Human–robot(HR)collaboration(HRC)is an emerging research field because of the complementary advantages of humans and robots.An HRC framework for robotic assembly based on impedance control is proposed in this paper.I...Human–robot(HR)collaboration(HRC)is an emerging research field because of the complementary advantages of humans and robots.An HRC framework for robotic assembly based on impedance control is proposed in this paper.In the HRC framework,the human is the decision maker,the robot acts as the executor,while the assembly environment provides constraints.The robot is the main executor to perform the assembly action,which has the position control,drag and drop,positive impedance control,and negative impedance control modes.To reveal the characteristics of the HRC framework,the switch condition map of different control modes and the stability analysis of the HR coupled system are discussed.In the end,HRC assembly experiments are conducted,where the HRC assembly task can be accomplished when the assembling tolerance is 0.08 mm or with the interference fit.Experiments show that the HRC assembly has the complementary advantages of humans and robots and is efficient in finishing complex assembly tasks.展开更多
When designing a complex mechatronics system, such as high speed trains, it is relatively difficult to effectively simulate the entire system's dynamic behaviors because it involves multi-disciplinary subsystems. ...When designing a complex mechatronics system, such as high speed trains, it is relatively difficult to effectively simulate the entire system's dynamic behaviors because it involves multi-disciplinary subsystems. Currently, a most practical approach for multi-disciplinary simulation is interface based coupling simulation method, but it faces a twofold challenge: spatial and time unsynchronizations among multi-directional coupling simulation of subsystems. A new collaborative simulation method with spatiotemporal synchronization process control is proposed for coupling simulating a given complex mechatronics system across multiple subsystems on different platforms. The method consists of 1) a coupler-based coupling mechanisms to define the interfacing and interaction mechanisms among subsystems, and 2) a simulation process control algorithm to realize the coupling simulation in a spatiotemporal synchronized manner. The test results from a case study show that the proposed method 1) can certainly be used to simulate the sub-systems interactions under different simulation conditions in an engineering system, and 2) effectively supports multi-directional coupling simulation among multi-disciplinary subsystems. This method has been successfully applied in China high speed train design and development processes, demonstrating that it can be applied in a wide range of engineering systems design and simulation with improved efficiency and effectiveness.展开更多
Navigation modules are capable of driving a robotic platform without direct human participation. However, for some specific contexts, it is preferable to give the control to a human driver. The human driver participat...Navigation modules are capable of driving a robotic platform without direct human participation. However, for some specific contexts, it is preferable to give the control to a human driver. The human driver participation in the robotic control process when the navigation module is running raises the share control issue. This work presents a new approach for two agents collaborative planning using the optimal control theory and the three-layer architecture. In particular, the problem of a human and a navigation module collaborative planning for a trajectory following is analyzed. The collaborative plan executed by the platform is a weighted summation of each agent control signal. As a result, the proposed architecture could be set to work in autonomous mode, in human direct control mode or in any aggregation of these two operating modes. A collaborative obstacle avoidance maneuver is used to validate this approach. The proposed collaborative architecture could be used for smart wheelchairs, telerobotics and unmanned vehicle applications.展开更多
Time-delay phenomena extensively exist in practical systems,e.g.,multi-agent systems,bringing negative impacts on their stabilities.This work analyzes a collaborative control problem of redundant manipulators with tim...Time-delay phenomena extensively exist in practical systems,e.g.,multi-agent systems,bringing negative impacts on their stabilities.This work analyzes a collaborative control problem of redundant manipulators with time delays and proposes a time-delayed and distributed neural dynamics scheme.Under assumptions that the network topology is fixed and connected and the existing maximal time delay is no more than a threshold value,it is proved that all manipulators in the distributed network are able to reach a desired motion.The proposed distributed scheme with time delays considered is converted into a time-variant optimization problem,and a neural dynamics solver is designed to solve it online.Then,the proposed neural dynamics solver is proved to be stable,convergent and robust.Additionally,the allowable threshold value of time delay that ensures the proposed scheme’s stability is calculated.Illustrative examples and comparisons are provided to intuitively prove the validity of the proposed neural dynamics scheme and solver.展开更多
