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Tailless Flapping-Wing Robot With Bio-Inspired Elastic Passive Legs for Multi-Modal Locomotion

IEEE robotics and Automation Letters 2025年第8期10卷 7971-7978页

作者： Zhi Zheng Xiangyu Xu Jin Wang Yikai Chen Jingyang Huang Ruixin Wu Huan Yu Guodong Lu State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems Zhejiang University Hangzhou China Robotics Research Center of Yuyao City Ningbo China College of Electrical Engineering Zhejiang University Hangzhou China College of Control Science and Engineering Zhejiang University Hangzhou China

Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This letter presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three independently actuated pairs of wings. Inspired by the leg morphology of juvenile water striders, the robot incorporates bio-inspired elastic passive legs that convert flapping-induced vibrations into directional ground movement, enabling locomotion without additional actuators. This vibration-driven mechanism facilitates lightweight, mechanically simplified multi-modal mobility. An SE(3)-based controller coordinates flight and mode transitions with minimal actuation. To validate the robot's feasibility, a functional prototype was developed, and experiments were conducted to evaluate its flight, ground locomotion, and mode-switching capabilities. Results show satisfactory performance under constrained actuation, highlighting the potential of multi-modal flapping-wing designs for future aerial-ground robotic applications. These findings provide a foundation for future studies on frequency-based terrestrial control and passive yaw stabilization in hybrid locomotion systems.

关键词： Robots Legged locomotion Robot kinematics Robot sensing systems Actuators Vibrations Propulsion Insects Complexity theory Trajectory tracking

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Load Prediction Model of Gas Boiler Generator Set Based on CNN-LSTM 11th

Load Prediction Model of Gas Boiler Generator Set Based on...

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11th International Symposium on Computational Intelligence and Industrial Applications, ISCIIA 2024

作者： Xu, Yan Wu, Min Hu, Jie Peng, Fu-Sheng Zhang, Wen Song, Wen-Shuo Li, Hui-Hang School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9789819647521

With the proposal of carbon peak and carbon neutrality targets and the construction of a new power system, improving energy efficiency and reducing carbon emissions have become the key to the sustainable development of industrial boiler generator sets. However, the current load scheduling of gas boiler power plants is mainly based on manual experience, which limits achieving more efficient and stable operation. Accurate short-term load forecasting can help dispatchers to make reasonable production schedules. Therefore, this paper proposes a hybrid load forecasting model for generator sets based on convolutional neural networks combined with long short-term memory networks. First, the Isolation Forest algorithm eliminates anomalies in the historical data set. Then, variables related to unit load are selected by combining mechanistic analysis with the Spearman algorithm. Considering the multiple operating conditions and high complexity of unit loads, the CNN-LSTM network is used to fully extract the spatial and temporal characteristics to build the load prediction model. Finally, experiments are conducted using actual production data, showing that the proposed method is effectiveness. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Electric load dispatching

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Design of a Constant Current Output High Frequency AC-DC Converter for Battery Charging Applications

Design of a Constant Current Output High Frequency AC-DC Con...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Zihao Wei Xiaoxian Song Liangwei Jin Dingbang Huang Sheng Zhang Zhijian Fang School of Future Technology China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China School of Automation China University of Geosciences Wuhan China

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

How to realize the high power factor, high efficiency, miniaturization and high power density of AC-DC converter is the key problem of battery charging applications. In this paper, an isolated AC-DC converter is proposed. The input voltage is rectified by the first stage AC-DC conversion, and the output is stabilized by the series resonant converter at the secondary stage. A sinusoidal modulation method is adopted to realize the constant current output characteristic independent of load. Then through the output current control loop and the PFC control loop, the constant current output and input high power factor are realized. The design of high switching frequency and resonant frequency provides conditions for high power density and miniaturization of converter design. Finally, the simulation of rated power of 960W was built by Matlab-simulink, which verified the rationality of the converter design.

关键词： Reactive power Power system measurements Density measurement Switching frequency Modulation Resonant converters Stability analysis Batteries High frequency Voltage control

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Design and Application of a One-Stop Mobile Application Sharing Platform for Steel Enterprises 42

Design and Application of a One-Stop Mobile Application Shar...

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42nd Chinese control Conference, CCC 2023

作者： Chen, Xinzhe Chen, Luefeng Hu, Jie Yang, Qingfeng Wu, Min Pedrycz, Witold School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6R 2G7 Canada

ISBN: (纸本)9789887581543

As China's steel production accounts for an increasing share of the world's output, the intelligent transformation of the steel industry is becoming increasingly urgent. To address issues such as low levels of mobile informationization in steel enterprises and the lack of an industry-specific mobile application platform, it is of great significance to establish a shared mobile application platform for the steel industry. In this paper, the requirements of the platform were analyzed, and the platform's functions were designed. The software design of the platform was then carried out, and the entire mobile application sharing platform was developed, effectively improving the production management efficiency of steel enterprises. The results indicate that the platform can effectively meet the needs of steel enterprises and has significant engineering significance. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Informatization

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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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Stability and Bifurcation control of Fractional BAM Neural Networks with Diffusion and Time Delays 42

Stability and Bifurcation control of Fractional BAM Neural N...

