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2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)最新文献

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Planar motion analysis and control of vibration-driven system driven by three-phase motion of two internal masses* 两内质量三相运动驱动振动驱动系统的平面运动分析与控制*
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612618
P. Yin, Xiaojun Tang, Fenglong Yang, Xiong Zhan, Jian Xu, Tianli Hui
{"title":"Planar motion analysis and control of vibration-driven system driven by three-phase motion of two internal masses*","authors":"P. Yin, Xiaojun Tang, Fenglong Yang, Xiong Zhan, Jian Xu, Tianli Hui","doi":"10.1109/WRCSARA53879.2021.9612618","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612618","url":null,"abstract":"The research on vibration-driven system with several internal masses is of great significance for creeping robots in some narrow space, while seldom scholars study the planar motion with continuously changing curvature. The planar locomotion of this system with two internal masses, driven by three-phase motion, under viscous and anisotropic friction is studied in this paper. When the period ratio of the two moving internal masses is equal to 1, the trajectory of the system is a circle. The analytical solutions of steady-state linear velocity and angular velocity of circular motion are obtained by using the averaging method. When the period ratio is not equal to 1, the trajectory of the system is a linear. The influence of relative acceleration and the period ratio of the two moving internal masses on the planar motion of the system is analyzed by using the Velocity-Verlet integration method, which is verified by the Runge-Kutta method. The planar locomotion of the system can be obtained. It follows from the above analysis results that the six types of the switching trajectory can arise by controlling the driven parameters. Finally, integrating the different switching trajectories, one can obtain any continuous-curvature paths, which has important application value for the trajectory planning of the mobile robot.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"127 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120879370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Two-Stage Point Cloud Registration Method for Knee Joint Replacement Navigation* 膝关节置换术导航的两阶段点云配准方法*
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612682
Wei Minhua, W. Chaoqun, Zhou Haifeng, Cheng Xiao, Kuang Shaolong, Sun Lining
{"title":"A Two-Stage Point Cloud Registration Method for Knee Joint Replacement Navigation*","authors":"Wei Minhua, W. Chaoqun, Zhou Haifeng, Cheng Xiao, Kuang Shaolong, Sun Lining","doi":"10.1109/WRCSARA53879.2021.9612682","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612682","url":null,"abstract":"To resolve the problem that the iterative closest point (ICP) algorithm commonly used in knee joint replacement surgery registration had low registration accuracy and was easy to fall into local optimal solutions. An improved registration method based on feature point clouds was proposed. First, the Harris-3D algorithm was used to extract the feature point cloud of the three-dimensional model of the knee joint. Optical tracking system (OTS) was used to collect the point cloud of the corresponding area of the sawbone. Then, the Sample Consensus Initial Alignment (SAC-IA) algorithm was used to perform coarse registration on two point clouds. The ICP algorithm was used to make the registration matrix converge to an optimal solution. The k-d tree was used to find neighboring points to accelerate the iterative process. Finally, the simulation of the registration method was taken to prove the feasibility of the method. The accuracy of the knee joint surgery navigation registration experiment was carried out with the knee joint femur model as the object. Result shows that the error of the proposed registration algorithm is 2.12mm, while the error of the ICP algorithm is 6.30mm, which verifies the effectiveness of this method.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"218 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121471823","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Stable Binocular Vision Tracking Based on Kalman Filtering with Motion State Estimation 基于卡尔曼滤波和运动状态估计的双目稳定视觉跟踪
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612692
Yinghao Zhang, Zhen Sun, Chunheng Lu, Junchen Wang
{"title":"Stable Binocular Vision Tracking Based on Kalman Filtering with Motion State Estimation","authors":"Yinghao Zhang, Zhen Sun, Chunheng Lu, Junchen Wang","doi":"10.1109/WRCSARA53879.2021.9612692","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612692","url":null,"abstract":"This paper aims to build a high-precision, fast and stable binocular vision tracking system. The proposed binocular vision tracking algorithm can localize a visual marker consisting of at least three X-shaped corners in real time with six degrees of freedom (DoFs). A fast triangle screening algorithm is proposed to improve the calculation efficiency of the template matching process by 61.52%. A Kalman filtering method based on motion state estimation is also proposed to stabilize the 3D tracking of visual markers, which can significantly reduce the fluctuation of tracking and realize smooth tracking with accurate localization. Finally, the localization accuracy of the binocular vision system was evaluated using a commercial laser tracker, and the experimental results showed that the localization accuracy could reach 0.16 mm.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115471856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design and Modeling of WL-I Vehicle for Ship Hull Cleaning wl - 1型船体清洗车的设计与建模
