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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Haihua Guo Cong Bi Xiang Xu Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China Hong Kong Institute for Data Science City University of Hong Kong Hong Kong China College of Artificial Intelligence Nankai University Tianjin China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

This study addresses the robust output containment control problem of heterogeneous uncertain multi-agent systems under Markovian switching topologies. A novel distributed output feedback controller is proposed. Based on the internal model approach, the main result shows that the output of each follower agent converges to the convex hull formed by the outputs of the leader agents under the proposed distributed controller. An illustrative example is given to validate the effectiveness of the proposed controller.

关键词： Switches Control systems Formation control Topology Output feedback Multi-agent systems

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A Model-Data Compound Driven Method For Compensating Robot Tracking Error

A Model-Data Compound Driven Method For Compensating Robot T...

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IEEE International Conference on Mechatronics and Automation

作者： Pai Peng Qi Liu Bin Li Wei Peng Xinjie Wang Jinyuan Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

Industrial robots are widely used in industrial production because of their high work efficiency and high flexibility, but their low tracking accuracy makes them unable to be applied on a large scale in high-precision manufacturing. Considering the modeling error of robot, the problem of low tracking accuracy should be solved by combining model-based methods and data-based methods. Thus, a model-data compound approach is proposed for compensating robot tracking error. This method comprehensively considers two error compensation methods of model-driven and data-driven, which constructed the input matrix by using the model-based information and the data-based information. The former includes the desired position, velocity, acceleration, torque and friction torque; and the latter includes the actual torque. For the purpose of predicting the correlation between the joint error and the historical joint motion state, the historical information of the joint motion is also added in the input matrix for improving the error prediction accuracy. Then, a convolutional neural network prediction model is constructed for predicting and compensating the tracking error of each actuated joint. The experimental results show that the proposed method has good prediction accuracy and compensation effect. Compared to joint control without using the proposed method, the root mean square of joint tracking errors was reduced by up to more than 69%.

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Stability of selenium and its speciation analysis in water using automatic system separation and HR-ICP-MS measurement

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Chinese Chemical Letters 2022年第7期33卷 3444-3450页

作者： Junqiang Yang Yawen Chen Keliang Shi Kesheng Hu Run Li Xiaoqing Gao Qian Wang Weibo Zhang Yun Zhou Yanyun Wang Jiangang He Tonghuan Liu Xiaolin Hou Frontier Science Center for Rare Isotopes Lanzhou UniversityLanzhou 730000China School of Nuclear Science and Technology Lanzhou UniversityLanzhou 730000China Beijing National Laboratory for Molecular Sciences Fundamental Science Laboratory on Radiochemistry&Radiation ChemistryCollege of Chemistry and Molecular EngineeringPeking UniversityBeijing 100871China Key Laboratory of Special Function Materials and Structure Design Ministry of EducationLanzhou UniversityLanzhou 730000China CNNC Lanzhou Uranium Enrichment Co. Ltd.Lanzhou 730000China Environmental Monitor Center of Gansu Province Lanzhou 730000China

A simple and convenient method has been developed for the pre-concentration and separation of inorganic selenium species from environmental water samples using anion exchange chromatographic column combined with high resolution inductively coupled plasma mass spectrometry(HR-ICP-MS)measurement.^(75)Se(Ⅳ) and ^(75)Se(Ⅵ)were prepared and used as tracers during the *** volatility of selenium during solution evaporation was investigated to establish a reliable water samples pretreatment *** parameters which affect the uptake of Se(Ⅳ)and Se(Ⅵ)on Dowex1×8 resin was optimized and the procedure for Se(Ⅳ)and Se(Ⅵ)separation was *** Se(Ⅳ)and Se(Ⅵ)are retained on the column in natural or alkaline solution with high distribution *** successive gradient elution of pre-concentrated species of selenium with HNO_(3)solution allows to differentiate between ***(Ⅳ)and Se(Ⅵ)finally were eluted with 0.05 mol/L HNO_(3) and 5.0 mol/L HNO_(3),*** proposed method has been successfully verified using the certified reference materials(CRMs)of real water samples,and spiked recoveries for real samples were 98%-104%with 5%relative standard deviations(RSDs).The developed procedure is proved to be reliable and can be used for the rapid determination of selenium species in environmental water samples.

关键词： Inorganic selenium Speciation Automatic system separation Rapid determination Water sample

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An optimal design and fuzzy control method for a new flapping-wing robot

An optimal design and fuzzy control method for a new flappin...

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Electrical Engineering and Control science (IC2ECS), International Conference on

作者： Chunxiao Zhang Yansen Zhao Ting Zhang Qi Liu Bin Li Yue Ma Mengze Suo Changrui Li Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

Bionic flapping-wing robot has the advantages of good maneuverability, low noise and strong stealth performance. It is widely used in military intelligence collection, field rescue and investigation. In this paper, an optimal design method of bionic flapping-wing robot non-phase difference driving mechanism is proposed. By setting the constraints of flapping angle amplitude, fuselage height and slider stroke, the scale parameters of the mechanism are optimized by using the minimum transmission angle; on this basis, the effectiveness of fuzzy PD control in improving the tracking accuracy of the drive system is verified by means of ADAMS and MATLAB / Simulink electromechanical coupling simulation. This research has practical value for designing new flapping-wing robot and improving its control quality.

