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Contact Force Optimization to Enhance Fault-tolerant Motion Stability of a Hexapod Robot

Journal of Bionic Engineering 2024年第5期21卷 2199-2214页

作者： Bo You Shangdong Shi Chen Chen Jiayu Li Nan Li Liang Ding The Key Laboratory of Intelligent Technology for Cutting and Manufacturing Ministry of Education and the Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs *** proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various *** foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization *** formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this *** of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization *** results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion *** summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.

关键词： Hexapod robot Fault-tolerant Stability margin Contact force optimization

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Multi-modal Bionic Motion Analysis of A Cpg-controlled Pneumatic Soft Robot

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Journal of Bionic Engineering 2024年第5期21卷 2247-2257页

作者： Yu Zhang Peiyu Huang Dongjie Li Jiangyu Zhou Yu Li Bo You Yanhe Zhu Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China

This paper designs a soft robot with a multi-chamber,multi-airbag mimicking soft biological structure,where the airbags of the same chamber are interconnected with each *** upper and lower chambers are separated by an intermediate layer(thin plate),which is extended and widened to achieve robot movement and *** applying pressure to the different chambers of the soft robot,it is possible to produce a variety of bionic movements of the inchworm and *** to the strong nonlinearity and infinite number of degrees of freedom properties of the material,it is impossible to obtain the analytical solution of the bending morphology and pressure of the soft robot ***,a method to establish a mathematical model of soft robot deformation based on the classical stacked plate theory is proposed,and a chain composite model of soft robot bending motion is established based on the large-deflection modeling *** paper proposes a method to generate a multi-mode soft robot motion control based on the Central Pattern Generator(CPG)using a single controller,which achieves the switching of sine wave-like patterns,half-wave-like patterns,and dragging patterns by adjust-ing frequency,amplitude and period of ***,a pneumatic control platform is built for the validation of the theoretical model and different experimental models of the motion of the *** comparation of the different motion modes of the soft robot under similar non-load and load conditions.

关键词： Soft robot Bionic multi-modal movement Laminated plate theory CPG control

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A Fine-Grained Object Detection Model for Aerial Images Based on YOLOv5 Deep Neural Network

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Chinese Journal of Electronics 2023年第1期32卷 51-63页

作者： ZHANG Rui XIE Cong DENG Liwei Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration School of AutomationHarbin University of Science and Technology

Many advanced object detection algorithms are mainly based on natural scenes object and rarely dedicated to fine-grained objects. This seriously limits the application of these advanced detection algorithms in remote sensing object detection. How to apply horizontal detection in remote sensing images has important research significance. The mainstream remote sensing object detection algorithms achieve this task by angle regression, but the periodicity of angle leads to very large losses in this regression method, which increases the difficulty of model learning. Circular smooth label(CSL)solved this problem well by transforming the regression of angle into a classification form. YOLOv5 combines many excellent modules and methods in recent years, which greatly improves the detection accuracy of small *** use YOLOv5 as a baseline and combine the CSL method to learn the angle of arbitrarily oriented targets,and distinguish the fine-grained between instance classes by adding an attention mechanism module to accomplish the fine-grained target detection task for remote sensing images. Our improved model achieves an average category accuracy of 39.2% on the FAIR1M dataset. Although our method does not achieve satisfactory results,this approach is very efficient and simple, reducing the hardware requirements of the model.

关键词： Deep learning Neural networks Object detection Transformers Hardware Classification algorithms Task analysis

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Influence of temperature and internal leakage on magnetorheological damper

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International Journal of Mechanical system Dynamics 2024年第4期4卷 487-496页

作者： Hongtao Zhu Xiaoting Rui FuFeng Yang Wei Zhu Min Jiang The Key Laboratory of System Dynamics of Complex Equipment Nanjing University of Science and TechnologyNanjingChina

To study the influence of temperature and internal leakage on the performance of magnetorheological(MR)damper,a single-rod straight-cylinder MR damper with an inside temperature sensor is designed in this study.A unified model for MR damper is given,and a new two-step parameters identification method is proposed to determine model *** experiment,in which the damper is heated by long-time displacement excitation,is designed to study the effect of temperature and internal *** influence mechanism of temperature and internal leakage on MR damper is analyzed through theoretical derivation and experimental results in this study.

