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Dynamic Walking and Stepping over Large Obstacles of Biped Robots: A Poincaré Map Approach

Journal of engineering science and Technology Review 2022年第6期15卷 186-200页

作者： Kalamain, Nasrin Farrokhi, Mohammad School of Electrical Engineering Iran University of Science and Technology Tehran Iran School of Electrical Engineering Center of Excellence for Modeling and Control of Complex Systems Iran University of Science and Technology Tehran Iran

This paper considers dynamic stepping of biped robots when walking through a big obstacle, which is a great problem for these kinds of robots, using nonlinear model predictive control technique. No need for trajectory planning is one of the key advantages of this method. Hence, the gait length is not predefined and the controller determines it on the basis of the physical restraints and dynamic constancy conditions for approaching the obstacle and stepping over it. The stability and good performance for stepping over large obstacles are guaranteed by the definition of appropriate linear and nonlinear constraints and cost functions. Furthermore, to solve the uncertainty problem corresponding to the biped dynamic model, neural networks are used to identify the model of robot. For stability analysis, the Poincaré map with the fixed-point technique is utilized to guarantee the robot stability. Simulation outcomes indicate excellent efficiency of the suggested technique used to a five-link biped robot crossing over a 40×15 cm obstacle in sagittal plane when preserving a safety clearance from it with no need to a predefined trajectory © 2022 School of science, IHU. All Rights Reserved.

关键词： Cost functions

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Unilateral payoff control is infeasible in network attack-defense interactions

Unilateral payoff control is infeasible in network attack-de...

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2024 China Automation Congress, CAC 2024

作者： Zhao, Kaiwen Xia, Yu Su, Qi Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350368604

Network resilience generally refers to the ability of a network to maintain normal operation in the face of various failures and disturbances, which has many applications in social, financial, communication, and transportation systems. There is a large amount of research on designing strategies to disrupt the network from the perspective of attack and to protect the network from the defense standpoint. However, attacks and defenses in the real world often occur simultaneously and repeatedly. The study of network resilience should not be limited to the structural characteristics but should consider the functional characteristics of the network. We develop a general game-theoretic framework to study attack-defense repeated interactions on complex networks and examine the possibility of achieving precise control over the payoffs of attackers and defenders. Our findings reveal that neither the attacker nor the defender can unilaterally control their own payoff, the opponent’s payoff, or any linear combination thereof. This work highlights the limitations of unilateral payoff control in real-world interaction scenarios, a consideration often overlooked in numerous theoretical studies. © 2024 IEEE.

关键词： Economic and social effects

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Fuzzy-Model-Based Finite Frequency Fault Detection Filtering Design for Two-Dimensional Nonlinear Systems

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IEEE/CAA Journal of Automatica Sinica 2024年第10期11卷 2099-2110页

作者： Meng Wang Huaicheng Yan Jianbin Qiu Wenqiang Ji Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of EducationSchool of Information Science and EngineeringEast China University of Science and TechnologyShanghai 200237China Research Institute of Intelligent Control and Systems School of AstronauticsHarbin Institute of TechnologyHarbin 150080China School of Artificial Intelligence Hebei University of TechnologyTianjin 300401China IEEE

This article studies the fault detection filtering design problem for Roesser type two-dimensional(2-D)nonlinear systems described by uncertain 2-D Takagi-Sugeno(T-S)fuzzy ***,fuzzy Lyapunov functions are constructed and the 2-D Fourier transform is exploited,based on which a finite frequency fault detection filtering design method is proposed such that a residual signal is generated with robustness to external disturbances and sensitivity to *** has been shown that the utilization of available frequency spectrum information of faults and disturbances makes the proposed filtering design method more general and less conservative compared with a conventional nonfrequency based filtering design ***,with the proposed evaluation function and its threshold,a novel mixed finite frequency H_(∞)/H_(-)fault detection algorithm is developed,based on which the fault can be immediately detected once the evaluation function exceeds the ***,it is verified with simulation studies that the proposed method is effective and less conservative than conventional non-frequency and/or common Lyapunov function based filtering design methods.

