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IEEE International Conference on Industrial Technology (ICIT)

作者： Huaijin Huang Xiaobo Liu Yiting Zheng Dongsen Zhang Hongbo Xiang School of Automation China University of Geosciences Wuhan China Hubei Key Lab of Advanced Control and Intelligent Automation China University of Geosciences Wuhan China Key Laboratory of Geological Survey and Evaluation of Ministry of Education China University of Geosciences Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

Accurately characterizing geological patterns in reservoir modeling remains a significant challenge due to their inherent spatial heterogeneity and complexity. This paper proposes a Conditional Progressive Growing of GANs (CPGAN), which improves progressive growing of GANs (PGGAN) and Conditional GAN (CGAN). In this approach, the generator architecture of PGGAN is revised to incorporate a conditioning data input pipeline, allowing the generator to learn the features of geological patterns and conditioning data across different scales. In addition, a loss function derived from the conditioning data is introduced. This function defines the distance between the generated reservoir model and the conditioning data, guiding the generator in learning how the conditioning data constrain geological patterns. Experimental results indicate that CPGAN can generate high-quality reservoir models that comply with geological patterns and meet the constraints of the conditioning data.

关键词： Training Solid modeling Three-dimensional displays Geology Pipelines Reservoirs Generative adversarial networks Generators Data models Ice

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A New Recursive Composite Adaptive controller for Robot Manipulators

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Space(Science & Technology) 2021年第1期2021卷 77-83页

作者： Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a new recursive implementation of composite adaptive control for robot manipulators is *** investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form,which,to our knowledge,is the first result on this point in the *** proposed algorithm has an amount of computation O(n),which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree *** manipulator of the Chinese Space Station is employed as a simulation example,and the results verify the effectiveness of this proposed recursive algorithm.

关键词： Robot manipulators robot

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A Model-Predictive-Enabled Equivalent-Input-Disturbance Approach for Disturbance Rejection

A Model-Predictive-Enabled Equivalent-Input-Disturbance Appr...

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Industrial Cyber-Physical systems (ICPS)

作者： Yujian Zhou Jinhua She Feng Wang Makoto Iwasaki School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Engineering Tokyo University of Technology Tokyo Japan Department of Electrical and Mechanical Engineering Nagoya Institute of Technology Nagoya Japan

This paper presents a model-predictive-enabled equivalent-input-disturbance (MPEID) method for disturbance rejection. An EID estimator with a state observer estimates the effect of disturbances in a system. The disturbance estimation will not be directly added to the input channel for disturbance rejection. A cost function that considers the disturbance estimation is designed. An MPC controller calculates an optimal control input by minimizing the cost function. The stability condition of the closed-loop system is analyzed based on the Lyapunov stability theory. Simulation results show that our method has better disturbance-rejection performance than an MPC method when the control input is similar.

关键词： Simulation Estimation Optimal control Predictive models Observers Cyber-physical systems Cost function

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Design and locomotion characteristic analysis of a novel tensegrity hopping robot*

Design and locomotion characteristic analysis of a novel ten...

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IEEE International Conference on Robotics and Biomimetics

作者： Jixue Mo Changqing Gao Hao Fang Qingkai Yang Department of Strategic and Advanced Interdisciplinary Research Peng Cheng Laboratory Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing China

In consideration of the poor locomotion ability of most traditional tensegrity robot, a novel tensegrity hopping robot powered by push-pull electromagnets was proposed with better locomotivity. It is able to conduct stable consecutive progressing action and turning action through hopping. This paper covers the structural design, theoretical modeling of the robot’s hopping process, as well as its self-righting analysis, simulation and experimental verification. The average moving speed and relative moving speed were measured to be 0.334m/s and 0.641 body length/s respectively, which obviously surpass the general moving ability of most traditional tensegrity robot. In addition, the robot was also validated to have good self-righting characteristic for stable consecutive hopping. Thus this robot can be potentially applied for search, rescue, detection, etc. in outdoor and unstructured environment.

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Modeling and Tracking control for Dielectric Elastomer Actuator with Sliding Mode Feedback controller

Modeling and Tracking Control for Dielectric Elastomer Actua...

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IEEE International Conference on control Science and systems Engineering (CCSSE)

作者： Yue Zhang Peng Huang Pan Zhang Yawu Wang School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

This paper proposes the modeling and tracking control methods for the dielectric elastomer actuator (DEA). A dynamic model of the DEA is built, which is composed of an asymmetric hysteresis model, a creep model and a linear system. To compensate the hysteresis and creep nonlinearities of the DEA, an inverse compensation feedforward controller (ICFC) is designed based on the creep model and the inverse of the asymmetric hysteresis model. Besides, an extended state observer (ESO) is designed to estimate the unmeasurable state of the DEA, as well as uncertainties including the modeling errors, parameter perturbations and external disturbances. Then, a sliding mode feedback controller (SMFC) is designed cooperating with the ICFC to realize the high precision tracking control of the DEA. The convergence of the ESO and the whole control system are proved through the Lyapunov method. Finally, some experiments are executed to verify the effectiveness of the proposed modeling and control methods.

关键词： Linear systems Uncertainty Creep control systems Modeling Adaptive control Feedforward systems

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Motion control Strategy Based on Integrated Trajectory for the Pendubot

Motion Control Strategy Based on Integrated Trajectory for t...