关键词： MR damper normalized Bouc-Wen model temperature-dependent model internal leakage

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Echo state network based symbol detection in chaotic baseband wireless communication

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Digital Communications and Networks 2023年第6期9卷 1319-1330页

作者： Huiping Yin Chao Bai Haipeng Ren Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of TechnologyXi'an710048China Xi'an Key Laboratory of Intelligent Equipment Xi'an Technological UniversityXi'an710021China

The Chaotic Baseband Wireless Communication system(CBWCS)is expected to eliminate the Inter-Symbol Interference(ISI)caused by multipath propagation by using the optimal decoding threshold that is the sum of the ISI caused by past decoded bits and the ISI caused by future transmitting ***,the current technique is only capable of removing partial effects of the ISI,because only past decoded bits are available for the suboptimal decoding threshold *** unavailability of the future information needed for the optimal decoding threshold is an obstacle to further improve the Bit Error Rate(BER)*** contrast to the previous method using Echo State Network(ESN)to predict one future bit,the proposed method in this paper predicts the optimal decoding threshold directly using *** proposed ESN-based threshold prediction method simplifies the symbol decoding operation by avoiding the iterative prediction of the output waveform points using ESN and accumulated error caused by the iterative *** this approach,the calculation complexity is reduced compared to the previous ESN-based *** proposed method achieves better BER performance compared to the previous *** reason for this superior result is ***,the proposed ESN is capable of using more future symbols information conveyed by the ESN input to obtain more accurate threshold rather than the previous method in which only one future symbol was ***,the proposed method here does not need to estimate the channel information using Least Squared(LS)method,which avoids the extra error caused by inaccurate channel information *** results and experiment based on a wireless open-access research platform under a practical wireless channel show the effectiveness and superiority of the proposed method.

关键词： Chaotic baseband wireless communication system(CBWCS) Inter-symbol interference(ISI) Echo state network(ESN) Threshold prediction

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A Tutorial on Quantized Feedback Control

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 5-17页

作者： Minyue Fu IEEE the School of System Design and Intelligent Manufacturing Shenzhen Key Laboratory of Control Theory and Intelligent Systems and Centre for Control Science and TechnologySouthern University of Science and TechnologyShenzhen 518055China

In this tutorial paper, we explore the field of quantized feedback control, which has gained significant attention due to the growing prevalence of networked control systems. These systems require the transmission of feedback information, such as measurements and control signals, over digital networks, presenting novel challenges in estimation and control design. Our examination encompasses various topics, including the minimal information needed for effective feedback control, the design of quantizers, strategies for quantized control design and estimation,achieving consensus control with quantized data, and the pursuit of high-precision tracking using quantized measurements.

关键词： Consensus control high-precision control networked control quantized estimation quantized feedback control robust control

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High-Order Fully Actuated system Models for Strict-Feedback systems With Increasing Dimensions

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2451-2462页

作者： Xiang Xu Guang-Ren Duan Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055 the School of System Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhen 518055China

This paper mainly addresses control problems of strict-feedback systems(SFSs)with increasing *** with the commonly-considered SFSs where the subsystems have the same dimension,we aim to handle more complex cases,i.e.,the subsystems in the considered SFSs are assumed to have increasing *** transforming the systems into highorder fully-actuated system(HOFAS)models,the stabilizing controllers can be directly *** first-order SFSs,secondorder and high-order SFSs are also considered.

