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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

Science China(Technological Sciences) 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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intelligent Small Sample Defect Detection of Concrete Surface Using Novel Deep Learning Integrating Improved YOLOv5

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 545-547页

作者： Yongming Han Lei Wang Youqing Wang Zhiqiang Geng IEEE College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029 Engineering Research Center of Intelligent PSE Ministry of Education in ChinaBeijing 100029China

Dear Editor,This letter presents an intelligent small sample defect detection of concrete surface using novel deep learning integrating the improved YOLOv5 based on the Wasserstein GAN(WGAN)enhancement *** proposed method is capable of producing top-notch data sets to address the issues of insufficient samples and substandard quality.

关键词： concrete integrating algorithm

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New application of photochemistry: permutation of azole skeleton

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Science China Chemistry 2025年第5期68卷 1632-1634页

作者： Bing-Feng Wang Liang-Neng Wang Liang-Qiu Lu Engineering Research Center of Photoenergy Utilization for Pollution Control and Carbon Reduction Ministry of EducationCollege of ChemistryCentral China Normal University Wuhan Institute of Photochemistry and Technology

Heterocyclic compounds represent a pivotal class of organic molecules with a profound impact on daily life. In particular,thiazole and isothiazole stand out as fundamental scaffolds that are widely used in medicinal chemistry, agrochemicals,and materials science(Figure 1a) [1]. Despite their importance, the functionalization of these heterocycles, including alkylation, and amination, predominantly relies on cross-coupling reactions, which are often constrained by limited regioselectivity and harsh reaction conditions [2,3].

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Key Technologies for Machine Vision for Picking Robots:Review and Benchmarking

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Machine Intelligence research 2025年第1期22卷 2-16页

作者： Xu Xiao Yiming Jiang Yaonan Wang College of Electrical and Information Engineering Hunan UniversityChangsha 410082China National Engineering Research Center for Robot Vision Perception and Control Technology Hunan UniversityChangsha 410082China

The increase in precision agriculture has promoted the development of picking robot technology,and the visual recognition system at its core is crucial for improving the level of agricultural *** paper reviews the progress of visual recognition tech-nology for picking robots,including image capture technology,target detection algorithms,spatial positioning strategies and scene *** article begins with a description of the basic structure and function of the vision system of the picking robot and em-phasizes the importance of achieving high-efficiency and high-accuracy recognition in the natural agricultural ***-sequently,various image processing techniques and vision algorithms,including color image analysis,three-dimensional depth percep-tion,and automatic object recognition technology that integrates machine learning and deep learning algorithms,were *** the same time,the paper also highlights the challenges of existing technologies in dynamic lighting,occlusion problems,fruit maturity di-versity,and real-time processing *** paper further discusses multisensor information fusion technology and discusses methods for combining visual recognition with a robot control system to improve the accuracy and working rate of *** the same time,this paper also introduces innovative research,such as the application of convolutional neural networks(CNNs)for accurate fruit detection and the development of event-based vision systems to improve the response speed of the *** the end of this paper,the future development of visual recognition technology for picking robots is predicted,and new research trends are proposed,including the refinement of algorithms,hardware innovation,and the adaptability of technology to different agricultural *** purpose of this paper is to provide a comprehensive analysis of visual recognition technology for researchers and practitioners in the field of agricul-tural rob

关键词： Picking robot visual system perception technology image processing machine learning deep learning.

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An interaction-fair semi-decentralized trajectory planner for connected and autonomous vehicles

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Autonomous intelligent Systems 2025年第1期5卷 1-20页

作者： Liu, Zhengqin Lei, Jinlong Yi, Peng Hong, Yiguang Department of Control Science and Engineering Tongji University Shanghai201804 China The Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201804 China Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai201804 China

