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Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes

IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 126-137页

作者： Dongfang Li Jie Huang Rob Law Xin Xu Limin Zhu Edmond Q.Wu IEEE the School of Electrical Engineering and Automation Fuzhou University the Key Laboratory of System Control and Information Processing Ministry of Education the School of Electrical Engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University the University of Macau the College of Mechatronics and Automation National University of Defense Technology the School of Mechanical Engineering Shanghai Jiao Tong University the Department of Computer Science and Engineering Shanghai Jiao Tong University

This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.

关键词： Adaptive integral surge line-of-sight approximation robotic fish speed observer

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MULTIDISCIPLINARY MODELING AND ANALYSIS OF NOSE LANDING GEAR SHIMMY

MULTIDISCIPLINARY MODELING AND ANALYSIS OF NOSE LANDING GEAR...

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2024 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2024

作者： Chen, Xiying Pan, Zhe Zhao, Shutong Gao, Bo Wang, Zeng Beijing Institute of Precision Electromechanical Control Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China Innovation Center for Control Actuators Beijing China

The research content is the shimmy analysis of the nose landing gear, mainly considering the stiffness of the main structural parts of the nose landing gear, the structure and damping parameters of shimmy damper, establishing a multi-body dynamics co-simulation model of the shimmy based on one-dimensional and three-dimensional co-simulation, and analyzing the anti-shimmy effect of the nose landing gear under different interference forces during landing and taxiing. To verify the rationality of the nose landing gear structure and parameter design, the critical shimmy damping hole diameter curve is calculated. It can be seen that the shimmy stability margin requirements are met with the gradual increase of aircraft taxiing speed. The diameter of the critical damping hole is slightly reduced at first, and the gradually increased. According to the analysis results, the damping parameters that meet the actual demand of shimmy reduction are given, which provides necessary technical support for the design of shimmy reduction system. © The Institution of engineering & Technology 2024.

关键词： Damping

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Nonpolar cross-stacked super-aligned carbon nanotube membrane for efficient wastewater treatment

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Frontiers of Environmental science & engineering 2023年第3期17卷 37-47页

作者： Shuang Zhang Shuai Liang Yifan Gao Yang Wu Xia Huang Bejing Key Laboratory for Source Control Technology of Water Pollution College of Environmental Science and EngineeringBeijing Forestry UniversityBeijing 100083China Engineering Research Center for Water Pollution Source Control&Eco-remediation College of Environmental Science and EngineeringBeijing Forestry UniversityBeijing 100083China State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China Department of Physics and Tsinghua-Foxconn Nanotechnology Research Center Tsinghua UniversityBeijing 100084China

Membrane separation technology has made great progress in various practical applications,but the unsatisfactory separation performance of prevailing membrane materials hampers its further sustainable *** study proposed a novel nonpolar super-aligned carbon nanotube(SACNT)membrane,which was prepared with a layer-by-layer cross-stacking *** controlling the number of stacked SACNT layers,three kinds of SACNT membranes(SACNT_200,SACNT 300,and SACNT_400)were *** characterizations and filtration tests were performed to investigate their physico-chemical properties,surface wetting behavior,and filtration *** with two commercial membranes(Com_0.22 and Com_0.45),all the SACNT membranes achieved smoother and more uniform *** to the hexagonal graphene structure of CNTs,the surface chemistry of the SACNT membranes is simple and inert,thereby potentially eliminating the covalent-bonding-induced membrane ***,the SACNT membranes exhibited a typical nonpolar wetting behavior,with high contact angles for polar liquids(water:~124.9°-126.5°;formamide:~80.0°-83.99)but low contact angles for nonpolar diodomethane(~18.8°-20.99).This unique nonpolar feature potentially leads to weak interactions with polar ***,compared with the commercial membranes,the SACNT membranes obtained a significantly higher selectivity while achieving a comparable or higher permeability(depending on the number of stacked layers).Moreover,the SACNT membranes exhibited superior separation performance in various application scenarios,including municipal wastewater treatment(2.3 times higher cleaning efficiency),electro-assistant fouling inhibition(or even self-cleaning),and oil/water separation(>99.2%of separation efficiency),suggesting promising application prospects in various fields.

