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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Xu, Jiahong Liu, Xiaofeng Zhou, Xu Wang, Huan Lin, Qiguang Jiangsu Key Laboratory of Special Cloud Robots Changzhou213022 China Changzhou Key Laboratory of Cloud Robots and Intelligent Technology Changzhou213022 China College of IoT Engineering Hohai University Changzhou213022 China

ISBN: (纸本)9781665436786

In our work, we propose a planner based on game theory and artificial potential field (APF) that enables intruder to confront defender in 2-D environment. The intruder would compute the mixed strategy approximate Nash equilibrium in the space of agent APF trajectory to maximally approach the target region while evading the pursuit of defender. First, according to the improved APF, the finite pure strategy matrix of agents is obtained by considering the opponent's response to the agents' actions iteratively. Then, Particle Swarm optimization (PSO) is taken to compute the mixed strategy approximate Nash equilibrium based on the expected profit composed of pure strategy matrix. Final, extensive simulation tests on agents are conducted to measure the performance of the planner we proposed. The simulation results show that our method not only has great advantages in the face of greedy defenders, but also is superior to the traditional APF planning algorithm. © 2021 IEEE.

关键词： Game theory

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A comparative study of data-driven battery capacity estimation based on partial charging curves

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Journal of Energy Chemistry 2024年第1期88卷 409-420,I0010页

作者： Chuanping Lin Jun Xu Delong Jiang Jiayang Hou Ying Liang Xianggong Zhang Enhu Li Xuesong Mei State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong UniversityXi’an 710049ShaanxiChina Shaanxi Key Laboratory of Intelligent Robots School of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049ShaanxiChina Department of Electrical Engineering and Automation Luoyang Institute of Science and TechnologyLuoyang 471023HenanChina Wuhan Institute of Marine Electric Propulsion China State Shipbuilding Corporation LimitedWuhan 430064HubeiChina Gresgying Digital Technology Ltd. Xi’an 710086ShaanxiChina

With its generality and practicality, the combination of partial charging curves and machine learning(ML) for battery capacity estimation has attracted widespread attention. However, a clear classification,fair comparison, and performance rationalization of these methods are lacking, due to the scattered existing studies. To address these issues, we develop 20 capacity estimation methods from three perspectives:charging sequence construction, input forms, and ML models. 22,582 charging curves are generated from 44 cells with different battery chemistry and operating conditions to validate the performance. Through comprehensive and unbiased comparison, the long short-term memory(LSTM) based neural network exhibits the best accuracy and robustness. Across all 6503 tested samples, the mean absolute percentage error(MAPE) for capacity estimation using LSTM is 0.61%, with a maximum error of only 3.94%. Even with the addition of 3 m V voltage noise or the extension of sampling intervals to 60 s, the average MAPE remains below 2%. Furthermore, the charging sequences are provided with physical explanations related to battery degradation to enhance confidence in their application. Recommendations for using other competitive methods are also presented. This work provides valuable insights and guidance for estimating battery capacity based on partial charging curves.

关键词： Lithium-ion battery Partial charging curves Capacity estimation Data-driven Sampling frequency

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Manipulator-based autonomous inspections at road checkpoints:Application of faster YOLO for detecting large objects

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Defence technology（防务技术） 2022年第6期18卷 937-951页

作者： Qing-xin Shi Chang-sheng Li Bao-qiao Guo Yong-gui Wang Huan-yu Tian Hao Wen Fan-sheng Meng Xing-guang Duan School of Mechatronical Engineering Beijing Institute of TechnologyBeijing100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing100081China State Key Laboratory of Explosion Science and Technology Beijing Institute of TechnologyBeijing100081China