Lately, there has been a lot of interest in game-theoretic approaches to the trajectory planning of autonomous vehicles (AVs). But most methods solve the game independently for each AV while lacking coordination mechanisms, and hence result in redundant computation and fail to converge to the same equilibrium, which presents challenges in computational efficiency and safety. Moreover, most studies rely on the strong assumption of knowing the intentions of all other AVs. This paper designs a novel autonomous vehicle trajectory planning approach to resolve the computational efficiency and safety problems in uncoordinated trajectory planning by exploiting vehicle-to-everything (V2X) technology. Firstly, the trajectory planning for connected and autonomous vehicles (CAVs) is formulated as a game with coupled safety constraints. We then define the interaction fairness of the planned trajectories and prove that interaction-fair trajectories correspond to the variational equilibrium (VE) of this game. Subsequently, we propose a semi-decentralized planner for the vehicles to seek VE-based fair trajectories, in which each CAV optimizes its individual trajectory based on neighboring CAVs’ information shared through V2X, and the roadside unit takes the role of updating multipliers for collision avoidance constraints. The approach can significantly improve computational efficiency through parallel computing among CAVs, and enhance the safety of planned trajectories by ensuring equilibrium concordance among CAVs. Finally, we conduct Monte Carlo experiments in multiple situations at an intersection, where the empirical results show the advantages of SVEP, including the fast computation speed, a small communication payload, high scalability, equilibrium concordance, and safety, making it a promising solution for trajectory planning in connected traffic scenarios. To the best of our knowledge, this is the first study to achieve semi-distributed solving of a game with coupled constr

关键词： Autonomous vehicles

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Effect of temperature and time on the precipitation ofκ-carbides in Fe-28Mn-10Al-0.8C low-density steels:Aging mechanism and its impact on material properties

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International Journal of Minerals,Metallurgy and Materials 2024年第10期31卷 2189-2198页

作者： Yulin Gao Min Zhang Rui Wang Xinxin Zhang Zhunli Tan Xiaoyu Chong School of Mechanical Electronic and Control EngineeringMaterials Science and Engineering Research CenterBeijing Jiaotong UniversityBeijing 100044China Faculty of Materials Science and Engineering Kunming University of Science and TechnologyKunming 650093China

In low-density steel,κ-carbides primarily precipitate in the form of nanoscale particles within austenite ***,their precipitation within ferrite matrix grains has not been comprehensively explored,and the second-phase evolution mechanism during aging remains *** this study,the crystallographic characteristics and morphological evolution ofκ-carbides in Fe-28Mn-10Al-0.8C(wt%)low-density steel at different aging temperatures and times and the impacts of these changes on the steels’microhardness and properties were comprehensively *** different heat treatment conditions,intragranularκ-carbides exhibited various morpho-logical and crystallographic characteristics,such as acicular,spherical,and short rod-like *** the initial stage of aging,acicularκ-carbides primarily precipitated,accompanied by a few spherical carbides.κ-Carbides grew and coarsened with aging time,the spherical carbides were considerably reduced,and rod-like carbides *** hardness testing demonstrated that the material’s hardness was affected by the volume fraction,morphology,and size ofκ-*** aging at higher temperatures led to an increase in carbide size and volume fraction,resulting in a gradual rise in *** deformation,the primary mechanisms for strengthening were dislocation strengthening and second-phase *** on these findings,potential strategies for improving material strength are proposed.

关键词： low-density steel κ-carbide solution-aging treatment hardness

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Robust Optimal Framework for Doubly Fed Induction Generator with Uncertain Dynamics

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Protection and control of Modern Power Systems 2024年第5期9卷 129-141页

作者： Yongfeng Lü Xiaowei Zhao Priyank Shah College of Electrical and Power Engineering Taiyuan University of TechnologyTaiyuan 030024China Intelligent Control and Smart Energy(ICSE)Research Group School of EngineeringThe University of WarwickCoventry CV47ALUK

A robust optimal framework is designed herein to mitigate the oscillatory dynamics in a doubly fed induction generator(DFIG)even in the presence of network disturbances and input *** address uncertain dynamics,herein,a novel transformation formula is developed for a wind energy conversion *** unscented Kalman filter is applied to estimate the un-measured internal states of the wind energy conversion system using terminal *** detailed convergence and stability analyses of the presented framework are investigated to validate its ***,comparative modal analyses are carried out to demonstrate the improvement in the damping of critical low-frequency oscillatory modes using the presented *** simulation results demonstrate satisfactory performance under various operating scenarios,such as increasing and decreasing wind speed and varying the terminal *** comparative performance is demonstrated to validate the effectiveness of the presented framework over that of the state-of-the-art frameworks.

