Minchao Liu, B. Li, Qiang Ning, Jiahong Liu, J. Qin, Jun Yu Li, Shiming Cui
In order to assist patients with impaired upper limb locomotion in daily life, this article proposes an upper limb exoskeleton which is kinematically compatible with the human upper limb. In addition to the 7DOFs of the free upper limb, two passive DOFs were introduced to support the pectoral girdle protraction/retraction and elevation/depression, and ensure the instantaneous center of shoulder rotation is aligned with human. Furthermore, a Bowden-cable-based actuation was designed to reduce the whole weight and moment of inertia. Subsequently, to evaluate the performance of the proposed exoskeleton, the experiment of discrete point tracking was tested for elbow joint through the designed PID controller. Experimental results indicated that the designed PID control system could achieve stable feedback control. Thus, the proposed exoskeleton could realize the desired position accurately. This exoskeleton achieves the human-robot kinematic compatibility and precise position control, laying the foundation for the next step of continuous trajectory tracking control over the multiply joints.
{"title":"Design of an upper limb exoskeleton to assist disabled individuals","authors":"Minchao Liu, B. Li, Qiang Ning, Jiahong Liu, J. Qin, Jun Yu Li, Shiming Cui","doi":"10.1145/3529763.3529774","DOIUrl":"https://doi.org/10.1145/3529763.3529774","url":null,"abstract":"In order to assist patients with impaired upper limb locomotion in daily life, this article proposes an upper limb exoskeleton which is kinematically compatible with the human upper limb. In addition to the 7DOFs of the free upper limb, two passive DOFs were introduced to support the pectoral girdle protraction/retraction and elevation/depression, and ensure the instantaneous center of shoulder rotation is aligned with human. Furthermore, a Bowden-cable-based actuation was designed to reduce the whole weight and moment of inertia. Subsequently, to evaluate the performance of the proposed exoskeleton, the experiment of discrete point tracking was tested for elbow joint through the designed PID controller. Experimental results indicated that the designed PID control system could achieve stable feedback control. Thus, the proposed exoskeleton could realize the desired position accurately. This exoskeleton achieves the human-robot kinematic compatibility and precise position control, laying the foundation for the next step of continuous trajectory tracking control over the multiply joints.","PeriodicalId":123351,"journal":{"name":"Proceedings of the 3rd International Conference on Service Robotics Technologies","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125836659","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}
We present a method for robot exploration in complex three-dimensional environments. We prove that when facing multiple path branches, it is a necessary condition for optimal robot exploration to explore the branches connecting independent areas first, so we propose a local exploration strategy based on small areas priority. In order to realize this strategy, our method models lidar points and builds a prediction map covering more spatial information obtained by the sensor at the expense of accuracy. This method evaluates the potential explorable area of the unexplored space through ray-casting and the path tree, and decides which of the explorable path branches is the optimal choice in the local range. The method is compared to existing state-of-the-art methods in two corridor simulation scenes and three simulation scenes replicated from the real world. Experiment comparisons show that our method is more efficient in exploring space and closer to the global optimal trajectory.
{"title":"Robot Exploration based on Small Areas Priority Strategy","authors":"Chao Wei, Meng Xu, Ji-kai Wang, Zonghai Chen","doi":"10.1145/3529763.3529765","DOIUrl":"https://doi.org/10.1145/3529763.3529765","url":null,"abstract":"We present a method for robot exploration in complex three-dimensional environments. We prove that when facing multiple path branches, it is a necessary condition for optimal robot exploration to explore the branches connecting independent areas first, so we propose a local exploration strategy based on small areas priority. In order to realize this strategy, our method models lidar points and builds a prediction map covering more spatial information obtained by the sensor at the expense of accuracy. This method evaluates the potential explorable area of the unexplored space through ray-casting and the path tree, and decides which of the explorable path branches is the optimal choice in the local range. The method is compared to existing state-of-the-art methods in two corridor simulation scenes and three simulation scenes replicated from the real world. Experiment comparisons show that our method is more efficient in exploring space and closer to the global optimal trajectory.","PeriodicalId":123351,"journal":{"name":"Proceedings of the 3rd International Conference on Service Robotics Technologies","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125540541","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}
Synchronizer as an important part of mechanical transmission, it has an important impact on gear shift performance. How to reduce shift impact and ensure shift smoothness is an important goal of synchronizer. This paper presents a novel synchronizer shift actuator controlled by proportional reducing valve, which can ensure the smoothness of shift, and the generated back pressure can effectively reduce the shift impact. In order to reduce the shift impact and complete the fast shift at the same time, the active disturbance rejection control (ADRC) method is applied, which can estimate and compensate the uncertainty of the system in real time, and improve the anti-interference ability and adaptive ability of the gear actuator. A simulation and test platform were built to verify the proposed control method. The results show that the proposed method can quickly complete the gear shift and effectively reduce the shift impact.
