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42nd Chinese Control Conference, CCC 2023

作者： Omar, Zakarya Liu, Ke-Xian Ren, Chao Meng, Qing-Hao Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China Sana'a University Faculty of Engineering Sana'a Yemen

ISBN: (纸本)9789887581543

A Multi-Joint Autonomous Underwater Vehicle (MJ-AUV) is designed and equipped with multiple movable segments or joints that allow for greater maneuverability and flexibility in the water. These joints allow the MJ-AUV to change its shape, orientation, and direction of movement, so it can access tight spaces or navigate in complex underwater environments, making it useful for a variety of tasks in the deep sea, such as surveillance, exploration, and maintenance. However, the multiple joint structure of the MJ-AUV complicates the dynamics of the system. Furthermore, the joints' rotation causes misalignment of the cabins, causing deviations in the desired forces and torques. To address these issues, this study focuses on the 2-dimensional (2D) modeling as well as the trajectory tracking controller of the MJ-AUV. In this setting, the proposed controller utilizes a hierarchically structured robust nonlinear back-stepping and sliding-mode approach. Hence, this controller is simulated under various uncertainties and disturbances and the results show that it presents a global finite-time convergence to a bounded neighborhood of the origin for both position and velocity tracking errors, demonstrating its effectiveness and robustness. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Autonomous underwater vehicles

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Adaptive Control of Global Trajectory Tracking for a Tractor-Trailer System with Wheeltrack Uncertainties

Adaptive Control of Global Trajectory Tracking for a Tractor...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Su, Yuanhao Wu, Qingxiang Sun, Ning He, Chunhui Sun, Haosheng Institute of Robotics and Automatic Information Systems College of Artificial Intelligence China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China

ISBN: (纸本)9781665481090

Given the increasing number of transportation tasks, a multisection tractor-trailer system is an ideal choice. To extend the application scope and adapt more complex workspace for tractor-trailer systems, this paper presents a global trajectory tracking controller for an off-axis tractor-trailer system with variable wheeltrack using adaptive method. Considering the tracking errors caused by the variation of wheeltrack, an online adaptive parameter update law is proposed to estimate the unknown wheeltrack and achieve tracking robustness. Simulation results demonstrate the effectiveness of the proposed method. © 2022 IEEE.

关键词： Tractors (truck)

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Exoskeleton-Based Lower Limb Rehabilitation Robot Design and Simulation for Children with Cerebral Palsy

Exoskeleton-Based Lower Limb Rehabilitation Robot Design and...

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2024 International Convention on Rehabilitation Engineering and Assistive technology and World Rehabilitation Robot Convention, i-CREATE and WRRC 2024

作者： Cao, Wujing Zhang, Shuo Zou, Yupeng Guo, Xinqiang Li, Changyu Wang, Jingxin Kobsiriphat, Worawarit Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518005 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems China School of Mechanical Engineering China University of Petroleum China Jining Zhongke Intelligent Technology Co. Ltd. China Zhengzhou Central Hospital Zhengzhou University Department of Rehabilitation Medicine Zhengzhou China National Metal and Materials Technology Center Thailand

ISBN: (纸本)9798350355123

Squat gait is the most common abnormal gait in children with cerebral palsy. Gait training with lower limb rehabilitation robots can improve rehabilitation efficiency and reduce manual labor for them. A novel exoskeleton-based lower limb rehabilitation robot for children with cerebral palsy is proposed, considering the squat gait characteristics of children with cerebral palsy. The structure of the lower limb rehabilitation robot, which combines hip and knee with 4 active degrees of freedom exoskeleton and mobile walker, is designed and optimized. Static analysis of the key mechanical structure of the exoskeleton is conducted using ANSYS Workbench, and local structures are optimized to ensure the safety factor of the mechanical structure is greater than 1, guaranteeing reasonable structural strength and stiffness design. Dynamic simulation analysis based on the ADAMS model validates the reliability and dynamic walking effect of the lower limb exoskeleton rehabilitation robot, obtaining the curve relationship between joint angles and motion cycles, thus verifying the effectiveness of the mechanical system motion. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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Nanoscale phase management of the 2D/3D heterostructure toward efficient perovskite solar cells

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Science Bulletin 2024年第18期69卷 2853-2861页

作者： Hao Gu Annan Zhu Junmin Xia Wang Li Jiahao Zheng Tao Yang Shengwen Li Nan Zhang Shiliang Mei Yongqing Cai Shi Chen Chao Liang Guichuan Xing Joint Key Laboratory of the Ministry of Education Institute of Applied Physics and Materials EngineeringUniversity of MacaoMacao 999078China State Key Laboratory of Organic Electronics and Information Displays&Institute of Advanced Materials(IAM) Jiangsu National Synergetic Innovation Center for Advanced Materials(SICAM)Nanjing University of Posts&Telecommunications(NUPT)Nanjing 210023China MOE Key Laboratory for Nonequilibrium Synthesis and Modulation of Condensed Matter School of PhysicsNational Innovation Platform(Center)for Industry-Education Integration of Energy Storage TechnologyXi’an Jiaotong UniversityXi’an 710049China Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information System Guangdong Provincial Key Laboratory of Semiconductor Optoelectronic Materials and Intelligent Photonic SystemsHarbin Institute of TechnologyShenzhen 518055China Institute for Electric Light Sources School of Information Science and TechnologyFudan UniversityShanghai 200433China