With the increasing number of vehicles,manual security inspections are becoming more laborious at road *** address it,a specialized Road Checkpoints Robot(RCRo)system is proposed,incorporated with enhanced You Only Look Once(YOLO)and a 6-degree-of-freedom(DOF)manipulator,for autonomous identity verification and vehicle *** modified YOLO is characterized by large objects’sensitivity and faster detection speed,named“LF-YOLO”.The better sensitivity of large objects and the faster detection speed are achieved by means of the Dense module-based backbone network connecting two-scale detecting network,for object detection tasks,along with optimized anchor boxes and improved loss *** the manipulator motion,Octree-aided motion control scheme is adopted for collision-free motion through Robot Operating System(ROS).The proposed LF-YOLO which utilizes continuous optimization strategy and residual technique provides a promising detector design,which has been found to be more effective during actual object detection,in terms of decreased average detection time by 68.25%and 60.60%,and increased average Intersection over Union(Io U)by 20.74%and6.79%compared to YOLOv3 and YOLOv4 through *** comprehensive functional tests of RCRo system demonstrate the feasibility and competency of the multiple unmanned inspections in practice.

关键词： Robot applications Object detection Vehicle inspection Identity verification You only look once(YOLO)

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A Method of Human-Like Compliant Assembly Based on Variable Admittance Control for Space Maintenance

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Cyborg and Bionic Systems 2023年第1期4卷 106-120页

作者： Xiaolei Cao Xiao Huang Yan Zhao Zeyuan Sun Hui Li Zhihong Jiang Marco Ceccarelli School of Mechatronical Engineering Advanced Innovation Center for Intelligent Robots and SystemsKey Laboratory of Biomimetic Robots and Systems of Chinese Ministry of EducationBeijing Institute of TechnologyBeijing 100081China China Northern Vehicle Research Institute Beijing 100071China Department of Industrial Engineering University of Rome Tor VergataVia del Politecnico 100133 RomaItaly

On-orbit assembly has become a crucial aspect of space operations,where the manipulator frequently and directly interacts with objects in a complex assembly *** traditional manipulator control has limitations in adapting to diverse assembly tasks and is vulnerable to vibration,leading to assembly *** address this issue,we propose a human-like variable admittance control method based on the variable damping characteristics of the human *** collecting the velocity and contact force of human arm operations in assembly,we analyze the damping change of human arm and establish the active compliance model based on S-type damping variation rule in ***,3 passive contact models are proposed between the end of the human arm and the environment:one-sided bevel contact,both sides bevel contact,and pin-hole *** the basis of these active and passive models,a typical space assembly task for a robot is designed,and a human-like variable admittance controller is established and ***,we build a ground verification platform and complete different assembly tasks,thereby successfully verifying the safety,robustness,and adaptability of the human-like variable admittance control method.

关键词： robot operations passive

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Explosive Electric Actuator and Control for Legged robots

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Engineering 2022年第5期8卷 39-47页

作者： Fei Meng Qiang Huang Zhangguo Yu Xuechao Chen Xuxiao Fan Wu Zhang Aiguo Ming School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing 100081China Department of Mechanical and Intelligent Systems Engineering The University of Electro-CommunicationsTokyo 182-8585Japan

Unmanned systems such as legged robots require fast-motion responses for operation in complex *** systems therefore require explosive actuators that can provide high peak speed or high peak torque at specific moments during dynamic *** hydraulic actuators can provide a large force,they are relatively inefficient,large,and *** electric actuators are incapable of providing instant high *** addition,the constant reduction ratio of the reducer makes it difficult to eliminate the tradeoff between high speed and high torque in a given *** study proposes an explosive electric actuator and an associated control method for legged ***,a high-power-density variable transmission is designed to enable continuous adjustment of the output speed to torque ratio.A heat-dissipating structure based on a composite phase-change material(PCM)is *** integral torque control method is used to achieve periodic and controllable explosive power *** experiments are conducted with typical legged robots to verify the effectiveness of the proposed actuator and control ***-legged,quadruped,and humanoid robots jumped to heights of 1.5,0.8,and 0.5 m,*** are the highest values reported to date for legged robots powered by electric actuators.