关键词： Membranefouling Wastewater Membrane separation Antifouling Aligned carbon nanotube

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Three-dimensional spatiotemporal variation of soil organic carbon and its influencing factors at the basin scale

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International Soil and Water Conservation Research 2024年第4期12卷 885-895页

作者： Lingxia Wang Zhongwu Li Xiaodong Nie Yaojun Liu Hui Wang Yazhe Li Jiaqi Li College of Environmental Science and Engineering Hunan University and Key Laboratory of Environmental Biology and Pollution Control(Hunan University)Ministry of EducationChangsha 410082PR China School of Geographic Science Hunan Normal UniversityChangsha 410081PR China

The variability of soil organic carbon(SOC)extends across three ***,quantitative analyses of the factors influencing spatiotemporal variations of SOC in various soil depth is *** study leverages legacy data from two soil surveys conducted in the Dongting Lake Basin during the 1980s and the 2010s,employing Random Forest models to generate three-dimensional SOC *** correlation analysis and permutation importance,we identified the primary factors driving temporal and spatial changes of *** results showed that in the 2010s,SOC storage up to a depth of 1 m in the Dongting Lake Basin was approximately 2.95 Pg,increasing at an average rate of 0.0047 Pg C per year since the *** with higher average SOC contents were predominantly found in the western,southern,and eastern parts of the basin,despite significant losses over the 30-year *** contrast,the central and northern areas,which initially had lower SOC contents in the 1980s,exhibited increases by the *** depth was the most influential predictor of SOC patterns in both the 1980s and ***,relief and organism factors were primarily responsible for spatial variations in SOC,with the influence of organism factors diminishing by the *** temporal variations of SOC were chiefly attributed to changes in soil conservation practices,extreme precipitation events,and grain ***,it is imperative to prioritize ecological restoration and conservation tillage practices to mitigate the impacts of extreme weather conditions and safeguard food security.

关键词： Digital soil mapping Random forest Climate change Human activities 3D mapping

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A novel active-passive protection strategy endows carbonyl iron with excellent intelligent anti-corrosion and microwave absorption dual functional characteristics

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Nano Research 2025年第1期18卷 487-500页

作者： Wei Tian Quanyuan Feng Linbo Zhang Yinfan Liu Xian Jian Longjiang Deng Institute of Microelectronics School of Information Science and TechnologySouthwest Jiaotong UniversityChengdu 611756China National Engineering Researching Centre of Electromagnetic Radiation Control Materials Key Laboratory of Multi-Spectral Absorbing Materials and Structures of Ministry of EducationState Key Laboratory of Electronic Thin Films and Integrated DevicesSchool of Electronic Science and EngineeringUniversity of Electronic Science and Technology of ChinaChengdu 611731China School of Materials and Energy University of Electronic Science and Technology of ChinaChengdu 611731China The Yangtze Delta Region Institute(Huzhou)&School of Electronic Science and Engineering University of Electronic Science and Technology of ChinaHuzhou 313001China

Carbonyl iron absorbers(CI)face significant challenges in practical applications,such as corrosion,interface bonding failure,detachment,and high maintenance ***,we have developed intelligent self-healing technology based on proactive/passive mechanisms via in situ synthesis of self-healing factors(polydopamine/benzotriazole(PDA/BTA))and physical barrier layers(SiO_(2)/1,1,1,3,3,3-hexamethyl disilazane,SiO_(2)/HMDS)to enhance corrosion resistance,while also being compatible with efficient microwave absorption *** unique multiscale structure gives full play to the utilization of the roles of each functional layer,including the intelligent self-healing features of PDA/BTA,physical shielding and spatial confinement characteristics of SiO_(2)/HMDS,and magnetic-dielectric synergistic mechanism resulted from the good impedance matching characteristics,the conduction loss,the interfacial polarization loss and natural *** asfabricated composites achieved an exceptional minimum reflection loss value of-55.4 dB at 10.7 GHz and the effective absorption band of 7.6 ***,it still exhibits obvious self-healing and corrosion resistance characteristics after 360 h corrosion treatment,ascribed to the self-healing mechanism of PDA/BTA and the blocking intervention effect of SiO_(2)/*** work is considered to pave the way for the synthesis of high-performance magnetic absorbers,especially in enhancing their intelligent self-healing ability in corrosive environments.