{"title":"Active Disturbance Rejection Control for the Synchronizer Engagement with a Proportional Pressure Reducing Valve","authors":"Lixiang Ye, Jinle Zhang, Wei Wu, Bingqing Xiao","doi":"10.1145/3529763.3529768","DOIUrl":"https://doi.org/10.1145/3529763.3529768","url":null,"abstract":"Synchronizer as an important part of mechanical transmission, it has an important impact on gear shift performance. How to reduce shift impact and ensure shift smoothness is an important goal of synchronizer. This paper presents a novel synchronizer shift actuator controlled by proportional reducing valve, which can ensure the smoothness of shift, and the generated back pressure can effectively reduce the shift impact. In order to reduce the shift impact and complete the fast shift at the same time, the active disturbance rejection control (ADRC) method is applied, which can estimate and compensate the uncertainty of the system in real time, and improve the anti-interference ability and adaptive ability of the gear actuator. A simulation and test platform were built to verify the proposed control method. The results show that the proposed method can quickly complete the gear shift and effectively reduce the shift impact.","PeriodicalId":123351,"journal":{"name":"Proceedings of the 3rd International Conference on Service Robotics Technologies","volume":"435 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126105954","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}
By establishing and developing high-precision dynamic simulation analysis model, the braking performance and parameter influence of vehicles with different braking system configurations under different braking working conditions are evaluated. Through dynamic multi domain simulation, the braking performance of the whole vehicle under three braking circuits and five braking modes of vacuum booster, electronic boosterand integrated electronic booster are compared respectively. The characteristics of braking systems with different braking configurations are compared and analyzed through the simulation results.
{"title":"Research on simulation analysis technology of vehicle braking performance with different braking system configurations","authors":"Peiyu Wang, Renjie Sun, Haiyan Shen, Cai Jin, Qingjie Xu, Huamei Zhu","doi":"10.1145/3529763.3529775","DOIUrl":"https://doi.org/10.1145/3529763.3529775","url":null,"abstract":"By establishing and developing high-precision dynamic simulation analysis model, the braking performance and parameter influence of vehicles with different braking system configurations under different braking working conditions are evaluated. Through dynamic multi domain simulation, the braking performance of the whole vehicle under three braking circuits and five braking modes of vacuum booster, electronic boosterand integrated electronic booster are compared respectively. The characteristics of braking systems with different braking configurations are compared and analyzed through the simulation results.","PeriodicalId":123351,"journal":{"name":"Proceedings of the 3rd International Conference on Service Robotics Technologies","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125426804","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}
With the further development of society, people's demand for electric power is gradually increasing. Electric power plays an important role in daily life and industrial power consumption. Modern society is more and more dependent on electric power. As an important part of power system, distribution network distributes electric energy to all kinds of users through power facilities, so the reliable operation of distribution network is particularly important. The live working technology of distribution network can overhaul and test the power equipment through the robot without power failure. This paper studies and designs the appearance structure, hardware composition, software system, operation process and field test of the live working robot of distribution network. The results show that the live working robot of distribution network can effectively avoid the danger of falling or electric shock, reduce the labor intensity and psychological pressure of operators, improve the operation efficiency and ensure the reliable operation of power grid.
