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Behavioral control task supervisor with memory based on reinforcement learning for human–multi-robotcoordination systems Research Article

Jie HUANG, Zhibin MO, Zhenyi ZHANG, Yutao CHEN,yutao.chen@fzu.edu.cn

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 8,   Pages 1174-1188 doi: 10.1631/FITEE.2100280

Abstract: and large task tracking errors caused by repeated human intervention, which restricts the autonomy of multi-robotsystems (MRSs).Specifically, the proposed RLTS with memory begins by memorizing human intervention history when the robotsystems are not confident in emergencies, and then reloads the history information when encountering

Keywords： Human–     multi-robot coordination systems     Null-space-based behavioral control     Task supervisor     Reinforcement    

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Self-organizing method for collaboration in multi-robot system on basis of balance principle

DONG Yangbin, JIANG Jinping, HE Yan

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 3,   Pages 283-287 doi: 10.1007/s11465-008-0044-z

Abstract: Simulation shows the validity of the algorithm on self-organizing task allocation in a multi-robot system

Keywords： algorithm     self-organizing principle     validity     Simulation     allocation    

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Distributed coordination inmulti-agent systems: a graph Laplacian perspective

Zhi-min HAN,Zhi-yun LIN,Min-yue FU,Zhi-yong CHEN

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 6,   Pages 429-448 doi: 10.1631/FITEE.1500118

Abstract: This paper reviews some main results and progress in distributed multi-agent coordination from a graphDistributed multi-agent coordination has been a very active subject studied extensively by the systemsThe aim of this paper is to provide both a comprehensive survey of existing literature in distributed multi-agentcoordination and a new perspective in terms of graph Laplacian to categorize the fundamental mechanismsfor distributed coordination.

Keywords： Multi-agent systems     Distributed coordination     Graph Laplacian    

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Review of human–robot coordination control for rehabilitation based on motor function evaluation

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 2, doi: 10.1007/s11465-022-0684-4

Abstract: coordination.This review aims to summarise the development of human–robot coordination control and the associatedThen, human–robot coordination is discussed in terms of three aspects: modelling, perception and controlsystems with new structures and assessment methods with different etiologies based on multi-mode sensorsare discussed in detail, suggesting development directions of human–robot coordination and providing

Keywords： human–robot coupling     lower limb rehabilitation     exoskeleton robot     motor assessment     dynamical model    

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A novel motion coordination method for variable-sized multi-mobile robots Research Article

Zichao XING, Xingkai WANG, Shuo WANG, Weimin WU, Ruifen HU,zcxing@zju.edu.cn,wmwu@iipc.zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 4,   Pages 521-535 doi: 10.1631/FITEE.2200160

Abstract: However, in some scenarios, robot sizes are different when loaded and unloaded, which means that theThe zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce

Keywords： Multi-mobile robot system     Collision avoidance     Deadlock avoidance     Glued nodes     Motion coordination    

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Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0760-4

Abstract: detection for quadruped robots, a detection approach based on the probabilistic contact model with multi-informationThe approach combines the internal state information of the robot with the measurements from externalstrategy for unexpected foot-to-ground contacts can correct the control actions of each leg of the robot

Keywords： multi-information fusion     contact detection     quadruped robot     probabilistic contact model     unstructured    

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A-STC: auction-based spanning tree coverage algorithm formotion planning of cooperative robots Research Article

Guan-qiang GAO, Bin XIN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 1,   Pages 18-31 doi: 10.1631/FITEE.1800551

Abstract:

The multi-robot coverage motion planning (MCMP) problem in which every reachable area must be coveredis common in multi-robot systems.A robot that circumnavigates a spanning tree of the graph can generate a coverage trajectory.In this mechanism, an auctioneer robot chooses a suitable vertex of the graph as an auction item fromwith the spanning tree of the robot and the estimated length of its trajectory.

Keywords： Coverage motion planning     Multi-robot system     Auction algorithm     Spanning tree coverage algorithm    

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A naive optimization method for multi-line systems with alternative machines

Weichang KONG, Fei QIAO, Qidi WU

Frontiers of Mechanical Engineering 2019, Volume 14, Issue 4,   Pages 377-392 doi: 10.1007/s11465-019-0544-z

Abstract: The scheduling of parallel machines and the optimization of multi-line systems are two hotspots in thefield of complex manufacturing systems.Consequently, optimization of multi-line systems with alternative machines requires a simple mechanismTo define a general multi-line system with alternative machines, this study introduces the capabilityThe method demonstrates a potential for utilization in multi-objective optimization.

Keywords： multi-line systems     alternative machines     feedback control     closed-loop optimization    

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Numerical investigation of the effectiveness of effusion cooling for plane multi-layer systems with different

Dieter BOHN, Robert KREWINKEL

Frontiers in Energy 2009, Volume 3, Issue 4,   Pages 406-413 doi: 10.1007/s11708-009-0041-x

Abstract: Within Collaborative Research Center (SFB) 561 “Thermally Highly Loaded, Porous and Cooled Multi-LayerSystems for Combined Cycle Power Plants” at RWTH Aachen University, an effusion-cooled multi-layerWithin the SFB, two different multi-layer systems, one consisting of substrate made of CMSX-4 (a single-crystal

Keywords： conjugate calculation     effectiveness of effusion cooling     multi-layer systems     CMSX-4     NiAl-FG75    

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Research and practice on system engineering management of a mobile payment project

Yongkai ZHOU, Hongfeng CHAI

Frontiers of Engineering Management 2017, Volume 4, Issue 2,   Pages 127-137 doi: 10.15302/J-FEM-2017011

Abstract: From the perspective of systems engineering, this paper introduces research and implementation of China