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Automated Creation of Topological Structure Models of Parallel Mechanisms for Kinematic Performance Evaluation

Automated Creation of Topological Structure Models of Parall...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Hongye Wu Ping Lin Yue Ma Bin Li Qi Liu Hongqing Li Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

Considering the diversity of topological structures of parallel mechanisms (PMs), this paper presents an approach for the automated generation of topological structure models based on CAD technology. In this method, joints and links are treated as fundamental elements in the skeleton model of a mechanical system, leading to the development of a library of fundamental components readily available to compose a variety of limbs and PMs. A connection graph and its data structure are then developed for describing, in a hierarchical manner, the assembly information among the fundamental components. Equipped with the knowledge and information mentioned above, the limbs and PMs can finally be assembled automatically by identifying and imposing the geometrical constraints that have been already embedded in the models. The merit of this method lies in that 3D schematic diagrams (termed topological structure models) of various limbs and PMs can be created in an illustrative manner by properly selecting a set of fundamental components and then setting their connections, leading to the digitalized and visible topological structure models that are readily for kinematic performance evaluation. Combined with the CAD-CAE integration technology for the mechanical structure design and static/dynamic performance evaluation, a digital design and simulation framework can be formulated for the rapid design of parallel robotic equipment.

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Learning Pre-Grasp Manipulation of Flat Objects in Cluttered Environments using Sliding Primitives

Learning Pre-Grasp Manipulation of Flat Objects in Cluttered...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jiaxi Wu Haoran Wu Shanlin Zhong Quqin Sun Yinlin Li State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China Department of Automation University of Science and Technology of China Heifei China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Science Beijing China Science and Technology on Thermal Energy and Power Laboratory Wuhan China

Flat objects with negligible thicknesses like books and disks are challenging to be grasped by the robot because of the width limit of the robot's gripper, especially when they are in cluttered environments. Pre-grasp manipulation is conducive to rearranging objects on the table and moving the flat objects to the table edge, making them graspable. In this paper, we formulate this task as Parameterized Action Markov Decision Process, and a novel method based on deep reinforcement learning is proposed to address this problem by introducing sliding primitives as actions. A weight-sharing policy network is utilized to predict the sliding primitive's parameters for each object, and a Q-network is adopted to select the acted object among all the candidates on the table. Meanwhile, via integrating a curriculum learning scheme, our method can be scaled to cluttered environments with more objects. In both simulation and real-world experiments, our method surpasses the existing methods and achieves pre-grasp manipulation with higher task success rates and fewer action steps. Without fine-tuning, it can be generalized to novel shapes and household objects with more than 85% success rates in the real world. Videos and supplementary materials are available at https://***/view/pre-grasp-sliding.

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Unidirectional Transmission Waveguide with Polarization Locking Based on Metasurface

Unidirectional Transmission Waveguide with Polarization Lock...

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International Symposium on Antennas, Propagation and EM Theory (ISAPE)

作者： Li-jie. Chen Rui Zhou Hai Lin National Key Laboratory of Electromagnetic Effect and Security on Marine Equipment China Ship Development and Design Centre. China and School of Optical and Electronic Information Huazhong University of Science and Technology Wuhan China College of Physical Science and Technology Central China Normal University Wuhan Hubei China

ISBN: (数字)9798350353129

ISBN: (纸本)9798350353136

When the polarization state of a system is linearly locked to momentum and its scatterers do not induce spin flips, the resulting edge state with polarization locking can demonstrate unidirectional reflectionless transmission. In classical systems, the creation of polarization-locked edge states relies on two key symmetry transformations: electromagnetic duality (EM-duality) symmetry and parity time-reversal duality (PT-duality) symmetry. While EM-duality supports infinitesimal line-surface wave modes, PT-duality facilitates line-guided wave modes. However, the transmission power capacity of these modes is typically limited by the size of the model. To overcome this limitation, our work integrates both transformation physics mechanisms to develop a chiral waveguide with miniaturization, high power, and increased capacity through the design of a tailored metasurface structure. This innovative design approach opens up new avenues in the realms of photonics and electronics, particularly in the domains of information transmission and processing.

关键词： Wireless communication Antenna theory Transmitting antennas Electromagnetic scattering Waveguide theory Information processing Metasurfaces Electromagnetics Physics Photonics

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Online Scheduling in Virtualized TSN Networks via Joint Admission Control and VNF Embedding

Online Scheduling in Virtualized TSN Networks via Joint Admi...

