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Force-feedback based active compliant position control strategy for a hydraulic quadruped robot

Journal of Beijing Institute of Technology 2015年第4期24卷 546-552页

作者：王立鹏王军政马立玲陈光荣杨超峰 Key Laboratory of Intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

Most existing legged robots are developed under laboratory environments and, corre- spondingly, have good performance of locomotion. The robots＇ ability of walking on rough terrain is of great importance but is seldom achieved. Being compliant to external unperceived impacts is cru- cial since it is unavoidable that the slip, modeling errors and imprecise information of terrain will make planned trajectories to be followed with errors and unpredictable contacts. The impedance control gives an inspiration to realize an active compliance which allows the legged robots to follow reference trajectories and overcome external disturbances. In this paper, a novel impedance force/ position control scheme is presented, which is based on Cartesian force measurement of leg＇ s end effector for our hydraulic quadruped robot The simulation verifies the efficiency of the impedance model, and the experimental results at the end demonstrate the feasibility of the proposed control scheme.

关键词： active compliance impedance control force feedback contact force constrains space

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Long-term effects of PM2.5 constituents on childhood attention deficit hyperactivity disorder: evidence from a large population-based study in the Pearl River Delta Region, China

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Environmental Research 2025年 277卷 121641页

作者： Zeng, Hui-Xian Meng, Wen-Jie Zeng, Qing-Guo Wei, Jing Liu, Lu-Sheng Wu, Qi-Zhen Zhao, Bin Oudin, Anna Yang, Mo Jalava, Pasi Dong, Guang-Hui Zeng, Xiao-Wen Joint International Research Laboratory of Environment and Health Ministry of Education Guangdong Provincial Engineering Technology Research Center of Environmental Pollution and Health Risk Assessment Department of Occupational and Environmental Health School of Public Health Sun Yat-sen University Guangzhou510080 China Department of Atmospheric and Oceanic Science Earth System Science Interdisciplinary Center University of Maryland College ParkMD United States State Key Joint Laboratory of Environmental Simulation and Pollution Control School of Environment Tsinghua University Beijing100084 China State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Beijing100084 China Department of Public Health and Clinical Medicine Umeå University Umeå Sweden Department of Environmental and Biological Science University of Eastern Finland Kuopio Finland

Background: Evidence linking fine particulate matter (PM2.5) constituents to childhood attention deficit hyperactivity disorder (ADHD) was limited. Objectives: To investigate the individual and joint effects of exposure to PM2.5 constituents on ADHD. Methods: We conducted a large population-based survey involving 110,818 school children aged 6–18 years across six cities in the Pearl River Delta region, China. The three-year average concentrations of PM2.5 constituents (black carbon (BC), organic matter (OM), sulfate, nitrate, and ammonium) were estimated using the ChinaHighAirPollutants dataset. Parents completed an ADHD checklist using the Diagnostic and Statistical Manual of Mental Disorders-IV criteria. The individual and joint associations between PM2.5 components and ADHD were estimated using generalized linear mixed models and the quantile g-computation regression model, respectively. Results: The exposure-response relationships between PM2.5 constituents and ADHD primarily exhibited a nonlinear pattern. Compared with the lowest tertile, the highest tertiles of PM2.5 and its components were linked to greater odds for ADHD (e.g., the adjusted odds ratio (OR) was 1.37 (95 % confidential interval (CI): 1.27, 1.47) for PM2.5, 1.51 (95 %CI: 1.40, 1.63) for OM, 1.29 (95 %CI: 1.20, 1.39) for BC, and 1.20 (95 %CI:1.08, 1.34) for sulfate). Similar positive associations were observed between BC and sulfate exposure and ADHD subtypes. Moreover, joint exposure to PM2.5 components was associated with ADHD (OR = 1.14, 95 % CI:1.10, 1.18), with OM and BC contributing more to the observed associations. Conclusions: These findings highlight the varying contributions of PM2.5 constituents to ADHD and underscore the importance of reducing specific PM2.5 component emissions to mitigate the burden of PM2.5-associated neurodevelopmental diseases. © 2025 Elsevier Inc.

关键词： Regression analysis

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Stator flux oriented control with improved integrator for speed-sensorless induction motor drives

Stator flux oriented control with improved integrator for sp...

