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DCM-based dynamic stable walking under terrain-induced time-varying disturbances for humanoid robots

Science china(Technological Sciences) 2025年第4期68卷 105-117页

作者： Yan LUO Chao LIU Jianhua WU Zhenhua XIONG Han DING State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan430074China

When humanoid robots attempt to walk on terrain such as shaking platforms,time-varying disturbances are introduced to the support *** abrupt changes of inclination angle can cause the robot to lose balance upon landing,presenting significant challenges for balance control *** address this issue,we propose a novel divergent component of motion(DCM)-based time-varying disturbance walking(DCM-TVDW)*** method allows the robot to walk on rugged surfaces and helps to maintain dynamic balance when subjected to large time-varying *** the DCM-TVDW control method,we first adjust the robot's center of mass and stride height to adapt to transitions between different terrain types via a variable height stabilization method,and hold these quantities constant as base *** then combine DCM with the N-step capturability *** combination allows for dynamic balance through multi-step adjustments from the initially unstable region,thereby extending the robots stability *** and experimental results demonstrate that the DCM-TVDW method enables the SJ-Bruce robot to traverse a dynamically shaking platform with an inclination angle of approximately 22°.

关键词： humanoid robot dynamic balance control capturability time-varying disturbance

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Two-stage Optimal Scheduling of Community Integrated Energy system Considering Operation Sequences of Hydrogen Energy Storage systems

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Journal of Modern Power systems and Clean Energy 2025年第1期13卷 276-288页

作者： Wei Kong Kai Sun Jinghong Zhao School of Electrical Engineering Naval University of EngineeringWuhanChina Department of Electrical Engineering State Key Laboratory of Power System Operation and ControlTsinghua UniversityBeijingChina

The hydrogen energy storage system(HESS)integrated with renewable energy power generation exhibits low reliability and flexibility under source-load *** address the above issues,a two-stage optimal scheduling model considering the operation sequences of HESSs is proposed for commercial community integrated energy systems(CIESs)with power to hydrogen and heat(P2HH)*** aims to optimize the energy flow of HESS and improve the flexibility of hydrogen production and the reliability of energy supply for ***,the refined operation model of HESS is established,and its operation model is linearized according to the operation domain of HESS,which simplifies the difficulty in solving the optimization problem under the premise of maintaining high approximate ***,considering the flexible start-stop of alkaline electrolyzer(AEL)and the avoidance of multiple energy conversions,the operation sequences of HESS are ***,a two-stage optimal scheduling model combining day-ahead economic optimization and intra-day rolling optimization is established,and the model is simulated and verified using the source-load prediction data of typical days in each *** simulation results show that the two-stage optimal scheduling reduces the total load offset by about 14%while maintaining similar operating cost to the day-ahead economic optimal ***,by formulating the operation sequences of HESS,the operating cost of CIES is reduced by up to about 4.4%.

关键词： Community integrated energy system(CIES) hydrogen storage operation sequence two-stage optimal scheduling

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Laser performance of Tm:(LuxGd1−x)3Ga5O12 crystal in 2-2.3 µm spectral region

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Optics Express 2025年第6期33卷 12427-12435页

作者： Zhou, Xue Li, Jiatong Yang, Xianxian Zhang, Zhen Fu, Xiuwei Nie, Hongkun Li, Tao Zhang, Baitao He, Jingliang Yang, Kejian Institute of Novel Semiconductors State Key Laboratory of Crystal Materials Shandong University Jinan250100 China Shandong University China Key Laboratory of Laser & Infrared System Ministry of Education Qingdao266237 China

