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Magnetic Microrobots Fabricated by Photopolymerization and Assembly

Cyborg and Bionic Systems 2023年第1期4卷 41-46页

作者： Xiyue Liang Yue Zhao Dan Liu Yan Deng Tatsuo Arai Masaru Kojima Xiaoming Liu Key Laboratory of Biomimetic Robots and Systems Ministry of EducationState Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing Advanced Innovation Center for Intelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 182-8585Japan Department of Materials Engineering Science Osaka UniversityOsaka 560-8531Japan

Magnetic soft microrobots have great potential to access narrow spaces and conduct multiple tasks in the biomedical *** now,drug delivery,microsurgery,disease diagnosis,and dredging the blocked blood vessel have been realized by magnetic soft microrobots in vivo or in ***,as the tasks become more and more complex,more functional units have been embedded in the body of the developed magnetic *** magnetic soft microrobots with complex designed geometries,mechanisms,and magnetic orientation are now greatly challenging the fabrication of the magnetic *** this paper,we propose a new method combining photopolymerization and assembly for the fabrication of magnetic soft *** the micro-hand assembly system,magnetic modules with different shapes and materials are firstly arrayed with precise position and orientation ***,the developed photopolymerization system is employed to fix and link these modules with soft *** on the proposed fabrication method,3 kinds of soft magnetic microrobots were fabricated,and the fundamental locomotion was *** believe that the presented fabrication strategy could help accelerate the clinical application of magnetic microrobots.

关键词： Magnetic system precise

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Predefined Performance Tracking control Design for a VTOL Aircraft System 5

Predefined Performance Tracking Control Design for a VTOL Ai...

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5th International Conference on Robotics, intelligent control and Artificial Intelligence, RICAI 2023

作者： Deng, Xiongfeng Xu, Binzi Tao, Liang Institutes Anhui Polytechnic University Key Laboratory of Electric Drive and Control of Anhui Higher Education Wuhu China Anhui Polytechnic University Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Education Wuhu China

ISBN: (纸本)9798350357950

This work discusses the predefined performance tracking control issue of a vertical take-off and landing (VTOL) aircraft system. By using the designed control performance function, the constrained error signal of the aircraft system can be switched into an equivalent unconstrained signal. Moreover, fuzzy logic systems are introduced to cope with the aircraft system's unknown nonlinear dynamics. And then, adaptive fuzzy sliding control laws are designed by combining the fuzzy control method with the sliding mode control technique. Based on the designed control law, it is not only ensured that the outputs of the VTOL aircraft system can track the desired trajectories, but also that the tracking errors are constrained within a predefined range. Finally, the availability of proposed control method is testified through simulation example. © 2023 IEEE.

关键词： fuzzy logic system predefined performance sliding mode control VTOL aircraft

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The Innovative Multi-Cavity Pneumatic Actuator: A Chemical Reaction-Driven Device for Generating Mechanical Crawling Motion

The Innovative Multi-Cavity Pneumatic Actuator: A Chemical R...

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Robotics, control and Automation (ICRCA), International Conference on

作者： Junqi Mu Yiyang Wei Xiaofeng Zong School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

The low manufacturing cost and fast response speed of pneumatic actuators have attracted widespread attention from researchers in the field of soft robotics. Biomimetic design, as one of the mainstream design concepts of pneumatic actuators, has provided researchers with a source of inspiration. Most existing actuators are based on biomimetic design. In this paper, a pneumatic soft actuator with a biomimetic worm-like design for crawling robots is proposed. This actuator is composed of multiple mesh-like air chambers, and its main parameters are optimized through finite element analysis, enabling it to perform various complex movements. Moreover, in most existing pneumatic actuators, the air source is supplied by air pumps, while the designed actuator in this paper is powered by chemical reactions. By controlling the types and ratios of raw materials, different chemical reactions occur, leading to periodic inhalation and exhalation, allowing the actuator to perform repetitive movements as intended. This driving method can effectively combine with the mechanical motion of the crawling robot, enhancing the autonomy and environmental adaptability of soft robots.

