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Complete coverage path planning for an Arnold system based mobile robot to perform specific types of Regular Article
Cai-hong Li, Chun Fang, Feng-ying Wang, Bin Xia, Yong Song,lich@sdut.edu.cn
Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 11, Pages 1530-1542 doi: 10.1631/FITEE.1800616
Keywords： 混沌机器人；Arnold动力学系统；压缩变换；全覆盖遍历路径；候选集
Parameter value selection strategy for complete coverage path planning based on the Lü system to perform specific types of missions Research Article
Caihong LI, Cong LIU, Yong SONG, Zhenying LIANG
Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 2, Pages 231-244 doi: 10.1631/FITEE.2200211
Keywords： Chaotic mobile robot Lü system Complete coverage path planning (CCPP) Parameter value selection strategy Lyapunov exponent Pearson correlation coefficient
A chaotic coverage path planner for the mobilerobot based on the Chebyshev map for special missions Article
Cai-hong LI, Yong SONG, Feng-ying WANG, Zhi-qiang WANG, Yi-bin LI
Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 9, Pages 1305-1319 doi: 10.1631/FITEE.1601253
Keywords： Mobile robot Chebyshev map Chaotic Affine transformation Coverage path planning
Magnetically driven microrobotsmoving in a flow: a review Review Article
Jiamiao MIAO, Xiaopu WANG, Yan ZHOU, Min YE, Hongyu ZHAO, Ruoyu XU, Huihuan QIAN
Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 11, Pages 1520-1540 doi: 10.1631/FITEE.2300054
Keywords： Microrobot Flow Dynamics modeling Control
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
The multi-robot coverage motion planning (MCMP) problem in which every reachable area must be covered is common in multi-robot systems. To deal with the MCMP problem, we propose an efficient, complete, and off-line algorithm, named the “auction-based spanning tree coverage (A-STC)” algorithm. First, the configuration space is divided into mega cells whose size is twice the minimum coverage range of a robot. Based on connection relationships among mega cells, a graph structure can be obtained. A robot that circumnavigates a spanning tree of the graph can generate a coverage trajectory. Then, the proposed algorithm adopts an auction mechanism to construct one spanning tree for each robot. In this mechanism, an auctioneer robot chooses a suitable vertex of the graph as an auction item from neighboring vertexes of its spanning tree by heuristic rules. A bidder robot submits a proper bid to the auctioneer according to the auction vertexes’ relationships with the spanning tree of the robot and the estimated length of its trajectory. The estimated length is calculated based on vertexes and edges in the spanning tree. The bidder with the highest bid is selected as a winner to reduce the makespan of the coverage task. After auction processes, acceptable coverage trajectories can be planned rapidly. Computational experiments validate the effectiveness of the proposed MCMP algorithm and the method for estimating trajectory lengths. The proposed algorithm is also compared with the state-of-the-art algorithms. The comparative results show that the A-STC algorithm has apparent advantages in terms of the running time and the makespan for large crowded configuration spaces.
Keywords： Coverage motion planning Multi-robot system Auction algorithm Spanning tree coverage algorithm
The Shortest Path for Mobile Robots in Obstacle Avoidance
Guo Ge
Strategic Study of CAE 2003, Volume 5, Issue 5, Pages 70-75
An obstacle avoidance strategy for mobile robot is presented based on obstacle position and size information. Furthermore, rational robot paths in obstacle avoidance are discussed in detail, which leads to the final important result of optimal path for mobile robot to avoid an obstacle. Simple as the results are, they have been shown by simulations te be effective and convenient in implementation. A good application prospect of the result can thus be expected.
Keywords： mobile robot ultrasonic sensor obstacle avoidance path planning optimal path
Wang Sunan,Wu Canyang
Strategic Study of CAE 2013, Volume 15, Issue 1, Pages 73-78
To solve the path planning problem of mobile robots in complicated environments, combining the small computational amount of artificial potential field and the adaptive regulation ability of artificial immune network, an improved immunity path planning algorithm is presented. To further improve the search ability and convergence of immune network, the planning results of artificial potential field are taken as the prior knowledge to construct the guidance weight, and the antibody instruction definition and distance changes after the antibody transition are taken as the variables to construct the antibody transmission probability operator. Compared with the correlative planning algorithms, simulation results indicate that the optimal planning ability and network convergence of proposed algorithm is highly improved.
Keywords： immune network artificial potential field mobile robots path planning
Road Roller Engineering Based on Chaotic Vibration Mechanics
Long Yunjia,Yang Yong,Wang Congling
Strategic Study of CAE 2000, Volume 2, Issue 9, Pages 76-79
The vibration test, numerical simulation and compaction experiment of the chaotic vibratory rollers (three types： 0.75t, 101 and 14t) are completed for transform theoretical research of chaotic vibration mechanics into technology achievement in road roller engineering.
