Article
Automation & Control Systems
Ruoshi Wen, Quentin Rouxel, Michael Mistry, Zhibin Li, Carlo Tiseoi
Summary: This article presents a robust and reliable human-robot collaboration (HRC) framework for bimanual manipulation. The framework successfully adapted infeasible and dangerous human commands into continuous motions within safe boundaries and achieved stable grasping and maneuvering of large and heavy objects on a real dual-arm robot via teleoperation and physical interaction. The framework demonstrated the capability in the assembly task of building blocks and the insertion task of industrial power connectors.
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2023)
Article
Robotics
Weijia Yao, Hector Garcia de Marina, Bohuan Lin, Ming Cao
Summary: This article introduces a novel approach to transform self-intersected or simple closed desired paths into nonself-intersected and unbounded counterparts in a higher dimensional space by constructing a singularity-free guiding vector field. The method combines conventional VF-PF algorithms and trajectory tracking algorithms, enabling global convergence to complex desired paths. Theoretical analysis and outdoor experiments with a fixed-wing airplane demonstrate the practical value of the proposed approach in following 2-D and 3-D desired paths in complex engineering systems.
IEEE TRANSACTIONS ON ROBOTICS
(2021)
Article
Automation & Control Systems
Biao Hu, Zhengcai Cao, MengChu Zhou
Summary: This framework extends the RRT algorithm to plan motion for a wheeled robot under kinodynamic constraints, utilizing straight lines to quickly find obstacle-free paths and proposing a motion-control law guided by pose-based steer functions. The path deformation strategy effectively avoids collision points to generate smooth trajectories.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Automation & Control Systems
Huu-Thiet Nguyen, Chien Chern Cheah
Summary: This article proposes a theoretical framework for approximating the Jacobian matrix of a robot with unknown kinematics using a deep network, ensuring convergence of tracking error during online learning through progressive network building and training.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Robotics
Paolo Forte, Anna Mannucci, Henrik Andreasson, Federico Pecora
Summary: The study introduces a framework for handling task assignment, motion planning, coordination, and control of heterogeneous fleets of robots for non-cooperative tasks. It addresses the real-world requirement of asynchronous task posting and offers a safe and efficient solution.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Robotics
Valentin N. Hartmann, Andreas Orthey, Danny Driess, Ozgur S. Oguz, Marc Toussaint
Summary: Robotic construction assembly planning is a parallelizable task and motion planning problem. We propose a planning system that parallelizes complex task and motion planning by solving smaller subproblems. By combining optimization methods and a sampling-based path planner, we can plan cooperative multi-robot manipulation with unknown arrival times. We demonstrate the robustness and scalability of this approach in multiple construction case studies and showcase the feasibility of executing the computed plans in the real world.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Automation & Control Systems
Wei He, Jiashu Li, Zichen Yan, Fei Chen
Summary: This article presents a bidirectional bimanual handover system that allows a robot to both give and receive large planar objects with vertical grasp posture, integrating a position adjustment mechanism for improved human experience. The system is divided into four modes based on task states, with the robot controlled by a grip force controller and a dual-arm admittance NN controller to generate actual motions. Through specific methods, the designed handover system is successfully implemented and tested on a Baxter robot, demonstrating safe and effective performance in handover tasks.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2022)
Article
Automation & Control Systems
Yingbai Hu, Hang Su, Junling Fu, Hamid Reza Karimi, Giancarlo Ferrigno, Elena De Momi, Alois Knoll
Summary: The article proposes a learning scheme with nonlinear model predictive control (NMPC) for mobile robot path tracking. The learning-by-imitation system consists of two levels of hierarchy: in the first level, a multivirtual spring-dampers system is presented for imitation of the mobile robot's trajectories; and in the second level, the NMPC method is used in the motion control system.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Automation & Control Systems
Van-Tam Ngo, Yen-Chen Liu
Summary: This article proposes two control frameworks for human teleoperation of multiple robots. The first framework integrates adaptive neural networks, task-space synchronization, and robust control to address practical issues in robotic systems. The second framework uses distributed observers to control the robots using only relative position information. Experimental demonstration verifies the effectiveness of these control algorithms.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Robotics
Adriano M. C. Rezende, Vinicius M. Goncalves, Luciano C. A. Pimenta
Summary: This work presents a methodology for computing an artificial time-varying vector field in $n$ dimensions that defines trajectories converging to a desired curve. The methodology is validated through convergence proofs and the demonstration of ultimate bounds in the presence of bounded disturbances. Simulations and experiments with a quadrotor are presented to validate the methodology.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Automation & Control Systems