关键词： Electric actuator Variable transmission Integral torque control Legged robot

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Highly-reflective facet-coated multi-wavelength DFB laser array with exact wavelength spacings

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Optics Express 2024年第2期32卷 1843-1850页

作者： Wang, Ling Lv, Gen Fan, Yaqiang Tang, Kaifei Sun, Zhenxing Gong, Yangyang Chen, Xiangfei Chiu, Yi-Jen Xiao, Rulei Zhou, Yating Key Laboratory of Intelligent Optical Sensing and Manipulation the Ministry of Education National Laboratory of Solid-State Microstructures College of Engineering and Applied Sciences Institute of Optical Communication Engineering Nanjing University Nanjing210093 China School of Mathematics & Physics and Chemical Engineering Changzhou Institute of Technology Jiangsu Changzhou213032 China Institute of Electro-Optical Engineering and Semiconductor Technology Research Development Center National Sun Yat-Sen University Kaohsiung80424 Taiwan

A distributed feedback (DFB) laser array of twenty wavelengths with highly reflective and anti-reflective (HR-AR) coated facets is both theoretically analyzed and experimentally validated. While the HR facet coating enhances high wall-plug efficiency, it inadvertently introduces a random facet grating phase, thereby compromising the lasing wavelength’s predictability and the stability of the single-longitudinal-mode (SLM). In this study, two key advancements are introduced: first, the precisely spaced wavelength is achieved with an error of within ±0.2 nm using the reconstruction-equivalent-chirp (REC) technique;second, the random grating phase on the HR-coated facet is compensated by a controllable distributed phase shift through a two-section laser structure. The SLM stability can be improved while the wavelength can be continuously tuned to the standard wavelength grid. The overall chip size is compact with an area of 4000 × 500 µm2. The proposed laser array has a light power intensity above 13 dBm per wavelength, a high side mode suppression ratio above 50 dB, and low relative intensity noise under -160 dB/Hz. These attributes make it apt for deployment in DWDM-based optical communication systems and as a light source for optical I/O. © 2024 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Distributed feedback lasers

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Multi-Speed Walking Gait Generation for Bipedal robots Based on Reinforcement Learning and Human Motion Imitation 42

Multi-Speed Walking Gait Generation for Bipedal Robots Based...

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42nd Chinese Control Conference, CCC 2023

作者： Su, Mengya Huang, Yan The School of Mechantronical Engineering Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing100081 China

ISBN: (纸本)9789887581543

Gait generation is significant for a humanoid robot to realize flexible motion adapt to complex environments. With the wide applications of data-driven methods, gait generation approaches based on reinforcement learning have been represented. In this study, we proposed a multi-speed walking gait generation method based on reinforcement learning and human motion imitation. Multi-speed walking gaits were generated with imitation of human walking of only one speed. Moreover, we also analyzed multi-speed walking gait generation for a biped robot with reduced human motion data (e.g. motion data of trunk orientation and hip and knee angles without ankle angle, or motion data of trunk orientation and hip angle only) and reduced training time. This study provides a novel method for generation of multi-speed and human-like walking gaits of biped robot. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Reinforcement learning

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Non-invasive and fully two-dimensional quantitative visualization of transparent flow fields enabled by photonic spin-decoupled metasurfaces

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Light(Science & Applications) 2025年第4期14卷 1094-1104页

作者： Qingbin Fan Peicheng Lin Le Tan Chunyu Huang Feng Yan Yanqing Lu Ting Xu National Laboratory of Solid-State Microstructures and Collaborative Innovation Center of Advanced Microstructures Nanjing UniversityNanjing 210093China School of Electronic Sciences and Engineering Nanjing UniversityNanjing 210093China College of Engineering and Applied Sciences and Key Laboratory of Intelligent Optical Sensing and Manipulation Ministry of EducationNanjing UniversityNanjing 210093China School of Materials Engineering Jiangsu University of Technology213001 ChangzhouChina

Transparent flow field visualization techniques play a critical role in engineering and scientific *** provide a clear and intuitive means to understand fluid dynamics and its complex phenomena,such as laminar flow,turbulence,and ***,achieving fully two-dimensional quantitative visualization of transparent flow fields under non-invasive conditions remains a significant ***,we present an approach for achieving flow field visualization by harnessing the synergistic effects of a dielectric metasurface array endowed with photonic spindecoupled *** approach enables the simultaneous acquisition of light-field images containing flow field information in two orthogonal dimensions,which allows for the real-time and quantitative derivation of multiple physical *** a proof-of-concept,we experimentally demonstrate the applicability of the proposed visualization technique to various scenarios,including temperature field mapping,gas leak detection,visualization of various fluid physical phenomena,and 3D morphological reconstruction of transparent phase *** technique not only establishes an exceptional platform for advancing research in fluid physics,but also exhibits significant potential for broad applications in industrial design and vision.