关键词： Increasing dimensions high-order fully-actuated system nonlinear systems strict-feedback systems

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Nonlinear impedance control with trajectory adaptation for collaborative robotic grinding

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science China(Technological sciences) 2023年第7期66卷 1928-1936页

作者： HAN FengTao TAM SikYuen CAO ZhiHong ZHAO XingWei TAO Bo DING Han State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Intelligent Manufacturing System Technology for Complex Products Beijing Institute of Electronic System EngineeringBeijing 100854China ROKAE(Beijing)Technology Co. Ltd.Beijing 100193China

Stiffness adjustment is an important feature of human arm *** adaptive variable impedance control can adapt to the robotic stiffness,but may result in a large *** this paper,nonlinear impedance control is proposed for collaborative robotic grinding,where nonlinear force feedback is designed to compensate for the nonlinear stiffness of the ***,the interaction system can be linearization to ensure the system ***,a target trajectory adaptation strategy is studied to ensure the force tracking ***,switching law between trajectory tracking and force tracking is proposed when the robot performs a complex grinding *** stability of the switch control as well as the trajectory adaptation law is *** are conducted in a robotic grinding test rig,where the robot is used to grind a turbine *** results show that the nonlinear impedance control can obtain stable grinding force,and have better grinding quality than the linear impedance control.

关键词： impedance control robotic grinding trajectory adaptation force tracking

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Study on the coupling calculation method for the launch dynamics of a self-propelled artillery multibody system considering engraving process

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Defence Technology（防务技术） 2024年第9期39卷 67-85页

作者： Shujun Zhang Xiaoting Rui Hailong Yu Xiaoli Dong Institute of Launch Dynamics Nanjing University of Science and TechnologyNanjing 210094China National Key Laboratory of Complex Multibody System Dynamics Nanjing 210094China

The launch dynamics theory for multibody systems emerges as an innovative and efficacious approach for the study of launch dynamics,capable of addressing the challenges of complex modeling,diminished computational efficiency,and imprecise analyses of system dynamic responses found in the dynamics research of intricate multi-rigid-flexible body systems,such as self-propelled *** advancement aims to enhance the firing accuracy and launch safety of self-propelled *** the shortfall of overlooking the band engraving process in existing theories,this study introduces a novel coupling calculation methodology for the launch dynamics of a self-propelled artillery multibody *** method leverages the ABAQUS subroutine interface VUAMP to compute the dynamic response of the projectile and barrel during the launch process of large-caliber self-propelled ***,it examines the changes in projectile resistance and band deformation in relation to projectile motion throughout the band engraving *** analysis of the computational outcomes with experimental data evidences that the proposed method offers a more precise depiction of the launch process of self-propelled artillery,thereby enhancing the accuracy of launch dynamics calculations for self-propelled artillery.

关键词： Self-propelled artillery Engraving process Multibody system dynamics Launch dynamics

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Online Fault-Tolerant Tracking Control With Adaptive Critic for Nonaffine Nonlinear systems

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 215-227页

作者： Ding Wang Lingzhi Hu Xiaoli Li Junfei Qiao IEEE the School of Information Science and Technology Beijing Key Laboratory of Computational Intelligence and Intelligent SystemBeijing Laboratory of Smart Environmental Protection and Beijing Institute of Artificial Intelligence Beijing University of Technology

In this paper, a fault-tolerant-based online critic learning algorithm is developed to solve the optimal tracking control issue for nonaffine nonlinear systems with actuator ***, a novel augmented plant is constructed by fusing the system state and the reference trajectory, which aims to transform the optimal fault-tolerant tracking control design with actuator faults into the optimal regulation problem of the conventional nonlinear error system. Subsequently, in order to ensure the normal execution of the online learning algorithm, a stability criterion condition is created to obtain an initial admissible tracking policy. Then, the constructed model neural network(NN) is pretrained to recognize the system dynamics and calculate trajectory control. The critic and action NNs are constructed to output the approximate cost function and approximate tracking control,respectively. The Hamilton-Jacobi-Bellman equation of the error system is solved online through the action-critic framework. In theoretical analysis, it is proved that all concerned signals are uniformly ultimately bounded according to the Lyapunov *** tracking control law can approach the optimal tracking control within a finite approximation error. Finally, two experimental examples are conducted to indicate the effectiveness and superiority of the developed fault-tolerant tracking control scheme.

关键词： Adaptive critic control neural network (NN) nonaffine nonlinear systems online fault-tolerant tracking design uniform ultimate boundedness

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