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IEEE Conference on Decision and Control

作者： Juan Qian Xiaoling Wang Daniele Astolfi Housheng Su Guo-Ping Jiang College of Automation and the College of Artificial Intelligence Nanjing University of Posts and Telecommunications Nanjing China Jiangsu Engineering Center for IOT Intelligent Robots(IOTRobot) Nanjing China CNRS LAGEPP UMR 5007 43 boulevard du 11 novembre 1918 Université Claude Bernard Lyon 1 Villeurbanne France Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education East China University of Science and Technology Shanghai China School of Artificial Intelligence and Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Luoyu Road 1037 Wuhan China

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper addresses the global consensus problem for multi-input multi-output saturated systems within a sampled-data framework, aiming to advance global consensus, manage heterogeneous actuator saturation across components, and preserve distributed characteristics by using sampled-data feedback. We propose a distributed control algorithm that incorporates a redesigned saturation function, represented as decentralized dynamic saturation levels. These levels for each agent’s dimensions are autonomously updated through an adaptive strategy, which mitigates heterogeneous saturation by carefully selecting constant and time-varying saturation parameters in it. Lyapunov analysis proves that global consensus can be achieved under the proposed control law, provided the sampling periods of all agents remain below a calculated threshold. An example is given to demonstrate the effectiveness of this approach.

关键词： Actuators Upper bound Heuristic algorithms Decentralized control Multi-agent systems

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A novel contact engineering method for transistors based on two-dimensional materials

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Journal of Materials Science & Technology 2021年第10期69卷 15-19页

作者： Yaochen Sheng LuFang Zhang Feng Li Xinyu Chen Zhijian Xie Haiyan Nan Zihan Xu David Wei Zhan Jianhao Chen Yong Pu Shaoqing Xiao Wenzhong Bao State Key Laboratory of ASIC and System Shanghai Institute of Intelligent Electronics&SystemsSchool of MicroelectronicsFudan UniversityShanghai 200433China Engineering Research Center of IoT Technology Applications(Ministry of Education) Department of Electronic EngineeringJiangnan UniversityWuxi 214122China International Center for Quantum Materials School of PhysicsPeking UniversityBeijing 100871China New Energy Technology Engineering Laboratory of Jiangsu Province&School of Science Nanjing University of Posts and TelecommunicationsNanjing 210023China Six Carbon Tech ShenzhenShenzhen 518106China

Contact engineering is of critical importance for two-dimensional(2D)transition metal dichalcogenide(TMD)-based ***,there are only a few solutions to overcome this obstacle because of the complexity of the TMD-contact *** this work,we propose a novel method using a soft plasma treatment followed by the seamless deposition of a metal electrode to reduce the contact resistance of MoS_(2)field effect transistors(FETs).The treated FETs exhibit three times higher mobility than the control FETs without plasma *** soft plasma treatment can remove the facial sulfur atoms and expose the middle Mo atoms so that they come into direct contact with the metal electrode,thus greatly improving the contact ***-principles calculation is also performed to support the experimental *** potentially scalable strategy can be extended to the whole family of TMD based FETs to provide a possible route of device processsing technology for 2D device application.

关键词： Electrical contact resistance MoS_(2) Plasma

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Design and Experiment of a Pneumatic Soft Climbing Robot

Design and Experiment of a Pneumatic Soft Climbing Robot

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Fengyu Xu Yuxuan Lu Zhenjiang Jiang Guoping Jiang Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot) College of Automation Nanjing University of Posts and Telecommunications Nanjing China Nanjing Nanyou Institute of Information Technovation Co. Ltd

This paper designed a pneumatic soft climbing robot by utilizing the high flexibility of soft materials. Capabilities of climbing and creeping through small spaces would rarely possible with a method based only on rigid links. At first, according to the drive mode of pneumatic networks, a model for soft climbing robots with different section having their independent stiffness was designed; afterwards, the analysis of visco-mechanical properties of robots at the contact surface were provided by using the method of minimum potential energy; on the basis, finite element analysis and experiment are given to analyze the climbing behaviors of the robot; finally, by employing 3-d printing and layer-by-layer casting, a prototype soft climbing robot was prepared to perform climbing experiments. The research is expected to provide a new method for monitoring complex unstructured environments.