关键词： microwave absorption intelligent self-healing technology carbonyl iron multiscale structure magneticdielectric synergistic mechanism

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Discharge Characteristics of DBD with Contact Electrodes at Atmospheric Pressure in Quiescent Air 4th

Discharge Characteristics of DBD with Contact Electrodes at ...

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4th International Symposium on Insulation and Discharge Computation for Power Equipment, IDCOMPU 2023

作者： Haosheng, Jin Shiyun, Liu Hengrui, Liang Yaqin, Shi Danhua, Mei Zhi, Fang School of Electrical Engineering and Control Science Nanjing Tech University Nanjing211816 China School of Electrical Engineering Southeast University Nanjing210096 China

ISBN: (纸本)9789819974047

Dielectric barrier discharge (DBD) has been widely concerned due to its stability and non-corrosive electrode structure. In this study, a mesh-like DBD reactor with wire-to-wire cross-contact electrodes is proposed. Coated high-voltage electrodes with dielectric barriers in directed contact with the ground electrodes facilitate the generation of a wide range of non-thermal plasma at lower voltages. The performance of the designed plasma reactor has been investigated in terms of its electrical, optical, thermal properties and ozone generation capabilities. It is shown that the discharge first occurs in the gap at the contact point, which produces initial electrons and then diffuses into the surrounding air gap, leading to the formation of a certain discharge region. Increasing the magnitude of the applied voltage and the number of contact points increases the discharge intensity, discharge power, emission intensity of active particles and ozone concentration. Decreasing the mesh size d favors ozone formation, and the highest ozone yield of 240 ppm can be achieved with a mesh size d of 4 mm. © Beijing Paike Culture Commu. Co., Ltd 2024.

关键词： Dielectric barrier discharge

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ALARM: Safe Reinforcement Learning with Reliable Mimicry for Robust Legged Locomotion

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IEEE Robotics and Automation Letters 2025年第7期10卷 6768-6775页

作者： Zhou, Qiqi Ding, Hui Chen, Teng Man, Luxin Jiang, Han Zhang, Guoteng Li, Bin Rong, Xuewen Li, Yibin Shandong University School of Control Science and Engineering Jinan 250061 China Qilu University of Technology Shandong Academy of Sciences School of Mathematics and Statistics Jinan 250353 China

Legged robots are supposed to traverse complicated environments, which makes it challenging to design a model-based controller due to their functional complexity. Currently, using deep reinforcement learning to improve the adaptability of robots in complex scenarios has been a major research trend. In this letter, we propose Adaptive Latent Aggregation for Reliable Mimicry (ALARM), a reinforcement learning framework that enables safe and robust locomotion in legged robots using only proprioception. This work features a one-step teacher-student training paradigm by constructing an adaptive aggregation strategy, which integrates the merits of imitation learning and reinforcement learning effectively. The framework integrates normalized penalized proximal policy optimization, which penalizes constraint-violating behaviors while optimizing locomotion policy. Our method facilitates efficient sim-to-real transfer, offering a promising approach for real-world legged robot applications. © 2025 IEEE.