Continuous-wave (CW) and acousto-optic (AO) Q-switched laser operations based on Tm:LGGG crystal have been investigated in the spectral region of 2-2.3 µm. In CW regime, laser emissions at 2006 nm, 2160 nm, and 2344 nm are obtained by using different cavity mirrors with selective coating. A maximum output power of 4.25 W is achieved at 2006 nm with a slope efficiency of 32.8%. By suppressing the intense laser emissions at around 2 µm, a total output power of 0.925 W at 2160 nm and 2344 nm is obtained, corresponding to a slope efficiency of 12.9%. Furthermore, single laser wavelength operation at 2344 nm is realized by suppressing the laser emissions within 2-2.2 µm, delivering a maximum output power of 0.27 W and a slope efficiency of 5.1%. To the best of our knowledge, this is the first demonstration of laser emissions at 2160 nm and 2344 nm for Tm:LGGG crystal. However, by using an acousto-optic modulator (AOM), only Q-switching laser operation is obtained at 2004 nm, and the shortest pulse width of 216 ns and maximum pulse energy of 600 µJ are obtained, corresponding to a maximum pulse peak power of 2.78 kW. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Q switched lasers

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Enhancing forecasting of current-carrying performance through spatial frequency analysis of interface morphology

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Science china(Technological Sciences) 2025年第2期68卷 167-177页

作者： Nian YIN Zishuai WU Zhangli HOU Yiwei ZHANG Zhinan ZHANG State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China

Electrical contact interfaces,integral to devices such as connectors,switches,and conductive slip rings,play a crucial role in determining current-carrying *** study adopts spatial frequency analysis to assess the currentcarrying performance of interfaces based on their morphological ***,rough surfaces with various parameters,including the cutoff frequency(N),the spectral index(β),and the gain factor(A),were generated using spatial frequency methods,followed by current-carrying *** findings reveal that the characteristic parameters derived from spatial frequency methods exhibit a significantly stronger correlation with current-carrying performance than traditional roughness *** enhance the practical applicability of this research,a physical-informed machine learning approach for rough surface features extraction was developed,demonstrating high predictive parameter identification accuracy for the three ***,this paper introduces a tribo-informatics approach for analyzing and extracting rough surface features that considers the curvature characteristics of contact *** approach holds significant potential for evaluating the processing state of current-carrying interfaces,selecting high-quality surfaces,and forecasting current-carrying performances.

关键词： tribo-informatics current-carrying interfaces spatial frequency analysis machine learning

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FWAF-VID: A Flapping-Wing Aggressive Flight Benchmark Dataset for Visual-Inertial Localization

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IEEE robotics and Automation Letters 2025年第6期10卷 6328-6335页

作者： Jiang, Jizhou Pan, Erzhen Xu, Wenfu Sun, Wei Ye, Jingyang Harbin Institute of Technology School of Robotics and Advanced Manufacture Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center Shenzhen518052 China

Accurate state estimation of micro aerial vehicles (MAVs) in high-speed and dynamic environments poses a significant challenge for visual-inertial odometry (VIO) algorithms. Flapping-wing aerial vehicles (FWAVs), as an emerging flight platform, have attracted significant attention for stealth capabilities and efficient flight characteristics. Despite the availability of numerous MAV visual-inertial datasets for six-degree-of-freedom (6-DoF) state estimation, these datasets are not applicable for FWAVs with pronounced vibrations and agile maneuverability. To address this gap, we propose a large-scale flapping-wing aggressive flight visual-inertial dataset FWAF-VID. It contains diverse integrations of synchronized onboard cameras and IMU sensors. A total of 28 sequences include static flapping, calibration, and real-world flights collected in outdoor and indoor environments. The 17 flight sequences feature variations in illuminations, speeds, trajectories, camera perspectives, and flight modalities. We provide precisely aligned ground truth RTK and UWB measurements for algorithm evaluation. Furthermore, a comprehensive benchmark comparison is conducted, qualitatively and quantitatively evaluating the positioning accuracy of state-of-the-art VIO algorithms. The experimental results indicate that despite the degradation in localization accuracy in high-dynamic environments, FWAF-VID can effectively support the further development of VIO algorithms for FWAVs. To the best of our knowledge, this is the first onboard benchmark dataset tailored for aggressive flight in flapping-wing airborne platforms. © 2025 IEEE.