关键词： Fault diagnosis finite frequency specifications mixed H_(∞)/H_(-)performance two-dimensional nonlinear systems

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ST-Petri: A Visual Executable Semantic Model for PLC Structured Text Language 22

ST-Petri: A Visual Executable Semantic Model for PLC Structu...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Hu, Xiaoyu Liang, Yonghui Zhu, Shibo Li, Hui Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

ISBN: (纸本)9798331527471

As very important controllers in automated factories, the correctness and safety of Programmable Logic controller (PLC) and their programs determine the stability of the production process. Structured Text (ST) is one of the most widely used PLC programming languages. However, there are not enough formal semantics and different venders may have their own implementations. In this work, a visual executable semantic model ST-Petri for ST has been proposed. The model uses Petri nets to formally represent ST semantics while using graphs to visualise program control flow. To validate the correctness of the semantic model, we use programs from Github and mutations of existing source programs as a test set to execute and compare the results with the open source OpenPLC platform. Experimental results show that ST-Petri has significant advantages in terms of compilation pass rate and error indication as a semantic model and a ST program compiler. © 2024 IEEE.

关键词： Petri nets

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A mixed-coordination electron trapping-enabled high-precision touch-sensitive screen for wearable devices

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Bio-Design and Manufacturing 2024年第4期7卷 413-427页

作者： Xi Zhang Junchi Ma Hualin Deng Jinming Zhong Kaichen Xu Qiang Wu Bo Wen Dongfeng Diao Guangdong Provincial Key Laboratory of Micro/Nano Optomechatronics Engineering College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310058China Shenzhen University General Hospital Shenzhen 518055China Research Center of Medical Plasma Technology Shenzhen UniversityShenzhen 518060China

Touch-sensitive screens are crucial components of wearable *** such as reduced graphene oxide(rGO),carbon nanotubes(CNTs),and graphene offer promising solutions for flexible touch-sensitive ***,when stacked with flexible substrates to form multilayered capacitive touching sensors,these materials often suffer from substrate delamination in response to deformation;this is due to the materials having different Young’s modulus *** results in failure to offer accurate touch screen *** this work,we demonstrate an induced charge-based mutual capacitive touching sensor capable of high-precision touch *** is enabled by electron trapping and polarization effects related to mixed-coordinated bonding between copper nanoparticles and vertically grown graphene ***,we used an electron cyclotron resonance system to directly fabricate graphene-metal nanofilms(GMNFs)using carbon and copper,which are firmly adhered to flexible *** being subjected to 3000 bending actions,we observed almost no change in touch *** screen interaction system,which has a signal-to-noise ratio of 41.16 dB and resolution of 650 dpi,was tested using a handwritten Chinese character recognition trial and achieved an accuracy of 94.82%.Taken together,these results show the promise of touch-sensitive screens that use directly fabricated GMNFs for wearable devices.

关键词： Flexible touch-sensitive screen Graphene-metal nanofilms Mixed coordination Wearable device

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“Smart”micro/nano container-based self-healing coatings on magnesium alloys:A review

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Journal of Magnesium and Alloys 2023年第7期11卷 2230-2259页

作者： Yonghua Chen Liang Wu Wenhui Yao Jiahao Wu Maria Serdechnova Carsten Blawert Mikhail L.Zheludkevich Yuan Yuan Zhihui Xie Fusheng Pan National Engineering Research Center for Magnesium Alloys College of Materials Science and EngineeringChongqing UniversityChongqing 400044China State Key Laboratory of Mechanical Transmission Chongqing UniversityChongqing 400044China Institute of Surface Science Helmholtz-Zentrum HereonMax-Planck Str.121502 GeesthachtGermany Chemical Synthesis and Pollution Control Key Laboratory of Sichuan Province College of Chemistry and Chemical EngineeringChina West Normal UniversityNanchong 637002China