关键词： harnessing synergistic effects photonic spin decoupled metasurfaces flow fields flow field visualization laminar flowturbulenceand two dimensional visualization non invasive visualization fluid dynamics

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POMDP-Based Real-Time Path Planning for Manipulation of Multiple Microparticles via Optoelectronic Tweezers

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Cyborg and Bionic Systems 2022年第1期2022卷 303-313页

作者： Jiaxin Liu Huaping Wang Menghua Liu Ran Zhao Yanfeng Zhao Tao Sun Qing Shi Intelligent Robotics Institute School of Mechatronical Engineering Bejing Institute of TechnologyBeijing 10081China Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China School of Medical Technology Beijing Institute of TechnologyBeijing 100081China Bejing Advanced Innovation Center for Itelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China

With high throughput and high flexibility,optoelectronic tweerers(OETs)hold huge potential for massively parallel ***,the trajectory of the virtual electrode has been planned in advance in most synchronous manipulations for multiple targets based on an optically induced dielectrophoresis(ODEP)mechanism,which is insuficient to ensure the stability and eficiency in an environment with potential collision *** this paper,a synchronously discretized manipulation method based on a centralized and decoupled path planner is proposed for transporting microparticles of diferent types with an OET *** approach based on the K uhn-Munkres algorithm is utilized to achieve the goal assignment between target microparticles and goal *** the assistance of a visual feedback module,a path planning approach based on the POMDP algorithm dynamically determines the motion strategies of the particle movement to avoid potential *** geometrical parameters of the virtual electrodes are optimized for different types of particles with the goal of maximum transport *** experiments of micropatterning with different morphologies and transporting multiple micropartides(e.g,polystyrene microspheres and 3T3 cells)to goal positions are *** results demonstrate that the proposed manipulation method based on optoelectronic tweezers is effective for multicell transport and promises to be used in biomedical manipulation tasks with high flexibility and efficiency.

关键词： manipulation positions assignment

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A Novel Battery Balancing Topology Coupled with Battery Reconfiguration

A Novel Battery Balancing Topology Coupled with Battery Reco...

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IEEE Conference and Expo Transportation Electrification Asia-Pacific (ITEC Asia-Pacific)

作者： Zhaohuan Liu Jun Xu Zixiang Zhao Zhechen Guo Xi’an Jiaotong University Xi’an China Shaanxi Key Laboratory of Intelligent Robots School of Future Technology Xi an Jiaotong University Xi’an China Key Laboratory of Intelligent Robots Xi’an China

ISBN: (数字)9798331529277

ISBN: (纸本)9798331529307

The inconsistency between series-connected batteries is a key factor affecting the high performance and lifespan of lithium-ion battery packs. Therefore, a battery balancing system is needed to achieve effective energy balance. Traditional battery balancing is mainly divided into three methods: P2C (Pack to Cell), C2P (Cell to Pack), and C2C (Cell to Cell). The C2C structure is complex and hard to control, while the other two have the issue of repeated balancing. To address this issue, this paper proposes a battery balancing system coupled with battery reconfiguration based on flyback transformation. In order to enhance the controllability of the battery balancing system, the topology of the balancing system adopts the C2P/P2C method, and the balancing direction can be switched according to the current situation during the balancing process. To avoid the problem of repeated balancing, each battery is connected in parallel with a bypass circuit based on battery reconfiguration. Through a series of simulation, it can be concluded that this battery balancing system has good robustness, solves the problem of repeated balancing, and the balancing efficiency has improved.

关键词： Lithium-ion batteries Energy loss Transportation Process control Switches Electrification Robustness Batteries Topology MATLAB

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