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Photopolymerization-based additive manufacturing of ceramics:A systematic review

Journal of Advanced Ceramics 2021年第3期10卷 442-471页

作者： Sefiu Abolaji RASAKI Dingyu XIONG Shufeng XIONG Fang SU Muhammad IDREES Zhangwei CHEN Additive Manufacturing Institute Shenzhen UniversityShenzhen 518060China Institute of Microscale Optoelectronics Shenzhen UniversityShenzhen 518060China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China

Conversion of inorganic-organic frameworks (ceramic precursors and ceramic-polymer mixtures) into solid mass ceramic structures based on photopolymerization process is currently receiving plentiful attention in the field of additive manufacturing (3D printing).Various techniques(e.g.,stereolithography,digital light processing,and two-photon polymerization) that are compatible with this strategy have so far been widely *** is due to their cost-viability,flexibility,and ability to design and manufacture complex geometric *** platforms related to these techniques have been developed too,in order to meet up with modem technology *** relevant to this review are the challenges faced by the researchers in using these 3D printing techniques for the fabrication of ceramic *** challenges often range from shape shrinkage,mass loss,poor densification,cracking,weak mechanical performance to undesirable surface roughness of the final ceramic *** is due to the brittle nature of ceramic *** on the summary and discussion on the current progress of material-technique correlation available,here we show the significance of material composition and printing processes in addressing these *** use of appropriate solid loading,solvent,and preceramic polymers in forming slurries is suggested as steps in the right *** are indicated as another factor playing vital roles and their selection and development are suggested as plausible ways to remove these barriers.

关键词： ceramics photopolymerization stereolithography additive manufacturing 3D printing polymer-derived ceramics

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Evolutionary Games with Different Time Scales of Strategy Updating 29

Evolutionary Games with Different Time Scales of Strategy Up...

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第29届中国控制与决策会议

作者： Jianlei Zhang Yuying Zhu Chunyan Zhang Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University

ISBN: (纸本)9781509046584

Variation in learning rates within populations suggests that evolutionary game theory may not necessarily be restricted to uniform time scales associated with the game interaction and strategy adaption evolution. Using agent-based evolutionary simulation in the framework of prisoner's dilemma game, we demonstrate the sustainability of cooperation and the emergence of different macro-effects, when equipping agents with non-uniform time scale preferences. We employ a spatial random regular grid to describe the social interactions among agents. We conclude that the cooperation level has a strong dependence on the population composition, and the suitable fraction of the fast-updating players in the system which is associated with the maximal cooperation frequency has been found out. Besides, the extent of the promotive effect of diversifying time scales is also closely related with the payoff adoption rules in strategy updating,especially when we invent a past history for each agent. Summing up the gained results, a general conclusion can be drawn, saying that the combination of these factors(e.g. time scales and memory) gives rise to rich dynamic behavior of the system.

关键词： Evolutionary Game Theory Complex Networks Evolution Dynamics

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An Improved High Precision 3D Semantic Mapping of Indoor Scenes from RGB-D Images

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Computer Modeling in Engineering & Sciences 2023年第12期137卷 2621-2640页

作者： Jing Xin Kenan Du Jiale Feng Mao Shan Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of TechnologyXi’an710048China Australian Centre for Field Robotics The University of SydneySydney2006Australia

This paper proposes an improved high-precision 3D semantic mapping method for indoor scenes using RGB-D *** current semantic mapping algorithms suffer from low semantic annotation accuracy and insufficient real-time *** address these issues,we first adopt the Elastic Fusion algorithm to select key frames from indoor environment image sequences captured by the Kinect sensor and construct the indoor environment space ***,an indoor RGB-D image semantic segmentation network is proposed,which uses multi-scale feature fusion to quickly and accurately obtain object labeling information at the pixel level of the spatial point cloud ***,Bayesian updating is used to conduct incremental semantic label fusion on the established spatial point cloud *** also employ dense conditional random fields(CRF)to optimize the 3D semantic map model,resulting in a high-precision spatial semantic map of indoor *** results show that the proposed semantic mapping system can process image sequences collected by RGB-D sensors in real-time and output accurate semantic segmentation results of indoor scene images and the current local spatial semantic ***,it constructs a globally consistent high-precision indoor scenes 3D semantic map.