Jaehyung Kim, Wang Jie, Hyun Hee Kim, Min Cheol Lee
Summary: The proposed method uses potential field and angular limitation value function to optimize the configuration of angular velocity for redundant manipulators, avoiding joint limitations and collisions more efficiently.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Automation & Control Systems
Ning Tan, Peng Yu, Mao Zhang, Changsheng Li
Summary: Traditional teleoperation systems suffer from the problems of high computational cost, poor robustness, and poor portability due to being designed for a single class of slave robots and requiring specific kinematic models. This article proposes a unified adaptive teleoperation system using a closed-loop control system based on damping zeroing neural network (DampZNN) for different kinds of slave robots. The system utilizes two DampZNNs to estimate unknown kinematic models and solve inverse kinematics problems. By combining the DampZNN control system with teleoperation technology, operators can easily teleoperate both redundant and continuum slave robots. Experimental verification and comparative studies demonstrate the effectiveness and advantages of the proposed teleoperation system.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Jianhua Su, Chuankai Liu, Rui Li
Summary: This article presents an assembly strategy that combines active and passive compliant control to achieve precision assembly of robots. The configuration space of robot assembly is divided into subspaces, and the active compliant motion and passive compliant motion of the manipulator are mapped into different subspaces. A constraint function is constructed in one subspace to design the passive compliant motion of the manipulator, eliminating uncertainties through environment constraints. In another subspace, a force controller based on low-resolution force sensory information is designed to control the robot's position. The proposed method avoids the need for precision mechanism systems and high-quality sensors. Experimental results demonstrate the efficiency of the method in peg-in-hole insertions.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Automation & Control Systems
Diego Bianchi, Michele Gabrio Antonelli, Cecilia Laschi, Angelo Maria Sabatini, Egidio Falotico
Summary: The article presents a soft robot control system capable of throwing objects accurately towards target positions through the use of deep reinforcement learning. A neural network is deployed to learn the relationship between the actuation pattern and the target landing position, and a reinforcement learning method is then used to predict the actuation pattern. The proposed controller showed a success rate of almost 65% in tossing various objects, and the study contributes to the advancement of soft robots in performing complex tasks in everyday life and industry.
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2023)
Article
Robotics
Qing Shi, Zihang Gao, Guanglu Jia, Chang Li, Qiang Huang, Hiroyuki Ishii, Atsuo Takanishi, Toshio Fukuda
Summary: This study introduces a novel approach to design a biomimetic robotic rat with high speed, high flexibility, and high biomimicry degree. Drawing inspiration from rat movements, identifying key movement joints, and optimizing the model led to successful verification of the method.
IEEE TRANSACTIONS ON ROBOTICS
(2021)
Article
Automation & Control Systems
Lin Chen, Yaonan Wang, Zhiqiang Miao, Yang Mo, Mingtao Feng, Zhen Zhou, Hesheng Wang
Summary: Multirobot path planning aims to generate efficient and collision-free paths for multiple robots to reach designated goal positions from their start positions. Decentralized methods using imitation and reinforcement learning have significantly improved the performance of policy neural networks, but struggle in dense environments without communication between robots. Our work introduces the transformer structure into policy neural networks, enhancing their ability to extract features and collaborate in dense multirobot environments without communication.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2023)
Article
Automation & Control Systems
Yanjie Chen, Zhixing Zhang, Zheng Wu, Zhiqiang Miao, Hui Zhang, Yaonan Wang
Summary: This article presents a planning method called SET to improve computational efficiency in restricted environments while guaranteeing high-quality performance. SET consists of critical areas identification, guiding-exploration, and rectifying-exploration to enhance exploration.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2023)
Article
Automation & Control Systems
Yan Yang, Jiangtao Han, Zhijie Liu, Zhijia Zhao, Keum-Shik Hong
Summary: This paper proposes a dynamic model and performance constraint control method for a line-driven soft robotic arm. The dynamic model of the soft robotic arm is established by combining screw theory and Cosserat theory. The unmodeled dynamics of the system are considered, and an adaptive neural network controller is designed using the backstepping method and radial basis function neural network. The stability of the closed-loop system and the boundedness of the tracking error are verified using Lyapunov theory. The simulation results show that our approach is a good solution to the motion constraint problem of the line-driven soft robotic arm.
