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Characteristic model-based control of aerial manipulator for improved interaction stability

Science China(Technological Sciences) 2025年第4期68卷 166-178页

作者： Bingkai XIU Zhan LI Yipeng YANG Huijun GAO Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and Systems(HIT) Harbin Institute of TechnologyHarbin150001China

Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关键词： aerial manipulator interaction stability contact force observer characteristic model

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Soft Resource Slicing for Industrial Mixed Traffic in 5G Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 463-465页

作者： Jingfang Ding Meng Zheng Haibin Yu the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems Chinese Academy of Sciences the Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences the University of Chinese Academy of Sciences IEEE

Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-tolerant (SDT) traffic, we design a dynamic switching strategy based on a traffic-Qo S-aware soft slicing (TQASS) scheme and a resource-efficiency-aware soft slicing (REASS) scheme.

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Time-Optimal Trajectory Planning With Clearly Defined Initial Guess for Aerial Suspended Payload Throwing

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 12406-12417页

作者： Cao, Rui Fang, Yongchun Liang, Xiao Nankai University Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Haihe Laboratory of ITAI Tianjin300450 China

Autonomous Aerial Vehicles (AAVs), particularly quadrotors, have gained substantial attention in recent years due to their high agility, substantial convenience, and significant potential in hazardous missions such as military surveillance and disaster relief. This paper focuses on the aerial throwing problem, aiming to develop a time-optimal method for air-dropping cable-suspended payloads. The contributions of the paper are: 1) a fast approach is presented to streamline the quadrotor’s state management by directly mapping and planning at the quadrotor state space (position, velocity, acceleration);2) a clearly defined initial guess is provided for aerial suspended throwing tasks, which speeds up the planning process. This methodology not only enhances the convenience of quadrotor navigation, but also fosters a more direct and efficient control scheme. The efficacy and feasibility of the proposed method are validated through both numerical simulations and practical experiments, demonstrating the potential for rapid and accurate payload throwing with cable-suspended systems. © 2004-2012 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Automatic Control of Magnetic Helical Microrobots Docking with Target Objects in Liquid Environments

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Journal of Bionic Engineering 2025年第2期22卷 574-584页

作者： Fu Zhao Haoran Rong Lefeng Wang State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin150080China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of EducationHarbin University of Science and TechnologyHarbin150080China

Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for helical microrobots to perform various tasks. In this study, an automatic control method is proposed to realize the axial docking of helical microrobots with arbitrarily placed cylindrical objects in liquid environments. The docking process is divided into ascent, approach, alignment, and insertion stages. First, a 3D docking path is planned according to the positions and orientations of the microrobot and the target object. Second, a steering-based 3D path-following controller guides the helical microrobot to rise away from the container bottom and approach the target along the path. Third, based on path design with gravity compensation and steering output limits, alignment of position and orientation can be accomplished simultaneously. Finally, the helical microrobot completes the docking under the rotating magnetic field along the target orientation. Experiments verified the automatic docking of the helical microrobot with static targets, including connecting with micro-shafts and inserting into micro-tubes. The object grasping of a reconfigurable helical microrobot aided by 3D automatic docking was also demonstrated. This method enables precise docking of helical microrobots with objects, which might be used for capture and sampling, in vivo navigation control, and functional assembly of microrobots.

关键词： Magnetic actuation Helical microrobots Visual servo Motion control Docking

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High-Order Fully Actuated System Approach-Based Attitude Stabilization for Underactuated Rigid and Flexible Spacecraft

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 15094-15105页

作者： Jia, Shixiang Qiu, Jianbin Wang, Tong Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150001 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150080 China

This paper addresses the challenge of attitude stabilization for a class of underactuated rigid and flexible spacecrafts by utilizing only two control inputs. The attitude stabilization problem of underactuated spacecraft poses substantial challenges to the High-Order Fully Actuated (HOFA) system approach, due to the fact that it heavily depends on the full actuation characteristics of the system. To circumvent the aforementioned limitation, we first derive a HOFA system for underactuated rigid spacecraft using homogeneity theory and averaged system approach. Subsequently, we design a controller based on the HOFA system approach, which yields a linear closed-loop system. This methodology is then extended to address the simplified attitude stabilization problem of underactuated flexible spacecraft. By utilizing the HOFA system approach in tandem with an observer for estimating modal variables, we propose a control strategy that not only stabilizes the attitude but also actively suppresses elastic vibration. The performance of the proposed control schemes are demonstrated through simulation studies. © 2004-2012 IEEE.

