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Hopping robot: Current status and future perspectives

Recent Patents on Mechanical engineering 2021年第4期14卷 440-455页

作者： Jiang, Jingang Zeng, Yang Yu, Xiaoyang Wu, Dianhao Guo, Yafeng Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China Intelligent Machine Institute Harbin University of Science and Technology Harbin150080 China School of Measurement-Control Technology and Communications Engineering Harbin University of Science and Technology Harbin150080 China

Background: Search and rescue in high-risk situations and searches in unknown environments pose certain threats to human life. The development of mobile robots with exploratory capabilities that can be adapted to complex sites with high mobility and high obstacle-crossing capabilities is, therefore, a research trend. Existing wheeled and tracked mobile robots have excellent locomotion, but they are less adaptable and less efficient when faced with complex terrain or outer space environments. Therefore, how to increase the obstacle-crossing ability and improve the movement efficiency of mobile robots have become a research hotspot in the field of mobile robotics. Objective: To introduce the classification, characteristics, and the development of the existing hopping robots. Methods: The various products and patents of hopping robots are summarized, and the structural features, differences, and applications of typical hopping robots are introduced. Results: By analyzing a variety of hopping robots, the typical characteristics and the current problems of hopping robots are analyzed, the development trend of hopping robots is prospected, the current research status of hopping robots is discussed, and the future prospects are carried out Conclusion: Hopping robots can be divided into mechanical energy driven, combustion energy driven and new energy-driven according to the drive energy sources. Depending on the drive energy used, jumping robots can achieve a jump height 0.5-30 times higher than their own size, and when combined with a specific mechanical structure design, they are highly explosive, have high mobility and can solve interstellar exploration, terrain exploration and rescue problems. Compared to mechanical energy driven technique, combustion energy-driven technique is two orders of magnitude more energy-intensive than even the highest performing batteries. The use of recycled, renewable energy solves the energy self-loading problem of combustion energy driven

关键词： Machine design

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control Strategy of 6-DOF Manipulator based on Improved Active Disturbance Rejection control

Control Strategy of 6-DOF Manipulator based on Improved Acti...

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第35届中国控制与决策会议

作者： Dongxu Zhang Lixiang Ma Bingyou Liu Pan Yang College of Electrical Engineering Anhui Polytechnic University Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment Ministry of Education Anhui Institute of Information Technology Anhui Dar Intelligent Control System Stock Co. Ltd

Aiming at the problems of high coupling,parameter uncertainty and external environment interference in practical applications of six degrees of freedom manipulator,a control strategy based on improved active disturbance rejection control was ***,in order to improve the response speed of the system,the sliding mode control tracking differentiator(SMC-TD) is designed based on the synovial *** order to reduce the system jitter,the new sliding mode function is used to improve the sliding mode control law,which reduces the system jitter and improves the system response ***,the han function is constructed to realize the design of continuous smooth extended state observer,and the improved fractional extended state observer(FO-ESO) is designed in combination with fractional calculus,which enhances the anti-interference ability of the ***,combined with the traditional nonlinear error feedback control law(NLSEF),an improved active disturbance rejection controller was built,and different control strategies were used to compare the six degrees of freedom manipulator in the same *** experimental results show that the controller has good control effect and anti-disturbance robustness,which proves the effectiveness of the proposed method.

关键词： six degrees of freedom manipulator Sliding mode control Improved fractional ESO

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Data-Driven Distributed Robust Consensus Kalman Filtering for Sensor Networks

Data-Driven Distributed Robust Consensus Kalman Filtering fo...

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Chinese Automation Congress (CAC)

作者： Ziai Zhou Hao Wu Ya Zhang School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9781665426480

This paper mainly studies the distributed robust filtering problem for wireless sensor networks without knowing the variance of the driving noise and measuring noise. A distributed filtering algorithm based on leader-follower consensus strategy is developed. Firstly, from limited sampling data of noises, the empirical distribution of the noises which play a critical role in filtering is given. Secondly, by formulating the problem as a zero-sum game problem and using dynamic programming approach, an optimal distributed robust filtering policy with Wasserstein penalty for the leader is obtained. Then, by using an adaptively weighting average consensus protocol, the filtering algorithm for followers is given. The effectiveness of the proposed filter is demonstrated through simulations.