关键词： 3D semantic map online reconstruction RGB-D images semantic segmentation indoor mobile robot

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Design and simulation of a cable-pulley-based transmission for artificial ankle joints

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Frontiers of Mechanical Engineering 2016年第2期11卷 170-183页

作者： Huaxin LIU Marco CECCARELLI Qiang HUANG Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing 100081 China Laboratory of Robotics and Mechatronics (LARM) DICeM University of Cassino and South Latium Cassino 03043 Italy Beijing Innovation Center for Intelligent Robots and Systems Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

关键词： biomimetic designs ankle joints cable-pulleytransmissions multi-body dynamic simulation numericalcharacterization

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Evolutionary Game Dynamics Driven by Setting a Ceiling in Payoffs of Defectors 36

Evolutionary Game Dynamics Driven by Setting a Ceiling in Pa...

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第36届中国控制会议

作者： ZHANG Jianlei ZHU Yuying CHEN Zengqiang CAO Ming Department of Automation College of Computer and Control EngineeringNankai University Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control EngineeringNankai University

ISBN: (纸本)9781538629185

The collective cooperation dilemma,where players are involved in a public goods game and must decide whether to make an individual contribution or not,has gained increasing attention from game theorists and control *** from the traditional definition,defectors here will face the payoff restriction after adopting the strategy of free riding others' ***,we introduce payoff ceilings applied to the gained benefits of the defectors,which leads to an extensive public goods game *** the number of cooperators is lower than the threshold value,the current model can be transferred to the setups of the general public goods *** further increasing the number of cooperators will bring the restricted payoffs for *** results suggest that the payoff ceilings provide us with more insight into the resolution of cooperative ***,together with other parameters(e.g.,the amplification factor and the size of gaming population) of the introduced model,lower values of the payoff ceilings can better facilitate the domination of cooperation strategy at the steady state.

关键词： Evolutionary game theory Replicator dynamics Public goods games

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Adaptive tracking control of flapping wing micro-air vehicles with averaging theory

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CAAI Transactions on Intelligence Technology 2018年第1期3卷 18-27页

作者： Chen Qian Yongchun Fang Institute of Robotics and Automatic Information Systems College of Computer and Control Engineering Tianjin 300353People's Republic of China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300353 People's Republic of China

An input constrained adaptive tracking controller is designed for flapping micro aerial vehicles, wherein the moving averaging filter is adopted to estimate the averaged states of the system. Specifically, in the outer loop controller, an observer is constructed to estimate the disturbances within the system. Moreover, the constrained thrust is designed to keep the frequency in a proper region so as to meet the requirement of average estimation. Then, a tracking differentiator is used to provide trackable trajectories for the inner loop. Subsequently, a new quaternion- based hybrid attitude tracking controller is designed which successfully deals with high-frequency noises and avoids possible chattering. As supported by mathematical analysis, the proposed control strategy guarantees the uniform ultimate boundedness of the closed-loop system, and it keeps the control torques within the permitted range to meet the application requirement. At last, numerical simulations are carried out to support the validity of the proposed controller, whose results are satisfactory even when the thrust and torques are saturated.

关键词：飞行器跟踪器人工智能发展现状

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Persistent Tracking of a Dynamic Target by a Mobile Robot 33

Persistent Tracking of a Dynamic Target by a Mobile Robot

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第三十三届中国控制会议

作者： LIANG Xiao FANG Yongchun YANG Dedong Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University Shool of Control Science and Engineering Hebei University of Technology

ISBN: (纸本)9781479947249

A novel pursuing algorithm, together with a new experiment method, is introduced to drive a nonholonomic mobile robot tracking a dynamic target in the framework of pursuit-evasion game. Specifically, a pan-tilt with an on-board camera is attached to the mobile robot to construct a tracking system, which greatly improves the maneuverability compared with the traditional method. To keep the target close enough to the vision center of the camera, a control technique is devised according to its kinematic model and Lyapunov theory. By utilizing game theory, the viability set is determined. A tracking controller is employed to guarantee persistent tracking for the dynamic target, where the relative position between the target and the robot is successfully acquired from the visual measurements by the utilization of geometric analysis. Both simulation and experimental results are provided to illustrate the performance of the controller.