{"title":"Research and Design of Live Working Robot System in Distribution Network","authors":"Zhiwen Xie, Zeyu Shi, Hui Wu","doi":"10.1145/3529763.3529764","DOIUrl":"https://doi.org/10.1145/3529763.3529764","url":null,"abstract":"With the further development of society, people's demand for electric power is gradually increasing. Electric power plays an important role in daily life and industrial power consumption. Modern society is more and more dependent on electric power. As an important part of power system, distribution network distributes electric energy to all kinds of users through power facilities, so the reliable operation of distribution network is particularly important. The live working technology of distribution network can overhaul and test the power equipment through the robot without power failure. This paper studies and designs the appearance structure, hardware composition, software system, operation process and field test of the live working robot of distribution network. The results show that the live working robot of distribution network can effectively avoid the danger of falling or electric shock, reduce the labor intensity and psychological pressure of operators, improve the operation efficiency and ensure the reliable operation of power grid.","PeriodicalId":123351,"journal":{"name":"Proceedings of the 3rd International Conference on Service Robotics Technologies","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127752709","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}
In order to eliminate the confusion in the understanding of artificial intelligence (AI), from the aspect of a unified theory, the concept system and hierarchical framework were proposed for AI, AI technology and AI object. The present situation and main problems were analyzed for the robot and computer AI object used in nuclear power plant (NPP). It shows that although AI technology has been applied in NPP for more than 40 years, it is still at a relatively low level from the perspective of AI concept system. In addition, combined with status and application analysis of AI technology in NPP operation and maintenance, AI technology development trends were predicted, and the ecosystem with AI and human cooperation at all levels was put forward, in order to better promote the AI technology application in NPP operation and maintenance.
{"title":"Prospects of Nuclear Power Plant Operation and Maintenance Technology in the Era of Artificial Intelligence","authors":"Tao Zhang, Tian Wan, Weiwei Pan, Shengzhi Liu","doi":"10.1145/3529763.3529769","DOIUrl":"https://doi.org/10.1145/3529763.3529769","url":null,"abstract":"In order to eliminate the confusion in the understanding of artificial intelligence (AI), from the aspect of a unified theory, the concept system and hierarchical framework were proposed for AI, AI technology and AI object. The present situation and main problems were analyzed for the robot and computer AI object used in nuclear power plant (NPP). It shows that although AI technology has been applied in NPP for more than 40 years, it is still at a relatively low level from the perspective of AI concept system. In addition, combined with status and application analysis of AI technology in NPP operation and maintenance, AI technology development trends were predicted, and the ecosystem with AI and human cooperation at all levels was put forward, in order to better promote the AI technology application in NPP operation and maintenance.","PeriodicalId":123351,"journal":{"name":"Proceedings of the 3rd International Conference on Service Robotics Technologies","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133272263","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}
∗ This paper mainly analyzes the working principle and process of engine GDI system, so as to develop and build a detailed physical simulation analysis model of GDI system based on AMESim multi-disciplinary simulation analysis platform; This paper also calibrates and verifies the computing power of the simulation analysis model. With the help of the high-precision physical dynamic model analysis technology based on AMESim simulation analysis platform studied in this paper, for the prediction characteristics of the working characteristics of GDI system, analyze the influencing factors of the model, and explore the optimization means of needle valve seating force.
{"title":"Research on simulation and optimization technology of needle valve seating force of engine high pressure common rail injector","authors":"Jie Liu, Haixing Yu, Haiyan Shen, Cuiping Jia, Qin Xu, Huamei Zhu","doi":"10.1145/3529763.3529772","DOIUrl":"https://doi.org/10.1145/3529763.3529772","url":null,"abstract":"∗ This paper mainly analyzes the working principle and process of engine GDI system, so as to develop and build a detailed physical simulation analysis model of GDI system based on AMESim multi-disciplinary simulation analysis platform; This paper also calibrates and verifies the computing power of the simulation analysis model. With the help of the high-precision physical dynamic model analysis technology based on AMESim simulation analysis platform studied in this paper, for the prediction characteristics of the working characteristics of GDI system, analyze the influencing factors of the model, and explore the optimization means of needle valve seating force.","PeriodicalId":123351,"journal":{"name":"Proceedings of the 3rd International Conference on Service Robotics Technologies","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128962246","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}
Yiqi Fang, Dingli Luo, Zhi Li, Hang Cui, Minqiang Zhang
This paper discusses a radar structure with multi-cavity coupling sealed cooling ducts. These ducts can achieve independent cooling with various power dissipation systems, thus improving the working ability of the complete machine at high temperatures. The seal structure increases the ability of the radar to operate under harsh circumstances and guarantees its round-the-clock working mode. The thorny problem of heat dissipation of the radar components, such as the TR module, wave-controlled power supply board, signal processing and microwave module, is solved. The adaptability of the complete machine to high-low temperature, dampness and hotness, salt mist, sand and dust, EMC, etc. is also improved.
