Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays

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.

Collaborative Simulation Method with Spatiotemporal Synchronization Process Control

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.

Human-Robot Collaborative Planning for Navigation Based on Optimal Control Theory

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.

Trajectory Planning of High Precision Collaborative Robots

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.

Teleoperation strategies research for collaborative welding systems based on virtual reality

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.

Human-Robot Collaboration Framework Based on Impedance Control in Robotic Assembly

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.

Design of Multi-domain Collaborative Simulation System for Dual Clutch Transmission Based on CAN Bus

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.

A Temporal Multi-Tenant RBAC Model for Collaborative Cloud Services

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.

Multi-telerobot collaboration based on coordinated controller

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.

Multimodal collaborative BCI system based on the improved CSP feature extraction algorithm

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.

Cloud control for IIoT in a cloud-edge environment

The industrial Internet of Things(IIoT)is a new indus-trial idea that combines the latest information and communica-tion technologies with the industrial economy.In this paper,a cloud control structure is designed for IIoT in cloud-edge envi-ronment with three modes of 5G.For 5G based IIoT,the time sensitive network(TSN)service is introduced in transmission network.A 5G logical TSN bridge is designed to transport TSN streams over 5G framework to achieve end-to-end configuration.For a transmission control protocol(TCP)model with nonlinear disturbance,time delay and uncertainties,a robust adaptive fuzzy sliding mode controller(AFSMC)is given with control rule parameters.IIoT workflows are made up of a series of subtasks that are linked by the dependencies between sensor datasets and task flows.IIoT workflow scheduling is a non-deterministic polynomial(NP)-hard problem in cloud-edge environment.An adaptive and non-local-convergent particle swarm optimization(ANCPSO)is designed with nonlinear inertia weight to avoid falling into local optimum,which can reduce the makespan and cost dramatically.Simulation and experiments demonstrate that ANCPSO has better performances than other classical algo-rithms.

QoE Assessment of Group Synchronization Control Scheme with Prediction in Work Using Haptic Media

This paper proposes a group synchronization control scheme with prediction in work using haptic media. The scheme adjusts the output timing among multiple terminals and keeps the interactivity high. It outputs position information by predicting the future position later than the position included in the last-received information by a fixed amount of time. It also advances the output time of position information at each local terminal by the same amount of time. We deal with two different types of work using haptic media so as to demonstrate the effectiveness of the scheme. We assess the output quality of haptic media for the two types of work subjectively and objectively by Quality of Experience (QoE) assessment. We further clarify the relationship between subjective and objective assessment results.

Failure mechanism of Mesozoic soft rock roadway in Shajihai coal mine and its surrounding rock control

In view of the buckling failure caused by large deformation of Mesozoic soft rock roadway in Shajihai mining area, such as serious roof fall, rib spalling, floor heave, etc., based on the detail site investigation,theoretical analysis, mineral composition test, microstructure test, water-physical property test and field experiments were carried out. And we revealed the compound failure mechanism of Mesozoic soft rock roadway in Shajihai mining area, namely the molecule expansion-shear slip of weak structural plane-construction disturbance. On this basis, the coupling support technology whose core is constant resistance with large deformation bolt was proposed. The feature of this supporting technology is that a new type of structural composite material was used, which makes the supporting system not only has the ideal deformation characteristics, but also has high supporting resistance. Thus the fully release of plastic energy within surrounding rock and reasonable control of the thickness of the plastic ring were realized. Then the differential deformation between the surrounding rock and support was eliminated by the secondary coupling support of bolt–mesh–cable, and the bolt with high strength was applied in the base angle to control floor. Eventually the collaborative bearing system of surrounding rock–support was formed. Through field tests the validity and rationality of support was also verified.

An Intelligent Control Method for the Low-Carbon Operation of Energy-Intensive Equipment

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.

Research on Distributed Cooperative Control Strategy of Microgrid Hybrid Energy Storage Based on Adaptive Event Triggering

Distributed collaborative control strategies for microgrids often use periodic time to trigger communication,which is likely to enhance the burden of communication and increase the frequency of controller updates,leading to greater waste of communication resources.In response to this problem,a distributed cooperative control strategy triggered by an adaptive event is proposed.By introducing an adaptive event triggering mechanism in the distributed controller,the triggering parameters are dynamically adjusted so that the distributed controller can communicate only at a certain time,the communication pressure is reduced,and the DC bus voltage deviation is effectively reduced,at the same time,the accuracy of power distribution is improved.The MATLAB/Simulink modeling and simulation results prove the correctness and effectiveness of the proposed control strategy.

PI control based on fuzzy set-point weighting tracking for hydraulic crane boom system

A PI control strategy based on fuzzy set-point weighting following was proposed for the active damping control of a hydraulic crane boom system （HCBS）. Two valve-controlled PI controllers, which include a proportional feedforward controller based on fuzzy set-point weighting following and a limited semi-integrator（LSI）, are designed respectively. LSI is used to limit output signal and to prevent wind up at the low frequency of the spectrum. By using a range camera and an electronic feedback control, the tip damping on the HCBS can be adjusted artificially. A collaborative control simulation technique of HOPSAN and MATLAB/SIMULINK is applied to the controller design. Simulation results show that the proposed PI control system has less overshoot as well as faster response. The tip damping on the HCBS during operation is improved.