Teleoperation control strategies for collaborative welding system which is targeting at giving full play to human’s superiority is designed and the fitness for teleoperation welding task of which are studied. During ...Teleoperation control strategies for collaborative welding system which is targeting at giving full play to human’s superiority is designed and the fitness for teleoperation welding task of which are studied. During the teleoperation welding process, 6-DOF controller’s signal can be converted into welding torch’s position, velocity or acceleration changing which is being controlled. For welding purposes, control strategies of four modes are designed, which are static position and posture mode, dynamic position and posture mode, velocity mode and acceleration mode. A test and analysis system for testing the tracking accuracy and reliability of control strategy based on virtual reality is developed. The tracking accuracies of the four control strategies are studied in the following tests with straight line trajectory, curve trajectory or space curve trajectory. The results show that the control strategy in dynamic position and posture mode has best stability and strong adaptability which is the most suitable for the teleoperation system.展开更多
A multi-domain collaborative simulation(MDCS) system for dual clutch transmission(DCT) was presented based on controller area network(CAN) bus.An interface card of CAN bus was designed,in which MDCS subsystems were li...A multi-domain collaborative simulation(MDCS) system for dual clutch transmission(DCT) was presented based on controller area network(CAN) bus.An interface card of CAN bus was designed,in which MDCS subsystems were linked as the nodes according to the interface mode of MDCS.A DCT simulation model was established based on Matlab/Simdriveline,whose running process was accurately controlled by the designed control system.The playback system of vehicle state(VPS) was proposed whose input was the road-test data,with a real vehicle test environment for the development of transmission control unit(TCU) being provided.A DCT kinematic system model was set up,and the running status of DCT parts could be displayed in real time.The functions of MDCS were verified based on the extra-urban driving cycle(EUDC) and the vehicle road-test data respectively.The results show the functions of MDCS are accomplished,and the unified supporting platform for the development of TCU is achieved by MDCS.展开更多
Multi-tenant collaboration brings the challenge to access control in cloud computing environment.Based on the multi-tenant role-based access control(MT-RBAC)model,a Temporal MT-RBAC(TMT-RBAC)model for collaborative cl...Multi-tenant collaboration brings the challenge to access control in cloud computing environment.Based on the multi-tenant role-based access control(MT-RBAC)model,a Temporal MT-RBAC(TMT-RBAC)model for collaborative cloud services is proposed.It adds the time constraint between trusted tenants,including usable role time constraint based on both calendar and interval time.Analysis shows that the new model strengthens the presentation ability of MT-RBAC model,achieves the finer-grained access control,reduces the management costs and enhances the security of multi-tenant collaboration in cloud computing environment.展开更多
In order to satisfy the high efficiency and high precision of collaborative robots,this work presents a novel trajectory planning method.First,in Cartesian space,a novel velocity look-ahead control algorithm and a cub...In order to satisfy the high efficiency and high precision of collaborative robots,this work presents a novel trajectory planning method.First,in Cartesian space,a novel velocity look-ahead control algorithm and a cubic polynomial are combined to construct the end-effector trajectory of robots.Then,the joint trajectories can be obtained through the inverse kinematics.In order to improve the smoothness and stability in joint space,the joint trajectories are further adjusted based on the velocity look-ahead control algorithm and quintic B-spline.Finally,the proposed trajectory planning method is tested on a 4-DOF serial collaborative robot.The experimental results indicate that the collaborative robot achieves the high efficiency and high precision,which validates the effectiveness of the proposed method.展开更多
Background As a novel approach for people to directly communicate with an external device,the study of brain-computer interfaces(BCIs)has become well-rounded.However,similar to the real-world scenario,where individual...Background As a novel approach for people to directly communicate with an external device,the study of brain-computer interfaces(BCIs)has become well-rounded.However,similar to the real-world scenario,where individuals are expected to work in groups,the BCI systems should be able to replicate group attributes.Methods We proposed a 4-order cumulants feature extraction method(CUM4-CSP)based on the common spatial patterns(CSP)algorithm.Simulation experiments conducted using motion visual evoked potentials(mVEP)EEG data verified the robustness of the proposed algorithm.In addition,to freely choose paradigms,we adopted the mVEP and steady-state visual evoked potential(SSVEP)paradigms and designed a multimodal collaborative BCI system based on the proposed CUM4-CSP algorithm.The feasibility of the proposed multimodal collaborative system framework was demonstrated using a multiplayer game controlling system that simultaneously facilitates the coordination and competitive control of two users on external devices.To verify the robustness of the proposed scheme,we recruited 30 subjects to conduct online game control experiments,and the results were statistically analyzed.Results The simulation results prove that the proposed CUM4-CSP algorithm has good noise immunity.The online experimental results indicate that the subjects could reliably perform the game confrontation operation with the selected BCI paradigm.Conclusions The proposed CUM4-CSP algorithm can effectively extract features from EEG data in a noisy environment.Additionally,the proposed scheme may provide a new solution for EEG-based group BCI research.展开更多
