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第36届中国控制会议

作者： Bing Sun Wenyang Gan Daqi Zhu Wei Zhang Simon X Yang Lab.of Underwater Vehicles and Intelligent Systems Shanghai Maritime University Advanced Robotics and Intelligent Systems Laboratory University of Guelph

ISBN: (纸本)9781538629185

In this paper,the trajectory tracking control problem with model predictive control approach is investigated for Unmanned Underwater Vehicle(UUV) ***,the kinematic tracking controller based on model predictive control(MPC) is applied to reach the tracking control in a kinematic *** with conventional backstepping control,MPC can solve the speed jump control problem very ***,to deal with dynamic tracking control with the nonlinear UUV dynamic model,the computation cost of MPC will be tremendous and cannot meet the real-time ***,in order to deal with this problem,the MPC algorithm is cooperated with sliding mode control to reach a dynamic tracking control which can be robust with modeling uncertainty and ***,the experimental results show that the proposed method can solve speed jump and robust enough for tracking control compared with other benchmark method.

关键词： Unmanned Underwater Vehicle trajectory tracking model predictive control sliding mode control speed jump

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An Early Stage Researcher's Primer on systems Medicine Terminology

Network and Systems Medicine

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Network and systems Medicine 2021年第1期4卷 2-50页

作者： Zanin, Massimiliano Aitya, Nadim A.A. Basilio, José Baumbach, Jan Benis, Arriel Behera, Chandan K. Bucholc, Magda Castiglione, Filippo Chouvarda, Ioanna Comte, Blandine Dao, Tien-Tuan Ding, Xuemei Pujos-Guillot, Estelle Filipovic, Nenad Finn, David P. Glass, David H. Harel, Nissim Iesmantas, Tomas Ivanoska, Ilinka Joshi, Alok Boudjeltia, Karim Zouaoui Kaoui, Badr Kaur, Daman Maguire, Liam P. McClean, Paula L. McCombe, Niamh De Miranda, João Luís Moisescu, Mihnea Alexandru Pappalardo, Francesco Polster, Annikka Prasad, Girijesh Rozman, Damjana Sacala, Ioan Sanchez-Bornot, Jose M. Schmid, Johannes A. Sharp, Trevor Solé-Casals, Jordi Spiwok, Vojtěch Spyrou, George M. Stalidzans, Egils Stres, Blaa Sustersic, Tijana Symeonidis, Ioannis Tieri, Paolo Todd, Stephen Van Steen, Kristel Veneva, Milena Wang, Da-Hui Wang, Haiying Wang, Hui Watterson, Steven Wong-Lin, Kongfatt Yang, Su Zou, Xin Schmidt, Harald H.H.W. Centro de Tecnología Biomédica Universidad Politécnica de Madrid Madrid Spain Intelligent Systems Research Centre School of Computing Engineering and Intelligent Systems Ulster University Ulster United Kingdom Center for Physiology and Pharmacology Institute of Vascular Biology and Thrombosis Research Medical University of Vienna Vienna Austria TUM School of Life Sciences Weihenstephan Technical University of Munich Freising Germany Holon Israel CNR National Research Council IAC Institute for Applied Computing Rome Italy Lab of Computing Medical Informatics and Biomedical Imaging Technologies School of Medicine Aristotle University of Thessaloniki Thessaloniki Greece Université Clermont Auvergne INRAE UNH Plateforme d'Exploration du Métabolisme MetaboHUB Clermont Clermont-Ferrand France Université de Technologie de Compiègne Compiègne France Labex MS2T Control of Technological Systems-of-Systems CNRS and Université de Technologie de Compiègne Compiègne France Faculty of Engineering University of Kragujevac Kragujevac Serbia Kragujevac Serbia Steinbeis Advanced Risk Technologies Institute Doo Kragujevac Kragujevac Serbia Pharmacology and Therapeutics School of Medicine Galway Neuroscience Centre National University of Ireland Galway Ireland School of Computing Ulster University Ulster United Kingdom Holon Israel Department of Mathematics and Natural Sciences Kaunas University of Technology Kaunas Lithuania Faculty of Computer Science and Engineering Ss. Cyril and Methodius University Skopje Macedonia Medicine Faculty Université Libre de Bruxelles CHU de Charleroi Charleroi Belgium Northern Ireland Centre for Stratified Medicine Biomedical Sciences Research Institute Ulster University Ulster United Kingdom Escola Superior de Tecnologia e Gestão Instituto Politécnico de Portalegre Portalegre Portugal Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal Faculty of Automatic Control and Computers University Politehnica of B

