed using fiber-laserbased laser-induced breakdown spectroscopy(LIBS).A combination of continuous background deduction,full width at half maximum(FWHM) intensity integral and spectral sum normalization was proposed for data *** the data processing combined the continuous background deduction,FWHM intensity integral and spectral sum normalization,the mean absolute errors(MAEs) of the calibration of L.O.I.,SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiOwas reduced from 2.03%,12.06%,4.84%,1.10%,0.69%,0.31%,0.11%,0.20%and 0.10% to 1.80%,9.48%,2.12%,0.36%,0.58%,0.11%,0.08%,0.19% and 0.05%,*** multivariate method was further introduced and discussed to improve the analysis *** MAEs of L.O.I.,SiO,Al2O,KO and NaO were further reduced to1.12%,2.07%,1.38%,0.35% and 0.43%,*** results show that the overall prediction error can meet the requirements for the production of building *** LIBS desktop analyzer has great potential in detection applications on geological samples.

关键词： laser-induced breakdown spectroscopy fiber laser quantitative analysis matrix effects geological samples

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Development of a novel hand-eye calibration for intuitive control of minimally invasive surgical robot

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Frontiers of Mechanical Engineering 2022年第3期17卷 91-108页

作者： Yanwen SUN Bo PAN Yili FU State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin150001China

Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand-eye coordination intuitive *** knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgical *** the transformation with respect to the laparoscope and robot slave arm frames using hand-eye calibration is essential,which is a key component for developing intuitive control *** proposed a novel two-step modified dual quaternion for hand-eye calibration in this *** dual quaternion was exploited to solve the hand-eye calibration simultaneously and powered by an iteratively separate *** obtained hand-eye calibration result was applied to the intuitive control by using the hand-eye coordination *** simulations and experimental studies were conducted to evaluate the proposed method on our surgical robot *** extensively compared the proposed method with state-of-the-art *** demonstrate this method can improve the calibration *** effectiveness of the intuitive control algorithm was quantitatively evaluated,and an improved hand-eye calibration method was *** relationship between laparoscope and robot kinematics can be established for intuitive control.

关键词： minimally invasive surgery hand-eye calibration intuitive control surgical robot dual quaternion

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Short-term load forecasting of long-short term memory neural network based on genetic algorithm 4

Short-term load forecasting of long-short term memory neural...

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4th IEEE Conference on Energy Internet and Energy System Integration, EI2 2020

作者： Li, Wanting Zang, Chuanzhi Liu, Ding Zeng, Peng Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems State Key Laboratory of Robotics Institutes for Robotics and Intelligent Manufacturing Beijing China

ISBN: (纸本)9781728196060

Accurate load forecasting is conducive to the reasonable arrangement of power grid dispatching plans. Traditional load forecasting methods cannot handle the time series and nonlinear characteristics of load well. Long-short term memory (LSTM) neural networks can record long-term and short-term information, which can effectively solve this kind of problem. But the parameters of LSTM network are difficult to determine. For this reason, this paper proposes a long-short term neural network based on genetic algorithm. The learning rate and iteration number of the LSTM network are used as chromosomes, and the genes are continuously selected, crossed, and mutated to obtain more good genes. Comparing this method with the standard LSTM network, the simulation results show that the LSTM network using genetic algorithm for parameter optimization improves the prediction accuracy of the standard LSTM network by 63%. © 2020 IEEE.

关键词： Genetic algorithms

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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

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Frontiers of Mechanical Engineering 2020年第2期15卷 193-208页

作者： Haitao YU Haibo GAO Liang DING Zongquan DENG State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China

As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane,the spring-loaded inverted pendulum(SLIP)model has been extensively employed in both biomechanical study and robotics *** at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the center of mass(CoM)with maneuverability,this study presents a novel two-layered sagittal SLIP-anchored(SSA)task space control for a monopode robot to deal with terrain *** work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximate solution with satisfactory apex prediction accuracy,and a two-layered SSA task space controller is subsequently developed for the monopode *** higher layer employs an analytical approximate representation of the sagittal SLIP model to form a deadbeat controller,which generates an adaptive reference trajectory for the *** lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space controller to transfer the reference CoM commands into joint torques of the multi-degree of freedom monopode ***,an adaptive hopping behavior is exhibited by the robot when traversing irregular *** results have demonstrated the effectiveness of the proposed method.

关键词： legged robots spring-loaded inverted pendulum task space control apex return map deadbeat control irregular terrain negotiation

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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...

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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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Light weight design and integrated method for manufacturing hydraulic wheel-legged robots

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第9期25卷 701-715页

作者： Xu LI Haoyang YU Huaizhi ZONG Haibo FENG Yili FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China

Design and manufacturing play pivotal roles in hydraulic-driven robotic ***,previous studies have emphasized mainly results and performance,often overlooking the specifics of the design and manufacturing *** paper introduces a novel approach known as light weight design and integrated manufacturing(LD&IM)for hydraulic wheel-legged *** LD&IM method leverages topology optimization and generative design techniques to achieve a substantial 45%weight reduction,enhancing the robot’s dynamic motion *** innovative design method not only streamlines the design process but also upholds the crucial attributes of light weight construction and high strength essential for hydraulic wheel-legged ***,the integrated manufacturing method,incorporating selective laser melting(SLM)and high-precision subtractive manufacturing(SM)processes,expedites the fabrication of high-quality *** the LD&IM approach,a hydraulic-driven single wheel-legged robot,denoted as WLR-IV,has been successfully *** robot boasts low mass and inertia,high strength,and a simplified component *** assess its dynamic jumping capabilities,the control loop integrates a linear quadratic regulator(LQR)and zero dynamic-based controller,while trajectory planning uses the spring-loaded inverted pendulum(SLIP)*** jumping results confirm the WLR-IV single-legged robot’s exceptional dynamic performance,validating both the effectiveness of the LD&IM method and the rationale behind the control strategy.

关键词： Wheel-legged robot Hydraulic driven Topology optimization Wheel-legged robot Hydraulic driven Topology optimization Additive manufacturing(AM) Jump control

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