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Neural Network Based Terminal Sliding Mode Control for WMRs Affected by an Augmented Ground Friction With Slippage Effect

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IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 498-506页

作者： Ming Yue Linjiu Wang Teng Ma School of Automotive Engineering Dalian University of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced *** overcome this drawback,this article presents a neural network(NN) based terminal sliding mode control(TSMC) for WMRs where an augmented ground friction model is reported by which the uncertain friction can be estimated and compensated according to the required *** contrast to the existing friction models,the developed augmented ground friction model corresponds to actual fact because not only the effects associated with the mobile platform velocity but also the slippage related to the wheel slip rate are concerned ***,the presented control approach can combine the merits of both TSMC and radial basis function(RBF) neural networks techniques,thereby providing numerous excellent performances for the closed-loop system,such as finite time convergence and faster friction estimation *** results validate the proposed friction model and robustness of controller;these research results will improve the autonomy and intelligence of WMRs,particularly when the mobile platform suffers from the sophisticated unstructured environment.

关键词： Ground friction radial basis function(RBF) neural network(NN) slippage effect terminal sliding mode control(TSMC) wheeled mobile robot(WMR)

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Minimizing Data Collection Latency for Coexisting Time-Critical Wireless Networks with Tree Topologies

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IEEE Transactions on Network and Service Management 2025年

作者： Zhang, Jialin Liang, Wei Yang, Bo Shi, Huaguang Liang, Ying-Chang Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang Institute of Automation Shenyang110016 China Northwest A and F University College of Information Engineering Yangling712100 China Henan University School of Artificial Intelligence Zhengzhou450046 China University of Electronic Science and Technology of China Center for Intelligent Networking and Communications Chengdu611731 China

Time-Critical Wireless Network (TCWN) is a promising communication technology that can satisfy the low latency, high reliability, and deterministic requirements of mission-critical applications. Multiple TCWNs required by various applications inevitably coexist with each other. Most existing works aim to achieve acceptable latency or consider the simplest topology (i.e., line topology). As latency requirements become more stringent, exploring the minimum data collection latency becomes an interesting problem. In this paper, the coexisting system consists of multiple tree-topology-based TCWNs. We first establish a conversion framework to convert an arbitrary tree topology into multiple analogous line topologies to reduce the analysis complexity. We then propose a Time-Critical wireless network Scheduling (TCS) algorithm to minimize the data collection latency of coexisting TCWNs. The TCS algorithm consists of two phases. In the internetwork scheduling phase, we strictly derive a general expression to characterize the practical network requirements. In the intranetwork scheduling phase, we design two levels of priority assignment algorithms to accurately characterize the critical states and resource requirements of different nodes. We conduct extensive simulations to verify the effectiveness of the TCS algorithm. The evaluation results show that the TCS algorithm can achieve minimum data collection latency in more than 99.956% cases, and the maximum difference compared to the optimal value is one time slot. © 2004-2012 IEEE.

关键词： Scheduling algorithms

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Static Force Analysis of Foot of Electrically Driven Heavy-Duty Six-Legged Robot under Tripod Gait

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Chinese Journal of Mechanical engineering 2018年第4期31卷 58-72页

作者： Zhen Liu Hong-Chao Zhuang Hai-Bo Gao Zong-Quan Deng Liang Ding State Key Laboratory of Robotics and System Harbin Institute of Technology College of Mechanical Engineering Tianjin University of Technology and Education

The electrically driven six-legged robot with high carrying capacity is an indispensable equipment for planetary exploration, but it hinders its practicability because of its low efficiency of carrying energy. Meanwhile, its load capacity also affects its application range. To reduce the power consumption, increase the load to mass ratio, and improve the stability of robot, the relationship between the walking modes and the forces of feet under the tripod gait are researched for an electrically driven heavy-duty six-legged robot. Based on the configuration characteristics of electrically driven heavy-duty six-legged, the typical walking modes of robot are analyzed. The mathematical models of the normal forces of feet are respectively established under the tripod gait of typical walking modes. According to the MATLAB software, the variable tendency charts are respectively gained for the normal forces of feet. The walking experiments under the typical tripod gaits are implemented for the prototype of electrically driven heavy-duty six-legged robot. The variable tendencies of maximum normal forces of feet are acquired. The comparison results show that the theoretical and experimental data are in the same trend. The walking modes which are most available to realize the average force of distribution of each foot are confirmed. The proposed method of analyzing the relationship between the walking modes and the forces of feet can quickly determine the optimal walking mode and gait parameters under the average distribution of foot force, which is propitious to develop the excellent heavy-duty multi-legged robots with the lower power consumption, larger load to mass ratio, and higher stability.