Based on an analysis of the operational control behavior of operation experts on energy-intensive equipment,this paper proposes an intelligent control method for low-carbon operation by combining mechanism analysis wi...Based on an analysis of the operational control behavior of operation experts on energy-intensive equipment,this paper proposes an intelligent control method for low-carbon operation by combining mechanism analysis with deep learning,linking control and optimization with prediction,and integrating decision-making with control.This method,which consists of setpoint control,self-optimized tuning,and tracking control,ensures that the energy consumption per tonne is as low as possible,while remaining within the target range.An intelligent control system for low-carbon operation is developed by adopting the end-edge-cloud collaboration technology of the Industrial Internet.The system is successfully applied to a fused magnesium furnace and achieves remarkable results in reducing carbon emissions.展开更多
The exoskeleton robot is a typical man–machine integration system in the human loop.The ideal man–machine state is to achieve motion coordination,stable output,strong personalization,and reduce man–machine confront...The exoskeleton robot is a typical man–machine integration system in the human loop.The ideal man–machine state is to achieve motion coordination,stable output,strong personalization,and reduce man–machine confrontation during motion.In order to achieve an ideal man–machine state,a Time-varying Adaptive Gait Trajectory Generator(TAGT)is designed to estimate the motion intention of the wearer and generate a personalized gait trajectory.TAGT can enhance the hybrid intelligent decision-making ability under human–machine collaboration,promote good motion coordination between the exoskeleton and the wearer,and reduce metabolic consumption.An important feature of this controller is that it utilizes a multi-layer control strategy to provide locomotion assistance to the wearer,while allowing the user to control the gait trajectory based on human–robot Interaction(HRI)force and locomotion information.In this article,a Temporal Convolutional Gait Prediction(TCGP)model is designed to learn the personalized gait trajectory of the wearer,and the control performance of the model is further improved by fusing the predefined gait trajectory method with an adaptive interactive force control model.A human-in-the-loop control strategy is formed with the feedback information to stabilize the motion trajectory of the output joints and update the system state in real time based on the feedback from the inertial and interactive force signal.The experimental study employs able-bodied subjects wearing the exoskeleton for motion trajectory control to evaluate the performance of the proposed TAGT model in online adjustments.Data from these evaluations demonstrate that the controller TAGT has good motor coordination and can satisfy the subject to control the motor within a certain range according to the walking habit,guaranteeing the stability of the closed-loop system.展开更多
A coordinated controller used for multi-telerobots collaboration was presented based on the strategy of shared control. First, it can overcome the effect of time delay. And, it combines the intelligence of the master ...A coordinated controller used for multi-telerobots collaboration was presented based on the strategy of shared control. First, it can overcome the effect of time delay. And, it combines the intelligence of the master side and the slave side, which cannot only increase the efficiency and the safety of the system but also relieve the burden and requirements of the operator. The controller can also cope with the collision between two telerobots. A simulation experiment was carried out to verify the validity of the controller for two slave robots.展开更多
基金supported in part by the National Natural Science Foundation of China(62293514,52275020,and 91948301)。
文摘Human–robot(HR)collaboration(HRC)is an emerging research field because of the complementary advantages of humans and robots.An HRC framework for robotic assembly based on impedance control is proposed in this paper.In the HRC framework,the human is the decision maker,the robot acts as the executor,while the assembly environment provides constraints.The robot is the main executor to perform the assembly action,which has the position control,drag and drop,positive impedance control,and negative impedance control modes.To reveal the characteristics of the HRC framework,the switch condition map of different control modes and the stability analysis of the HR coupled system are discussed.In the end,HRC assembly experiments are conducted,where the HRC assembly task can be accomplished when the assembling tolerance is 0.08 mm or with the interference fit.Experiments show that the HRC assembly has the complementary advantages of humans and robots and is efficient in finishing complex assembly tasks.