Background: systems Medicine is a novel approach to medicine, that is, an interdisciplinary field that considers the human body as a system, composed of multiple parts and of complex relationships at multiple levels, and further integrated into an environment. Exploring systems Medicine implies understanding and combining concepts coming from diametral different fields, including medicine, biology, statistics, modeling and simulation, and data science. Such heterogeneity leads to semantic issues, which may slow down implementation and fruitful interaction between these highly diverse fields. Methods: In this review, we collect and explain more than100 terms related to systems Medicine. These include both modeling and data science terms and basic systems medicine terms, along with some synthetic definitions, examples of applications, and lists of relevant references. Results: This glossary aims at being a first aid kit for the systems Medicine researcher facing an unfamiliar term, where he/she can get a first understanding of them, and, more importantly, examples and references for digging into the topic. © Massimiliano Zanin et al., 2021;Published by Mary Ann Liebert, Inc. 2021.

关键词： Semantics

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Kinematic Analysis of Effect on Walking Motion by Assistive Powered Wear with Wire-driven Assist

Kinematic Analysis of Effect on Walking Motion by Assistive ...

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IEEE Workshop on advanced robotics and its Social Impacts, ARSO

作者： Yumeko Imamura Kenta Murakami Fumiya Hanzawa Kazuaki Kishimoto Yuko Otake Masahiko Sumitani CNRS-AIST Joint Robotics Laboratory UMI3218/RL Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology Japan Panasonic Corporation Tokyo Japan ATOUN Inc. Nara Japan Bunkyo Gakuin University Tokyo Japan The University of Tokyo Hospital Tokyo Japan

This study examines the immediate effect of a walking-assistive powered wear on human gait. The device is small and lightweight with a wire-driven assistive system. It aims to increase users' activity levels, and extend their healthy life-span by exerting a musculoskeletal rehabilitation effect. The powered wearable device assists the hip joints by controlling the timing of the wire actuation during walking. The gait motions of 11 middle-aged and elderly persons wearing the powered assist were measured and kinematically analyzed. The movements of the hip joints were significantly increased in eight of the 11 participants. The device is mainly intended to reduce physical fatigue, but might also improve the gait.

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Electric-Double-Layer Oriented Field-Screening Effect on High-Resolution Electromechanical Imaging in Conductive Solutions

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Physical Review Applied 2019年第3期12卷 034006-034006页

作者： Yan Ye (叶艳) Anyang Cui (崔安阳) Liangqing Zhu (朱亮清) Zhigao Hu (胡志高) Kai Jiang (姜凯) Liyan Shang (商丽燕) Yawei Li (李亚巍) Guisheng Xu (许桂生) Junhao Chu (褚君浩) Technical Center for Multifunctional Magneto-Optical Spectroscopy (Shanghai) Department of Electronic Engineering East China Normal University Shanghai 200241 China Collaborative Innovation Center of Extreme Optics Shanxi University Taiyuan Shanxi 030006 China Shanghai Institute of Intelligent Electronics & Systems Fudan University Shanghai 200433 China Key Laboratory of Transparent Opto-Functional Advanced Inorganic Materials Shanghai Institute of Ceramics Chinese Academy of Sciences Shanghai 201899 People’s Republic of China

Complex electrical behavior, including the field-screening distribution and possible electrochemical effects, makes electromechanical imaging by piezoresponse force microscopy in conductive liquids a critical challenging issue in studying the functionalities and performance of piezoelectric materials. Here, we propose a theoretical model to directly quantify the electric-field-screening effect inside the tip-sample junction in a variety of electrolytes of varying ionic strength. The field-screening effect resulting from an electric double layer in the tip-surface system offers the benefit of better understanding of the central physical mechanism in electrical probing by scanning probe microscopy (SPM) in a polar liquid medium. Experimentally, an intrinsic piezoresponse in ferroelectric antiparallel-polarization regions is observed in electrolytes with various assemblies of valences and with various molarities through updating the design of a nanoelectrode probe. Accompanied by the unveiling of the underlying physical mechanism, these experimental results pave the way to the broad application of in vivo or in operando electrical analysis on the nanoscale by the SPM technique in conductive-liquid environments.

