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Detachment Behavior of Gecko Toe in Functional Strategies for Bionic Toe

Journal of Bionic Engineering 2024年第2期21卷 707-717页

作者： Qingfei Han Wei Wang Huan Shen Xincheng Feng Haoran Zhang Qian Li Yi Sun Huapeng Wu Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China Laboratory of Intelligent Machines School of Energy SystemsLappeenranta-Lahti University of Technology53850LappeenrantaFinland State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

Geckos can efficiently navigate complex terrains due to their multi-level adhesive system that is present on their *** setae are responsible for the gecko’s extraordinary adhesion and have garnered wide attention from the scientific *** majority of the reported works in the literature that have dealt with the peeling models mainly focus on the gecko hierarchical adhesive system,with limited attention given to investigating the influence of gecko toe structure on the *** these lines,to gain a deeper understanding of the rapid and effortless detachment abilities of gecko toes,the peeling behavior of gecko toes on vertical surfaces was primarily investigated in this *** specifically,the detachment time of a single toe on a smooth acrylic plate was measured to be 0.41±0.21 ***,it was observed that the toe assumed a"U"-shaped structure upon complete ***,Finite Element Analysis(FEA)models for three different types of gecko toes were developed to simulate both the displacement-peel and the moment-peel *** the segmentation of the adhesive layer led to a gradual decrease in the resultant force,as well as the normal and tangential ***,a gecko-inspired toe model was constructed and powered by Shape Memory Alloy(SMA).A systematic comparison between the vertical drag separation and the outward flip separation was also *** our analysis,it was clearly demonstrated that outward peel separation significantly necessitated the reduction of the peeling force,thus confirming the advantageous nature of the outward motion in gecko toe *** data not only contribute to a deeper understanding of the gecko detachment behavior but also offer valuable insights for the advancement of the wall-climbing robot feet.

关键词： Gecko toes Detachment behavior Finite element analysis Gecko-inspired toe

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Optimal Production Capacity Matching for Blockchain-Enabled Manufacturing Collaboration With the Iterative Double Auction Method

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IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 550-562页

作者： Ying Chen Feilong Lin Zhongyu Chen Changbing Tang Cailian Chen the Key Laboratory of Intelligent Education Technology and Application of Zhejiang Province Zhejiang Normal University the School of Computer Science and Technology Zhejiang Normal University IEEE the College of Physics and Electronic Information Engineering Zhejiang Normal University the Department of Automation Shanghai Jiao Tong University

The increased demand for personalized customization calls for new production modes to enhance collaborations among a wide range of manufacturing practitioners who unnecessarily trust each other. In this article, a blockchain-enabled manufacturing collaboration framework is proposed, with a focus on the production capacity matching problem for blockchainbased peer-to-peer(P2P) collaboration. First, a digital model of production capacity description is built for trustworthy and transparent sharing over the blockchain. Second, an optimization problem is formulated for P2P production capacity matching with objectives to maximize both social welfare and individual benefits of all participants. Third, a feasible solution based on an iterative double auction mechanism is designed to determine the optimal price and quantity for production capacity matching with a lack of personal information. It facilitates automation of the matching process while protecting users' privacy via blockchainbased smart contracts. Finally, simulation results from the Hyperledger Fabric-based prototype show that the proposed approach increases social welfare by 1.4% compared to the Bayesian game-based approach, makes all participants profitable,and achieves 90% fairness of enterprises.

关键词： Blockchain iterative double auction manufacturing collaboration production capacity matching

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Steady-state Voltage Security-constrained Optimal Frequency control for Weak HVDC Sending-end AC Power Systems

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Journal of Modern Power Systems and Clean Energy 2024年第2期12卷 658-669页

作者： Qiangqiang Wang Liangzhong Yao Jian Xu Yuping Zheng Wei Li Wei Wang School of Electrical Engineering and Automation Wuhan UniversityWuhan 430072China Hubei Engineering and Technology Research Center for AC/DC Intelligent Distribution Network(Wuhan University) Wuhan 430072China State Key Laboratory of Smart Grid Protection and Control NARI Group Corporation(State Grid Electric Power Research Institute)Nanjing 211106China