The stabilization of the formamidinium lead iodide(FAPbI_(3))structure is pivotal for the development of efficient photovoltaic *** two-dimensional(2D)layers to passivate the threedimensional(3D)perovskite is essential for maintaining the a-phase of FAPbI_(3) and enhancing the power conversion efficiency(PCE)of perovskite solar cells(PSCs).However,the role of bulky ligands in the phase management of 2D perovskites,crucial for the stabilization of FAPbI_(3),has not yet been *** this study,we synthesized nanoscale 2D perovskite capping crusts with=1 and 2 Ruddlesden-Popper(RP)perovskite layers,respectively,which form a type-Ⅱ 2D/3D *** heterostructure stabilizes the a-phase of FAPbI_(3),and facilitates ultrafast carrier extraction from the 3D perovskite network to transport contact *** introduced tri-fluorinated ligands to mitigate defects caused by the halide vacancies and uncoordinated Pb^(2+)ions,thereby reducing nonradiative carrier recombination and extending carrier *** films produced were incorporated into PSCs that not only achieved a PCE of 25.39%but also maintained 95%of their initial efficiency after 2000 h of continuous light exposure without *** findings underscore the effectiveness of a phase-pure 2D/3D heterostructure-terminated film in inhibiting phase transitions passivating the iodide anion vacancy defects,facilitating the charge carrier extraction,and boosting the performance of optoelectronic devices.

关键词： Phase-pure 2D perovskite 2D/3D heterostructure Type-II energy alignment Carrier dynamic FAPbI_(3)

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Combine Neural Radiance Fields in Different Reference Coordinates

Combine Neural Radiance Fields in Different Reference Coordi...

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2023 China Automation Congress, CAC 2023

作者： Zhang, Weili Li, Zhongheng Guo, Yu Wang, Fei Institute of Artificial Intelligence and Robotics Xi'An Jiaotong University Xi'an China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9798350303759

Neural Radiance Fields (NeRF) leverage deep learning networks to restore high-quality implicit representations of 3D scenes from 2D images, surpassing traditional texture mapping in rendering quality. Typically, reconstructed images by NeRF exist in a reference coordinate system, necessitating consideration of each surface's information in a single shot. Overlapping parts in adjacent images are addressed by obtaining the camera pose through sparse COLMAP reconstruction. However, occluded regions, caused by contact with support surfaces, pose challenges for complete reconstruction. To address this, we propose a scene fusion algorithm based on NeRF, facilitating the amalgamation of neural radiance fields under different reference coordinate systems. This reduces data requirements and shooting conditions, enhancing the implicit 3D reconstruction of real objects. By estimating the translation and rotation relationship between image capture angles and the NeRF model, we fuse neural radiance fields in distinct reference coordinate systems, completing object surface information. Evaluation is conducted on both NeRF synthetic dataset and real objects. © 2023 IEEE.

关键词： Cameras

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Three-Dimensional Trajectory Planning for Quadrotor UAV Based on Simplified PSO Algorithm 3rd

Three-Dimensional Trajectory Planning for Quadrotor UAV Base...

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3rd International Conference on Machine Learning, Cloud Computing and intelligent Mining, MLCCIM 2024

作者： Yin, Ruhui Jiang, Han Shu, Zilin Ren, Ziang Lin, Qinghao Huang, Zixin School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan430205 China Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Wuhan430200 China Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin300350 China

ISBN: (纸本)9789819624676

Aiming to address the requirements of Quadrotor Unmanned Aerial Vehicle (QUAV) for conducting mission cruises in three-dimensional complex environments, this paper introduces an optimization algorithm for trajectory planning. By analyzing the motion of the QUAV, the dynamics model is established, along with the constraint model for its flight trajectory. Based on the basic Particle Swarm Optimization (PSO) algorithm, simplified Particle Swarm Optimization (sPSO) removes the particle velocity term from the evolution equation. This adjustment helps prevent slower convergence and lower accuracy in the later stages, which can occur due to the dispersion of particles caused by the particle velocity term. The trajectory is smoothed by using the Minimum Snap principle to ensure that it meets the flight constraints of the QUAV. The simulation results demonstrate that the sPSO algorithm is effective and feasible for application in QUAV three-dimensional trajectory planning. In comparison to the PSO algorithm, the trajectory is more optimal, and the convergence accuracy is higher. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Particle swarm optimization (PSO)

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Three Approaches to Approximating the Fisher information Number for Gaussian Mixture Densities

Three Approaches to Approximating the Fisher Information Num...