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
(2023)
Article
Automation & Control Systems
Xin Chen, Yu Guo, Jing Na
Summary: Synchronous averaging (SA) is a powerful signal processing tool that enhances the features of periodic events by suppressing nonsynchronous components. However, under random slip conditions, SA may not effectively enhance the features related to rolling element bearing (REB) faults. This article proposes two frameworks based on instantaneous angular speed (IAS) for synchronous averaging and introduces an improved negentropy indicator to characterize the richness of REB fault information. The effects of encoder resolution and structure damping factor on the waveform related to faulty REB are also studied. Simulation and experiment results demonstrate the effectiveness of the proposed schemes in enhancing the features of REB faults under random slip conditions.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Haoran He, Jing Na, Yingbo Huang, Tao Liu
Summary: In this article, a novel adaptive parameter estimation scheme is proposed for the continuous-time Hammerstein model. A continuous piecewise linear neural network is adopted to reformulate the dead-zone dynamics, and the K-filter operation is applied to obtain an integrated parametric model. Two adaptive laws based on estimation error are given to estimate the unknown parameters, and an observer is designed to reconstruct the unknown system states. Theoretical analysis and experiments verify the effectiveness of the proposed methods.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Review
Nutrition & Dietetics
An-Yu Xia, Hui Zhu, Zhi-Jia Zhao, Hong-Yi Liu, Peng-Hao Wang, Lin-Dan Ji, Jin Xu
Summary: This article focuses on the association between night-shift work, sleep disorders, and type 2 diabetes (T2DM), and highlights the involvement of circadian rhythm disruption. Several signaling pathways linking melatonin receptors MT1 and MT2 to insulin secretion and T2DM occurrence have been identified. This review provides a comprehensive explanation of these pathways and establishes a concrete molecular and evolutionary mechanism underlying the macroscopic association between circadian rhythm and T2DM. It offers new insights into the pathology, treatment, and prevention of T2DM.
Article
Automation & Control Systems
Yanjie Chen, Jiacheng Liang, Yangning Wu, Zhiqiang Miao, Hui Zhang, Yaonan Wang
Summary: In this article, a finite-time control scheme based on adaptive sliding-mode disturbance observer (ASMDO) is proposed for an unmanned aerial manipulator (UAM) under uncertainties and external disturbances. The scheme effectively estimates and compensates for the disturbances and uncertainties without requiring knowledge of their upper bounds. The proposed controller ensures finite-time convergence and specified transient and steady-state performance.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Automation & Control Systems
Zhijia Zhao, Yiming Liu, Tao Zou, Keum-Shik Hong, Han-Xiong Li
Summary: In this study, a novel adaptive fault-tolerant control strategy is proposed to address the vibration issues in marine risers, ensuring system stability and performance.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Letter
Automation & Control Systems
Zhijia Zhao, Sentao Cai, Ge Ma, F. Richard Yu
Summary: This research addresses the control problem of an experimental flexible manipulator in position tracking, vibration suppression, and saturation compensation. An anti-windup control based on backstepping technology and a Nussbaum function is developed to restrain the manipulator's vibration, achieve desired trajectory tracking, and eliminate saturation. The stability of the control system with the proposed control is proven using Lyapunov's method. Finally, the practicality and effectiveness of the control methodology are verified on a Quanser experiment platform.