关键词： imitation learning Legged robots machine learning for robot control reinforcement learning

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Observer-based stabilization for discrete nonlinear semi-Markov jump singularly perturbed models with mode-switching delay

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science China(Information sciences) 2025年第4期68卷 389-390页

作者： Wenhai QI Runkun LI Ju H.PARK Zheng-Guang WU Huaicheng YAN School of Engineering Qufu Normal University Department of Electrical Engineering Yeungnam University Institute of Cyber-Systems and Control Zhejiang University Key Laboratory of Smart Manufacturing in Energy Chemical Process of Ministry of Education East China University of Science and Technology

Semi-Markov jump systems(S-MJMs) not only characterize hybrid systems but also address the limitations of Markov jump systems(MJMs) [1–3]. Due to their ability to exhibit multi-time-scale features, singularly perturbed models(SPMs) effectively model practical systems influenced by multiple time-scale phenomena [4]. In this study, the observer-based output feedback controller is asynchronous with the original system due to the time delay in the controller mode switching. A nonlinear plant with singularly perturbed parameters(SPPs) is represented using an interval type-2(IT2) fuzzy model [5].

关键词：

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Vibration-induced bias error reduction using loop gain compensation for high-precision fiber optic gyroscopes

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Journal of Systems engineering and Electronics 2025年第1期36卷 224-232页

作者： CHEN Heyu QIN Xuexin XIE Huan KONG Linghai ZHENG Yue School of Instrumentation Science and Opto-Electronics Engineering Beihang UniversityBeijing 100191China Beijing Institute of Computer Technology and Application Beijing 100854China Hunan Shuaiwei Control Technology Co. LTDChangsha 421000China Beijing Institute of Control and Electronic Technology Beijing 100038China

Vibration-induced bias deviation,which is generated by intensity fluctuations and additional phase differences,is one of the vital errors for fiber optic gyroscopes(FOGs)operating in vibration environment and has severely restricted the applications of high-precision *** conventional methods for suppressing vibration-induced errors mostly concentrate on reinforcing the mechanical structure and optical path as well as the compensation under some specific operation parameters,which have very limited effects for high-precision FOGs maintaining performances under *** this work,a technique of suppressing the vibration-induced bias deviation through removing the part related to the varying gain from the rotation-rate output is put ***,the loop gain is extracted out by adding a gain-monitoring *** demodulating the loop gain and the rotation rate simultaneously under distinct frequencies and investigating their quantitative relationship,the vibrationinduced bias error is compensated without limiting the operating parameters or environments,like the applied modulation *** experimental results show that the proposed method has achieved the reduction of bias error from about 0.149°/h to0.014°/h during the random vibration with frequencies from20 Hz to 2000 *** technique provides a feasible route for enhancing the performances of high-precision FOGs heading towards high environmental adaptability.

关键词： vibration-induced error fiber optic gyroscope(FOG) loop gain

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Enhanced Infrared-Visible Image Fusion Method with an ISP Based Degradation Model 13

Enhanced Infrared-Visible Image Fusion Method with an ISP Ba...

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13th International Conference on Intelligent control and Information Processing, ICICIP 2025

作者： Guo, Xueyi Liu, Yisha Xue, Weimin Zhang, Zhiwei Information Science and Technology College Dalian Maritime University Dalian China School of Control Science and Engineering Dalian University of Technology Dalian China

ISBN: (纸本)9798331516147

The performance of infrared (IR) and visible (VIS) image fusion tasks depends on the quality of source images, which are usually impacted by various degradation factors in real-world scenarios, leading to poor quality and visual effects of the fused images. By learning the mapping from low-quality (LQ) source images to high-quality (HQ) fused images, neural networks can remove the impacts of degradation factors, generating HQ fused images. However, the lack of paired LQ source images and corresponding HQ fused images poses a significant challenge in training a fusion network. Considering the effectiveness of the image processing pipeline (ISP) in processing IR and VIS images, reversing specific steps of ISP can accurately simulate the image degradation process. Building upon this research, we propose a novel ISP-based degradation model that reverses several ISP steps while incorporating various degradation factors, thereby generating LQ IR and VIS images from source images to train the fusion network. Experimental results on multiple image fusion datasets demonstrate that our method significantly enhances the quality and visual effects of fused images. © 2025 IEEE.

关键词： Image fusion

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