关键词： Electrically driven Heavy-duty six-legged robot Tripod gait Force of foot Walking mode

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Parameter optimization of controllable local degree of freedom for reducing vibration of flexible manipulator

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Chinese Journal of Aeronautics 2013年第2期26卷 487-494页

作者： Bian Yushu Gao Zhihui School of Mechanical Engineering and Automation Beihang University State Key Laboratory for Robotics and System (HIT) Harbin Institute of Technology

Parameter optimization of the controllable local degree of freedom is studied for reducing vibration of the flexible manipulator at the lowest possible cost. The controllable local degrees of freedom are suggested and introduced to the topological structure of the flexible manipulator, and used as an effective way to alleviate vibration through dynamic coupling. Parameters introduced by the controllable local degrees of freedom are analyzed and their influences on vibration reduction are investigated. A strategy to optimize these parameters is put forward and the corresponding optimization method is suggested based on Particle Swarm Optimization （PSO）. Simulations are conducted and results of case studies confirm that the proposed optimization method is effective in reducing vibration of the flexible manipulator at the lowest possible cost.

关键词： Degrees of freedom Flexible manipulators Optimization Particle Swarm Optimization Vibration control

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Configuration Design of an Under-Actuated Robotic Hand Based on Maximum Grasping Space

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Chinese Journal of Mechanical engineering 2018年第2期31卷 45-53页

作者： Shang-Ling Qiao Rong-Qiang Liu Hong-Wei Guo Yu-Xuan Liu Zong-Quan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology College of International Cooperative Education Harbin Engineering University

Capture is a key component for on?orbit service and space debris clean. The current research of capture on?orbit focuses on using special capture devices or full?actuated space arms to capture cooperative targets. However, the structures of current capture devices are complex, and both space debris and abandoned spacecraft are non?cooperative targets. To capture non?cooperative targets in space, a lightweight, less driven under?actuated robotic hand is proposed in this paper, which composed by tendon?pulley transmission and double?stage mechanisms, and always driven by only one motor in process of closing finger. Because of the expandability, general grasping model is constructed. The equivalent joint driving forces and general grasping force are analyzed based on the model and the principle of virtual work. Which reveal the relationship among tendon driving force, joint driving forces and grasping force. In order to configure the number of knuckles of finger, a new analysis method which takes the maximum grasping space into account, is proposed. Supposing the maximum grasped object is an envelope circle with diameter of 2.5m. In the condition, a finger grasping maximum envelope circle with different knuckles is modeled. And the finger lengths with corresponding knuckles are calculated out. The finger length which consists of three knuckles is the shortest among under?actuated fingers consists of not more than five knuckles. Finally, the principle prototype and prototype robotic hand which consists of two dingers are designed and assembled. Experiments indicate that the under?actuated robotic hand can satisfy the grasp requirements.

关键词： Under?actuated robotic hand Tendon?pulley transmission Grasping space Configuration design

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TRUNK-BRANCH CONTRASTIVE NETWORK WITH MULTI-VIEW DEFORMABLE AGGREGATION FOR MULTI-VIEW ACTION RECOGNITION

arXiv

引用

arXiv 2025年

作者： Yang, Yingyuan Liang, Guoyuan Wang, Can Wu, Xiaojun Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing10049 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology at Shenzhen Shenzhen518055 China

Multi-view action recognition aims to identify actions in a given multi-view scene. Traditional studies initially extracted refined features from each view, followed by implemented paired interaction and integration, but they potentially overlooked the critical local features in each view. When observing objects from multiple perspectives, individuals typically form a comprehensive impression and subsequently fill in specific details. Drawing inspiration from this cognitive process, we propose a novel trunk-branch contrastive network (TBCNet) for RGB-based multi-view action recognition. Distinctively, TBCNet first obtains fused features in the trunk block and then implicitly supplements vital details provided by the branch block via contrastive learning, generating a more informative and comprehensive action representation. Within this framework, we construct two core components: the multi-view deformable aggregation (MVDA) and the trunk-branch contrastive learning. MVDA employed in the trunk block effectively facilitates multi-view feature fusion and adaptive cross-view spatio-temporal correlation, where a global aggregation module (GAM) is utilized to emphasize significant spatial information and a composite relative position bias (CRPB) is designed to capture the intra- and cross-view relative positions. Moreover, a trunk-branch contrastive loss is constructed between aggregated features and refined details from each view. By incorporating two distinct weights for positive and negative samples, a weighted trunk-branch contrastive loss is proposed to extract valuable information and emphasize subtle inter-class differences. The effectiveness of TBCNet is verified by extensive experiments on four datasets including NTU-RGB+D 60, NTU-RGB+D 120, PKU-MMD, and N-UCLA dataset. Compared to other RGB-based methods, our approach achieves state-of-the-art performance in cross-subject and cross-setting protocols. Copyright © 2025, The Authors. All rights reserved.