Coating technologies are a commonly used way to protect metals against ***,with more and more severe service environments of materials,many protective coating systems often are not environmentally friendly or toxic as in the case of *** on the world’s abundant ideal magnesium(Mg)and its alloy,the smart self-healing anticorrosive coating can autonomously restore the damaged part of the coating according to the environmental changes,strengthen the corrosion protection ability,and prolong its service *** paper reviews the research progress of smart self-healing coatings on Mg *** coatings mostly contain suitable corrosion inhibitors encapsulated into micro/nano ***,the different self-healing mechanisms and functionalities of micro/nano containers are *** micro/nano containers range from inorganic nanocontainers such as mesoporous nanoparticles(silica(SiO_(2)),titanium dioxide(TiO_(2)),etc.),over inorganic clays(halloysite,hydrotalcite-like,zeolite),to organic nanocontainers such as polymer microcapsules,nanofibers,chitosan(CS)and cyclodextrin(CD),as well as,carbon materials such as graphene and carbon nanotubes and hybrids such as metal organic *** functioning of micro/nano containers can be divided in two principal groups:autonomous(based on defect filling and corrosion inhibition)and non-autonomous(based on dynamic bonds and shape memory polymers).Moreover,multi functionalities and composite applications of various micro/nano containers are *** present,significant progress has been made in the preparation methods and technologies of micro/nano *** long-term self-healing properties of coatings sensing of coating failure and early warning after self-healing function failure can be expected as the main development direction of self-healing corrosion protection coatings in the future.

关键词： Magnesium alloy Self-healing coating Micro/nano containers Mechanism Corrosion protection

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Platinum on nitrogen doped graphene and tungsten carbide supports for ammonia electro-oxidation reaction

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Frontiers of Chemical science and engineering 2022年第6期16卷 930-938页

作者： Kumar Siddharth Yian Wang Jing Wang Fei Xiao Gabriel Sikukuu Nambafu Usman Bin Shahid Fei Yang Ernest Pahuyo Delmo Minhua Shao Department of Chemical and Biological Engineering The Hong Kong University of Science and TechnologyHong KongChina Department of Materials Science and Engineering South University of Science and Technology of ChinaShenzhen 518055China Southern Marine Science and Engineering Guangdong Laboratory(Guangzhou) The Hong Kong University of Science and TechnologyHong KongChina Chinese National Engineering Research Center for Control&Treatment of Heavy Metal Pollution The Hong Kong University of Science and TechnologyHong KongChina

Ammonia electrooxidation reaction involving multistep electron-proton transfer is a significant reaction for fuel cells,hydrogen production and understanding nitrogen *** has been established as the best electrocatalyst for ammonia oxidation in aqueous alkaline *** this study,Pt/nitrogen-doped graphene(NDG)and Pt/tungsten monocarbide(WC)/NDG are synthesized by a wet chemistry method and their ammonia oxidation activities are compared to commercial Pt/***/NDG exhibits a specific activity of 0.472 mA·cm^(-2),which is 44%higher than commercial Pt/C,thus establishing NDG as a more effective support than carbon ***,it is demonstrated that WC as a support also impacts the activity with further 30%increase in comparison to *** modification with Ir resulted in the best electro-catalytic activity with Pt-IrAVC/NDG having almost thrice the current density of commercial Pt/*** work adds insights regarding the role of NDG and WC as efficient supports along with significant impact of Ir surface modification.