Two Agent Paths Planning Collaboration Based on the State Feedback Stackelberg Dynamic Game

Autonomous Navigation Modules are capable of driving a robotic platform without human direct participation. It is usual to have more than one Autonomous Navigation Modules in the same work space. When an emergency situation occurs, these modules should achieve a desired formation in order to efficiently escape and avoid motion deadlock. We address the collaboration problem between two agents such as Autonomous Navigation Modules. A new approach for team collaborative control based on the incentive Stackelberg game theory is presented. The procedure to find incentive matrices is provided for the case of geometric trajectory planning and following. A collaborative robotic architecture based on this approach is proposed. Simulation results performed with two virtual robotic platforms show the efficiency of this approach.

智能采煤机器人关键技术

采煤机是综采工作面的核心装备,研发智能采煤机器人是实现综采工作面智能化的关键。综合分析当前采煤机机器人化研究进程中的传感检测、位姿控制、速度控制、截割轨迹规划与跟踪控制等技术的研究现状,提出研发智能采煤机器人必须破解的“智能感知、位姿控制、速度控制、截割轨迹规划与跟踪控制、位-姿-速协同控制”五大关键技术,并给出解决方案。针对智能感知问题,提出了构建智能感知系统思路,给出了智能采煤机器人智能感知系统的架构,实现对运行状态、位姿、环境等全面感知,为智能采煤机器人安全、可靠运行提供保障;针对位姿控制问题,提出了智能PID位姿控制思路,给出了改进遗传算法的PID位姿控制方法,实现了智能采煤机器人位姿精准控制;针对速度控制问题,提出了融合“力-电”异构数据的截割载荷测量思路,给出了基于神经网络算法的截割载荷测量方法,实现了截割载荷的精准测量;提出牵引与截割速度自适应控制思路,给出了人工智能算法牵引与截割速度决策方法和滑模自抗扰控制的牵引与截割速度控制方法,实现了智能采煤机器人速度精准自适应控制;针对截割轨迹规划与跟踪控制问题,提出了截割轨迹精准规划思路,给出了融合地质数据和历史截割数据的截割轨迹规划模型,实现了截割轨迹的精准规划;提出了截割轨迹精准跟踪控制思路,给出了智能插补算法的截割轨迹跟踪控制方法,实现了智能采煤机器人截割轨迹高精度规划与精准跟踪控制;针对“位-姿-速”协同控制问题,提出了“位-姿-速”协同控制参数智能优化思路,给出了基于多系统互约束的改进粒子群“位-姿-速”协同控制参数优化方法,实现了智能采煤机器人智能高效作业。深入研究五大关键技术破解思路,有利于加快推动研发高性能、高效率、高可靠的智能采煤机器人。

煤矿智能快速掘进关键技术研究现状及展望

针对煤矿巷道掘进智能化建设情况,探讨了现阶段分别以连采机、掘锚一体机、全断面掘进系统、掘锚机为核心的四大类智能快速掘进成套装备发展现状,分析了四大类智能快掘装备与地质条件适用性,提出了实现煤矿智能化掘进需要解决的关键技术的问题,探讨了以信息传输与智能分析技术、智能感知技术、精确定位导航技术,自主定型定向截割技术、掘进机远程自主截割控制技术以及多级多工序智能协同控制技术为基础的智能化掘进实现途径;基于复杂地质条件下煤矿巷道掘进亟待解决的关键问题,提出了以掘进作业功能需求、掘进工艺要求为依据的系统化分析、模块化设计、功能优化组合的设计方法;研究了以虚控实、虚实结合的多级数字孪生构架,基于掘进巷道设备、环境、地质构造多维信息再现实现掘进机远程控制;提出了单机智能化、系统协同化、井下智控与地面远程监控相协同的控制方法。开发了新型的无重复碾压柔性超前支护技术、截割部多级伸缩截割技术、智能锚固机组多钻机并行作业等技术,研制了具有掘、支、锚、运、探多工序并行作业的新型快速掘进作业联合机组,提出了掘进机器人、超前支护机器人、锚固机器人、辅助运输机器人组柔性并行作业技术;提出了基于数据驱动的多机多工序协同控制行为规划决策方法。提出构建完整的煤矿井下跨系统全时空信息数字感知体系,构建集井下现场生产状态、掘进巷道空间信息、掘进装备状态、风险信息等多参量、多尺度、全时空特性的数据感知智能化监控平台,实现虚拟系统与实际掘进系统实时通信,通过数据驱动规划分析实现智能化、少人化掘进。

面向复杂工况的液力变矩器与变速箱效能优化协同控制策略

针对工程机械在复杂工况下能源利用率不高的问题,提出了一种液力变矩器与变速箱效能优化协同控制策略。首先,在装载机功率与力学平衡的基础上,构造了基于牵引性能理论的装载机动力传动系统仿真平台,并通过装载机循环工况采集到的实验数据验证了其有效性和可靠性;其次,基于发动机与液力变矩器台架实验,研究了ZL50型装载机的牵引特性,对比了其在起步、举升、铲掘、匀速4种不同牵引阶段的动力性能,分析了液力变矩器的闭锁点对装载机动力性、平顺性和经济性的影响;最后,提出了面向复杂工况的液力变矩器与变速箱效能优化协同控制策略,并对优化前后的装载机效能进行了对比分析。研究结果表明:在相同的V型循环工况下,采用所提出的控制策略,装载机等油耗输出能量从372.69 kW·h·mL^(-1)提高到420.51 kW·h·mL^(-1),整机效能提高了约12.8%。所提策略可为大型工程机械传动效率低、燃料消耗大、污染排放严重等问题提供解决方案。