基金Supported by National High Technology Research and Development Program of China(863 Program,Grant No.2015AA043701-02)
文摘When designing a complex mechatronics system, such as high speed trains, it is relatively difficult to effectively simulate the entire system's dynamic behaviors because it involves multi-disciplinary subsystems. Currently, a most practical approach for multi-disciplinary simulation is interface based coupling simulation method, but it faces a twofold challenge: spatial and time unsynchronizations among multi-directional coupling simulation of subsystems. A new collaborative simulation method with spatiotemporal synchronization process control is proposed for coupling simulating a given complex mechatronics system across multiple subsystems on different platforms. The method consists of 1) a coupler-based coupling mechanisms to define the interfacing and interaction mechanisms among subsystems, and 2) a simulation process control algorithm to realize the coupling simulation in a spatiotemporal synchronized manner. The test results from a case study show that the proposed method 1) can certainly be used to simulate the sub-systems interactions under different simulation conditions in an engineering system, and 2) effectively supports multi-directional coupling simulation among multi-disciplinary subsystems. This method has been successfully applied in China high speed train design and development processes, demonstrating that it can be applied in a wide range of engineering systems design and simulation with improved efficiency and effectiveness.
文摘Navigation modules are capable of driving a robotic platform without direct human participation. However, for some specific contexts, it is preferable to give the control to a human driver. The human driver participation in the robotic control process when the navigation module is running raises the share control issue. This work presents a new approach for two agents collaborative planning using the optimal control theory and the three-layer architecture. In particular, the problem of a human and a navigation module collaborative planning for a trajectory following is analyzed. The collaborative plan executed by the platform is a weighted summation of each agent control signal. As a result, the proposed architecture could be set to work in autonomous mode, in human direct control mode or in any aggregation of these two operating modes. A collaborative obstacle avoidance maneuver is used to validate this approach. The proposed collaborative architecture could be used for smart wheelchairs, telerobotics and unmanned vehicle applications.
基金supported in part by the National Natural Science Foundation of China (62176109)the Natural Science Foundation of Gansu Province(21JR7RA531)+7 种基金the Team Project of Natural Science Foundation of Qinghai Province China (2020-ZJ-903)the State Key Laboratory of Integrated Services Networks (ISN23-10)the Gansu Provincial Youth Doctoral Fund of Colleges and Universities (2021QB-003)the Fundamental Research Funds for the Central Universities (lzujbky-2021-65)the Supercomputing Center of Lanzhou Universitythe Natural Science Foundation of Chongqing(cstc2019jcyjjq X0013)the CAAIHuawei Mind Spore Open Fund (CAAIXS JLJJ-2021-035A)the Pioneer Hundred Talents Program of Chinese Academy of Sciences
文摘Time-delay phenomena extensively exist in practical systems,e.g.,multi-agent systems,bringing negative impacts on their stabilities.This work analyzes a collaborative control problem of redundant manipulators with time delays and proposes a time-delayed and distributed neural dynamics scheme.Under assumptions that the network topology is fixed and connected and the existing maximal time delay is no more than a threshold value,it is proved that all manipulators in the distributed network are able to reach a desired motion.The proposed distributed scheme with time delays considered is converted into a time-variant optimization problem,and a neural dynamics solver is designed to solve it online.Then,the proposed neural dynamics solver is proved to be stable,convergent and robust.Additionally,the allowable threshold value of time delay that ensures the proposed scheme’s stability is calculated.Illustrative examples and comparisons are provided to intuitively prove the validity of the proposed neural dynamics scheme and solver.
