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Chinese Automation Congress (CAC)

作者： Shuo Jia Wei Chen Wenchang Zhang Hang Wu Weixiao Li Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China Academy of Military Sciences of Chinese PLA Institute of Medical Support Technology Tianjin China Information Management and Information System Nanjing University of Posts and Telecommunications Nanjing China

Parallel mobile robots have recently attracted wide attention due to their strong load capacity, high running stability and rapid response speed. This paper conducts the kinematics research based on a pair of novel mobile legs that consist of a dual Stewart parallel mechanism. Firstly, we describe its motion mechanism and analyze the DOF of the mechanism in detail. Secondly, the forward and inverse kinematic solutions of the mechanism are computed and analyzed, and then the workspace is obtained by Matlab simulation. Thirdly, according to the principle of kinematics, we carry out dynamic performance optimization research to analyze and compare various motion control rules. Finally, the human-computer interface is designed for ease of analysis and displaying the kinematic rules of robot motion.

关键词： Legged locomotion Robot kinematics Mobile robots Motion control Stability

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Research on obstacle detection and path planning based on visual navigation for mobile robot

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Journal of Physics: Conference Series 2020年第6期1601卷

作者： Yixiao Zheng Bixi Yan Chao Ma Xinyu Wang Haoyang Xue School of Instrument Science and Optoelectronic Engineering Beijing Information Science and Technology University Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

Both obstacle and path planning are of significance for autonomous visual navigation of a mobile robot which is able to realize free movement and obstacle avoidance. In this paper, a scheme of obstacle detection which is based on binocular vision to identify obstacles is constructed and it is combined with improved A* algorithm for obstacle avoidance motion for mobile robot platform. First, a binocular vision system to detect the robot's perception of the environment is used and the visual information is obtained. Then a Gaussian filter is used to reduce the noise in the image, and the grayscale image is obtained through the binocular vision system. The gray scale map is matched with SAD (Sum of Absolute Differences) in order to obtain the disparity image with comparison. Second, the location information of the obstacle is extracted through the environmental depth information contained in the disparity image, and the improved A* algorithm is used as the path planning algorithm in this paper, which can modify the path of the planning error. Furthermore, the detection experiment of the robot visual obstacle avoidance system was established and the optimal path was obtained. The examples show that, the obstacle avoidance system can complete the task of obstacle detection and give a better path for the mobile robot.

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Regulating Exposed Facets of Metal-Organic Frameworks for High-rate Alkaline Aqueous Zinc Batteries

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Angewandte Chemie 2022年第47期134卷

作者： Shuo Yang Haiming Lv Yanbo Wang Xun Guo Lingzhi Zhao Hongfei Li Chunyi Zhi Songshan Lake Materials Laboratory Dongguan Guangdong 523808 China Department of Materials Science and Engineering City University of Hong Kong 83 Tat Chee Avenue Hong Kong China Guangdong Provincial Engineering Technology Research Center for Low Carbon and Advanced Energy Materials Institute of Semiconductor Science and Technology South China Normal University Guangzhou 510631 China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen Guangdong 518055 China Hong Kong Institute for Advanced Study City University of Hong Kong Kowloon Hong Kong 999077 China Hong Kong Institute for Clean Energy City University of Hong Kong Kowloon Hong Kong 999077 Hong Kong

Metal-organic frameworks (MOFs) have drawn growing attention as promising electrode candidates for rechargeable batteries. However, most studies focus on the direct use of MOF electrodes without any modification. Post-synthetic modification, a judicious tool to modify targeted properties of MOFs, has been long-neglected in the field of batteries. Herein, crystal-facet engineering is proposed to design MOF-based electrodes with high capacity and fast electrochemical kinetics. We found that a thermally-modified strategy can regulate the dominant exposed facet of Ni-based MOF (PFC-8). With the optimally exposed facets, the battery exhibited admirable rate capability (139.4 mAh g −1 at 2.5 A g −1 and 110.0 mAh g −1 at 30 A g −1 ) and long-term stability. Furthermore, density functional theory calculations demonstrate that stronger OH − adsorption behaviors and optimized electronic structures induced by the regulated exposed facets boost the electrochemical performance.