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European control Conference (ECC)

作者： Lejun Wang Xuzhi Lai Pan Zhang Min Wu School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

The control objective of a Pendubot is always to swing its endpoint up from the vertical downward equilibrium point (VDEP) and to stay it at the vertical upward equilibrium point (VUEP). This paper proposes a motion control approach based on the integrated trajectory to achieve the above control objective with only one controller. First, an integration trajectory with two parts is designed for the Pendubot. We plan the first part trajectory with variable parameters, and optimize these variable parameters by applying the genetic algorithm (GA) to make all links move simultaneously from their starting states to their target states. We plan the second part trajectory to make all links remain at the target states. Then, we build the linear time-varying error system based on the integration trajectory, and design a global tracking controller by using the linear system control method to track the integration trajectory. By this way, the control objective of the Pendubot is realized. Finally, the simulations illustrate the validity and superiority of the proposed method.

关键词： Linear systems Target tracking Torque Simulation Europe control systems Trajectory

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An-Improved $\alpha-\mathbf{Shapes}$ Algorithm for Solving Collaborative Workspaces of Dual SCARA Robots Based on Monte Carlo Method

An-Improved $\alpha-\mathbf{Shapes}$ Algorithm for Solving C...

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Chinese control Conference (CCC)

作者： Feng-Yu Zhang Gang Yu Shu-Han He Wang-Yong He School of Automation China University of Geosciences Wuhan P. R. China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan P. R. China Huaxin Cement Technology Management (Wuhan) Co. Ltd. Wuhan P. R. China

Given the dual robots play a key role for collaborative work. In this paper, an improved method is proposed to find the kinematic positive solution based on its D-H parameters, model the dual SCARA robot in MATLAB environment, and solve the collaborative workspace point cloud map by Monte Carlo method. The proposed method extracts and plots the boundary curves of the collaboration space by improved the $\alpha-\text{Shapes}$ algorithm, and obtains the shape of the common region of the collaboration space of the dual SCARA robots and the limit position parameters in the collaboration space. It provides a theoretical basis for the research of path planning, trajectory planning, dynamics analysis, mechanism parameter optimization, self-avoidance, and anti-collision problems of the dual-robot collaborative system.

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Dual-mode FMF to SOI chip edge coupler

Dual-mode FMF to SOI chip edge coupler

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Asia Communications and Photonics Conference and Exhibition (ACP)

作者： Weilun Zhang Mengyuan Ye Yunlong Li School of Automation China University of Geosciences Wuhan China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

Dual-mode edge coupler for few mode fiber (FMF) to silicon chip is proposed. LP 01 and LP 11 d coupler in simulation.

ISBN: (纸本)9781665410953

Dual-mode edge coupler for few mode fiber (FMF) to silicon chip is proposed. LP 01 and LP 11 d coupler in simulation.

关键词： Multiplexing Couplings Simulation Optical fiber couplers Crosstalk Couplers Silicon

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The Analysis of Muscle-Synergy Similarity between Walking and Pedaling Based on Variational Mode Decomposition and Non-Negative Matrix Factorization

The Analysis of Muscle-Synergy Similarity between Walking an...

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IEEE International Conference on Engineering, Technology and Innovation

作者： Wangyang Ge Jinhua She Shijie Guo Feng Wang Juan Zhao Seiichi Kawata School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Engineering Tokyo University of Technology Hachioji Tokyo Japan Engineering Research Center of the Ministry of Education for Intelligent Rehabilitation Equipment and Detection Technologies Hebei Key Laboratory of Robot Sensing and Human-Robot Interaction Tianjin China School of Mechanical Engineering Hebei University of Technology Tianjin China

ISBN: (数字)9798350362435

ISBN: (纸本)9798350362442

Pedaling lower-limb rehabilitation robots are widely used in various stages of lower-limb rehabilitation because of their high safety and low requirements for patients' lower-limb strength. Researchers found that the activation sequence of the surface electromyographic (sEMG) signals of the muscles of the lower limb during pedaling is very similar to that of walking, which makes it possible to simulate the muscle force generation during walking by changing the pedal load during pedaling training. However, most pedaling lower-limb rehabilitation robots use constant loads, and it is of great importance to study the relationship between load and muscle synergy and to design load phase angle trajectories with higher muscle synergy consistency in the walking-pedaling motion to optimize the training effect of pedal-type rehabilitation robots. In this paper, we used variational mode decomposition (VMD) and nonnegative matrix factorization (NMF) to extract the muscle synergy features in each band of sEMG during walking and pedaling and to study the similarity of pedaling and walking and the influence of pedal load on muscle synergy consistency.

关键词： Legged locomotion Training Technological innovation Time series analysis Muscles Assistive robots Feature extraction Trajectory Safety Matrix decomposition

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High Q silicon micro-ring resonator based on elliptical bending waveguides

High Q silicon micro-ring resonator based on elliptical bend...

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Asia Communications and Photonics Conference and Exhibition (ACP)

作者： Yunlong Li Mengyuan Ye Weilun Zhang Li Liu School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

By adopting elliptical bending waveguides, a silicon micro-ring resonator with footprint ~440 11m and Q factor ~ 6.2×10 6 is proposed and demonstrated.

ISBN: (纸本)9781957171005

By adopting elliptical bending waveguides, a silicon micro-ring resonator with footprint ~440 11m and Q factor ~ 6.2×10 6 is proposed and demonstrated.

关键词： Q-factor Couplings Asia Optical resonators Bending Silicon Optical fiber communication

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