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
(2023)
Article
Health Care Sciences & Services
Denong Liu, Qingyu Zhang, Zhijia Zhao, Mengjia Chen, Yanbin Hou, Guanjun Wang, Haowei Shen, Huaqiang Zhu, Yunxin Ji, Liemin Ruan, Zhongze Lou
Summary: This retrospective study investigated the utilization and prescription characteristics of benzodiazepine-receptor agonists (BZRAs) for anxiety patients in a large tertiary care general hospital. The study also examined the pattern of simultaneous consumption of multiple BZRA drugs and its association with coexisting diseases. The findings showed an increase in patient numbers and BZRA prescriptions over the study period, with a high percentage of patients consuming both benzodiazepines (BZDs) and Z-drugs simultaneously. Patients with certain coexisting conditions were more likely to consume multiple BZRAs, while those with other conditions were less likely to do so.
Article
Computer Science, Artificial Intelligence
Jing Zhao, Jincan Liu, Pak Kin Wong, Zhongchao Liang, Zhengchao Xie, Jing Na
Summary: This article proposes a generalized fuzzy subset (GFS) method to assess the time-varying multistate reliability. The method integrates all possible perturbations as inputs and constructs a GFS reliability model based on the composite limit state. The concept of uncertain subset boundary is introduced to conduct the reliability assessment using embedded interval type-2 fuzzy sets. A data-driven strategy is designed to address the deficiency of the GFS reliability model.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2023)
Article
Automation & Control Systems
Jie Lin, Zhiqiang Miao, Yaonan Wang, Guoqiang Hu, Xiangke Wang, Hesheng Wang
Summary: This article focuses on designing a constructive error-state linear quadratic regulation (LQR) geofencing tracking controller for underactuated quadrotor systems, which aims to achieve full-state feedback control while still maintaining motion constraints and input saturation. The rotational error is expressed in the Lie algebra using the logarithmic map of SO(3), enabling attitude errors to be operated in a vector space. An optimal LQR control strategy is proposed to directly control the quadrotor's force and torque without requiring parameter tuning. The Lyapunov stability theory is used to rigorously prove the asymptotic stability of the proposed controller. The effectiveness of the proposed safe tracking control scheme is demonstrated through numerical simulations and real-world experiments.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Aerospace
Zhijie Liu, Jun Shi, Yakun He, Zhijia Zhao, Hak-Keung Lam
Summary: This study develops an adaptive boundary control strategy with a dynamic event-triggered mechanism (dETM) for an aerial refueling hose system. The controller uses the barrier Lyapunov function (BLF) method, which reduces complexity and guarantees required performance through boundary deflection transformations, an asymmetric scaling function, and a behavior-shaping function. Fuzzy logic systems (FLSs) enhance adaptivity to unmodeled dynamics, and a dETM is constructed to achieve vibration suppression by reducing unnecessary signal transmission and ensuring stability via Lyapunov analysis.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2023)
Article
Automation & Control Systems
Chao Zhang, Xuemei Ren, Jing Na, Dongdong Zheng
Summary: This article proposes a safe dual-layer nested adaptive prescribed performance control approach for nonlinear systems, which ensures predefined transient and steady-state performances for the discontinuous reference signal. A monitoring mechanism and a novel dual-layer nested adaptive sliding mode compensation technique are introduced to handle system uncertainties effectively.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Zhijiang Gao, Pak Kin Wong, Jing Zhao, Zhixin Yang, Yingbo Huang, Jing Na
Summary: This article addresses the optimal control problem for magnetorheological fluid-based semiactive suspension systems with input saturation and time-varying delay. A robust switched H∞ method based on the Takagi-Sugeno fuzzy theory is proposed to handle this problem. A novel hybrid model incorporating the fluid flow mechanism and hysteresis phenomenon model is used to separate the passive and active components of the MRF damper. Linear matrix inequality conditions are derived to capture the features of input saturation and time-varying delay, and a Lyapunov-Krasovskii function is employed to ensure stability. Numerical examples demonstrate the effectiveness of the proposed method in dealing with the MRF-SAS system with input saturation and time-varying delay.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)