关键词： Aqueous Zinc Batteries Facets Metal–Organic Frameworks Superior Rate Capability

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Publisher's Note: “Coupling analysis of transient aerodynamic and dynamic response of articulated heavy vehicles under crosswinds” [Phys. Fluids 34, 017106 (2022)]

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Physics of Fluids 2022年第2期34卷

作者： Qianwen Zhang (张倩文) Chuqi Su (苏楚奇) Makoto Tsubokura (坪倉誠) Zhen Hu (胡振) Yiping Wang (汪怡平) 1Hubei Key Laboratory of Advanced Technology for Automotive Components Wuhan University of Technology Wuhan 430070 China 2Hubei Collaborative Innovation Center for Automotive Components Technology Wuhan University of Technology Wuhan 430070 China 3Hubei Research Center for New Energy and Intelligent Connected Vehicle Wuhan University of Technology Wuhan 430070 China 4Graduate School of System Informatics Kobe University Kobe Hyogo 657-8501 Japan 5Complex Phenomena Unified Simulation Research Team RIKEN Advanced Institute for Computational Science Kobe Hyogo 650-0047 Japan 6Shanghai Huawei Technology Co. Shanghai 201206 China

This article was originally published online on 7 January 2022 with an incorrect page number. The correct page number is 017106. All online versions of this art

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A Biomimetic Planning Control Method to anthropomorphize a 7-DOF Redundant Manipulator in Unstructured Environments

A Biomimetic Planning Control Method to anthropomorphize a 7...

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IEEE International Conference on Cyber technology in Automation, Control, and intelligent systems

作者： Yang Mo Zhihong Jiang Hui Li Hong Yang Qiang Huang School of Mechatronic Engineering Advanced Innovation Center for Intelligent Robots and Systems Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education Beijing Institute of Technology Beijing China Institute of Manned Spacecraft System Engineering China Academy of Space Technology (CAST) Beijing China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

An increasingly important trend is to simulate a human arm using a 7-degrees-of-freedom (DOF) redundant manipulator and accomplish complex tasks in an unstructured environment by leveraging human experience. Human arm motion information acquired by a biomimetic motion capture system is mapped to planning information of the manipulator to leverage human experience in the control process and quickly improve the operational capability of the manipulator in complex environments. In this paper, extensive tests are performed for verification, and the test results prove the effectiveness of the proposed algorithm, which improve the operational performance of a redundant manipulator in a complex environment to accomplish humanoid tasks and is critical to robot-aided operations or the complete substitution of humans by robots in the future.

关键词： Manipulators Robot kinematics Transforms Planning Task analysis Kinematics

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Magnetic Continuum Robot for intelligent Manipulation in Medical Applications

SmartBot

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SmartBot 2025年

作者： Yuanbiao Ma Xuanyu An Qijun Yang Mingxue Cai Zhiqiang Tang Jinke Chang Veronica Iacovacci Tiantian Xu Li Zhang Qianqian Wang Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments School of Mechanical Engineering Southeast University Nanjing China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Mechanical Engineering National University of Singapore Queenstown Singapore Department of Engineering Science University of Oxford Oxford UK Department of Surgical Biotechnology Division of Surgery & Interventional Science Centre for Biomaterials in Surgical Reconstruction and Regeneration University College London London UK BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Chow Yuk Ho Technology Center for Innovative Medicine The Chinese University of Hong Kong Hong Kong China Multi-Scale Medical Robotics Center Hong Kong Science Park Hong Kong China

Magnetic continuum robots (MCRs) have garnered substantial attention as a new class of flexible robotic systems capable of navigating complex and confined spaces with remarkable dexterity. By combining continuous, deformable structures with remotely applied magnetic fields, MCRs achieve contactless, remote manipulation, making them well-suited for medical applications. This review introduces recent advances in MCR research, focusing on design principles, structural configurations, and control strategies. Various MCR designs and structures, including those integrated with permanent magnets, magnetic matter, ferromagnetic sphere, and micro coil, are discussed. Furthermore, different magnetic actuation platforms are introduced, and the level of MCR automation is classified based on control strategies. Key intelligent manipulation capabilities of MCRs, including navigation, delivery, printing, grasping, imaging, and sensing are explored. Finally, future development priorities and directions are identified to provide insights for advancing intelligent robotic systems.