Due to the fact that a high share of renewable energy sources(RESs)are connected to high-voltage direct current(HVDC)sending-end AC power systems,the voltage and frequency regulation capabilities of HVDC sending-end AC power systems have *** has resulted in potential system operating problems such as overvoltage and overfrequency,which occur simultaneously when block faults exist in the HVDC *** this study,a steady-state voltage security-constrained optimal frequency control method for weak HVDC sending-end AC power systems is *** integrated virtual inertia control of RESs is employed for system frequency *** dynamic reactive power compensation devices are utilized to control the voltage of all nodes meet voltage security ***,an optimization model that simultaneously considers the frequency and steady-state voltage security constraints for weak HVDC sending-end AC power systems is *** optimal control scheme with the minimum total cost of generation tripping and additional dynamic reactive power compensation required is obtained through the optimization *** are conducted on a modified IEEE 9-bus test system and practical Qing-Yu line commutated converter based HVDC(LCC-HVDC)sending-end AC power system to verify the effectiveness of the proposed method.

关键词： Renewable energy source(RES) high-voltage direct current(HVDC) AC power system optimal frequency control steady-state voltage security dynamic reactive power compensation

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Sampled-Data Consensus for Multiagent Systems With Open Topology and Packet Loss

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3130-3142页

作者： Zhu, Haitao Lu, Jianquan Liu, Yang Zhang, Lingzhong Southeast University School of Mathematics Nanjing210096 China Zhejiang Normal University Zhejiang Key Laboratory of Intelligent Education Technology and Application the School of Mathematical Sciences Jinhua321004 China Zhejiang Normal University Hangzhou School of Automation Hangzhou311231 China Changshu Institute of Technology School of Electrical Engineering and Automation Changshu215500 China

This article studies a more realistic issue in multiagent systems (MASs) named open topology, where the network scale tends to be variable as agents may join, leave, or be replaced. In order to reveal the influence that the variation of network scale brings on the dynamic behavior of MASs, a novel transition process containing impulse is provided. Then by applying the Halanay-like inequality, the distributed sampled-data control is designed to ensure the consensus property of the MASs under open topology. It is shown that the derived results can degenerate into the consensus criteria for general MASs with fixed-scale topology. Also, the potential packet loss phenomenon existing in controller is considered, which is integrated into the consensus performance via the average packet loss interval (APLI) condition, thereby guaranteeing the robustness of consensus performance against packet loss. Moreover, within the framework of open topology, it is proved that the admissible packet loss for MASs can be estimated in an average sense. At the end, the availability of this article is demonstrated by discussing a numerical example. © 2013 IEEE.

关键词： Network topology

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Application of intelligent Medical Fabric Management System based on RFID Technology 41

Application of Intelligent Medical Fabric Management System ...

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第41届中国控制会议

作者： Chongwei Li Genghuang Yang Shuncheng Jin School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin Key Laboratory of Information Sensing and Intelligent Control

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In view of the difficulties and risks existing in the running management of hospital medical fabrics,an intelligent medical fabric management system is designed and implemented to improve and optimize the accurate management of the whole process of sorting,receiving,warehousing and washing of medical *** on the refined and standardized of medical fabrics based on Internet of Things technology such as RFID,the whole process of a complete set for medical fabrics is established to realize the tracing the whole life *** avoid the risk of cross infection during the collection of medical fabrics,the system plays a vital role in the fine management of medical fabrics,and solves the long-term problems such as low sending and receiving efficiency,poor washing quality and losing of medical fabrics.

关键词： Medical Fabrics RFID Internet of Things technology intelligent Textile Cabinet

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Medical Waste Traceability Management System Based on RFID Technology 41

Medical Waste Traceability Management System Based on RFID T...

引用

第41届中国控制会议

作者： Shuncheng Jin Genghuang Yang Chongwei Li School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin Key Laboratory of Information Sensing and Intelligent Control

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In view of the low efficiency of the current medical waste recycling and disposal operation,it can be concluded that the traditional manual management mode results in the losing of medical waste and the failure of monitoring weight by the statistical analysis of the above *** with the future development of the industry and the Internet of Things technology,we propose a medical waste traceability management system(MWTMs) based on radio frequency identification(RFID) *** overall structure of the medical waste traceability management system is analyzed and the MWTMs are elaborated from both hardware and software *** Internet of Things technology is applied to supervise the various processes of medical waste transportation in detail and to achieve reasonable compliance with the recycling and disposal *** new intelligent,clean,and systematic medical system is implemented to trace the source of the waste in some hospitals with good effect.