It is proved that the working efficiency of chaotic vibratory roller is 12.2% higher than that of traditional one. One type of heavy chaotic vibratory roller (14t) is used in highway development in west China.
Keywords： chaos vibration road roller engineering
Launch dynamics of multibody system and its applications
Rui Xiaoting
Strategic Study of CAE 2011, Volume 13, Issue 10, Pages 76-82
Bad firing precision, huge consumption of projectiles in test and launch unsafety are the three difficult technology problems constraining the development of modern rockets and gun weapons. Firing precision and the launch safety of weapon system depend on dynamics style of weapon system. As a engineering subject of multidisciplinary approach studying the motion styles of weapon system and the force acting on it during launch process, launch dynamics has been a new technological breakthrough in improving firing precision and launch safety of rockets and gun weapon system in the world, provided new theory and technology for design and test of firing precision and launch safety. In this paper, theory and technology of launch dynamics of multibody system and its applications in design and test of firing precision and safety for rockets and gun weapons are studied.
Keywords： firing precision consumption of projectile in test launch safety launch dynamics of multibody system transfer matrix method of multibody system
Study on dynamics of coupled systems in high-speed trains
Zhang Weihua
Strategic Study of CAE 2015, Volume 17, Issue 4, Pages 42-52
According to the structure and technical features of high-speed railway， the high-speed train， rail line， air flow， power supply and catenary which are relevant to the high-speed train and have an effect on the dynamic behavior of the high-speed train are coupled as a unified system. The dynamic model of coupled systems in high-speed trains are created by establishing the dynamic models of high-speed train， rail line， pantograph-catenary and power supply and the coupled interaction models of wheel-rail， pantograph-catenary， liquid-solid and electro-mechanical. For the high speed train operation simulation requirements， this paper studied the train dynamics modeling and calculation method based on cyclic variable parameters method， the train-line coupled calculation method based on the slip model and the liquid-solid coupled calculation method based on the relaxation factor. the simulation of coupled systems in high-speed trains are realized. [Key words] high-speed train； service performance； train detection； tracking test； performance evolution
Keywords： high-speed train； service performance； train detection； tracking test； performance evolution
From Remotely Operated Vehicles to Autonomous Undersea Vehicles
Feng Xisheng
Strategic Study of CAE 2000, Volume 2, Issue 12, Pages 29-33
A clear definition and a very fine classification of the unmanned undersea vehicles are given in this paper. Following a brief introduction of the advances on the unmanned undersea vehicles the paper points out that the autonomous underwater vehicles at present is a hot spot in the research realm of the unmanned undersea vehicles. This paper describes the research and development achievements pertinent to the unmanned undersea vehicles in Shenyang Institute of Automation (SIA), Chinese Academy of Sciences with the cooperation of organizations home and abroad in the last two decades. SIA started to be engaged in the research and development of the remotely operated tethered vehicles in the end of 1970's. This paper gives a wide introduction of the critical characteristics and technical descriptions of the first remotely operated tethered vehicle “HR- 01” in China, the first autonomous underwater vehicle “Explorer” and the autonomous underwater vehicle CR-01 (6 000 m).
Keywords： undersea vehicles ROV AUV ocean engineer ocean resources exploration
A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery Article
Zheng Li, Jan Feiling, Hongliang Ren, Haoyong Yu
Engineering 2015, Volume 1, Issue 1, Pages 73-78 doi: 10.15302/J-ENG-2015011
In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator (CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented, direct mapping and incremental mode. In each mode, the robot can be manipulated using either the highest stiffness scheme or the minimal movement scheme. The advantages of the CTSM are shown by simulation and experimental results.
Keywords： surgical robot flexible manipulator tendon-driven minimally invasive robotic surgery
A Spatial–Temporal Network Perspective for the Propagation Dynamics of Air Traffic Delays Article
Qing Cai, Sameer Alam, Vu N. Duong
Engineering 2021, Volume 7, Issue 4, Pages 452-464 doi: 10.1016/j.eng.2020.05.027
Intractable delays occur in air traffic due to the imbalance between ever-increasing air traffic demand and limited airspace capacity. As air traffic is associated with complex air transport systems, delays can be magnified and propagated throughout these systems, resulting in the emergent behavior known as delay propagation. An understanding of delay propagation dynamics is pertinent to modern air traffic management. In this work, we present a complex network perspective of delay propagation dynamics. Specifically, we model air traffic scenarios using spatial-temporal networks with airports as the nodes. To establish the dynamic edges between the nodes, we develop a delay propagation method and apply it to a given set of air traffic schedules. Based on the constructed spatial–temporal networks, we suggest three metrics—magnitude, severity, and speed—to gauge delay propagation dynamics. To validate the effectiveness of the proposed method, we carry out case studies on domestic flights in the Southeastern Asia region (SAR) and the United States. Experiments demonstrate that the propagation magnitude in terms of the number of flights affected by delay propagation and the amount of propagated delays for the US traffic are respectively five and ten times those of the SAR. Experiments further reveal that the propagation speed for US traffic is eight times faster than that of the SAR. The delay propagation dynamics reveal that about six hub airports in the SAR have significant propagated delays, while the situation in the United States is considerably worse, with a corresponding number of around 16. This work provides a potent tool for tracing the evolution of air traffic delays.