关键词： Ammonia electro-oxidation reaction electrocatalyst supports platinum nitrogen doped graphene tungsten carbide

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Optimization via response surface methodology of the synthesis of a dust suppressant and its performance characterization for use in open cut coal mines

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Journal of Environmental sciences 2022年第11期34卷 211-223页

作者： Hu Jin Yansong Zhang Guangan Wu Junjie Yang Nan Li College of Energy and Mining Engineering Shandong University of Science and TechnologyQingdao 266590China College of Safety and Environmental Engineering Shandong University of Science and TechnologyQingdao 266590China Qingdao Intelligent Control Engineering Center for Production Safety Fire Accident Qingdao 266590China

To relieve dust pollution in open cut coal mines and reduce the hazards of coal dust pollution to the environment and workers we optimized the synthesis of a dust suppressant by graft copolymerization of environmentally friendly soy protein isolate with methyl *** dust suppressant could effectively control dust pollution in open cut coal mines. The optimized conditions for graft copolymerization in this case were determined by a response surface experiment designed with Design-Expert 10 software. Characterization by scanning electron microscopy showed a significant morphology change of the dust suppressant and the generation of a rigid and dense layer on its surface after interacting with coal *** layer exhibited good bonding and dust suppression performance. The analysis with Fourier-transform infrared spectroscopy revealed the appearance of new absorption peaks near 1300, 1072, and 1631 cm, demonstrating effective graft copolymerization. The proposed dust suppressant exhibited excellent wind erosion resistance, with a resistance that exceeded 90% at a wind speed of 6.5 m/sec. The successful graft copolymerization and effective bonding and curing of the dust suppressant on coal dust were experimentally *** is of great significance to the control of coal dust pollution.

关键词： Environmental dust control Dust suppressant Response surface method Graft copolymerization Performance characterization Single factor method

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Management of Scientific Agricultural Digital Ecosystems Based on Ecosystem Classification 16

Management of Scientific Agricultural Digital Ecosystems Bas...

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16th International Conference Management of Large-Scale System Development, MLSD 2023

作者： Kulba, Vladimir Medennikov, Viktor V.A. Trapeznikov Institute of Control Sciences of the Russian Academy of Sciences Laboratory of Modular Data Processing and Control Systems Moscow Russia Federal Research Center 'Computer Science and Control' of the Russian Academy of Sciences Information and Computing Systems Department Moscow Russia

ISBN: (纸本)9798350337907

The paper considers a mathematical model for managing a scientific digital ecosystem exemplified by the agriculture case;the model enables assessing the impact science exerts on the regions' socioeconomic position in order to build an adequate response to the advanced economies' regime of severe sanctions against Russia. For these purposes, a systemic analysis of the subject identification and classification of ecosystems was conducted to address the critical issue of determining the basic concepts and terms of the country's digitalization. © 2023 IEEE.

关键词： Agriculture

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Cascading Delays for the High-Speed Rail Network Under Different Emergencies:A Double Layer Network Approach

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IEEE/CAA Journal of Automatica Sinica 2023年第10期10卷 2014-2025页

作者： Xingtang Wu Mingkun Yang Wenbo Lian Min Zhou Hongwei Wang Hairong Dong School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Control and Computer Engineering North China Electric Power UniversityBeijing 100096China State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong UniversityBeijing 100044China National Research Center of Railway Safety Assessment Beijing Jiaotong UniversityBeijing 100044China

High-speed rail(HSR) has formed a networked operational scale in China. Any internal or external disturbance may deviate trains’ operation from the planned schedules, resulting in primary delays or even cascading delays on a network scale. Studying the delay propagation mechanism could help to improve the timetable resilience in the planning stage and realize cooperative rescheduling for dispatchers. To quickly and effectively predict the spatial-temporal range of cascading delays, this paper proposes a max-plus algebra based delay propagation model considering trains’ operation strategy and the systems’ constraints. A double-layer network based breadth-first search algorithm based on the constraint network and the timetable network is further proposed to solve the delay propagation process for different kinds of emergencies. The proposed model could deal with the delay propagation problem when emergencies occur in sections or stations and is suitable for static emergencies and dynamic emergencies. Case studies show that the proposed algorithm can significantly improve the computational efficiency of the large-scale HSR network. Moreover, the real operational data of China HSR is adopted to verify the proposed model, and the results show that the cascading delays can be timely and accurately inferred, and the delay propagation characteristics under three kinds of emergencies are unfolded.

关键词： Delay propagation double layer network high speed rail network max-plus algebra

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