关键词： Micro air vehicle (MAV)

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Nanograting‑Based Dynamic Structural Colors Using Heterogeneous Materials

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Nano-Micro Letters 2025年第3期17卷 138-151页

作者： Jingang Wang Haibo Yu Jianchen Zheng Yuzhao Zhang Hongji Guo Ye Qiu Xiaoduo Wang Yongliang Yang Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People’s Republic of China University of Chinese Academy of Sciences Beijing 100049People’s Republic of China

Dynamic structuralcolors can change in response todifferent environmental *** ability remains effectiveeven when the size of the speciesresponsible for the structural coloris reduced to a few micrometers,providing a promising sensingmechanism for solving microenvironmentalsensing problems inmicro-robotics and ***, the lack of dynamicstructural colors that can encoderapidly, easily integrate, and accuratelyreflect changes in physical quantities hinders their use in microscale sensing applications. Herein, we present a 2.5-dimensionaldynamic structural color based on nanogratings of heterogeneous materials, which were obtained by interweaving a pH-responsive hydrogelwith an IP-L photoresist. Transverse gratings printed with pH-responsive hydrogels elongated the period of longitudinal grating in the swollenstate, resulting in pH-tuned structural colors at a 45° incidence. Moreover, the patterned encoding and array printing of dynamic structuralcolors were achieved using grayscale stripe images to accurately encode the periods and heights of the nanogrid structures. Overall, dynamicstructural color networks exhibit promising potential for applications in information encryption and in situ sensing for microfluidic chips.

关键词： Dynamic structural colors Four-dimensional printing pH-responsive Nanogrid Heterogeneous materials

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An improved YOLOv3 model for detection of invasive Saccharomyces Cerevisiae infections

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Multimedia Tools and Applications 2025年第15期84卷 14605-14622页

作者： Li, Gongxin Li, Shuai Fang, Xing Luan, Xiaoli Liu, Fei Institute of Automation Jiangnan University Wuxi214122 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

Saccharomyces Cerevisiae (S. cerevisiae) is a fermenting strain that commonly used in the baking and brewing industries and also used as a probiotic for the prevention and treatment of various diarrhea and related diseases. However, cases of invasive S. cerevisiae infection due to the ingestion of S. cerevisiae have been increasing over the last two decades, especially in elderly, immunocompromised and critically ill patients. In addition, the currently methods used in clinical for the diagnosis of invasive S. cerevisiae infections are time-consuming and easily miss the optimal time for diagnosis and early prevention. Here, we propose an improved YOLOv3 model-based deep learning method to detect S. cerevisiae with higher efficient. The improved YOLOv3 model is derived from the YOLOv3 model by re-constructing its’ model structure with a lightweight network (GhostNet) and other related functions to improve the detection precision and efficiency, and the improved performances were experimentally validated on blood samples. Furthermore, the detection performance by the method was also experimentally compared with that by other several typical deep learning methods. The experimental results showed that the average precision and average detection time on a single image of the improved YOLOv3 model is 97.83% and 0.021 s, respectively, and the both indexes significantly outperform the other methods. The study provides a novel and potential method to detect invasive S. cerevisiae infection with higher precision and faster rate, and also offers a new approach for timely diagnosis and early prevention of the related diseases reduced by microorganism. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： Yeast

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Deep Learning-Based Automatic Control of Magnetic Diatom Biohybrid Microrobots for Targeted Delivery

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IEEE Transactions on robotics 2025年 41卷 2990-3003页

作者： Li, Mengyue Li, Liang Zhou, Junjian Liu, Lianqing Jiao, Niandong Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