关键词： Satellites

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A Three-Step Optimization Framework With Hybrid Models for a Humanoid Robot’s Jump Motion

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 14120-14132页

作者： Qi, Haoxiang Yu, Zhangguo Chen, Xuechao Li, Qingqing Liu, Yaliang Yi, Chuanku Dong, Chencheng Meng, Fei Huang, Qiang Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing100081 China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing100081 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing100081 China Qiyuan Laboratory Beijing100029 China

High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper proposes a 3-step trajectory optimization framework for generating a jump motion for a humanoid robot. To improve iteration speed and achieve ideal performance, the framework comprises three sub-optimizations. The first optimization incorporates momentum, inertia, and center of pressure (CoP), treating the robot as a static reaction momentum pendulum (SRMP) model to generate corresponding trajectories. The second optimization maps these trajectories to joint space using effective Quadratic Programming (QP) solvers. Finally, the third optimization generates whole-body joint trajectories utilizing trajectories generated by previous parts. With the combined consideration of momentum and inertia, the robot achieves agile forward jump motions. A simulation and experiments of forward jump with a distance of 1.0 m and 0.5 m height are presented in this paper, validating the applicability of the proposed framework. © 2004-2012 IEEE.

关键词： Anthropomorphic robots

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Integrated Cross-Scale Manipulation and Modulable Encapsulation of Cell-Laden Hydrogel for Constructing Tissue-Mimicking Microstructures

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Research 2025年第1期2024卷 704-717页

作者： Yanfeng Zhao Xinyi Dong Yang Li Juan Cui Qing Shi Hen-Wei Huang Qiang Huang Huaping Wang Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Peking University First Hospital Xicheng DistrictBeijing 100034China Key Laboratory of Instrumentation Science and Dynamic Measurement Ministry of EducationNorth University of ChinaTaiyuan 030051China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Laboratory for Translational Engineering Harvard Medical SchoolCambridgeMA 02139USA Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of EducationBeijing 100081China

Engineered microstructures that mimic in vivo tissues have demonstrated great potential for applications in regenerative medicine,drug screening,and cell behavior ***,current methods for engineering microstructures that mimic the multi-extracellular matrix and multicellular features of natural tissues to realize tissue-mimicking microstructures in vitro remain ***,we propose a versatile method for constructing tissue-mimicking heterogeneous microstructures by orderly integration of macroscopic hydrogel exchange,microscopic cell manipulation,and encapsulation ***,various cell-laden hydrogel droplets are manipulated at the millimeter scale using electrowetting on dielectric to achieve efficient hydrogel ***,the cells are manipulated at the micrometer scale using dielectrophoresis to adjust their density and arrangement within the hydrogel ***,the photopolymerization of these hydrogel droplets is triggered in designated regions by dynamically modulating the shape and position of the excitation ultraviolet ***,heterogeneous microstructures with different extracellular matrix geometries and components were constructed,including specific cell densities and *** resulting heterogeneous microstructure supported long-term culture of hepatocytes and fibroblasts with high cell viability(over 90%).Moreover,the density and distribution of the 2 cell types had significant effects on the cell proliferation and urea *** propose that our method can lead to the construction of additional biomimetic heterogeneous microstructures with unprecedented potential for use in future tissue engineering applications.

关键词： cell behavior explorationhowevercurrent tissue mimicking microstructures cell laden hydrogel electrowetting dielectric regenerative medicinedrug screeningand heterogeneous microstructures engineered microstructures orderly integration

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An intelligent matching method for the equivalent circuit of electrochemical impedance spectroscopy based on Random Forest

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材料科学技术（英文版） 2025年第6期209卷 300-310页

作者： Wenbo Chen Bingjun Yan Aidong Xu Xin Mu Xiufang Zhou Maowei Jiang Changgang Wang Rui Li Jie Huang Junhua Dong Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110169China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Shenyang National Laboratory for Materials Science Institute of Metal ResearchChinese Academy of SciencesShenyang 110016China General Research Institute China Oil & Gas Pipeline Network CorporationLangfang 065000China

One of the core works of analyzing Electrochemical Impedance Spectroscopy(EIS)data is to select an appropriate equivalent circuit model to quantify the parameters of the electrochemical reaction ***,this process often relies on human experience and judgment,which will introduce subjectivity and *** this paper,an intelligent approach is proposed for matching EIS data to their equivalent circuits based on the Random Forest *** can automatically select the most suitable equivalent circuit model based on the characteristics and patterns of EIS *** the typical scenario of metal corrosion,an atmospheric corrosion EIS dataset of low-carbon steel is constructed in this paper,which includes five different corrosion *** dataset was used to validate and evaluate the pro-posed method in this *** contributions of this paper can be summarized in three aspects:(1)This paper proposes a method for selecting equivalent circuit models for EIS data based on the Random Forest algorithm.(2)Using authentic EIS data collected from metal atmospheric corrosion,the paper es-tablishes a dataset encompassing five categories of metal corrosion scenarios.(3)The superiority of the proposed method is validated through the utilization of the established authentic EIS *** ex-periment results demonstrate that,in terms of equivalent circuit matching,this method surpasses other machine learning algorithms in both precision and ***,it shows strong applicability in the analysis of EIS data.