关键词： intelligent manipulation magnetic actuation magnetic continuum robot medical application

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Breakup and Recovery of Topological Zero Modes in Finite Non-Hermitian Optical Lattices

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Physical Review Letters 2019年第16期123卷 165701-165701页

作者： Wange Song Wenzhao Sun Chen Chen Qinghai Song Shumin Xiao Shining Zhu Tao Li National Laboratory of Solid State Microstructures Key Laboratory of Intelligent Optical Sensing and Integration Jiangsu Key Laboratory of Artificial Functional Materials College of Engineering and Applied Sciences Nanjing University Nanjing 210093 China Collaborative Innovation Center of Advanced Microstructures Nanjing 210093 China State Key Laboratory on Tunable Laser Technology Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information System Shenzhen Graduate School Harbin Institute of Technology Shenzhen 518055 China

The topological edge state (TES) in a one-dimensional optical lattice has exhibited robust field localization or waveguiding against the structural perturbations that would give rise to fault-tolerant photonic integrations. However, the zero mode as a kind of TES usually deviates from the exact zero-energy state in a finite Hermitian lattice due to the coupling between these edge states, which inevitably weaken the topological protection. Here, we first show such a breakup of zero modes in finite Su-Schriffer-Heeger optical lattices and then reveal their recovery by introducing non-Hermitian degeneracies with parity-time (PT) symmetry. We carry out experiments in a finite silicon waveguide lattice, where a passive-PT symmetry was implemented with carefully controlled lossy silicon waveguides. The experimental results are fully compatible with the theoretical prediction. Our results show that the topological property of an open system can be tuned by non-Hermitian lattice engineering, which offers a route to enhance the topological protection in a finite system.

关键词： Edge states Phase transitions by order Topological effects in photonic systems Waveguide arrays

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Research on Computer Network technology system Based on Artificial Intelligence technology

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Journal of Physics: Conference Series 2021年第4期1802卷

作者： Jinling Yao Jie Liu College of Electronic Information and Engineering Tianjin Vocational institute Tianjin 300000 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) Tianjin 300384 China

This article introduces computer network intrusion detection systems and their classification based on artificial intelligence technology, and points out the challenges that intrusion detection systems (IDS) are facing in wireless sensor computer networks. On this basis, a hierarchical multi-layer wireless sensor network intrusion detection system and technology based on artificial intelligence technology Agent is proposed, and its network structure, working principle and performance are analysed.

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Development of an HCN dual laser for the interferometer on EAST

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Plasma Science and technology 2017年第8期19卷 37-42页

作者：李根魏学朝刘海庆申俊杰揭银先连辉曾龙邹志勇张际波王守信 Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Institute of Plasma Physics Chinese Academy of Sciences

A two-color continuous wave（CW） discharge-pumped far-infrared（FIR） hydrogen cyanide（HCN） laser was developed as the source of an interferometer for measuring the line-averaged electron density in the Experimental advanced Superconducting Tokamak（EAST）. The output power of the dual laser system was about 120 m W from each laser on the 337 μm（0.89 THz）line. The polarization of each output beam was fixed using thin tungsten filaments and oscillated in the EH11 mode. Different megahertz intermediate frequencies（IF） and a slight frequency offset（～1 MHz） were generated in this system to replace the traditional rotating grating with～10 k Hz IF, and this can improve the time resolution of the interferometer significantly. The experimental result showed that different IF signals were obtained by successfully adjusting the cavity length. In particular, the beat frequency was captured at ～1.3 MHz by a Schottky mixer when the length of the resonant cavities was changed by 5 μm by an automatic adjustment system. In order to study the character of IF, a long time record of the IF signal was carried out,and the IF signal could be stabilized for a few minutes in the range of 2 MHz to 3 MHz. A realtime IF stability control system was initially designed for long pulse discharge experiments on the EAST. The ～MHz frequency response and good phase sensitivity of the dual laser HCN interferometer will allow the system to track fast density profiles and resolve fast MHD events,such as tearing/neoclassical tearing, disruptions, etc.

关键词： EAST interferometer Schottky pumped mixer captured tungsten grating resonant rotating

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Performance Improvement of Raman Distributed Temperature system by Using Noise Suppression

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Photonic Sensors 2018年第2期8卷 103-113页

作者： Jian LI Yunting LI Mingjiang ZHANG Yi LIU Jianzhong ZHANG Baoqiang YAN Dong WANG Baoquan JIN Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education Taiyuan University of Technology Taiyuan 030024 China College of Physics and Optoelectronics Institute of Optoelectronic Engineering Taiyuan University of Technology Taiyuan 030024 China

In Raman distributed temperature system, the key factor for performance improvement is noise suppression, which seriously affects the sensing distance and temperature accuracy. Therefore, we propose and experimentally demonstrate dynamic noise difference algorithm and wavelet transform modulus maximum （WTMM） to de-noising Raman anti-Stokes signal. Experimental results show that the sensing distance can increase from 3 kin to 11.5 km and the temperature accuracy increases to 1.58 ℃ at the sensing distance of 10.4kin.

关键词： Optical fiber sensors Raman scattering noise suppression wavelet transform modulus maximum

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