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第43届中国控制会议

作者： Yiqiang Zhang Tao Zhang Yong Li Hualiang Zhang Guopeng Zhang Hao Wang School of Electrical Engineering Shenyang University of Technology Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The traditional finite set model predictive control has the advantages of fast response and strong robustness. The threevector model predictive current control(TV-MPCC) improves the problem of large current ripple based on single-vector model predictive current control(MPCC) and can realize deadbeat current control. Still, it cannot avoid the influence of parameter disturbance. To solve this problem, this paper constructs an ultra-local model based on the input and output information of the motor and designs an adaptive sliding mode observer to estimate the unknown part of the model. Finally, the designed threevector model-free predictive current control with adaptive sliding mode observer(TV-MFPCC-ASMO) is simulated and compared with the traditional three-vector model predictive control. It has been proved that the proposed method can effectively suppress the system disturbance when the motor parameters are mismatched and improve the motor's steady-state and dynamic performance during operation.

关键词： Permanent magnet synchronous motor Three-vector model predictive control Ultra-local model Adaptive sliding mode observer

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Complex Fusion Structure Slow Dissociation Simulation Prediction Method

Complex Fusion Structure Slow Dissociation Simulation Predic...

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2024 China Automation Congress, CAC 2024

作者： Zhang, Dongsheng Wang, Yigeng Huang, Wanyi Naval Architecture & Ocean Engineering Institute China Shipbuilding NDRI Engineering Co.Ltd Shanghai200090 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China School and Hospital of Stomatology China Medical University Shenyang110016 China Liaoning Provincial Key Laboratory of Oral Diseases China Medical University Shenyang110016 China

ISBN: (纸本)9798350368604

Human skeletal implants, as a category of critically important medical consumables, are designed to remain inside the body for long periods. Titanium or titanium alloys are commonly chosen as the primary construction materials. Recently, the academic community has explored an innovative approach to implant construction that uses titanium as the base framework and zinc as the filling material to create an interconnected composite structure. In this structure, zinc gradually dissolves over the lifetime of the implant, promoting bone growth into the pores formed after its dissolution. Given the continuous dissociation of zinc, the physical and chemical properties of the implant exhibit a slow and continuous change over its lifecycle. However, there is currently no effective method to precisely predict and assess the state changes of such complex structures over long periods of *** study focuses on the typical application scenarios of human skeletal implants, and verifies the accuracy of short-term steady-state numerical calculation models through rigorous experimental methods. Based on this, we propose a complex fusion structure slow dissociation reverse simulation prediction method based on short-term steady-state calculation results. This method aims to simulate the steady-state performance of implants in the short term, and reverse deduce the structural changes and performance evolution caused by zinc dissociation during long-term use, thereby providing a more scientific basis and support for the design and evaluation of medical implants. © 2024 IEEE.

关键词： Titanium alloys

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Research on Multi-objective Active Power Optimization Simulation of Novel Improved Water Cycle Algorithm

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IAENG International Journal of Applied Mathematics 2021年第1期51卷 1页

作者： Chen, Gonggui Han, Ying Zhang, Zhizhong Zeng, Xianjun Li, Shuaiyong Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China Key Laboratory of Communication Network and Testing Technology Chongqing University of Posts and Telecommunications Chongqing400065 China State Grid Chongqing Electric Power Company Chongqing400015 China

Water cycle algorithm (WCA) is a heuristic algorithm proposed in recent years. To overcome the insufficiency of standard WCA algorithm in solving the non-convex optimal power flow (OPF) problems, the multi-objective novel improved water cycle algorithm (MONIWCA) is proposed in this paper. The evaporation process is improved in WCA by introducing evaporation rate and the normal distribution optimization mechanism is used to mutate the individual position. The modified WCA also adopts a constraint-based strategy to ensure zero constraint violations. In order to obtain a high-quality Pareto optimal solution set (POS) and select the best compromise solution (BCs), a global ranking strategy is proposed. The global ranking strategy includes the novel constraint handling method, the rank index calculation and the BCs on fuzzy satisfaction theory to deal with the complex constraints of the optimization problem. The MONIWCA has been simulated under the constraints of zero violations on IEEE 30, IEEE 57 and IEEE 118 standard test systems, including six dual-objective cases and one tri- objective case. The simulation results are compared with the multi-objective particle swarm optimization (MOPSO). The results show that the improved method can effectively solve the MOOPF problem, not only to obtain a uniform continuous Pareto solution set but also to achieve a better compromise solution. In addition, the two performance indicators of the generational distance (GD) and the spacing (SP) also show that the MONIWCA algorithm has uniform distribution, high convergence and strong stability. © 2021, IAENG International Journal of Applied Mathematics. All Rights Reserved.