关键词： Electrochemical impedance spectroscopy Random forest Corrosion Equivalent circuit model

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Adaptive Closed-Loop Functional Electrical Stimulation System With Visual Feedback for Enhanced Grasping in Neurological Impairments

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 678-686页

作者： Lin, Chengyu Cheng, Kong Hoi Pan, Wei Sun, Jinxin Gou, Guotao Fu, Junyun Leng, Yuquan Fu, Chenglong Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China Guilin University of Electronic Technology Guangxi Human Physiological Information Non Invasive Detection Engineering Technology Research Center School of Life and Environmental Sciences Guilin541004 China

Grasping is a critical motor skill essential for daily activities, but it is often compromised in individuals with neural impairments. Functional Electrical Stimulation (FES) has emerged as a promising intervention, utilizing electrical pulses to stimulate muscles and thereby restore impaired motor functions. However, existing closed-loop FES systems depend on pre-calibrated angles or forces specific to individual objects, which limits their practicality in dynamic, real-world environments with varying object properties. This paper presents a novel closed-loop FES (CLFES) system with visual feedback, designed to dynamically adjust stimulation parameters based on real-time interaction states without requiring object-specific calibration. The system employs a finite state machine to manage sequential grasp-release tasks and integrates a visual perception module for slip detection and intent recognition. The system was tested with two individuals with disabilities on five common household objects. Experimental results demonstrate significant improvements, including a 42.6% increase in success rate and a 45.9% reduction in task completion time compared to tasks performed without the system. These results underscore the system's potential to improve daily task performance for individuals with neural impairments. © 2018 IEEE.

关键词： Visual servoing

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Shape effect of prodrug nanoassemblies on treatment efficacy of cancer therapy

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Nano Research 2025年第2期18卷 616-626页

作者： Fengxiang Liu Rongzheng Liu Xiaoyuan Fan Xia Wang Kaiyuan Wang Hainan Zhao Hao Ye Shunzhe Zheng Xiao Kuang Yinxian Yang Haotian Zhang Qiming Kan Zhonggui He Jian Chen Jin Sun Department of Pharmaceutics Wuya College of InnovationShenyang Pharmaceutical UniversityShenyang 110016China School of Pharmacy Shenyang Pharmaceutical UniversityShenyang 110016China Nephrology department The First Affiliated Hospital of Jinzhou Medical UniversityJinzhou 121000China Multi-Scale Robotics Lab(MSRL) Institute of Robotics&Intelligent Systems(IRIS)ETH Zurich 8092Switzerland School of Life Science and Biopharmaceutics Shenyang Pharmaceutical UniversityShenyang 110016China Joint International Research Laboratory of Intelligent Drug Delivery Systems Ministry of EducationShenyang 110016China School of Pharmacy Shanghai Jiao Tong UniversityShanghai 200240China

The tumor microenvironment-sensitive prodrug-based nanoparticles(NPs)have emerged as a promising drug delivery system(DDS).The shape of these particles plays a crucial role in their in vivo ***,non-spherical organic NPs are rarely reported due to the inherent flexibility and variability of organic ***,we fabricate reduction-sensitive prodrug NPs and explore the impact of their morphology properties on their in vivo *** are self-assembled into spherical NPs with distearoyl phosphoethanolamine-PEG2000(DSPE-PEG2k),or into rod-shaped NPs with D-a-tocopherol polyethylene glycol 2000 succinate(TPGS2k)due to the stronger binding *** comparison with spherical NPs,the endocytosis of rod-shaped NPs predominantly relies on caveolae-mediated pathways rather than clathrin-mediated ones,potentially avoiding degradation by ***,the rod-shaped NPs exhibit prolonged circulation time,increased tumor accumulation,and enhanced antitumor *** current findings reveal the significant effect of particle shape on the behavior of prodrug NPs and introduce a novel paradigm for high-efficacy cancer therapy of prodrug NPs.

关键词： camptothecin self-assembly prodrug-based nanoparticles nanorod cancer therapy

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