关键词： Pneumatic actuators Performance evaluation Gases Biomimetics Pneumatic systems Soft robotics Chemical reactions Raw materials Manufacturing Finite element analysis

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Physics and applications of Raman distributed optical fiber sensing

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Light(Science & Applications) 2022年第6期11卷 1059-1087页

作者： Jian Li Mingjiang Zhang College of Physics and Optoelectronics Taiyuan University of TechnologyTaiyuanShanxi 030024China Key Laboratory of Advanced Transducers and Intelligent Control Systems(Ministry of Education and Shanxi Province) Taiyuan University of TechnologyTaiyuan 030024China

Raman distributed optical fiber sensing has been demonstrated to be a mature and versatile scheme that presents great flexibility and effectivity for the distributed temperature measurement of a wide range of engineering applications over other established *** past decades have witnessed its rapid development and extensive applicability ranging from scientific researches to industrial ***,there are four theoretical or technical bottlenecks in traditional Raman distributed optical fiber sensing:(ⅰ)The difference in the Raman optical attenuation,a low signal-to-noise ratio(SNR)of the system and the fixed error of the Raman demodulation equation restrict the temperature measurement accuracy of the system.{ⅱ)The sensing distance and spatial resolution cannot be reconciled.(ⅲ)There is a contradiction between the SNR and measurement time of the system.(ⅳ)Raman distributed optical fiber sensing cannot perform dual-parameter *** on the above theoretical and technical bottlenecks,advances in performance enhancements and typical applications of Raman distributed optical fiber sensing are reviewed in this *** of this optical system technology with knowledge based,that is,demodulation technology *** further the performance and accuracy of these systems.

关键词： fiber optical contradiction

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Dense Color Constraints based 6D object pose estimation from RGB-D images 41

Dense Color Constraints based 6D object pose estimation from...

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第41届中国控制会议

作者： Zilun Wang Yi Liu Chi Xu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems CRRC Zhuzhou Locomotive Co. Ltd. National Innovation Center of Advanced Rail Transit Equipment

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

A key problem for 6 D pose estimation based on RGB-D image input is how to make full use of these two different data *** previous work simply took the depth map as the input of the fourth channel of CNN,or carried out the fusion of features extracted from these two data sources with different *** their fusion did not impose the right constraints and lost some valuable *** this work,we propose that DCC(Dense Color Constraints).6 D pose estimation performance can be improved effectively by using dense corresponding color *** show the most advanced end-to-end performance in LineMod datasets.

关键词： Computer Vision Deep Learning Pose Estimation

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Distributed Solver for Discrete-Time Lyapunov Equations over Dynamic Networks with Linear Convergence Rate

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IEEE Transactions on Cybernetics 2022年第2期52卷 937-946页

作者： Jiang, Xia Zeng, Xianlin Sun, Jian Chen, Jie Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

The problem of solving discrete-Time Lyapunov equations (DTLEs) is investigated over multiagent network systems, where each agent has access to its local information and communicates with its neighbors. To obtain a solution to DTLE, a distributed algorithm with uncoordinated constant step sizes is proposed over time-varying topologies. The convergence properties and the range of constant step sizes of the proposed algorithm are analyzed. Moreover, a linear convergence rate is proved and the convergence performances over dynamic networks are verified by numerical simulations. © 2013 IEEE.

关键词： Convex optimization

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Influence of bed surface structure on bedload transport in mountain rivers

River

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River 2023年第3期2卷 350-358页

作者： Xingnian Liu Hui Cao Weiming Wu Ming Luo Lu Wang Chao Liu State Key Laboratory of Hydraulics and Mountain River Engineering College of Water Resource and HydropowerSichuan UniversityChengduSichuanChina Hubei Key Laboratory of Intelligent Yangtze and Hydroelectric Science China Yangtze Power Co.Ltd.YichangHubeiChina Cascade Dispatching Communication Center of the Three Gorges Water Control Project of China Changjiang Electric Power Co. LtdChina Yangtze Power Co.Ltd.YichangHuBeiChina

Mountain rivers are characterized by wide grain size distributions and complex bed surface structures,which significantly affect bedload *** to the lack of a clear understanding of the quantitative influence of the bed surface structure on the bedload transport rate,existing methods for estimating the bedload transport rate in mountain rivers produce large *** on theoretical analysis andflume experiments,this study reveals the influence of bed surface structure on nonuniform bedload transport and proposes a method for estimating bedload transport rate considering the quantitative influence of bed surface *** of the present study provide theoretical methodological support for predicting the sediment transport and bed evolution in mountain rivers.