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612678
Chang-Joon Song, Weicheng Cui
{"title":"Design and Modeling of WL-I Vehicle for Ship Hull Cleaning","authors":"Chang-Joon Song, Weicheng Cui","doi":"10.1109/WRCSARA53879.2021.9612678","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612678","url":null,"abstract":"During the long service life of a ship, the surface of the ship hull will be attached to a large number of marine creatures. This will slow down the ship’s navigation speed, increase fuel consumption, and even endanger the safety of the ship’s structure. This unique and challenging problem can be solved by using underwater cleaning robots. In this paper, the remote-operated underwater vehicle system named WL-I is introduced, which can complete the inspection of the adhesion of marine creatures on the ship hull and clean them off. The WL-I has two operation modes: free-flying in the water and crawling on the ship hull. In the second mode, the adherence to the ship hull is guaranteed by applying a force normal to the hull surface from the vertical thrusters, and the forward driving force is provided by the horizontal thrusters at the rear for its locomotion on the hull surface.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116856985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Adaptive Neural Network Based Virtual Decomposition Control for Robot Manipulator with Mixed Rigid/Flexible Joints 基于自适应神经网络的刚柔混合关节机器人虚拟分解控制
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612616
Wei Xia, Huashan Liu
{"title":"Adaptive Neural Network Based Virtual Decomposition Control for Robot Manipulator with Mixed Rigid/Flexible Joints","authors":"Wei Xia, Huashan Liu","doi":"10.1109/WRCSARA53879.2021.9612616","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612616","url":null,"abstract":"In this article, an adaptive neural network based controller for multi-degree-of-freedom robot manipulators with mixed rigid/flexible joints is investigated within frame of virtual decomposition control theory. First, virtual decomposition principle is introduced and applied to decouple the entire system of robot manipulator with mixed rigid/flexible joints into subsystems in terms of links and joints. Then, generalized neural networks are incorporated into the control law of rigid-link subsystems and rigid-joint subsystems to make the corresponding sub-control without invoing any model parameters. In addition, overall stability analysis of the control system is given according to the theory of virtual stability and Lyapunov stability. Finally, validation example is provided to verify the proposed control approach.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124502542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Precise control of ferrofluid droplet robot in 3-D vascular model 三维血管模型铁磁流体液滴机器人的精确控制
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612669
Yiming Ji, Yuguo Dai, Dixiao Chen, Chunyuan Gan, Luyao Wang, Lin Feng
{"title":"Precise control of ferrofluid droplet robot in 3-D vascular model","authors":"Yiming Ji, Yuguo Dai, Dixiao Chen, Chunyuan Gan, Luyao Wang, Lin Feng","doi":"10.1109/WRCSARA53879.2021.9612669","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612669","url":null,"abstract":"The application of magnetic particles containing drugs as control objects has become an attractive research topic. Magnetic fluids with magnetic nanoparticles and unique deformation properties have been extensively studied in recent years. In this paper, a ferrofluid droplet robot (FDR) for targeted drug delivery is presented. We realized the operation and control of FDR in 3D vascular model by a set of four solenoid control system. To achieve this control, a four-electromagnetic coil control system with visual feedback is designed and built. The system generates a high-gradient magnetic field and achieves three-dimensional control of the FDR through visual feedback with an accuracy of no more than 0.3 mm. Besides, by investigating the deformation capacity of FDR, we have explored the magnetic field conditions required to pass through a narrow channel of a certain width. The realization of the control effect makes it technically possible to use FDR for drug delivery through vascular navigation.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130597882","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
WRC SARA 2021 Cover Page WRC SARA 2021封面页