关键词： Nonholonomic Constraint,Camera Tracking,Mobile control,Lyapunov Theory

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Quantitative analysis of the main components in ceramic raw materials based on the desktop LIBS analyzer

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Plasma Science and Technology 2022年第8期24卷 46-54页

作者： Peng ZHANG Lanxiang SUN Haibin YU Peng ZENG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People's Republic of China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016People's Republic of China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110016People's Republic of China

The concentrations of SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiO,and loss on ignition(L.O.I.) are the main inorganic components of geological *** of the eight oxides and *** also the main indicators of concern in the production of building *** analysis of the eight oxides and *** performed using fiber-laserbased laser-induced breakdown spectroscopy(LIBS).A combination of continuous background deduction,full width at half maximum(FWHM) intensity integral and spectral sum normalization was proposed for data *** the data processing combined the continuous background deduction,FWHM intensity integral and spectral sum normalization,the mean absolute errors(MAEs) of the calibration of L.O.I.,SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiOwas reduced from 2.03%,12.06%,4.84%,1.10%,0.69%,0.31%,0.11%,0.20%and 0.10% to 1.80%,9.48%,2.12%,0.36%,0.58%,0.11%,0.08%,0.19% and 0.05%,*** multivariate method was further introduced and discussed to improve the analysis *** MAEs of L.O.I.,SiO,Al2O,KO and NaO were further reduced to1.12%,2.07%,1.38%,0.35% and 0.43%,*** results show that the overall prediction error can meet the requirements for the production of building *** LIBS desktop analyzer has great potential in detection applications on geological samples.

关键词： laser-induced breakdown spectroscopy fiber laser quantitative analysis matrix effects geological samples

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Adhesion characteristics analysis of wafer transfer plane based on the acceleration adjustment

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Open Automation and control Systems Journal 2015年第1期7卷 1434-1440页

作者： Shen, Lei Song, Fang Hu, Yigang Chen, Tao Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai201600 China Research Center of Robot and Micro system Soochow University SuZhouJiangsu215006 China

As a key element in the semiconductor industry, efficient and stable transfer of the wafer set the very high re- quest to the wafer transfer manipulator. At present, wafer transfer robot(SCARA-type, R-θ type) widely used in IC manufacturing equipment can only realize translational transmission to wafer, can not realize the posture change. So wafer transfer acceleration can only rely on its own gravity to generate frictional force to achieve, translational transmission greatly limits the transmission efficiency of wafer. In response to this shortage, this paper, starting from analyzing the adhesion mechanism of microstructure array, analyzes the wafer transfer acceleration performance. The result shows that: the maximum acceleration using the way of pose adjustment transfer wafer is up to 7.6m/s2, much larger than the acceleration by the way of horizontal pose transmission. © Shen et al.

关键词： Microstructure

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An Indoor Positioning Algorithm Against NLOS Error Based on UWB 41

An Indoor Positioning Algorithm Against NLOS Error Based on ...

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第41届中国控制会议

作者： Mingxiang Liao Yongbo Li Guangyao Wang Zhenyu Lei Zihao Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Ultra-wideband（UWB） positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the error caused by non-line-of-sight（NLOS） and multi-path *** present,the Chan-Taylor（C-T） combination algorithm proposed by scholars can achieve a good positioning effect in the line-of-sight（LOS） environment,but in the NLOS environment,positioning deviation of this algorithm is large .Aiming at the problem of low localization accuracy in NLOS environment,this paper presents a Chan-Taylor-Kalman（CTK） joint positioning algorithm based on UWB and adapted to NLOS *** basic idea of CTK joint positioning algorithm is to introduce weight coefficients on the basis of C-T combination algorithm to reduce the situation of non-convergence of positioning results;then combined with the improved Kalman filter to eliminate outliers and eliminate the influence of the non-line-of-sight *** show that under the same NLOS environment,the probability of the positioning error of the C-T combination positioning algorithm greater than 20 cm is about 60%,while the probability of the positioning error of the CTK joint positioning algorithm greater than 10 cm is only about 10%.

关键词： UWB NLOS indoor positioning Chan-Taylor combination algorithm Kalman filter

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