关键词： Wireless sensor networks Costs Estimation Switches Filtering algorithms Information filters Robustness

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区域场地土壤跨介质污染物多源清单:中国场地土壤污染防治的新策略

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Science Bulletin 2024年第5期69卷 566-569页

作者：李晔何天豪丁方方李小飞黄晔何尔凯蔡虹明史沛丽柳检李岩曲瑞娟郑旺谢云峰刘杏梅赵玲刘敏 Key Laboratory of Geographic Information Science(Ministry of Education) School of Geographic SciencesEast China Normal UniversityShanghai 200241China School of Environmental Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China College of Environmental Natural Resource Sciences Zhejiang UniversityHangzhou 310058China Technical Centre for Soil Agriculture and Rural Ecology and EnvironmentMinistry of Ecology and EnvironmentBeijing 100012China Institute of Surface-Earth System Science School of Earth System ScienceTianjin UniversityTianjin 300072China State Key Laboratory of Pollution Control and Resources Reuse School of the EnvironmentNanjing UniversityNanjing 210023China

China has experienced rapid economic development and industrialization during the past four decades,leading to widespread distribution of various types of industrial facilities[1].With the understanding of soil contamination induced by industrial sites and rapid urbanization,abandoned industrial sites are generally reclassified for urban land[2].The remained brownfield sites(the sites of abandoned,idle,or under used industrial and commercial facilities where expansion or redevelopment is hindered by environmental contamination)exhibit great health risks to the residents due to that pollutants were continuously discharged intothe surrounding environments[3].

关键词：土壤污染防治 environments facilities

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A Method for Self-Service Rehabilitation Training of Human Lower Limbs*

arXiv

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arXiv 2022年

作者： Shao, Zhaowen Li, Jun Yu, Lingtao Ministry of Education Key Laboratory of Measurement and Control of CSE Southeast University Nanjing210096 China College of Mechanical and Electrical Engineering Harbin Engineering University Harbin150001 China

In recent years, the research of rehabilitation robot technology has become a hotspot in the field of rehabilitation medicine engineering and robotics. To assist active rehabilitation in patients with unilateral lower extremity injury, we propose a new self-service rehabilitation training method to control the injured lower extremity through its contralateral healthy upper limbs. Firstly, the movement data of upper limbs and lower limbs of healthy people in normal walking state are obtained by gait measurement experiment. Secondly, the eigenvectors of upper limb and lower limb movements in a single movement cycle are extracted respectively. Thirdly, the linear mapping relationship between the upper limbs movement and the lower limbs movement is identified using the least squares method. Finally, the simulation experiment of self-service rehabilitation training is implemented on MATLAB/Simulink. The results indicate that the identified linear mapping model can achieve good accuracy and adaptability. The self-service rehabilitation training method is effective for helping patients with unilateral limb injury to make rehabilitation training on themselves. Copyright © 2022, The Authors. All rights reserved.

关键词： Least squares approximations

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An Aeromagnetic Compensation Algorithm Based on Broad Learning system

An Aeromagnetic Compensation Algorithm Based on Broad Learni...

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Robotics, Artificial Intelligence and Intelligent control (RAIIC), International Conference on

作者： Qilong Wang Junlei Song Chao Zuo Kaifeng Dong Fang Jin School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo- Exploration Ministry of Education Wuhan China Wuhan Second Ship Design and Research Institute Wuhan China

ISBN: (数字)9798350352627

ISBN: (纸本)9798350352634

Aeromagnetic surveys, renowned for their operational flexibility and high efficiency, serve as a crucial technique for measuring the geomagnetic field. However, aeromagnetic surveys are easily affected by magnetic interference from navigation platforms, making the compensation of aeromagnetic interference a crucial step in the measurement process. To address the inadequate consideration of nonlinear magnetic field interference in traditional compensation algorithms, this paper introduces an aeromagnetic compensation approach based on broad learning system. The broad learning system employs an incremental learning mechanism aimed at enhancing the precision of the network alongside the increase in nodes. With each expansion of the network node, computation is streamlined to calculating the pseudo-inverse of the expansion node, eliminating the necessity for retraining the entire network structure. Leveraging the nonlinear fitting characteristics of the broad learning system, this paper improves the accuracy of aeromagnetic interference compensation. Through UAV flight experiments, the broad learning system is compared with methodologies using particle swarm optimization (PSO) and BP neural network. Compared with PSO, training time was reduced by $21.3 \%$ and magnetic interference by $33.6 \%$. Compared with BP neural networks, training time was reduced by $34.9 \%$ and magnetic interference by $28.6 \%$. This paper provides references and ideas for the selection of aeromagnetic interference compensation algorithms.