关键词： bed surface structure bedload transport mountain rivers nonuniform sediment

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Design of a Constant Current Output High Frequency AC-DC Converter for Battery Charging Applications 26

Design of a Constant Current Output High Frequency AC-DC Con...

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26th International Conference on Industrial Technology, ICIT 2025

作者： Wei, Zihao Song, Xiaoxian Jin, Liangwei Huang, Dingbang Zhang, Sheng Fang, Zhijian School of Future Technology China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Automation China University of Geosciences Wuhan430074 China

ISBN: (纸本)9798331521950

How to realize the high power factor, high efficiency, miniaturization and high power density of AC-DC converter is the key problem of battery charging applications. In this paper, an isolated AC-DC converter is proposed. The input voltage is rectified by the first stage AC-DC conversion, and the output is stabilized by the series resonant converter at the secondary stage. A sinusoidal modulation method is adopted to realize the constant current output characteristic independent of load. Then through the output current control loop and the PFC control loop, the constant current output and input high power factor are realized. The design of high switching frequency and resonant frequency provides conditions for high power density and miniaturization of converter design. Finally, the simulation of rated power of 960W was built by Matlab-simulink, which verified the rationality of the converter design. © 2025 IEEE.

关键词： State of charge

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Enhancing sensitivity of ultrasmall rotation velocity measurements with biased quantum weak measurement 41

Enhancing sensitivity of ultrasmall rotation velocity measur...

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第41届中国控制会议

作者： Guang-Jun Wang Xue-Ying Duan Jing-Hui Huang Xiang-Yun Hu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Institute of Geophysics and Geomatics China University of Geosciences Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Recently,biased quantum weak measurement has shown higher precision than both conventional measurement and standard quantum weak measurement in optical *** this work,a scheme of detecting the ultrasmall rotation velocity in Sagnac's interferometer with biased quantum weak measurement is *** biased quantum weak measurement,additional progress of pre-coupling is introduced in standard quantum weak measurement to enhance the sensitivity for the estimated parameter,and the cost of the reduction of photons in the post-selection by pre-coupling may not impact the measurement because eliminating the saturation effect of the detector *** addition,our numerical results show that the scheme with biased quantum weak measurement can obtain a higher sensitivity for rotation velocity measurement than the scheme with standard quantum weak measurement.

关键词： quantum measurement quantum weak measurement quantum optical rotation velocity sensitivity enhanced

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AFPN based YOLOX for Rotation Object Detection in Remote Sensing Image

AFPN based YOLOX for Rotation Object Detection in Remote Sen...

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2024 China Automation Congress, CAC 2024

作者： Zhou, Wen Liu, Xiaobo Zheng, Yiting Zhang, Dongsen Xiang, Hongbo School of Automation China University of Geosciences Wuhan430074 China Hubei Key Lab of Advanced Control and Intelligent Automation China University of Geosciences Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Key Laboratory of Geological Survey and Evaluation Ministry of Education China University of Geosciences Wuhan430074 China

ISBN: (纸本)9798350368604

Rotation Object Detection in Remote Sensing Image is a big challenge, as it has different sizes and orientations. In this paper, we proposed an AFPN and YOLOX based Rotation Object Detection method, named AFPN-RYOLOX. In the AFPN-RYOLOX, an angle prediction branch added into the detection head of YOLOX and revised the loss function to incorporate Kullback-Leibler Divergence (KLD) loss firstly, which enhanced loss continuity and ensuring scale invariance. Then, the Asymptotic Feature Pyramid Network (AFPN) is integrated in the neck layer of YOLOX, which boosts the network’s capability to extract features and decreases the number of model parameters through a dual-phase adaptive spatial fusion process. Through compare with other SOTA method, the proposed AFPN-RYOLOX achieved superior performances on DOTA and HRSC2016 datasets. © 2024 IEEE.

关键词： Deep learning

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