关键词： Electrical properties Electrostatic double layer forces Metrology Piezoelectricity Liquid-solid interfaces Micromechanical & nanomechanical oscillators Finite-element method Scanning probe microscopy

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Detection and Compensation of Motion Error for Nanomanipulation Platform in Scanning Electron Microscope

Detection and Compensation of Motion Error for Nanomanipulat...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Mingyu Wang Yaqiong Wang Zhan Yang Tao Chen Lining Sun Toshio Fukuda Jiangsu Provincial Key Laboratory of Advanced Robotics & Collaborative Innovation Soochow University Suzhou China Department of Micro-Nano Systems Engineering Nagoya University Nagoya Japan

Nanomanipulation system based on scanning electron microscope(SEM) with good real-time visual feedback and nanoscale observation resolution had high operability in a vacuum working environment. Different nanomanipulation tasks of carbon nanotubes (CNTs) are carried out through the nanomanipulation system in SEM. Nanomanipulation platform existed inherent manufacture errors, installation errors and other errors, and imprecise nanomanipulation system were also time-consuming and laborious for operators. This paper presentes a method of combining the visual feedback and feedforward control to detect and compensate the motion error of the multi-dimensional SmarAct nanomanipulation platform in the nanomanipulation system in SEM. This method reduces the motion error in the X-Y direction and achieved higher operating accuracy. At the different step speed, the motion error in the X direction and Y direction is 135.7nm and 112.9nm respectively. After the feedforward compensation, the motion error in the X direction and Y direction reduces to 61.3nm and 54.1nm respectively.

关键词： Nanobioscience Trajectory Ceramics Visualization Probes Scanning electron microscopy Feedforward systems

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Adhesively Bridging Co-Self-Assembled Monolayer and Perovskite Via In Situ Polymerization for Enhanced Stability of Inverted Perovskite Solar Cells

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advanced materials (Deerfield Beach, Fla.) 2025年 e2505745页

作者： Xiaowei Xu Sibo Li Chengwei Shan Wenbo Peng You Chen Shangzhi Li Haichen Peng Tingting Dai Erjun Zhou Yang Bai Longbin Qiu Pingping Sun Baomin Xu Aung Ko Ko Kyaw Department of Electronic & Electrical Engineering Southern University of Science and Technology Shenzhen 518055 P. R. China. Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Department of Mechanical and Energy Engineering SUSTech Energy Institute for Carbon Neutrality Southern University of Science and Technology Shenzhen 518055 P. R. China. Department of Materials Science and Engineering Southern University of Science and Technology Shenzhen Guangdong 518055 P. R. China. Institute of Technology for Carbon Neutrality Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 P. R. China. Michael Grätzel Center for Mesoscopic Solar Cells Wuhan National Laboratory for Optoelectronics Huazhong University of Science and Technology Wuhan Hubei 430074 P. R. China. College of Biological Chemical Sciences and Engineering Jiaxing University Jiaxing Zhejiang 314001 P. R. China. School of Chemistry and Chemical Engineering Hainan University Haikou 570228 P. R. China.