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International Conference on Multisensor Fusion and Integration for intelligent systems (MFI)

作者： Dominik Prossel Uwe D. Hanebeck Intelligent Sensor-Actuator-Systems Laboratory (ISAS) Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Germany

ISBN: (数字)9798350368031

ISBN: (纸本)9798350368048

The Fisher information number (FIN) has previously been proposed as a regularizer to fit a probability density function to a set of constraints. Especially for mixture densities, this is not straightforward and often a reformulation based on square root densities is used. As it is generally much harder to derive the square root of a mixture than squaring it, this only allows for constraints that can be expressed through the root density's parameters. An important case not covered by this are constraints on individual components of a mixture. This paper proposes three methods to approximate the FIN of mixture models: Gauss-Hermite quadrature, polynomial approximation of the square root function, and direct approximation of the square root density of a pdf. This allows using the FIN for smooth density estimation in situations existing methods cannot handle. The three methods are applied to the problem of kernel density estimation with Gaussian kernels and the results are compared.

关键词： Accuracy Estimation Probability density function Polynomials Computational efficiency Kernel Splines (mathematics) intelligent systems Optimization

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Fractional-Order Global Fast Terminal Sliding Mode Control Strategy for Fractional-Order Hydraulic Turbine Regulating System 42

Fractional-Order Global Fast Terminal Sliding Mode Control S...

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42nd Chinese Control Conference, CCC 2023

作者： Xi, Shiyu Chen, Zhihuan Engineering Research Center for Metallurgical Automation and Measurement Technology Ministry of Education Wuhan430081 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China

ISBN: (纸本)9789887581543

Hydraulic turbine regulating system (HTRS) directly affects the safety and stability of hydro-generator units. In this paper, the control and modeling problems of the HTRS are mainly investigated based on the fractional-order theory, aiming to design a novel control strategy to raise the dynamic response of the HTRS and ensure the frequency stability of the hydro-generator units. Firstly, a nonlinear model of the fractional-order HTRS is established mathematically. Secondly, a fractional-order global fast terminal sliding mode controller is designed to improve the dynamic performance as well as the robustness of the system. Finally, relevant simulations are carried out to illustrate the effectiveness and rationality of the proposed control strategy in comparison with two other fractional-order control strategies. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Hydraulic motors

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UAV Spectrum Sensing against SSDF Attacks under Transmission Errors 2

UAV Spectrum Sensing against SSDF Attacks under Transmission...

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2nd IEEE International Conference on Signal, information and Data Processing, ICSIDP 2024

作者： Li, Huan Li, Ruide Wu, Jinghe Wen, Xiaowen Zhang, Xianchao An, Jianping Beijing Institute of Technology School of Cyberspace Security Beijing China Beijing Institute of Technology School of Information and Electronics Beijing China Yangtze Delta Region Academy Beijing Institute of Technology Jiaxing China Jiaxing University Provincial Key Laboratory of Multimodal Perceiving and Intelligent Systems Jiaxing China

ISBN: (纸本)9798331515669

Unmanned aerial vehicles (UAVs) spectrum sensing is susceptible to Spectrum Sensing Data Falsification (SSDF) attacks, which pose a threat to its data security. However, most existing SSDF defense strategies overlook transmission errors between secondary users (SUs) and fusion center (FC). Hence, this study introduces a reputation-based defense method against SSDF attacks for UAV spectrum sensing, accounting for potential transmission errors between UAVs and FC. Based on the probability of each UAV reporting correct sensing results, we assign a reputation value to each UAV and exclude those with a value lower than or equal to the threshold from participating in collaborative spectrum sensing. To enhance precision, we calculate the individual detection probability for each UAV. By evaluating performance under the same sensing environment and considering transmission errors, we compared our method with an error-free SSDF defense approach that ignores these errors. Simulation results confirm that calculating the individual detection probability yields more precise results, and our proposed method is more effective in distinguishing legitimate users. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Multi-Scale Uncertainty Calibration Testing for Bayesian Neural Networks Using Ball Trees

Multi-Scale Uncertainty Calibration Testing for Bayesian Neu...

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International Conference on Multisensor Fusion and Integration for intelligent systems (MFI)

作者： Markus Walker Uwe D. Hanebeck Intelligent Sensor-Actuator-Systems Laboratory (ISAS) Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Germany

ISBN: (数字)9798350368031

ISBN: (纸本)9798350368048

Bayesian neural networks (BNNs) offer an elegant and promising approach to quantifying the uncertainty of neural network predictions by providing predictive distributions. Although the potential of BNNs is considerable, established BNN training methods often result in inaccurate uncertainty estimation and local differences in quality depending on the considered input space region. To assess the efficacy of Bayesian models such as BNNs and gain insights into their predictive capabilities in distinct input space regions, we introduce a novel methodology that utilizes ball trees as a space partitioning data structure. Our approach enables the assessment of the predictive quality within specific regions of the input space across multiple scales in the input space, utilizing all nodes provided by the ball tree structure. Furthermore, our method allows the combination of results across different scales.

关键词： Training Uncertainty Neural networks Refining Optimal control Predictive models Calibration Bayes methods State estimation Testing

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