Keywords： systems engineering     mobile payment     engineering management method     Mobile QuickPass     national informationsecurity     rapid iteration process     financial security     coordination and cooperation    

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Molecular level simulations on multi-component systems —a morphology prediction method

C. SCHMIDT, J. ULRICH

Frontiers of Chemical Science and Engineering 2013, Volume 7, Issue 1,   Pages 49-54 doi: 10.1007/s11705-013-1307-8

Abstract: morphology prediction because the investigation on the face growth rates in a complex growth environment (as multi-component

Keywords： crystallization     morphology     molecular dynamics     solution    

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Managing Coordination Complexity in the Remanufacturing of Aircraft Engines

Qing Yang,Lu Zheng

Frontiers of Engineering Management 2016, Volume 3, Issue 2,   Pages 158-164 doi: 10.15302/J-FEM-2016022

Abstract: The complexity of communication and coordination stemming from teams responsible for adjusting interdependentTo manage coordination complexity, the features of the remanufacturing process of aircraft engine areThe results showed that the proposed approach can reduce total coordination complexity.

Keywords： remanufacturing engineering project     aircraft engine     coordination complexity     organization optimization    

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Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future

Bing XU, Min CHENG

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 2,   Pages 151-166 doi: 10.1007/s11465-018-0470-5

Abstract: survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuatorhydraulic systems for mobile machineries.Hydraulic systems have been extensively used in mobile machineries due to their superior power densityHowever, motion control technologies of multi-actuator hydraulic systems have faced increasing challengesThen, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated

Keywords： motion control     electrohydraulic control     energy efficiency     mobile machineries    

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River Chief System (RCS): An experiment on cross-sectoral coordination of watershed governance

Longfei Wang, Jiaxin Tong, Yi Li

Frontiers of Environmental Science & Engineering 2019, Volume 13, Issue 4, doi: 10.1007/s11783-019-1157-9

Abstract: efficiently in the short-term due to its superiority in the inclusion of clear responsibility, authority, and multi-sectoralHowever, the characteristics of the authority-based vertical coordination of the hierarchical systemand as such provides new insights for other developing countries in the design of river management systems

Keywords： River Chief System     Watershed governance     Cross-sectoral coordination     Environmental protection    

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Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0740-0

Abstract: Earth rover is a class of emerging wheeled-leg robots for nature exploration. At present, few methods for these robots’ leg design utilize a side-mounted spatial parallel mechanism. Thus, this paper presents a complete design process of a novel 5-degree-of-freedom (5-DOF) hybrid leg mechanism for our quadruped earth rover BJTUBOT. First, a general approach is proposed for constructing the novel leg mechanism. Subsequently, by evaluating the basic locomotion task (LT) of the rover based on screw theory, we determine the desired motion characteristic of the side-mounted leg and carry out its two feasible configurations. With regard to the synthesis method of the parallel mechanism, a family of concise hybrid leg mechanisms using the 6-DOF limbs and an L1F1C limb (which can provide a constraint force and a couple) is designed. In verifying the motion characteristics of this kind of leg, we select a typical (3-UPRU&RRRR)&R mechanism and then analyze its kinematic model, singularities, velocity mapping, workspace, dexterity, statics, and kinetostatic performance. Furthermore, the virtual quadruped rover equipped with this innovative leg mechanism is built. Various basic and specific LTs of the rover are demonstrated by simulation, which indicates that the flexibility of the legs can help the rover achieve multitasking.

Keywords： design synthesis     parallel mechanism     hybrid leg mechanism     screw theory     quadruped robot    

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Title Author Date Type Operation

Behavioral control task supervisor with memory based on reinforcement learning for human–multi-robotcoordination systems

Jie HUANG, Zhibin MO, Zhenyi ZHANG, Yutao CHEN,yutao.chen@fzu.edu.cn

Journal Article

Self-organizing method for collaboration in multi-robot system on basis of balance principle

DONG Yangbin, JIANG Jinping, HE Yan

Journal Article

Distributed coordination inmulti-agent systems: a graph Laplacian perspective

Zhi-min HAN,Zhi-yun LIN,Min-yue FU,Zhi-yong CHEN

Journal Article

Review of human–robot coordination control for rehabilitation based on motor function evaluation

Journal Article

A novel motion coordination method for variable-sized multi-mobile robots

Zichao XING, Xingkai WANG, Shuo WANG, Weimin WU, Ruifen HU,zcxing@zju.edu.cn,wmwu@iipc.zju.edu.cn

Journal Article

Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

Journal Article

A-STC: auction-based spanning tree coverage algorithm formotion planning of cooperative robots

Guan-qiang GAO, Bin XIN

Journal Article

A naive optimization method for multi-line systems with alternative machines

Weichang KONG, Fei QIAO, Qidi WU

Journal Article

Numerical investigation of the effectiveness of effusion cooling for plane multi-layer systems with different

Dieter BOHN, Robert KREWINKEL

Journal Article

Research and practice on system engineering management of a mobile payment project

Yongkai ZHOU, Hongfeng CHAI

Journal Article

Molecular level simulations on multi-component systems —a morphology prediction method

C. SCHMIDT, J. ULRICH

Journal Article

Managing Coordination Complexity in the Remanufacturing of Aircraft Engines

Qing Yang,Lu Zheng

Journal Article

Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future

Bing XU, Min CHENG

Journal Article

River Chief System (RCS): An experiment on cross-sectoral coordination of watershed governance

Longfei Wang, Jiaxin Tong, Yi Li

Journal Article

Design of a novel side-mounted leg mechanism with high flexibility for a multi-mission quadruped earth

Journal Article