The strategic utilization of self-assembled monolayers (SAMs) significantly advances the interfacial contact and power conversion efficiency (PCE) of inverted perovskite solar cells (IPSCs). However, inadequate adhesion between the SAM and perovskite layer remains a critical challenge, limiting further performance enhancement. Herein, a synergistic interface engineering strategy is introduced that combines a co-assembly approach with in situ polymerization to optimize the buried interface of perovskite film. Specifically, 11-Mercaptoundecylphosphoric acid (MPA) is incorporated into a SAM to form co-SAMs, improving homogeneity and mitigating defects at the NiO surface. Simultaneously, the ionic liquid (IL) monomer 1-Allyl-3-vinylimidazolium bis((trifluoromethyl)sulfonyl) imide (AVMTF) is incorporated into the perovskite precursor. The aggregation of ILs cation at the bottom interface facilitates in situ polymerization via sulfhydryl end groups, forming the POL-AVM polymer at the perovskite/SAM interface. This polymer enhances interfacial adhesion, regulates perovskite crystallization, and reinforces structural integrity by strongly anchoring organic cations through multiple hydrogen bonds. As a result, this synergistic strategy achieves a champion PCE of 26.25% (certified 26.04%), along with excellent long-term stability, retaining 95.6% of its initial efficiency after 1000 h of continuous operation under the ISOS-L-2I protocol.

关键词： Co‐SAMs adhesion in situ polymerization inverted planar perovskite solar cells long‐term stability

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An insulation diagnosis method for battery pack based on battery model

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IOP Conference Series: Materials Science and Engineering 2020年第1期793卷

作者： Yanhui Zhang Qingpeng Chen Xiao Liu Zhile Yang Shifeng Guo Wei Feng Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China

The collision and components aging of electric vehicles may lead to dramatic decrease of insulation performance in the complex application environment, which will reduce the insulation between battery pack and chassis, and will affect the performance of on-board equipment and electronic control unit, resulting in heat accumulation effect of leakage circuit and even vehicle fire. Therefore, it is critical to develop a real-time, accurate and reliable detection device to monitor the insulation resistance of the high-voltage system of electric vehicles, which is beneficial to the normal operation of electrical equipment, the safe operation of vehicles and the personal safety of passengers. In this work, an online estimation method of insulation resistance based on battery model is proposed.

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Auto-LEE: A novel autonomous lower extremity exoskeleton for walking assistance

Auto-LEE: A novel autonomous lower extremity exoskeleton for...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： He, Yong Wang, Chao Li, Nan Fu, Ruiqing Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781538680698

Wearable exoskeletons have been proven to be efficacious in aiding walking for individuals suffering from lower limb mobility disorder. However, the application of most existing devices is limited to inconvenience of usage, e.g., complicated training and unnatural gait. This paper presents a novel autonomous lower extremity exoskeleton, Auto-LEE, for the purpose of improving the practicality of walking assistive devices as well as simplifying their application process. The developed exoskeleton consists of two robotic legs, and each of them has 5 active degrees-of-freedom (DOFs) to independently control the rotations of hip, knee and ankle joints in the sagittal and coronal planes, which enables the device to possess self-balancing ability and flexible gait. The modular design concept is introduced into the structure and hardware development of Auto-LEE, making it more convenient to be assembled and maintained. In order to validate the self-balancing walking ability, virtual prototype simulation and preliminary experiment on flat terrain are implemented. © 2018 IEEE.

关键词： Exoskeleton (robotics)

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Remote Mobile Manipulation with the Centauro Robot: Full-body Telepresence and Autonomous Operator Assistance

arXiv

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arXiv 2019年

作者： Klamt, Tobias Schwarz, Max Lenz, Christian Baccelliere, Lorenzo Buongiorno, Domenico Cichon, Torben Guardo, Antonio Di Droeschel, David Gabardi, Massimiliano Kamedula, Malgorzata Kashiri, Navvab Laurenzi, Arturo Leonardis, Daniele Muratore, Luca Pavlichenko, Dmytro Periyasamy, Arul Selvam Rodriguez, Diego Solazzi, Massimiliano Frisoli, Antonio Gustmann, Michael Roßmann, Jürgen Süss, Uwe Tsagarakis, Nikos G. Behnke, Sven Autonomous Intelligent Systems University of Bonn Bonn Germany PERCRO Laboratory TeCIP Institute Scuola Superiore Sant’Anna Pisa Italy Man-Machine Interaction RWTH Aachen University Aachen Germany Department of Advanced Robotics Italian Institute of Technology Genoa Italy Kerntechnische Hilfsdienst GmbH Karlsruhe Germany School of Electrical and Electronic Engineering University of Manchester United Kingdom

Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other planets. Suitable platforms require flexible and robust hardware, a locomotion approach that allows for navigating a wide variety of terrains, dexterous manipulation capabilities, and respective user interfaces. We present the CENTAURO system which has been designed for these requirements and consists of the Centauro robot and a set of advanced operator interfaces with complementary strength enabling the system to solve a wide range of realistic mobile manipulation tasks. The robot possesses a centaur-like body plan and is driven by torque-controlled compliant actuators. Four articulated legs ending in steerable wheels allow for omnidirectional driving as well as for making steps. An anthropomorphic upper body with two arms ending in five-finger hands enables human-like manipulation. The robot perceives its environment through a suite of multimodal sensors. The resulting platform complexity goes beyond the complexity of most known systems which puts the focus on a suitable operator interface. An operator can control the robot through a telepresence suit, which allows for flexibly solving a large variety of mobile manipulation tasks. Locomotion and manipulation functionalities on different levels of autonomy support the operation. The proposed user interfaces enable solving a wide variety of tasks without previous task-specific training. The integrated system is evaluated in numerous teleoperated experiments that are described along with lessons learned. Copyright © 2019, The Authors. All rights reserved.

关键词： Visual communication

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First-principles prediction of anisotropic superconductivity in the nodal-line semi-metal TlTaSe 2

Materials Today Quantum

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Materials Today Quantum 2025年 6卷

作者： Mukhtar Lawan Adam Ibrahim Buba Garba Sulaiman Muhammad Gana Bala Ismail Adamu Abba Alhaji Bala Abdulsalam Aji Suleiman Ahmad Hamisu Tijjani Hassan Darma Auwal Musa Abdulkadir S. Gidado School of Material Science and Engineering Anhui University Hefei 230601 People's Republic of China Information Materials and Intelligent Sensing Laboratory of Anhui Province Leibniz International Joint Research Center of Materials Sciences of Anhui Province Institutes of Physical Science and Information Technology Anhui University Hefei People's Republic of China Physics Department Bayero University Kano 700231 Nigeria Sorbonne Université CNRS IMPMC 4 Place Jussieu Paris 75252 France Department of Physics Federal University Gashua Gashua 671106 Nigeria Physics Department Federal University Dutse Jigawa 720101 Nigeria Aviation and Aeronautic Center for Advanced Integrated Robotics and Autonomous Systems Engineering and Technology University of South Africa Johannesburg 1710 South Africa Institute of Materials Science and Nanotechnology Bilkent University UNAM Ankara 06800 Türkiye Department of Engineering Fundamental Sciences Sivas University of Science and Technology Sivas 58000 Türkiye Physics Department King Abdulaziz University Jedda 21589 Saudi Arabia

Recent advances in topological quantum materials have spurred significant interest in exploring superconductors that also host nontrivial band topology, as these materials can serve as platforms for novel electronic phases and quantum technologies. TlTaSe 2 is one such non-centrosymmetric, quasi-two-dimensional semimetal with nodal-line topological features protected by mirror-reflection symmetry. In this study, we theoretically predict its superconducting properties using first-principles anisotropic Migdal–Eliashberg theory. Our results indicate that the states at the Fermi, are primarily Ta 5d and Tl 6p orbitals. Thus, exhibiting a multiband electronic structure. Notably, from our calculations, we find two distinct superconducting gaps of 2.15 meV and 4.5 meV on different Fermi surface sheets, arising from strongly anisotropic electron-phonon interactions predominantly involving in-plane vibrations of the Ta and Tl atoms. Using the Allen–Dynes-modified McMillan formula with a Coulomb pseudopotential μ* = 0.16, we predict a superconducting transition temperature Tc of 6.67 K. These findings underscore the significance of TlTaSe 2 as a candidate for topological superconductivity and provide insights into how the interplay between anisotropy, electron-phonon coupling, and nontrivial band topology can be explored for quantum computing and spintronics applications.

关键词： Quantum materials TlTaSe 2 Anisotropic superconducting gaps Electron-phonon coupling Nodal-line semimetal

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