Keywords： Air traffic Transport systems Delay propagation dynamics Spatial–temporal networks
A Description Model for Dynamic Evolution of Robot Team Formation
Li Shuqin,Cheng Xianyi,Tang Zhenmin,Yang Jingyu
Strategic Study of CAE 2006, Volume 8, Issue 4, Pages 28-31
At present, there are some conception confusions about organization, team and group, and also team formation is still in qualitative analysis phase in multi-robot field. The paper, using Markov course and evolution calculation theory for reference, researches the difference between team and organization in conception and the formation mechanism of robot team from cooperative entity layer and ability layer. This paper proposes and describes a dynamic evolution model about robot team formation. There hasn't been a similar model at home and abroad now. The model can not only wholly describe robot team, but also quantitatively describe dynamical evolution course of the team formation.
Keywords： robot robot team dynamical evolution
Selective and Independent Control of Microrobots in a Magnetic Field: A Review Review
Min Wang, Tianyi Wu, Rui Liu, Zhuoran Zhang, Jun Liu
Engineering 2023, Volume 24, Issue 5, Pages 21-38 doi: 10.1016/j.eng.2023.02.011
Due to the unique advantages of untethered connections and a high level of safety, magnetic actuation is a commonly used technique in microrobotics for propelling microswimmers, manipulating fluidics, and navigating medical devices. However, the microrobots or actuated targets are exposed to identical and homogeneous driving magnetic fields, which makes it challenging to selectively control a single robot or a specific group among multiple targets. This paper reviews recent advances in selective and independent control for multi-microrobot or multi-joint microrobot systems driven by magnetic fields. These selective and independent control approaches decode the global magnetic field into specific configurations for the individualized actuation of multiple microrobots. The methods include applying distinct properties for each microrobot or creating heterogeneous magnetic fields at different locations. Independent control of the selected targets enables the effective cooperation of multiple microrobots to accomplish more complicated operations. In this review, we provide a unique perspective to explain how to manipulate individual microrobots to achieve a high level of group intelligence on a small scale, which could help accelerate the translational development of microrobotic technology for real-life applications.
Keywords： Microrobot Magnetic microrobot Independent control Selective control Microrobotic manipulation
Title Author Date Type Operation
Complete coverage path planning for an Arnold system based mobile robot to perform specific types of
Cai-hong Li, Chun Fang, Feng-ying Wang, Bin Xia, Yong Song,lich@sdut.edu.cn
Journal Article
Parameter value selection strategy for complete coverage path planning based on the Lü system to perform specific types of missions
Caihong LI, Cong LIU, Yong SONG, Zhenying LIANG
Journal Article
A chaotic coverage path planner for the mobilerobot based on the Chebyshev map for special missions
Cai-hong LI, Yong SONG, Feng-ying WANG, Zhi-qiang WANG, Yi-bin LI
Journal Article
Magnetically driven microrobotsmoving in a flow: a review
Jiamiao MIAO, Xiaopu WANG, Yan ZHOU, Min YE, Hongyu ZHAO, Ruoyu XU, Huihuan QIAN
Journal Article
A-STC: auction-based spanning tree coverage algorithm formotion planning of cooperative robots
Guan-qiang GAO, Bin XIN
Journal Article
An improved immunity path planning algorithm for mobile robots based on the guidance weight of artificial potential field
Wang Sunan,Wu Canyang
Journal Article
Road Roller Engineering Based on Chaotic Vibration Mechanics
Long Yunjia,Yang Yong,Wang Congling
Journal Article
A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery
Zheng Li, Jan Feiling, Hongliang Ren, Haoyong Yu
Journal Article
A Spatial–Temporal Network Perspective for the Propagation Dynamics of Air Traffic Delays
Qing Cai, Sameer Alam, Vu N. Duong
Journal Article
A Description Model for Dynamic Evolution of Robot Team Formation
Li Shuqin,Cheng Xianyi,Tang Zhenmin,Yang Jingyu
Journal Article
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