关键词： medical waste RFID management system trace to the source

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Dehazing Network Based on U-Net Structure and Residual Block 41

Dehazing Network Based on U-Net Structure and Residual Block

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第41届中国控制会议

作者： Wenbo Zhang Haoze Li Han Sun Yongqiang Bai School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the development of deep learning technology,the dehazing method based on convolutional neural network has also developed ***,it still faces some problems such as incomplete dehazing and difficulty in detail *** at the problems,we propose a dehazing network based on U-Net structure and residual *** the down sampling process,we introduce the residual block of attention mechanism,which effectively improves the feature extraction and expression ability of the *** the middle part of the network,the smooth dilation convolution residual block is used to expand the receptive field of the network and improve the restoration effect of small *** the same time,we introduce a feature fusion mechanism based on attention mechanism,which can reduce the loss of information and weight the down-sampling features into intermediate *** the process of up sampling,the method of adding elements instead of feature stitching is used to reduce the number of parameters and realize the function of jump ***,dense convolution residual blocks are added to the jump connection between input and output to further improve the *** experimental results show that the PSNR of this method can reach 32.893,which is better than the existing methods.

关键词： Image Dehazing Residual Network Attention mechanism

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The semi-analytical modeling and vibration reduction analysis of the cylindrical shell with piezoelectric shunt damping patches

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Applied Mathematics and Mechanics(English Edition) 2023年第10期44卷 1675-1700页

作者： Dongxu DU Jun YANG Wei SUN Hongwei MA Kunpeng XU School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China Key Laboratory of Vibration and Control of Aero-Propulsion Systems of Ministry of Education of China Northeastern UniversityShenyang 110819China

By considering electromechanical coupling, a unified dynamic model of the cylindrical shell with the piezoelectric shunt damping patch(PSDP) is created. The model is universal and can simulate the vibration characteristic of the shell under different states including the states in which PSDP cannot be connected, partially connected, and completely connected to the shunt circuit. The equivalent loss factor and elastic modulus with frequency dependence are proposed to consider the electrical damping effect of resistance shunt circuits. Moreover, the semi-analytical dynamic equation of the cylindrical shell with PSDP is derived by the Lagrange equation. An experimental test is carried out on the cylindrical shell with PSDP to verify the vibration suppression ability of PSDP on the cylindrical shell and the correctness of the proposed model. Furthermore, the parameter analysis shows that determining the appropriate resistance value in the shunt circuit can achieve a good vibration suppression effect.

关键词： cylindrical shell vibration reduction analysis piezoelectric shunt semianalytical modeling experimental study

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Distributed Adaptive Cooperative control for Human-in-the-Loop Heterogeneous UAV-UGV Systems with Prescribed Performance

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年 1-13页

作者： Liang, Hongjing Yang, Shoufeng Li, Tieshan Zhang, Huaguang School of Automation Engineering University of Electronic Science and Technology of China Chengdu China College of Control Science and Engineering Bohai University Jinzhou China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China

This paper focuses on the distributed adaptive cooperative control problem for human-in-the-loop (HiTL) heterogeneous unmanned aerial vehicle-unmanned ground vehicle (UAV-UGV) systems via an improved prescribed performance approach. A novel human motion recognition system (HMRS) is designed and integrated into the HiTL strategy. Specifically, the leader trajectory can be changed in real time based on HMRS and the leader signal library to cope with various unexpected situations. This HiTL strategy solves the discontinuity and non-differentiability problems that may exist before and after human modification of leader signals within the extremely short time in conventional HiTL strategies. Moreover, an improved predefined-time prescribed performance approach is proposed, in which the performance function only needs to be first-order continuous differentiable instead of infinite-order continuous differentiable. This approach can greatly broaden the selection range of performance functions. Furthermore, a unified model of heterogeneous UAV-UGV systems is established to avoid designing UAV and UGV systems separately, which improves the universality of the control algorithm. Finally, the proposed HiTL control scheme is applied to a simulation example to verify its feasibility and effectiveness. IEEE

关键词： intelligent vehicle highway systems

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