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2010 International Conference on E-Product E-Service and E-Entertainment, ICEEE2010

作者： Zhang, Hao Dai, Xianzhong Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (纸本)9781424471614

This paper presents a speed-sensorless control algorithm for induction motors, based on the stator fluxoriented control. The algorithm has the advantage of insensitivity to rotor parameters and load varying, stator flux and rotor speed is closed loop controlled respectively. The main improvement is that stator flux is estimated based on a modified integrator which is developed to solve the problems associated with pure integrator. The performance of the proposed algorithm is verified using a dSPACE system with DS1103 controller board based on the digital signal processor (DSP) TMS320F240. The experimental results show the estimated speed is true of exactly actual speed and good behavior of the drive in both transient and steady state lowspeed operating conditions is proved. ©2010 IEEE.

关键词： Induction motors

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Precedence graph-oriented approach to optimise single-product flow-line configurations of reconfigurable manufacturing system

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INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING 2009年第10期22卷 923-940页

作者： Dou, J. P. Dai, X. Meng, Z. [a]Key Laboratory of Measurement and Control of Complex Systems of Engineering (School of Automation Southeast University) Ministry of Education China

To facilitate the configuration selection of reconfigurable manufacturing systems, it needs to generate K (predefined number) best configurations as candidates for a given demand period. This paper presents a systematic approach for the problem of generating single-product flow-line (SPFL) configurations. The problem is to determine the SPFL configuration's parameters including number of workstations, number of paralleling machines and machine type as well as assigned operations for each workstation. Given an operation precedence graph (PG) and machine options for each operation, the objective is to minimise the capital costs of SPFL configurations subject to space limitation, investment limitation, and capacity constraint as well as precedence constraints among operations. For linear PG with one feasible operation sequence (FOS), a constrained K-shortest paths (CKSP) formulation is developed and a CKSP algorithm is introduced to generate K-best configurations including the optimal and near-optimal ones. For simple PG (a small number of FOSs), the K-best configurations are found by repeatedly solving the CKSP problem associated with every FOS. For general PG (numerous FOSs), a GA based approach is proposed to identify K-best configurations through searching within the optimal configurations associated with all FOSs. Case studies illustrate the effectiveness and efficiency of our approach.

关键词： reconfigurable manufacturing system configuration generation flow-line precedence graph constrained K-shortest paths genetic algorithm

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Model and Simulation of Multipath Error in DLL for GPS Receiver

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Chinese Journal of Electronics 2014年第3期23卷 508-515页

作者： CHENG Lan CHEN Jie XIE Gang Taiyuan University of Technology Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Although different multipath error models of Delay lock loop(DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to get a fair comparison among these models. A new model with implicate expression is hence proposed for the coherent DLL and the noncoherent Dot-product(DOT) power mode DLL. Meanwhile, a new simulation method based on the anonymous function in Matlab, which is especially suitable for models with implicit expression,is also proposed to compare the new model with the existing ones. The theoretical analysis and simulation results show that the existing models are the special case of the proposed one. The new simulation method can be used for the comparison of different multipath error models and the multipath error analysis of other DLLs for which only the implicit model is available.

关键词： Delay lock loop(DLL) Multipath Multipath error model Positioning system

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Robust tracking control design for a flexible air-breathing hypersonic vehicle

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Journal of Central South University 2014年第1期21卷 130-139页

作者：张垚鲜斌刁琛赵勃郭建川 Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and AutomationTianjin University

A nonlinear robust controller was presented to improve the tracking control performance of a flexible air-breathing hypersonic vehicle(AHV) which is subjected to system parametric uncertainties and unknown additive time-varying *** longitudinal dynamic model for the flexible AHV was used for the control ***-gain observers were designed to compensate for the system uncertainties and additive *** gain theorem and Lyapunov based stability analysis were utilized to prove the stability of the closed loop *** uniformly ultimately bounded tracking of the vehicle's velocity,altitude and attack angle were achieved under aeroelastic effects,system parametric uncertainties and unknown additive ***/Simulink simulation results were provided to validate the robustness of the proposed control *** simulation results demonstrate that the tracking errors stay in a small region around zero.