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IEEE International Conference on Communications in China (ICCC)

作者： Yajing Zhang Cailian Chen Chaoqun You Mingyan Li Xinping Guan Tony Q. S. Quek Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai P. R. China School of Computer Science Fudan University College of Computer Science Chongqing University Chongqing P. R. China Information Systems Technology and Design Singapore University of Technology and Design Singapore

ISBN: (数字)9798350378412

ISBN: (纸本)9798350378429

Introducing virtualization enhances the flexibility of time-sensitive networking (TSN), wherein applications manifest as service function chains comprising a series of virtual network functions (VNFs). However, such virtualized TSN realizes determinacy through global configuration, being too complicated to serve dynamic applications in time. To address this issue, we innovatively propose to achieve TSN scheduling by distributively executing admission control (AC), whereby the scheduling complexity is radically reduced. Specifically, we first build a two-way AC model that captures TSN multi-queue characteristics. Then, we define admissible regions of nodes and links, working as metrics for AC decision-making and enabling feasible TSN scheduling. Built upon this, we propose a joint AC and VNF embedding mechanism, Rapid Admission Control (RapidAC), which consists of two algorithms. The first algorithm responds to dynamic applications rapidly and derives node-mapping solutions by judging nodes’ admissible regions. Based on this, the second algorithm augments the detailed VNF embedding solution according to admissible regions of links. Simulation results show that RapidAC reduces runtime by 90% compared with existing TSN scheduling algorithms.

关键词： Measurement Runtime Scheduling algorithms Service function chaining Heuristic algorithms Simulation Admission control

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Fence Theorem: Towards Dual-Objective Semantic-Structure Isolation in Preprocessing Phase for 3D Anomaly Detection

arXiv

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arXiv 2025年

作者： Liang, Hanzhe Zhou, Jie Chen, Xuanxin Dai, Tao Wang, Jinbao Gao, Can College of Computer Science and Software Engineering Shenzhen University China Shenzhen Audencia Financial Technology Institute Shenzhen University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Faculty of Education Shenzhen University China Guangdong Provincial Key Laboratory of Intelligent Information Processing China

3D anomaly detection (AD) is prominent but difficult due to lacking a unified theoretical foundation for preprocessing design. We establish the Fence Theorem, formalizing preprocessing as a dual-objective semantic isolator: (1) mitigating cross-semantic interference to the greatest extent feasible and (2) confining anomaly judgements to aligned semantic spaces wherever viable, thereby establishing intra-semantic comparability. Any preprocessing approach achieves this goal through a two-stage process of Semantic-Division and Spatial-Constraints stage. Through systematic deconstruction, we theoretically and experimentally subsume existing preprocessing methods under this theorem via tripartite evidence: qualitative analyses, quantitative studies, and mathematical proofs. Guided by the Fence Theorem, we implement Patch3D, consisting of Patch-Cutting and Patch-Matching modules, to segment semantic spaces and consolidate similar ones while independently modeling normal features within each space. Experiments on Anomaly-ShapeNet and Real3D-AD with different settings demonstrate that progressively finer-grained semantic alignment in preprocessing directly enhances point-level AD accuracy, providing inverse validation of the theorem’s causal logic. Copyright © 2025, The Authors. All rights reserved.

关键词： Fences

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Line laser measurement, evaluation and utilization of holistic gear deviations

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Measurement: Sensors 2025年 38卷

作者： Shi, Zhaoyao Sun, Yanqiang Yu, Bo Wang, Xiaoyi Zhao, Baoya Beijing Engineering Research Center of Precision Measurement Technology and Instruments Beijing University of Technology Beijing China School of Construction Machinery Shandong Jiaotong University Shandong Jinan China Henan Key Laboratory of Mechanical Design and Transmission System Henan University of Science and Technology Luoyang China School of Mechatronics Engineering North China Institute of Aerospace Engineering Langfang China

The measurement of holistic gear deviations (HGD) is a fast-developing field of gear measurement technology in recent years. Line laser measurement is an effective approach to measure the HGD, and is beginning to be applied. However, compared with the mature conventional gear measurement based on "point" and "line" measurement, the holistic gear deviations measurement is imperfect, especially in acquisition, evaluation and utilization. This paper introduces the line laser measurement model of HGD and puts forward the solutions to the problems such as the determination of the position and attitude parameters of the laser sensor, the influence of the incident angle of the measuring light, and the occlusion of the adjacent gear teeth in the measurement. The representation method of the three-dimensional deviations of the tooth flank is illustrated. According to the HGD, a unified model for calculating the elemental deviations of the gear, such as the involute and helix, is found. The HGD evaluation system is established by means of the statistical analysis method. The full use of the HGD is explored from two aspects of gear process error analysis and gear performance prediction, including tooth flank twist analysis, calculation of gear integrated error (GIE) and transmission error (TE), matching method of large batch of gears, etc. The analysis system of HGD is built on the cloud platform. The measurement, evaluation and utilization of HGD are the key technologies of the next generation gear measurement. © 2025

关键词： Metrology Gear Holistic gear deviations

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