关键词： Visualization Force Pneumatic systems Climbing robots Finite element analysis Clamps robots

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Nonsingular Fast Terminal Sliding Mode Control Based on Nonlinear Disturbance Observer for a Quadrotor

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Transactions of Nanjing University of Aeronautics and Astronautics 2022年第2期39卷 219-230页

作者： ZHAO Jing WANG Peng SUN Yanfei XU Fengyu XIE Fei College of Automation&College of Artificial Intelligence Nanjing University of Posts and TelecommunicationsNanjing 210023P.R.China Jiangsu Engineering Lab for IOT Intelligent Robots Nanjing University of Posts and TelecommunicationsNanjing 210023P.R.China School of Electrical and Automation Engineering Nanjing Normal UniversityNanjing 210023P.R.China Nanjing Zhongke Raycham Laser Technology Co. Ltd.Nanjing 210023P.R.China

Given external disturbances and system uncertainties,a nonsingular fast terminal sliding mode control(NFTSMC)method integrated a nonlinear disturbance observer(NDO)is put forward for quadrotor ***,a NDO is proposed to estimate the actual values of uncertainties and ***,the NFTSM controller based on the reaching law is designed for the attitude subsystem(inner loop),and the control strategy can ensure Euler angles’fast convergence and stability of the attitude ***,the NFTSMC strategy combined with backstepping is proposed for the position subsystem(outer loop),which can ensure subsystem tracking ***,comparative simulations show the trajectory tracking performance of the proposed method is superior to that of the traditional sliding mode control(SMC)and the SM integral backstepping control under uncertainties and disturbances.

关键词： quadrotor aircraft nonlinear disturbance observer(NDO) nonsingular fast terminal sliding mode control(NFTSMC) disturbances

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Liquid Metal Droplet Series Based Wire Oscillation 7th

Liquid Metal Droplet Series Based Wire Oscillation

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7th International Conference on Artificial Intelligence and Security, ICAIS 2021

作者： Yuan, Bin Chen, Sen Wu, Yang Yuan, Huixin Jiangsu Key Lab of IoT Application Technology Wuxi Taihu University Wuxi214064 China School of Intelligent Equipment Engineering Wuxi Taihu University Wuxi214064 China Technical Institute of Physics and Chemistry Beijing Key Laboratory of Cryo-Biomedical Engineering Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9783030786205

Gallium based room temperature liquid metal alloy has attracted continuous attention due to it combined properties of both liquid and metal, such as low viscosity, high surface tension, great thermal and electrical conductivity. Besides, it has low toxicity compared to mercury. These properties enable liquid metal to be used in various fields, especially in the soft electronics and soft robotics domain. Liquid metal could transform and move under electrical field in alkaline solution. Besides, by adding aluminum to liquid metal, it can actuate itself for minutes. What’s more, we have discovered that by inserting a thin copper wire into the self-actuated liquid metal, the copper wire could oscillate by itself. It is the first ever discovery of liquid metal and copper wire coupled oscillation phenomenon induced by chemical and mechanical principle. However, the oscillation period varies along time and the motion behavior of the copper wire is unstable, which limits its further application. Here, we propose several new ways to stabilize the oscillation process and extend the motion direction. By arranging the position of several separate liquid metal droplets, we manage to realize stable and continuous oscillation. Besides, bended copper wire could also oscillate in circular manner. Such findings enrich the liquid metal based soft robotics research and have potential applications in liquid metal-based sensors, actuators and counters. © 2021, Springer Nature Switzerland AG.

关键词： Liquid metals

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Quasi-Synchronization in Heterogeneous Delayed Multiplex Networks Via Impulsive Control

Quasi-Synchronization in Heterogeneous Delayed Multiplex Net...

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第三十九届中国控制会议

作者： Xin Jin Zhengxin Wang Yanling Lu Yuanzhen Feng Cong Zheng School of Science Nanjing University of Posts and Telecommunications Jiangsu Engineering Laboratory for IoT Intelligent Robots Nanjing University of Posts and Telecommunications

In this paper, the quasi-synchronization problem of the multiplex networks is investigated by impulsive scheme. First,a heterogeneous multiplex network with time delays is considered. Second, a leader is introduced in order to construct the synchronization errors between the nodes in the multiplex networks and the leader. Third, an impulsive control is designed, and based on the comparison theorem for delayed impulsive systems, the sufficient condition for achieving quasi-synchronization in the multiplex networks is obtained. Finally, a numerical simulation with a two-layer multiplex network is selected to verify the effectiveness of the theoretical results.

关键词： Quasi-Synchronization Multiplex Networks Impulsive Control Time Delays

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Correction to: Threshold image segmentation based on improved sparrow search algorithm

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Multimedia Tools and Applications 2022年第23期81卷 33547-33547页

作者： Wu, Dongmei Yuan, Chengzhi Jiangsu Engineering Lab IOT Intelligent Robots School of Automation & Artificial Intelligence Nanjing University of Posts and Telecommunications Nanjing China

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Quasi-Synchronization of Heterogeneous Lur'e Networks With Impulsive Feedback Control

Quasi-Synchronization of Heterogeneous Lur'e Networks With I...