关键词： hypersonic vehicles nonlinear robust control flexible mode small gain theorem Lyapunov

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Deep Multimodal Learning and Fusion Based Intelligent Fault Diagnosis Approach

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Journal of Beijing Institute of Technology 2021年第2期30卷 172-185页

作者： Huifang Li Jianghang Huang Jingwei Huang Senchun Chai Leilei Zhao Yuanqing Xia Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of TechnologyBeijing 100081China

Industrial Internet of Things(IoT)connecting society and industrial systems represents a tremendous and promising paradigm *** IoT,multimodal and heterogeneous data from industrial devices can be easily collected,and further analyzed to discover device maintenance and health related potential knowledge *** data-based fault diagnosis for industrial devices is very helpful to the sustainability and applicability of an IoT *** how to efficiently use and fuse this multimodal heterogeneous data to realize intelligent fault diagnosis is still a *** this paper,a novel Deep Multimodal Learning and Fusion(DMLF)based fault diagnosis method is proposed for addressing heterogeneous data from IoT environments where industrial devices ***,a DMLF model is designed by combining a Convolution Neural Network(CNN)and Stacked Denoising Autoencoder(SDAE)together to capture more comprehensive fault knowledge and extract features from different modal ***,these multimodal features are seamlessly integrated at a fusion layer and the resulting fused features are further used to train a classifier for recognizing potential ***,a two-stage training algorithm is proposed by combining supervised pre-training and fine-tuning to simplify the training process for deep structure models.A series of experiments are conducted over multimodal heterogeneous data from a gear device to verify our proposed fault diagnosis *** experimental results show that our method outperforms the benchmarking ones in fault diagnosis accuracy.

关键词： fault diagnosis deep learning multimodal heterogeneous data multimodal fused features

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Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

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控制理论与应用（英文版） 2013年第3期11卷 428-435页

作者： Xiang LIU Bin XIAN Jianchuan GUO Bo ZHAO Chen DIAO Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control and School of Electrical Engineering and Automation Tianjin University

This paper proposes a new asymptotic attitude tracking controller for an underactuated 3-degree-of-freedom （DOF） laboratory helicopter system by using a nonlinear robust feedback and a neural network （NN） feedforward term. The nonlinear robust control law is developed through a modified inner-outer loop approach. The application of the NN-based feedforward is to compensate for the system uncertainties. The proposed control design strategy requires very limited knowledge of the system dynamic model, and achieves good robustness with respect to system parametric uncertainties. A Lyapunov-based stability analysis shows that the proposed algorithms can ensure asymptotic tracking of the helicopter＇s elevation and travel motion, while keeping the stability of the closed-loop system. Real-time experiment results demonstrate that the controller has achieved good tracking performance.

关键词： 3-DOF helicopter Nonlinear Robust control Asymptotic tracking

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A compensation method for the packet loss deviation in system identification with event-triggered binary-valued observations

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Science China(Information Sciences) 2020年第12期63卷 266-268页

作者： Jing-Dong DIAO Jin GUO Changyin SUN School of Automation and Electrical Engineering University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education School of Automation Southeast University Key Laboratory of Measurement and Control of Complex System of Engineering Ministry of Education

Dear editor,With the rapid development of network and communication technology, group systems interrelated in terms of both time and space are commonly encountered, such as sensor networks, multi-agent systems, and sm... 详细信息

关键词： system identification event-triggered binary-valued observations packet loss convergence

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Optimal Switching Integrity Attacks on Sensors in Industrial control systems

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Journal of systems Science and complexity 2019年第5期32卷 1290-1305页

作者： Wu, Guangyu Sun, Jian The Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China

In this article, an optimal switching integrity attack problem is investigated to study the response of feedback control systems under attack. The authors model the malicious attacks on sensors as additive norm bounded signals. The authors consider an attacker who is only capable of launching attacks to limited number of sensors once a time and changing the combinations of attacked sensors all over the time. The objective of this paper is to find the optimal switching sequence of these combinations and the optimal attack input. The authors solve this problem by transforming it into a traditional optimal control problem with new control variables vary continuously in the range [0, 1]. The optimal solutions of the new control variables are of bang-bang-type. Therefore, an algebraic switching condition and an optimal attack input can be obtained. Finally, numerical results are provided to illustrate the effectiveness of the methods. © 2019, The Editorial Office of JSSC & Springer-Verlag GmbH Germany.

关键词： Adaptive control systems

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