关键词： Optimal control power system renew-able energy sources wind energy conversion system doubly fed induction generator

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Dynamic properties of low-density expandable polystyrene concrete materials

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Defence technology(防务技术) 2025年第1期43卷 94-108页

作者： Jue Han Hualin Fan Army Engineering University of PLA Nanjing 210007China Research Center of Lightweight Structures and Intelligent Manufacturing State Key Laboratory of Mechanics and Control of Aerospace StructuresNanjing University of Aeronautics and AstronauticsNanjing 210016China Henan International Joint Laboratory of Dynamics of Impact and Disaster of Engineering Structures Department of Civil EngineeringNanyang Institute of TechnologyNanyang 473004China

Expanded polystyrene(EPS)concrete,known for its environmental friendliness,energy absorption capacity,and low impedance,has significant potential application in the fields of wave absorption and vibration *** study designed and prepared EPS concrete materials with four levels of ***-static uniaxial compression and Split Hopkinson Pressure Bar(SHPB)impact tests were conducted to obtain stress-strain curves,elastic moduli,failure modes,energy absorptions,and strain rate effects of the EPS concrete under quasi-static and dynamic loading *** influences of density on various performance indicators were *** combining the Zhu-Wang-Tang(ZWT)constitutive model with a modified elastic-brittle model,a modified dynamic constitutive model was *** accuracy of the model was validated by the experimental *** results indicate that the addition of EPS particles enhances the ductility of the EPS *** EPS concrete has significant strain rate effect,which gets stronger as density *** modifiedconstitutive model accurately characterizes the dynamic stress-strain curves of the EPS concrete.

关键词： EPS concrete Impact behavior Constitutive model SHPB test

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Defects-rich MgFe LDH:A high-capacity adsorbent for methyl orange wastewater

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Chinese Journal of Chemical engineering 2024年第10期74卷 63-73页

作者： Chunmei Zhu Liting Zhang Chenyuan Cui Xin Lian Long Qu Bai He Guoyuan Yuan Jian Feng Siwei Xiang Bo Yu School of Chemistry and Chemical Engineering Chongqing University of Science and TechnologyChongqing 401331China Research Center of Smart Environmental Analysis Chongqing Institute of Green and Intelligent TechnologyChinese Academy of SciencesChongqing 400714China

Dye pollution is a common pollutant in wastewater that poses a serious threat to human *** double hydroxide(LDH)is a commonly used adsorbent for dye ***,its adsorption efficiency is significantly limited by the limited adsorption active sites of the *** this paper,a defects-rich MgFe LDH adsorbent for anionic dye wastewater was synthesized by a simple hydrothermal method and alkaline *** analytical techniques,such as XRD,FT-IR,SEM,TEM,XPS,and N2 adsorption-desorption isotherm,were used to verify the chemical composition and surface characteristics of the materials,and the effects of pH,temperature,and contact time on the adsorption effect of methyl orange and the adsorption mechanism were *** etching of Al and Zn in the laminate generated defects that expose unsaturated coordination centers and create abundant adsorption sites,which can electrostatically attract and coordinate with dye *** 25℃,the adsorption capacity of MgFe LDH with Al etched and MgFe LDH with Zn etched for methyl orange dye reached 1722 mg·g^(-1 ) and 1685 mg·g^(-1 ),respectively,much higher than that of MgFe LDH(544 mg·g^(-1 )).This work provides a promising method for the removal of dye wastewater by adsorption and a new idea for the design and development of high-performance dye wastewater adsorbents.

关键词： MgFe LDH Methyl orange Alkaline etching Defects Adsorption

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Development and Testing of an intelligent Tobacco Leaf Harvesting Robot Based on Machine Vision

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INMATEH - Agricultural engineering 2025年第1期75卷 600-609页

作者： LIN, YuPei YAN, GuoYong WANG, Tao BAI, Tao TANG, Si CHEN, JunJie ZHANG, BaoLin Southwest University College of Artificial Intelligence Chongqing400715 China National & Local Joint Engineering Research Center of Intelligent Transmission and Control Technology Chongqing400715 China Qujing Tobacco Company of Yunnan Province Yunnan 655000 China

The efficiency and quality of tobacco leaf harvesting are crucial for the economic performance of the tobacco industry. To enhance harvesting efficiency, a non-destructive tobacco leaf harvesting robot based on machine vision and robotics technology was developed. Experimental evaluations of key components demonstrated that the biomimetic flexible gripper based on the fin ray effect has good stiffness when the clamping force is 2.5 N, ensuring stable subsequent harvesting and collection of tobacco leaves. The introduction of a 6+1-axis robotic arm significantly expands the working range compared to the original 6-axis design, effectively covering the height of the tobacco stalk. The robotic arm’s speed notably affects harvesting time (P © (2025), American Psychological Association

关键词： Grippers

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