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42nd Chinese control Conference, CCC 2023

作者： Liu, Feng Wang, Wei Cai, Gang Zhou, Feifan Wang, Hua O Yang, Xiuqin School of Automation China University of Geosciences Wuhan430074 China Engineering Research Center of Ministry of Education for Intelligent Technology of Earth Exploration China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Boston University Department of Mechanical Engineering BostonMA02215 United States School of Education Minzu University of China Beijing100081 China

ISBN: (纸本)9789887581543

Based on fractional calculus theory and reaction-diffusion equation theory, a fractional-order time-delay reaction-diffusion neural network with Neumann boundary conditions is investigated. By constructing the phase space basis based on the Laplace operator eigenvector, the system equation is linearized to obtain the characteristic equation. Then, the characteristic equation is analyzed, and the local stability of the system at the equilibrium point is discussed. And taking the time delay as the bifurcation parameter, the stability changes of the system at the equilibrium point and the generation conditions of the Hopf bifurcation are studied when the time delay changes. Moreover, a state feedback controller is designed to control the bifurcation of the system. Finally, the theoretical derivation is verified by numerical simulation. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Time delay

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Motion Analysis and Experiment of Sheet Small Magnetron Soft Robot 8

Motion Analysis and Experiment of Sheet Small Magnetron Soft...

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8th International Conference on control Science and systems Engineering, ICCSSE 2022

作者： Ma, Haoyun Zhang, Pan Wu, Jundong Wang, Yawu School of Automation China University of Geosciences Hubei Wuhan430 074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Hubei Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Hubei Wuhan430074 China

ISBN: (纸本)9781665484138

In the past, most robots used rigid structures. With the development of intelligent materials, more and more soft materials began to be used in the manufacture of robots. Magnetic-driven soft robot is one of its important branches. Because of the flexibility of magnetoelastic composite robots and the harmlessness of magnetic field to human body, a magnetically-controlled soft robot has broad application prospects in medical fields such as disease diagnosis and treatment in human body. A small lamellate magnetic soft robot is designed in this paper with the advantages of small volume, light weight, high deformation, fast and simple manufacture. And it can be driven without wire under the control of the magnetic field formed by the three-dimensional Helmholtz coil. The robot can walk and crawl on the surface of magnetically-controlled. The motion characteristics of the magnetic soft robot such as crawling step length and bending height are analyzed. The data are collected through experiments to analyze the relationship between the control signal and the motion characteristics. © 2022 IEEE.

关键词： Motion analysis

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Prediction Method of Truck Travel Time in Open Pit Mines Based on LSTM Model 42

Prediction Method of Truck Travel Time in Open Pit Mines Bas...

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42nd Chinese control Conference, CCC 2023

作者： Ao, Mengting Li, Changhe Yang, Shengxiang School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China School of Computer Science and Informatics De Montfort University LeicesterLE1 9BH United Kingdom

ISBN: (纸本)9789887581543

Aiming at the prediction of truck travel time in open pit mines, we established a prediction model based on long short-term memory(LSTM). This model fully accounts for 11 factors, including the nature of trucks, weather, road conditions, and driver's behaviors, as well as the influence of neighbor road segments in the route on the current predicted road segment. The experiment shows that the error of the LSTM prediction model is significantly reduced compared with SVR and BP models. In addition, the maximum absolute mean error under different conditions is less than 12 seconds. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Long short-term memory

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A Subspace-Based Non-Dominated Subset Selection Method

A Subspace-Based Non-Dominated Subset Selection Method

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2023 IEEE Congress on Evolutionary Computation, CEC 2023

作者： Tan, Qingshan Li, Changhe Zeng, Sanyou Yang, Shengxiang Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Mechanical Engineering and Electronic Information China University of Geosciences Wuhan430074 China School of Computer Science and Informatics De Montfort University LeicesterLE1 9BH United Kingdom

ISBN: (纸本)9798350314588

Environmental selection is an important process in multi-objective evolutionary algorithms (MOEAs). As the evolution progresses, the number of non-dominated solutions increases. This paper is focused on selecting a subset from excess non-dominated solutions for evolutionary or the final output. However, traditional selection methods in classical MOEAs encounter difficulties when dealing with candidate solutions that possess irregular topologies. Although the distance-based subset selection methods are not sensitive to the topologies of the candidate points, they have significant room for reducing computational complexity. In order to address the above issues, a subspace selection method is proposed in this paper. It partitions the objective space into multiple subspaces that have comparable volumes and shapes. The maximal minimum distance of each solution is considered to ensure that the sparsest solution is always chosen first. To save computational costs, only the solutions in the neighboring subspaces are taken into account. The experimental results demonstrate that the proposed subspace selection method outperforms classical selection methods in solving problems with various shapes of the Pareto front. © 2023 IEEE.

关键词： Multiobjective optimization

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Stability and Bifurcation control of Fractional-Order Coupled Hindmarsh-Rose Neural Networks 42

Stability and Bifurcation Control of Fractional-Order Couple...

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42nd Chinese control Conference, CCC 2023

作者： Liu, Feng Zhou, Feifan Wang, Wei Cai, Gang Wang, Hua O Yang, Xiuqin School of Automation China University of Geosciences Wuhan430074 China Engineering Research Center of Ministry of Education for Intelligent Technology of Earth Exploration China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Boston University Department of Mechanical Engineering BostonMA02215 United States School of Education Minzu University of China Beijing100081 China

ISBN: (纸本)9789887581543

This article investigates a fractional-order coupled Hindmarsh-Rose neural networks model. Firstly, the existence and stability of an equilibrium point in the system are verified. Then, the periodic bifurcation behavior of the system on a two-parameter plane is studied, and numerical simulations show the existence of both non -chaotic and chaotic plus periodic bifurcation behavior on the two-parameter plane. Finally, a feedback controller was designed to stabilize the bifurcation point of the delayed system and increase the stable range of the system. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Neural network models

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