For swarm robots moving in a harsh or uncharted outdoor environment without GPS guidance and global communication,algorithms that rely on global-based information are infeasible.Typically,traditional gene regulatory n...For swarm robots moving in a harsh or uncharted outdoor environment without GPS guidance and global communication,algorithms that rely on global-based information are infeasible.Typically,traditional gene regulatory networks(GRNs)that achieve superior performance in forming trapping pattern towards targets require accurate global positional information to guide swarm robots.This article presents a gene regulatory network with Self-organized grouping and entrapping method for swarms(SUNDER-GRN)to achieve adequate trapping performance with a large-scale swarm in a confined multitarget environment with access to only local information.A hierarchical self-organized grouping method(HSG)is proposed to structure subswarms in a distributed way.In addition,a modified distributed controller,with a relative coordinate system that is established to relieve the need for global information,is leveraged to facilitate subswarms entrapment toward different targets,thus improving the global multi-target entrapping performance.The results demonstrate the superiority of SUNDERGRN in the performance of structuring subswarms and entrapping 10 targets with 200 robots in an environment confined by obstacles and with only local information accessible.展开更多
This paper proposes the solution of tasks set required for autonomous robotic group behavior optimization during the mission on a distributed area in a cluttered hazardous terrain.The navigation scheme uses the benefi...This paper proposes the solution of tasks set required for autonomous robotic group behavior optimization during the mission on a distributed area in a cluttered hazardous terrain.The navigation scheme uses the benefits of the original real-time technical vision system(TVS)based on a dynamic triangulation principle.The method uses TVS output data with fuzzy logic rules processing for resolution stabilization.Based on previous researches,the dynamic communication network model is modified to implement the propagation of information with a feedback method for more stable data exchange inside the robotic group.According to the comparative analysis of approximation methods,in this paper authors are proposing to use two-steps post-processing path planning aiming to get a smooth and energy-saving trajectory.The article provides a wide range of studies and computational experiment results for different scenarios for evaluation of common cloud point influence on robotic motion planning.展开更多
The technology of knowledge base remote design of the smart fuzzy controllers with the application of the"Soft/quantum computing optimizer"toolkit software developed.The possibility of the transmission...The technology of knowledge base remote design of the smart fuzzy controllers with the application of the"Soft/quantum computing optimizer"toolkit software developed.The possibility of the transmission and communication the knowledge base using remote connection to the control object considered.Transmission and communication of the fuzzy controller’s knowledge bases implemented through the remote connection with the control object in the online mode apply the Bluetooth or WiFi technologies.Remote transmission of knowledge bases allows designing many different built-in intelligent controllers to implement a variety of control strategies under conditions of uncertainty and risk.As examples,two different models of robots described(mobile manipulator and(“cart-pole”system)inverted pendulum).A comparison of the control quality between fuzzy controllers and quantum fuzzy controller in various control modes is presented.The ability to connect and work with a physical model of control object without using than mathematical model demonstrated.The implemented technology of knowledge base design sharing in a swarm of intelligent robots with quantum controllers.It allows to achieve the goal of control and to gain additional knowledge by creating a new quantum hidden information source based on the synergetic effect of combining knowledge.Development and implementation of intelligent robust controller’s prototype for the intelligent quantum control system of mega-science project NICA(at the first stage for the cooling system of superconducted magnets)is discussed.The results of the experiments demonstrate the possibility of the ensured achievement of the control goal of a group of robots using soft/quantum computing technologies in the design of knowledge bases of smart fuzzy controllers in quantum intelligent control systems.The developed software toolkit allows to design and setup complex ill-defined and weakly formalized technical systems on line.展开更多
Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms,and the generalized analysis method and concise kinematics transfer matrix are obtained.In this study,first,acco...Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms,and the generalized analysis method and concise kinematics transfer matrix are obtained.In this study,first,according to the kinematics analysis of serial mechanisms,the basic principles of Lie groups and Lie algebras are briefly explained in dealing with the spatial switching and differential operations of screw vectors.Then,based on the standard ideas of Lie operations,the method for kinematics analysis of parallel mechanisms is derived,and Jacobian matrix and Hessian matrix are formulated recursively and in a closed form.Then,according to the mapping relationship between the parallel joints and corresponding equivalent series joints,a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are examined.A case study is performed to verify the calculated matrices wherein a humanoid hybrid robotic arm with a parallel-series-parallel configuration is considered as an example.The results of a simulation experiment indicate that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practically feasible.展开更多