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第40届中国控制会议

作者： Chongfang Jin Sangli Shi Zhengxin Wang Wangli He Guo-Ping Jiang School of Science Nanjing University of Posts and Telecommunications Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot) Nanjing University of Posts and Telecommunications The Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of EducationEast China University of Science and Technology School of Automation Nanjing University of Posts and Telecommunications

The target of this paper is studying the quasi-synchronization problems of the heterogeneous Lur'e networks with impulsive feedback control. By introducing impulsive feedback control, the heterogeneous Lur'e network is analyzed. The sufficient condition for guaranteeing quasi-synchronization is derived by means of linear matrix inequality(LMI), the Schur complement and the principle of comparison. More over, the upper bound of exponential quasi-synchronization errors is further calculated. Finally, the numerical simulations are presented to illustrate the effectiveness of the control protocol and theoretical results.

关键词： Exponential quasi-synchronization Lur'e network Feedback Impulsive control

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Defect engineering of Porous Carbon with High N/S Doping for Potassium Ion Storage

SSRN

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SSRN 2023年

作者： Qi, Jiqiu Zhang, Chenchen Huang, Mengyuan Zhang, Man Li, Tianlin Shi, Meiyu Wei, Zhengang Ni, Jianjun Li, Qian Sui, Yanwei Meng, Qingkun Xiao, Bing Wei, Fuxiang Zhu, Lei Shao, Ruiwen Jiangsu Province Engineering Laboratory of High Efficient Energy Storage Technology and Equipments School of Materials Science and Physics China University of Mining and Technology Xuzhou221116 China Department of Industrial Chemistry "Toso Montanari" University of Bologna Italy School of Chemical Engineering and Technology China University of Mining and Technology Xuzhou221116 China Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Medical Technology Beijing Institute of Technology Beijing China

The primary research challenge concerning K-ion batteries revolves around ensuring their optimal cycle stability and specific capacity, particularly the inherent sluggish kinetics induced by the relatively large radius of K+. In this study, we report a pore-size controllable synthetic approach employing salt-template precursors. Herein, nitrogen and sulfur co-doped porous carbon materials with rich carbon defect engineering was synthesized through the hard template method, where the doped heteroatoms can both offer a lot of carbon defect content and redox active sites that are helpful for enhancing potassium ion storage kinetics. As a result, the electrode with abundant doping atom content realizes a good capacity and long cycle lifespan (274.8 mA h g−1 after 200 cycles at 0.05 A g−1). Inspiringly, PIHCs assembled by N/S co-doped carbon anode exhibit excellent cycling stability (93.4% capacity retention for 1000 cycles) and a high energy density of 141.2 Wh kg–1 and a power density of 1.6 kW kg–1. Importantly, the density functional theory calculation combining electrochemical kinetic analysis further demonstrates that role of N and S doping plays dominant roles in total storage mechanism. This work gives a deep insight about the roles of external defects in doping carbon materials for potassium storage. © 2023, The Authors. All rights reserved.

关键词： Kinetics

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Research on capsule network optimization structure by variable route planning

Research on capsule network optimization structure by variab...

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2019 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2019

作者： Chu, Xin Xu, Ning Liu, Xiaofeng Yao, Xiao College of IoT Engineering Hohai University Changzhou213022 China Changzhou Key Laboratory of Robotics and Intelligent Technology Changzhou213022 China Jiangsu Key Laboratory of Special Robots Changzhou213022 China

ISBN: (纸本)9781728137261

Convolutional Neural Networks (CNN) perform quite good on image classification and object recognition tasks. To solve the problem that CNN is not robust to affine transformation and can not consider the spatial relationship between objects in images, Capsule Network (CapsNet) is proposed and the best accuracy of MNIST dataset has achieved. It shows developability on other datasets and its performance is significantly higher than CNN. However, the data categories in the existing routing algorithms of the CapsNet need to be given in advance, which is very difficult to estimate. In a complex dataset or a small sample dataset, calculating the maximum likelihood solution is more complicated, and it will lead to an inevitable singularity problem. For these shortcomings of the routing algorithm, this paper first proposes a variational routing algorithm. The algorithm does not bring additional computational burden, can automatically determine the most suitable data category, and can effectively avoid over-fitting problems. The algorithm uses the variational distribution to integrate the prior distribution information to increase the regularization limit, maximize the lower bound of the model evidence, and avoid the singularity problem caused by computing the maximum likelihood function. In this paper, the MNIST dataset is classified by a simple CapsNet architecture, and the result is encouraging. © 2019 IEEE.

关键词： Structural optimization

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