关键词： Particle swarm optimization (PSO)

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Grating‐like anechoic layer for broadband underwater sound absorption

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International Journal of Mechanical System Dynamics 2022年第3期2卷 265-277页

作者： Chenlei Yu Mingyu Duan Wei He Xin Chen Fengxian Xin Tian J.Lu State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace EngineeringXi'an Jiaotong UniversityXi'anChina MOE Key Laboratory for Multifunctional Materials and Structures School of Aerospace EngineeringXi'an Jiaotong UniversityXi'anChina Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijingChina Xi'an Modern Chemistry Research Institute Xi'anChina State Key Laboratory for Mechanics and Control of Mechanical Structures College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina MIIT Key Laboratory of Multifunctional Lightweight Materials and Structures College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina

To address the challenging task of effective sound absorption in the low and broad frequency band for underwater structures,we propose a novel grating‐like anechoic layer by filling rubber blocks and an air backing layer into metallic *** metallic gratings are incorporated into the anechoic layer as a skeleton for enhanced viscoelastic dissipation by promoting shear deformation between rubber and metal *** introduction of an air backing layer releases the bottom constraint of the rubber,thus intensifying its deformation under acoustic *** on the homogenization method and the transfer matrix method,a theoretical model is developed to evaluate the sound absorption performance of the proposed anechoic layer,which is validated against finite element simulation *** is demonstrated that a sound absorption coefficient of the grating‐like anechoic layer of 0.8 can be achieved in the frequency range of 1294-10000 *** the importance of sound absorption at varying frequencies,the weighted average method is subsequently used to comprehensively evaluate the performance of the anechoic ***,with structural density taken into consideration,an integrated index is proposed to further evaluate the acoustic properties of the proposed anechoic ***,the backing conditions and the boundary conditions of finite‐size structures are *** results provide helpful theoretical guidance for designing novel acoustic metamaterials with broadband low‐frequency underwater sound absorption.

关键词： underwater sound absorption broadband transfer matrix method rubber coating

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Compliance while resisting: a shear-thickening fluid controller for physical human-robot interaction

arXiv

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arXiv 2025年

作者： Chen, Lu Chen, Lipeng Chen, Xiangchi Lu, Haojian Zheng, Yu Wu, Jun Wang, Yue Zhang, Zhengyou Xiong, Rong State Key Laboratory of Industrial Control Technology Zhejiang University Zhejiang Hangzhou China Tencent Robotics X Lab Shenzhen China

Physical human-robot interaction (pHRI) is widely needed in many fields, such as industrial manipulation, home services, and medical rehabilitation, and puts higher demands on the safety of robots. Due to the uncertainty of the working environment, the pHRI may receive unexpected impact interference, which affects the safety and smoothness of the task execution. The commonly used linear admittance control (L-AC) can cope well with high-frequency small-amplitude noise, but for medium-frequency high-intensity impact, the effect is not as good. Inspired by the solid-liquid phase change nature of shear-thickening fluid, we propose a Shear-thickening Fluid control (SFC) that can achieve both an easy human-robot collaboration and resistance to impact interference. The SFC’s stability, passivity, and phase trajectory are analyzed in detail, the frequency and time domain properties are quantified, and parameter constraints in discrete control and coupled stability conditions are provided. We conducted simulations to compare the frequency and time domain characteristics of L-AC, nonlinear admittance controller (N-AC), and SFC, and validated their dynamic properties. In real-world experiments, we compared the performance of L-AC, N-AC, and SFC in both fixed and mobile manipulators. L-AC exhibits weak resistance to impact. N-AC can resist moderate impacts but not high-intensity ones, and may exhibit self-excited oscillations. In contrast, SFC demonstrated superior impact resistance and maintained stable collaboration, enhancing comfort in cooperative water delivery tasks. Additionally, a case study was conducted in a factory setting, further affirming the SFC’s capability in facilitating human-robot collaborative manipulation and underscoring its potential in industrial applications. Copyright © 2025, The Authors. All rights reserved.