{"title":"Radar Structure with Multi-cavity Coupling Sealed Cooling Ducts","authors":"Yiqi Fang, Dingli Luo, Zhi Li, Hang Cui, Minqiang Zhang","doi":"10.1145/3529763.3529773","DOIUrl":"https://doi.org/10.1145/3529763.3529773","url":null,"abstract":"This paper discusses a radar structure with multi-cavity coupling sealed cooling ducts. These ducts can achieve independent cooling with various power dissipation systems, thus improving the working ability of the complete machine at high temperatures. The seal structure increases the ability of the radar to operate under harsh circumstances and guarantees its round-the-clock working mode. The thorny problem of heat dissipation of the radar components, such as the TR module, wave-controlled power supply board, signal processing and microwave module, is solved. The adaptability of the complete machine to high-low temperature, dampness and hotness, salt mist, sand and dust, EMC, etc. is also improved.","PeriodicalId":123351,"journal":{"name":"Proceedings of the 3rd International Conference on Service Robotics Technologies","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131062775","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}
Hamilton-Jacobi-Bellman equation is one of the most important equations in stochastic control theory. It is widely used in science and engineering disciplines with interference. This article uses Hamilton-Jacobi-Bellman equation and other dynamic programming theories to extend the optimal strategy problem to other fields, get the optimal selection strategy with guiding significance
{"title":"An Extension Research of Hamilton-Jacobi-Bellman Equation","authors":"Bo Liu, Bowen Xu, Lingling Qin","doi":"10.1145/3529763.3529770","DOIUrl":"https://doi.org/10.1145/3529763.3529770","url":null,"abstract":"Hamilton-Jacobi-Bellman equation is one of the most important equations in stochastic control theory. It is widely used in science and engineering disciplines with interference. This article uses Hamilton-Jacobi-Bellman equation and other dynamic programming theories to extend the optimal strategy problem to other fields, get the optimal selection strategy with guiding significance","PeriodicalId":123351,"journal":{"name":"Proceedings of the 3rd International Conference on Service Robotics Technologies","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124360151","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}
Jing Xu, P. Gao, Guangwei Zu, Shibin Song, Yue Yu, Debin Sun
OctoMap is an effective 3D occupancy grid mapping approach for indoor robot positioning and navigation. But the fixed resolution setting of OctoMap restricts the environment expression ability and occupies large storage space. To overcome the restriction, an adaptive resolution OctoMap method based on point cloud density analysis is proposed. Firstly, the minimum circumscribed rectangle of the point cloud through PCA analysis. The minimum circumscribed rectangle of the point cloud is equally divided into N point cloud bounding boxes. A density analysis method is proposed to evaluate the environmental complexity of each point cloud bounding box. Finally, the resolution of the OctoMap is adaptively set based on the density analysis of the point cloud bounding boxes. Numerical experiments indicate that the proposed mapping method can self-adaptively adjust the resolution of Octotree map to express environment with various complexity, which effectively solves the contradiction between the environment expression ability and the mapping efficiency.
{"title":"An Adaptive Resolution OctoMap Method based on Point Cloud Density Analysis","authors":"Jing Xu, P. Gao, Guangwei Zu, Shibin Song, Yue Yu, Debin Sun","doi":"10.1145/3529763.3529771","DOIUrl":"https://doi.org/10.1145/3529763.3529771","url":null,"abstract":"OctoMap is an effective 3D occupancy grid mapping approach for indoor robot positioning and navigation. But the fixed resolution setting of OctoMap restricts the environment expression ability and occupies large storage space. To overcome the restriction, an adaptive resolution OctoMap method based on point cloud density analysis is proposed. Firstly, the minimum circumscribed rectangle of the point cloud through PCA analysis. The minimum circumscribed rectangle of the point cloud is equally divided into N point cloud bounding boxes. A density analysis method is proposed to evaluate the environmental complexity of each point cloud bounding box. Finally, the resolution of the OctoMap is adaptively set based on the density analysis of the point cloud bounding boxes. Numerical experiments indicate that the proposed mapping method can self-adaptively adjust the resolution of Octotree map to express environment with various complexity, which effectively solves the contradiction between the environment expression ability and the mapping efficiency.","PeriodicalId":123351,"journal":{"name":"Proceedings of the 3rd International Conference on Service Robotics Technologies","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127412935","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}
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