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/wrcsara53879.2021.9612671
{"title":"WRC SARA 2021 Cover Page","authors":"","doi":"10.1109/wrcsara53879.2021.9612671","DOIUrl":"https://doi.org/10.1109/wrcsara53879.2021.9612671","url":null,"abstract":"","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"262 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125718850","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Inverse Dynamics-based Control with Parameter Adaptation for Tip-tracking of Flexible Link Robot 柔性连杆机器人尖端跟踪的参数自适应逆动力学控制
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612622
Xiaocong Zhu, Cianyi Yannick, Jian Cao
{"title":"Inverse Dynamics-based Control with Parameter Adaptation for Tip-tracking of Flexible Link Robot","authors":"Xiaocong Zhu, Cianyi Yannick, Jian Cao","doi":"10.1109/WRCSARA53879.2021.9612622","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612622","url":null,"abstract":"Compare to rigid manipulators, flexible link manipulators (FLM) have the advantage of being lightweight and low energy consumption, which makes them have increasing demands across the industrial and aerospace world. Inverse dynamics-based control has been applied widely in rigid manipulators. However, the natural undamped behavior of FLM's internal dynamics hinders the direct use of inverse dynamics-based control. In this paper, an inverse dynamics-based control with parameter adaptation has been proposed, which is designed according to a redefined dynamic model with uncertainties for achieving good tip-tracking with good vibration attenuation as well. The proposed controller consists of model compensation based on inverse dynamics, feedback control, and internal control. The stability of the closed-loop system has been proved through Lyapunov theory. The experimental results indicate best performances in both slow and fast point-to-point motion with the proposed control.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121154366","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Design and Analysis of a Novel Reconfigurable Closed-Chain Robot Leg 新型可重构闭链机器人腿的设计与分析
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612696
Hao Zhang, J. Qin, Lei Gao, Yu Cao
{"title":"Design and Analysis of a Novel Reconfigurable Closed-Chain Robot Leg","authors":"Hao Zhang, J. Qin, Lei Gao, Yu Cao","doi":"10.1109/WRCSARA53879.2021.9612696","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612696","url":null,"abstract":"In order to solve the problem of fixed foot trajectory of closed-chain robot leg mechanism, a new reconfigurable closed-chain robot leg is designed. In the case of maintaining the characteristics of the closed-loop kinematic chain, the composite hinge is introduced, and the general eight-bar kinematic chain is locally contracted to obtain a simplified eight-bar kinematic chain. The leg mechanism of the robot is designed with one of the basic configurations. Based on the single-degree-of-freedom mechanism, a regulating motor is added to transform the single-crank structure into a double-crank structure, and the foot trajectory is changed by adjusting the crank angle, so that the single-degree-of-freedom robot leg can be reconfigured. The leg mechanism is designed and the virtual prototype is built. The walking simulation analysis of typical ground environment is carried out by using ADAMS software. On this basis, the single leg physical model is made and the bench test is carried out to verify the correctness of the theoretical method and the reliability of the reconfigurable mechanism.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130186234","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Experimental Dynamics Identification of Autonomous Underwater Vehicle and Modified Model Reference Adaptive Controller Design* 自主水下航行器实验动力学辨识及改进模型参考自适应控制器设计*
2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612691
Zhibin Jiang, Shuo Li, Tiejun Liu, Sheng Qi, Ya-xing Wang
{"title":"Experimental Dynamics Identification of Autonomous Underwater Vehicle and Modified Model Reference Adaptive Controller Design*","authors":"Zhibin Jiang, Shuo Li, Tiejun Liu, Sheng Qi, Ya-xing Wang","doi":"10.1109/WRCSARA53879.2021.9612691","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612691","url":null,"abstract":"This paper investigates experimental diving dynamic model identification of Autonomous Underwater Vehicles (AUVs). An effective identification method based on tracking differentiator and augmented recursive least square (TD-ARLS) estimator is introduced to identify unknown model parameters. Depending on the identified model, a modified Model Reference Adaptive Control (MRAC) law is proposed to obtain optimal control performance. The identified model is adopted as the reference model to design the modified MRAC for the AUV’s diving dynamics. The lake trials of Explorer 1000 AUV and simulation results illustrate the effectiveness of the proposed method.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123393280","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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