文摘Teleoperation control strategies for collaborative welding system which is targeting at giving full play to human’s superiority is designed and the fitness for teleoperation welding task of which are studied. During the teleoperation welding process, 6-DOF controller’s signal can be converted into welding torch’s position, velocity or acceleration changing which is being controlled. For welding purposes, control strategies of four modes are designed, which are static position and posture mode, dynamic position and posture mode, velocity mode and acceleration mode. A test and analysis system for testing the tracking accuracy and reliability of control strategy based on virtual reality is developed. The tracking accuracies of the four control strategies are studied in the following tests with straight line trajectory, curve trajectory or space curve trajectory. The results show that the control strategy in dynamic position and posture mode has best stability and strong adaptability which is the most suitable for the teleoperation system.
基金Science and Technology Commission of Shanghai Municipality,China (No. 08dz1150401)
文摘A multi-domain collaborative simulation(MDCS) system for dual clutch transmission(DCT) was presented based on controller area network(CAN) bus.An interface card of CAN bus was designed,in which MDCS subsystems were linked as the nodes according to the interface mode of MDCS.A DCT simulation model was established based on Matlab/Simdriveline,whose running process was accurately controlled by the designed control system.The playback system of vehicle state(VPS) was proposed whose input was the road-test data,with a real vehicle test environment for the development of transmission control unit(TCU) being provided.A DCT kinematic system model was set up,and the running status of DCT parts could be displayed in real time.The functions of MDCS were verified based on the extra-urban driving cycle(EUDC) and the vehicle road-test data respectively.The results show the functions of MDCS are accomplished,and the unified supporting platform for the development of TCU is achieved by MDCS.
基金This work was sponsored by Qing Lan Project of JiangSu Province,The Natural Science Foundation of the Jiangsu Higher Education Institutions of China(Nos.17KJB520033,17KJB520032)National Natural Science Foundation of China(No.61772280)。
文摘Multi-tenant collaboration brings the challenge to access control in cloud computing environment.Based on the multi-tenant role-based access control(MT-RBAC)model,a Temporal MT-RBAC(TMT-RBAC)model for collaborative cloud services is proposed.It adds the time constraint between trusted tenants,including usable role time constraint based on both calendar and interval time.Analysis shows that the new model strengthens the presentation ability of MT-RBAC model,achieves the finer-grained access control,reduces the management costs and enhances the security of multi-tenant collaboration in cloud computing environment.
文摘In order to satisfy the high efficiency and high precision of collaborative robots,this work presents a novel trajectory planning method.First,in Cartesian space,a novel velocity look-ahead control algorithm and a cubic polynomial are combined to construct the end-effector trajectory of robots.Then,the joint trajectories can be obtained through the inverse kinematics.In order to improve the smoothness and stability in joint space,the joint trajectories are further adjusted based on the velocity look-ahead control algorithm and quintic B-spline.Finally,the proposed trajectory planning method is tested on a 4-DOF serial collaborative robot.The experimental results indicate that the collaborative robot achieves the high efficiency and high precision,which validates the effectiveness of the proposed method.
基金Supported by the National Natural Science Foundation of China(U19A2082,61961160705,61901077)the National Key Research and Development Plan of China(2017YFB1002501)the Key R&D Program of Guangdong Province,China(2018B030339001).
