It is our great pleasure and honor to organize this special issue"Frontiers of Control and automation"in honor of the 60th birthday of our long-time colleague and friend Professor Ben *** Chen obtained his *...
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It is our great pleasure and honor to organize this special issue"Frontiers of Control and automation"in honor of the 60th birthday of our long-time colleague and friend Professor Ben *** Chen obtained his *** in mathemat-ics and computer science in 1983 from Xiamen University,China;*** in electrical engineering in 1988 from Gonzaga University,Spokane,Washington,USA;and *** in electrical and computer engineering in 1991 from Washington State University,Pullman,Washington,USA.
In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at prese...
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Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework that combines optimization and learni...
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The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge co...
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ISBN:
(数字)9798350357882
ISBN:
(纸本)9798350357899
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced onboard computational load, and a control barrier function (CBF)-based controller for safe and precise maneuvering. The target detection system is trained on a dataset under challenging visual conditions and evaluated for accuracy across various unseen data with changing lighting conditions. Depth features are utilized for target pose estimation, with the entire detection framework offloaded into low-latency edge computing. The CBF-based controller enables the UAV to converge safely to the target for precise contact. Simulated evaluations of both the controller and target detection are presented, alongside an analysis of real-world detection performance.
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, ena...
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, enabling precise position control for force interaction and various other aerial manipulation tasks. The robotic arm, structured as a closed-loop kinematic chain, employs two deported servomotors. Each joint is actuated with a single tendon for active motion control in compression of the arm at the end-effector. Its elasto-mechanical design reduces weight and provides flexibility, allowing passive-compliant interactions without impacting the motors' integrity. Notably, the arm's damping can be adjusted based on the proposed inner frictional bulges. Experimental applications showcase the aerial system performance in both free-flight and physical interaction. The presented work may open safer applications for Micro Aerial Vehicle (MAV) in real environments subject to perturbations during interaction.
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge co...
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This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400 g at take-off, the mechanism is actuated in the forward body direction, ena...
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In this paper, we propose a three-finger soft robotic gripper, which adopts an untethered and under-actuated design with simple structure and easy operation. The rotation of two servomotors is used to control the posi...
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In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at prese...
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ISBN:
(数字)9781665410205
ISBN:
(纸本)9781665410212
In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique.
In this paper, we propose a three-finger soft robotic gripper, which adopts an untethered and under-actuated design with simple structure and easy operation. The rotation of two servomotors is used to control the posi...
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ISBN:
(纸本)9781665481106
In this paper, we propose a three-finger soft robotic gripper, which adopts an untethered and under-actuated design with simple structure and easy operation. The rotation of two servomotors is used to control the positions of the fingers, which provides the fingers with adjustable grasping modes and improves the adaptation of the gripper to objects with different shapes. A pressure sensor is integrated at the end of the finger to provide force feedback, which is used to detect the contact force when grasping the object and enables the gripper to provide the proper grasping force. The experimental section characterizes the bending of the soft robotic finger, and the gripper is integrated at the end of a collaborative robotic arm to demonstrate its adjustable grasping posture and force feedback function. The soft robotic gripper is expected to be used in a variety of scenarios, such as service robot, food industry or garbage sorting.
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