Topology and performance are the two main topics dealt in the development of robotic mechanisms.However,it is still a challenge to connect them by integrating the modeling and design process of both parts in a unified...Topology and performance are the two main topics dealt in the development of robotic mechanisms.However,it is still a challenge to connect them by integrating the modeling and design process of both parts in a unified frame.As the properties associated with topology and performance,finite motion and instantaneous motion of the robot play key roles in the procedure.On the purpose of providing a fundamental preparation for integrated modeling and design,this paper carries out a review on the existing unified mathematic frameworks for motion description and computation,involving matrix Lie group and Lie algebra,dual quaternion and pure dual quaternion,finite screw and instantaneous screw.Besides the application in robotics,the review of the work from these mathematicians concentrates on the description,composition and intersection operations of the finite and instantaneous motions,especially on the exponential-differential maps which connect the two sides.Furthermore,an in-depth discussion is worked out by investigating the algebraical relationship among these methods and their further progress in integrated robotic development.The presented review offers insightful investigation to the motion description and computation,and therefore would help designers to choose appropriate mathematical tool in the integrated design and modeling and design of mechanisms and robots.展开更多
This paper presents the application of the renormalization group (RG) methods to the delayed differential equation. By analyzing the Mathieu equation with time delay feedback, we get the amplitude and phase equation...This paper presents the application of the renormalization group (RG) methods to the delayed differential equation. By analyzing the Mathieu equation with time delay feedback, we get the amplitude and phase equations, and then obtain the approximate solutions by solving the corresponding RG equations. It shows that the approximate solutions obtained from the RG method are superior to those from the conventionally perturbation methods.展开更多
基金supported in part by National Key R&D Program of China(Grant Nos.2021ZD0111501,2021ZD0111502)the Key Laboratory of Digital Signal and Image Processing of Guangdong Province+8 种基金the Key Laboratory of Intelligent Manufacturing Technology(Shantou University)Ministry of Education,the Science and Technology Planning Project of Guangdong Province of China(Grant No.180917144960530)the Project of Educational Commission of Guangdong Province of China(Grant No.2017KZDXM032)the State Key Lab of Digital Manufacturing Equipment&Technology(grant number DMETKF2019020)National Natural Science Foundation of China(Grant Nos.62176147,62002369)STU Scientific Research Foundation for Talents(Grant No.NTF21001)Science and Technology Planning Project of Guangdong Province of China(Grant Nos.2019A050520001,2021A0505030072,2022A1515110660)Science and Technology Special Funds Project of Guangdong Province of China(Grant Nos.STKJ2021176,STKJ2021019)Guangdong Special Support Program for Outstanding Talents(Grant No.2021JC06X549)。
文摘For swarm robots moving in a harsh or uncharted outdoor environment without GPS guidance and global communication,algorithms that rely on global-based information are infeasible.Typically,traditional gene regulatory networks(GRNs)that achieve superior performance in forming trapping pattern towards targets require accurate global positional information to guide swarm robots.This article presents a gene regulatory network with Self-organized grouping and entrapping method for swarms(SUNDER-GRN)to achieve adequate trapping performance with a large-scale swarm in a confined multitarget environment with access to only local information.A hierarchical self-organized grouping method(HSG)is proposed to structure subswarms in a distributed way.In addition,a modified distributed controller,with a relative coordinate system that is established to relieve the need for global information,is leveraged to facilitate subswarms entrapment toward different targets,thus improving the global multi-target entrapping performance.The results demonstrate the superiority of SUNDERGRN in the performance of structuring subswarms and entrapping 10 targets with 200 robots in an environment confined by obstacles and with only local information accessible.
文摘This paper proposes the solution of tasks set required for autonomous robotic group behavior optimization during the mission on a distributed area in a cluttered hazardous terrain.The navigation scheme uses the benefits of the original real-time technical vision system(TVS)based on a dynamic triangulation principle.The method uses TVS output data with fuzzy logic rules processing for resolution stabilization.Based on previous researches,the dynamic communication network model is modified to implement the propagation of information with a feedback method for more stable data exchange inside the robotic group.According to the comparative analysis of approximation methods,in this paper authors are proposing to use two-steps post-processing path planning aiming to get a smooth and energy-saving trajectory.The article provides a wide range of studies and computational experiment results for different scenarios for evaluation of common cloud point influence on robotic motion planning.