关键词： Contrastive Learning

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Design of a SMA actuated freeplay elimination device for stiffness enhancement of a folding fin

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Mechanical systems and Signal Processing 2025年 234卷

作者： Rongru Zhang Gang Chen Honghao Yue Mingyu Si State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China Beijing Institute of Electronic System Engineering Beijing 100854 China

The folding fin, essential for controlling aircraft flight attitude and maintaining stability, is extensively employed in aerospace vehicles. Inevitable freeplay within the structure, due to design, installation, and mechanical wear, reduce the stiffness of the folding fins and impair the aircraft’s aerodynamic performance. Therefore, eliminating the freeplay in the folding fin is crucial for enhancing the aircraft’s flight accuracy and stability. This paper introduces a novel freeplay elimination device utilizing SMA columns, which neither increases mass nor alters the aircraft’s external dimensions. The device effectively alleviates nonlinear issues associated with gaps in the fin system and enhances both the dynamic and static stiffness of the folding fin. A parametric design model for the gap elimination device has been developed, delineating the relationship between the structure and layout of the SMA columns, the actuation temperature, load, and the target gap for elimination. We conducted static load tests along with modal tests at room and elevated temperatures to evaluate the stiffness enhancement performance of the folding fin before and after gap elimination. The experiments verified that the designed gap elimination device significantly enhances both the static and dynamic stiffness of the folding fin. Additionally, the first-order frequency of the folding fin increased by 40 % at room temperature and by 36.7 % at 200 °C. This paper provides quantifiable guidance for the structural and parametric design of gap elimination devices in folding fins. Optimal structural parameters, determined based on aerodynamic loads and gap elimination requirements, enhance the stiffness of the folding fin, thus improving the aircraft’s flight performance.

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A Hybrid GRA-TOPSIS-RFR Optimization Approach for Minimizing Burrs in Micro-Milling of Ti-6Al-4V Alloys

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Micromachines 2025年第4期16卷 464-464页

作者： Tan, Rongkai Madathil, Abhilash Puthanveettil Liu, Qi Cheng, Jian Lin, Fengtao School of Mechatronics and Vehicle Engineering East China Jiaotong University Nanchang330013 China Centre for Precision Manufacturing DMEM University of Strathclyde G1 Glasgow1XJ United Kingdom RenfrewPA3 2EF United Kingdom Department of Mechanical Engineering University of Bath BA2 Bath7HA United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Micro-milling is increasingly recognized as a crucial technique for machining intricate and miniature 3D aerospace components, particularly those fabricated from difficult-to-cut Ti-6Al-4V alloys. However, its practical applications are hindered by significant challenges, particularly the unavoidable generation of burrs, which complicate subsequent finishing processes and adversely affect overall part quality. To optimize the burr formation in the micro-milling of Ti-6Al-4V alloys, this study proposes a novel hybrid-ranking optimization algorithm that integrates Grey Relational Analysis (GRA) with the Technique for Order Preference by Similarity to Ideal Solution (TOPSIS). This approach innovatively combines GRA and TOPSIS with a random forest regression (RFR) model, facilitating the exploration of nonlinear and complex relationships between input parameters and machining outcomes. Specifically, the effects of spindle speed, depth of cut, and feed rate per tooth on surface roughness and burr width generated during both down-milling and up-milling processes were systematically investigated using the proposed methodology. The results reveal that the depth of cut is the most influential factor affecting surface roughness, while feed rate per tooth plays a critical role in controlling burr formation. Moreover, the GRA-TOPSIS-RFR method significantly outperforms existing optimization and prediction models, with the integration of the RFR model enhancing prediction accuracy by 42.6% compared to traditional linear regression approaches. The validation experimental results agree well with the GRA-TOPSIS-RFR-optimized outcomes. This research provides valuable insights into optimizing the micro-milling process of titanium components, ultimately contributing to improved quality, performance, and service life across various aerospace applications. © 2025 by the authors.

关键词： Milling (machining)

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Sliding mode tracking control for miniature unmanned helicopters

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Chinese Journal of Aeronautics 2015年第1期28卷 277-284页

作者： Xian Bin Guo Jianchuan Zhang Yao Zhao Bo The Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and Automation Tianjin University

A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter＇s dynamic model is divided into two subsystems,such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles＇ dynamic effects and external disturbances. The global asymptotic stability（GAS） of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportionalintegral-derivative（PID） and linear-quadratic regulator（LQR） cascaded controller in the presence of wind gust disturbances.

关键词： unmanned sliding miniature compensate quadratic cascaded subsystem disturbance facilitate linearized

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Joint Design of Radar Receive Filter and Unimodular ISAC Waveform with Sidelobe Level Control

arXiv

引用

arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

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