文摘Background As a novel approach for people to directly communicate with an external device,the study of brain-computer interfaces(BCIs)has become well-rounded.However,similar to the real-world scenario,where individuals are expected to work in groups,the BCI systems should be able to replicate group attributes.Methods We proposed a 4-order cumulants feature extraction method(CUM4-CSP)based on the common spatial patterns(CSP)algorithm.Simulation experiments conducted using motion visual evoked potentials(mVEP)EEG data verified the robustness of the proposed algorithm.In addition,to freely choose paradigms,we adopted the mVEP and steady-state visual evoked potential(SSVEP)paradigms and designed a multimodal collaborative BCI system based on the proposed CUM4-CSP algorithm.The feasibility of the proposed multimodal collaborative system framework was demonstrated using a multiplayer game controlling system that simultaneously facilitates the coordination and competitive control of two users on external devices.To verify the robustness of the proposed scheme,we recruited 30 subjects to conduct online game control experiments,and the results were statistically analyzed.Results The simulation results prove that the proposed CUM4-CSP algorithm has good noise immunity.The online experimental results indicate that the subjects could reliably perform the game confrontation operation with the selected BCI paradigm.Conclusions The proposed CUM4-CSP algorithm can effectively extract features from EEG data in a noisy environment.Additionally,the proposed scheme may provide a new solution for EEG-based group BCI research.
基金supported by the Science and Technology Major Project 2020 of Liaoning Province,China(2020JH1/10100008)National Natural Science Foundation of China(61991404 and 61991400)111 Project 2.0(B08015)。
文摘Based on an analysis of the operational control behavior of operation experts on energy-intensive equipment,this paper proposes an intelligent control method for low-carbon operation by combining mechanism analysis with deep learning,linking control and optimization with prediction,and integrating decision-making with control.This method,which consists of setpoint control,self-optimized tuning,and tracking control,ensures that the energy consumption per tonne is as low as possible,while remaining within the target range.An intelligent control system for low-carbon operation is developed by adopting the end-edge-cloud collaboration technology of the Industrial Internet.The system is successfully applied to a fused magnesium furnace and achieves remarkable results in reducing carbon emissions.
文摘The exoskeleton robot is a typical man–machine integration system in the human loop.The ideal man–machine state is to achieve motion coordination,stable output,strong personalization,and reduce man–machine confrontation during motion.In order to achieve an ideal man–machine state,a Time-varying Adaptive Gait Trajectory Generator(TAGT)is designed to estimate the motion intention of the wearer and generate a personalized gait trajectory.TAGT can enhance the hybrid intelligent decision-making ability under human–machine collaboration,promote good motion coordination between the exoskeleton and the wearer,and reduce metabolic consumption.An important feature of this controller is that it utilizes a multi-layer control strategy to provide locomotion assistance to the wearer,while allowing the user to control the gait trajectory based on human–robot Interaction(HRI)force and locomotion information.In this article,a Temporal Convolutional Gait Prediction(TCGP)model is designed to learn the personalized gait trajectory of the wearer,and the control performance of the model is further improved by fusing the predefined gait trajectory method with an adaptive interactive force control model.A human-in-the-loop control strategy is formed with the feedback information to stabilize the motion trajectory of the output joints and update the system state in real time based on the feedback from the inertial and interactive force signal.The experimental study employs able-bodied subjects wearing the exoskeleton for motion trajectory control to evaluate the performance of the proposed TAGT model in online adjustments.Data from these evaluations demonstrate that the controller TAGT has good motor coordination and can satisfy the subject to control the motor within a certain range according to the walking habit,guaranteeing the stability of the closed-loop system.
文摘A coordinated controller used for multi-telerobots collaboration was presented based on the strategy of shared control. First, it can overcome the effect of time delay. And, it combines the intelligence of the master side and the slave side, which cannot only increase the efficiency and the safety of the system but also relieve the burden and requirements of the operator. The controller can also cope with the collision between two telerobots. A simulation experiment was carried out to verify the validity of the controller for two slave robots.