文摘The technology of knowledge base remote design of the smart fuzzy controllers with the application of the"Soft/quantum computing optimizer"toolkit software developed.The possibility of the transmission and communication the knowledge base using remote connection to the control object considered.Transmission and communication of the fuzzy controller’s knowledge bases implemented through the remote connection with the control object in the online mode apply the Bluetooth or WiFi technologies.Remote transmission of knowledge bases allows designing many different built-in intelligent controllers to implement a variety of control strategies under conditions of uncertainty and risk.As examples,two different models of robots described(mobile manipulator and(“cart-pole”system)inverted pendulum).A comparison of the control quality between fuzzy controllers and quantum fuzzy controller in various control modes is presented.The ability to connect and work with a physical model of control object without using than mathematical model demonstrated.The implemented technology of knowledge base design sharing in a swarm of intelligent robots with quantum controllers.It allows to achieve the goal of control and to gain additional knowledge by creating a new quantum hidden information source based on the synergetic effect of combining knowledge.Development and implementation of intelligent robust controller’s prototype for the intelligent quantum control system of mega-science project NICA(at the first stage for the cooling system of superconducted magnets)is discussed.The results of the experiments demonstrate the possibility of the ensured achievement of the control goal of a group of robots using soft/quantum computing technologies in the design of knowledge bases of smart fuzzy controllers in quantum intelligent control systems.The developed software toolkit allows to design and setup complex ill-defined and weakly formalized technical systems on line.
基金Supported by Zhejiang Province Foundation for Distinguished Young Scholars of China(Grant No.LR18E050003)National Natural Science Foundation of China(Grant Nos.51975523,51475424,51905481)Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems(Grant No.GZKF-201906).
文摘Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms,and the generalized analysis method and concise kinematics transfer matrix are obtained.In this study,first,according to the kinematics analysis of serial mechanisms,the basic principles of Lie groups and Lie algebras are briefly explained in dealing with the spatial switching and differential operations of screw vectors.Then,based on the standard ideas of Lie operations,the method for kinematics analysis of parallel mechanisms is derived,and Jacobian matrix and Hessian matrix are formulated recursively and in a closed form.Then,according to the mapping relationship between the parallel joints and corresponding equivalent series joints,a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are examined.A case study is performed to verify the calculated matrices wherein a humanoid hybrid robotic arm with a parallel-series-parallel configuration is considered as an example.The results of a simulation experiment indicate that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practically feasible.
基金National Key R&D Program of China(Grant No.2018YFB1307800)National Natural Science Foundation of China(Grant Nos.51875391,51675366)Tianjin Science and Technology Planning Project(Grant Nos.18YFS DZC00010,18YFZCSF00590).
文摘Topology and performance are the two main topics dealt in the development of robotic mechanisms.However,it is still a challenge to connect them by integrating the modeling and design process of both parts in a unified frame.As the properties associated with topology and performance,finite motion and instantaneous motion of the robot play key roles in the procedure.On the purpose of providing a fundamental preparation for integrated modeling and design,this paper carries out a review on the existing unified mathematic frameworks for motion description and computation,involving matrix Lie group and Lie algebra,dual quaternion and pure dual quaternion,finite screw and instantaneous screw.Besides the application in robotics,the review of the work from these mathematicians concentrates on the description,composition and intersection operations of the finite and instantaneous motions,especially on the exponential-differential maps which connect the two sides.Furthermore,an in-depth discussion is worked out by investigating the algebraical relationship among these methods and their further progress in integrated robotic development.The presented review offers insightful investigation to the motion description and computation,and therefore would help designers to choose appropriate mathematical tool in the integrated design and modeling and design of mechanisms and robots.
文摘This paper presents the application of the renormalization group (RG) methods to the delayed differential equation. By analyzing the Mathieu equation with time delay feedback, we get the amplitude and phase equations, and then obtain the approximate solutions by solving the corresponding RG equations. It shows that the approximate solutions obtained from the RG method are superior to those from the conventionally perturbation methods.