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InGaAlAs/InP MQW transistor lasers based on step-ridge waveguides

IEEE Electron Device Letters

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IEEE Electron Device Letters 2025年

作者： Liu, Yijia Qiao, Lijun Tang, Xin Liang, Song Zhang, Mingjiang Taiyuan University of Technology College of Physics and Optoelectronics Taiyuan030024 China Ministry of Education Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Shanxi Taiyuan030024 China Chinese Academy of Sciences Key Laboratory of Optoelectronic Materials and Devices Beijing100083 China University of Chinese Academy of Sciences Center of Materials Science and Optoelectronics Engineering Beijing100049 China

We propose and numerically investigate a new step-ridge-waveguide InGaAlAs/InP multi-quantum well (MQW) transistor laser (TL). The carrier nonradiative recombination centers caused by the exposed deep-ridge waveguide sidewall significantly degrade the optoelectronic performance of the TLs. The step-ridge-waveguide structure guides carriers through the center portion of the ridge waveguide, thereby effectively mitigating the effect of the nonradiative recombination defects. Simulation results show that the optoelectronic characteristics of the step-ridge TL are far better than those of the conventional deep-ridge TL, and the current amplification factor of the step-ridge TL is not affected by the laser excitation. This structure provides a new option for the simultaneous enhancement of the optoelectronic performance of TLs. © 1980-2012 IEEE.

关键词： Laser excitation

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Learning Assisted Optimal Scheduling of Integrated Gas and Electricity Networks Under High Penetration of Renewable Energy

SSRN

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SSRN 2024年

作者： Sun, Xianzhuo Bai, Runze Zhang, Wen Qiu, Jing Tao, Yuechuan Lai, Shuying School of Electrical and Information Engineering The University of Sydney Camperdown2006 Australia Department of Electrical and Electronic Engineering The Hong Kong Polytechnic University 999077 Hong Kong Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education School of Electrical Engineering Shandong University Jinan250061 China

The growing integration of renewable energy sources into the power grid necessitates innovative approaches to energy system management. Integrated gas and electricity networks offer a promising solution to this challenge, enabling the efficient, reliable, and sustainable operation of energy systems. This paper presents a novel approach to the optimal scheduling of integrated gas and electricity networks, addressing the challenges posed by high penetration of renewable energy ***, a learning-assisted methodology is proposed to leverage Graph Convolutional Networks (GCNs) and Bayesian-based uncertainty models to enhance the accuracy and efficiency of scheduling integrated energy systems. The proposed GCN model effectively captures the complex interactions within the integrated network, facilitating accurate power and gas flow predictions. Meanwhile, the Bayesian-based model adeptly manages the inherent uncertainties associated with renewable energy generation, employing a chance-constrained approach to ensure system reliability. The effectiveness of the proposed methodology is demonstrated through extensive simulations on an IEEE 39-bus electricity network coupled with a 22-node hydrogen network. Results indicate significant improvements in computational efficiency and predictive accuracy compared to traditional model-based methods and existing data-driven techniques. © 2024, The Authors. All rights reserved.

关键词： Renewable energy

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Predefined-Time Synchronization of Inertial Memristive Neural Networks

Predefined-Time Synchronization of Inertial Memristive Neura...

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2021 International Conference on Neuromorphic Computing, ICNC 2021

作者： Zeng, Kan Wang, Leimin School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China

ISBN: (纸本)9781665412872

This article investigates the predefined-time synchronization (PTS) of inertial memristive neural networks (IMNNs). First, we reduce the order of the system and design an effective controller for the error system. Furthermore, several new criteria for PTS of IMNNs are obtained and a user-defined settling time is provided. Lastly, the effectiveness of the results is proved by simulation experiment. © 2021 IEEE.

关键词： Synchronization

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Data-Driven Distributionally Robust Mixed-Integer control through Lifted control Policy

arXiv

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arXiv 2025年

作者： Ma, Xutao Ning, Chao Du, Wenli Shi, Yang Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China the Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of Education East China University of Science and Technology Shanghai200237 China the Department of Mechanical Engineering University of Victoria VictoriaBCV8W 3P6 Canada

This paper investigates the finite-horizon distributionally robust mixed-integer control (DRMIC) of uncertain linear systems. However, deriving an optimal causal feedback control policy to this DRMIC problem is computationally formidable for most ambiguity sets. To address the computational challenge, we propose a novel distributionally robust lifted control policy (DR-LCP) method to derive a high-quality approximate solution to this DRMIC problem for a rich class of Wasserstein metric-based ambiguity sets, including the Wasserstein ambiguity set and its variants. In theory, we analyze the asymptotic performance and establish a tight non-asymptotic bound of the proposed method. In numerical experiments, the proposed DR-LCP method empirically demonstrates superior performance compared with existing methods in the literature. © 2025, CC BY.

关键词： Mixed-integer linear programming

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