Biohybrid microrobots with autonomous movement capabilities have broad application prospects in targeted delivery, attracting researchers to study their movement characteristics. However, its automatic control is still challenging, and exploring real-time detection of its environment for path planning to achieve stable closed-loop control is highly important for its practical application. Here, we applied deep learning for the detection of biohybrid microrobots and their targets and obstacles, followed by real-time path planning and trajectory tracking of biohybrid microrobots for targeted delivery. The proposed detection algorithm introduces attention and multiscale feature fusion mechanisms in YOLOv7 algorithm (AM-YOLOv7) with the aim of enhancing the precision of detecting small-scale targets when robots, obstacles and targets are displayed globally, and the detection capabilities are verified through simulations and experiments. The proposed planning algorithm introduces a turning penalty function and a path smoothing strategy into A∗ algorithm (PS-A∗) to make the planned path short and smooth, which has been verified through simulation and experiments. The adaptive fuzzy PID method is used to track the robot's trajectory, and experiments and simulations show that the biohybrid microrobot can move according to the preset trajectory better. The final cell scene experimental results show that the biohybrid microrobot using this system can effectively avoid obstacle cells and be delivered to target cells. The system can detect biohybrid microrobots, obstacle cells and target cells, plan short and smooth trajectories, and track them accurately. The proposed method has certain generalizability and broad application prospects in targeted delivery. © 2004-2012 IEEE.

关键词： Robot programming

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Enhanced electrochemical performance of lithium-rich layered oxide materials: Exploring advanced coating strategies

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Chinese Chemical Letters 2025年第4期36卷 479-485页

作者： Bing Jiang Gang Zou Bi Luo Yan Guo Jingru Li Wendi Zhang Qianxiao Fan Lehao Liu Lihua Chu Qiaobao Zhang Meicheng Li State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources School of New EnergyNorth China Electric Power UniversityBeijing 102206China State Key Laboratory of Physical Chemistry of Solid Surfaces College of MaterialsXiamen UniversityXiamen 361005China

In the field of lithium-ion battery cathode materials, lithium-rich layered oxide materials have garnered significant attention due to their exceptional discharge specific capacity and high operating voltage. However, their limitations in terms of cycling stability and rate capability remain major impediments to their wider application. In this study, an innovative approach was employed by simultaneously utilizing the acidic and oxidative properties of phosphomolybdic acid to generate a spinel structure and in-situ coating of a conductive polymer(polypyrrole) on the surface of lithium-rich layered oxide materials. This strategy aimed to mitigate structural degradation during charge-discharge cycles, enhance the ionic/electronic conductivity, and suppress side reactions. Experimental results demonstrated that after 200 cycles at a current density of 1 C, the modified sample exhibited a discharge specific capacity of 193.4 m Ah/g, with an improved capacity retention rate of 83.3% and a minimal voltage decay of only 0.27 V. These findings provide compelling support for the development and application of next-generation high-performance lithium-ion batteries.

关键词： Lithium-ion battery Lithium-rich layered oxide materials Spinel phase Conductive polymer Coating

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MATD3-Based End-Edge Collaborative Resource Optimization for NOMA-Assisted Industrial Wireless Networks

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Computers, Materials & Continua 2025年第2期82卷 3203-3222页

作者： Ru Hao Chi Xu Jing Liu College of Information Engineering Shenyang University of Chemical TechnologyShenyang110142China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110016China

Non-orthogonal multiple access (NOMA) technology has recently been widely integrated into multi-access edge computing (MEC) to support task offloading in industrial wireless networks (IWNs) with limited radio resources. This paper minimizes the system overhead regarding task processing delay and energy consumption for the IWN with hybrid NOMA and orthogonal multiple access (OMA) schemes. Specifically, we formulate the system overhead minimization (SOM) problem by considering the limited computation and communication resources and NOMA efficiency. To solve the complex mixed-integer nonconvex problem, we combine the multi-agent twin delayed deep deterministic policy gradient (MATD3) and convex optimization, namely MATD3-CO, for iterative optimization. Specifically, we first decouple SOM into two sub-problems, i.e., joint sub-channel allocation and task offloading sub-problem, and computation resource allocation sub-problem. Then, we propose MATD3 to optimize the sub-channel allocation and task offloading ratio, and employ the convex optimization to allocate the computation resource with a closed-form expression derived by the Karush-Kuhn-Tucker (KKT) conditions. The solution is obtained by iteratively solving these two sub-problems. The experimental results indicate that the MATD3-CO scheme, when compared to the benchmark schemes, significantly decreases system overhead with respect to both delay and energy consumption.

关键词： Industrial wireless networks(IWNs) multi-access edge computing(MEC) non-orthogonal multiple access(NOMA) task offloading resource allocation

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