关键词： Industrial robots

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Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

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An Efficient Learning control Framework with Sim-to-Real for String-Type Artificial Muscle-Driven Robotic systems

arXiv

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arXiv 2024年

作者： Tao, Jiyue Zhang, Yunsong Rajendran, Sunil Kumar Zhang, Feitian The Robotics and Control Laboratory Department of Advanced Manufacturing and Robotics College of Engineering the State Key Laboratory of Turbulence and Complex Systems Peking University Beijing100871 China The BSS Technologies Inc. Takoma ParkMD20912 United States

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired control performance in such systems. Deep reinforcement learning (DRL), a trending machine learning technique widely adopted in robot control, offers a promising alternative. However, integrating DRL into these robotic systems faces significant challenges, including the requirement for large amounts of training data and the inevitable sim-to-real gap when deployed to real-world robots. This paper proposes an efficient reinforcement learning control framework with sim-to-real transfer to address these challenges. Bootstrap and augmentation enhancements are designed to improve the data efficiency of baseline DRL algorithms, while a sim-to-real transfer technique, namely randomization of muscle dynamics, is adopted to bridge the gap between simulation and real-world deployment. Extensive experiments and ablation studies are conducted utilizing two string-type artificial muscle-driven robotic systems including a two degree-of-freedom robotic eye and a parallel robotic wrist, the results of which demonstrate the effectiveness of the proposed learning control strategy. Copyright © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

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A new approach of modeling the ultra-short channel ballistic GAA MOSFETs 2

A new approach of modeling the ultra-short channel ballistic...

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2nd International Conference on Computer Science, Electronic Information Engineering and Intelligent control Technology, CEI 2022

作者： Cheng, He Zhang, Chao Xie, Chuang Liu, Tiefneg Yang, Zhijia Zhang, Zhipeng Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110169 China

ISBN: (数字)9781665476164

ISBN: (纸本)9781665476164

Compact models are useful to avoid spending a numerous amount of time in numerical simulations which can accurately evaluate the ultra-short channel device properties. One numerical compact model proposed here is describing the drain current in ballistic mode by using one unique smoothing function representing the transmission coefficients for all operating regions. The model is addressing the compact model for the subthreshold region basing on our previous study, in which the DIBL and the SDT effects are taken into a consideration. In this paper, a method of establishing the smoothing function is introduced for expressing the important parameters in the model overall operating regions. Compared with the TCAD NEGF simulation, this proposed numerical compact model demonstrates a good agreement. © 2022 IEEE.

关键词： Ballistics

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Active knee joint exoskeleton for stair ascent augmentation

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Science China(Information Sciences) 2021年第3期64卷 243-245页

作者： Zongwei ZHANG Jizhuang FAN Hongzhe JIN Tianjiao ZHENG Sikai ZHAO Shun MA Jie ZHAO Yanhe ZHU State Key Laboratory of Robotics and Systems

Dear editor,Stair climbing is a strenuous daily movement that is challenging for older adults and those with lower limb *** this study, we describe a novel stairclimbing exoskeleton that was designed to help weak-knee... 详细信息

关键词： exoskeleton stair climbing hybrid control zero-force tracking switching controller

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ERASOR++: Height Coding Plus Egocentric Ratio Based Dynamic Object Removal for Static Point Cloud Mapping

ERASOR++: Height Coding Plus Egocentric Ratio Based Dynamic ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jiabao Zhang Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province Hangzhou China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Mapping plays a crucial role in location and navigation within automatic systems. However, the presence of dynamic objects in 3D point cloud maps generated from scan sensors can introduce map distortion and long traces, thereby posing challenges for accurate mapping and navigation. To address this issue, we propose ERASOR++, an enhanced approach based on the Egocentric Ratio of Pseudo Occupancy for effective dynamic object removal. To begin, we introduce the Height Coding Descriptor, which combines height difference and height layer information to encode the point cloud. Subsequently, we propose the Height Stack Test, Ground Layer Test, and Surrounding Point Test methods to precisely and efficiently identify the dynamic bins within point cloud bins, thus overcoming the limitations of prior approaches. Through extensive evaluation on open-source datasets, our approach demonstrates superior performance in terms of precision and efficiency compared to existing methods. Furthermore, the techniques described in our work hold promise for addressing various challenging tasks or aspects through subsequent migration.

关键词： Point cloud compression Technological innovation Accuracy Three-dimensional displays Image analysis Navigation Encoding

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