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Cooperative output regulation of heterogeneous directed multi-agent systems:a fully distributed model-free reinforcement learning framework

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Science China(Information Sciences) 2025年第2期68卷 170-185页

作者： Xiongtao SHI Yanjie LI Chenglong DU Huiping LI Chaoyang CHEN Weihua GUI Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics School of Mechanical Engineering and AutomationHarbin Institute of Technology (Shenzhen) School of Automation Central South University School of Marine Science and Technology Northwestern Polytechnical University School of Information and Electrical Engineering Hunan University of Science and Technology

In this paper, the cooperative output regulation(COR) problem of a class of unknown heterogeneous multi-agent systems(MASs) with directed graphs is studied via a model-free reinforcement learning(RL) based fully distributed eventtriggered control(ETC) strategy. First, we consider the scenario that the exosystem is accessible globally to all agents, an internal model-based augmented algebraic Riccati equation(AARE) is constructed, and its solution is learned by the proposed model-free RL algorithm via online input-output data. Further, for the scenario that the exosystem is accessible only to its adjacent followers, the distributed observers are designed for each agent to get the state of the exosystem, and an internal modelbased fully distributed adaptive ETC protocol is then synthesized to construct the corresponding AARE, and the feedback gain matrix is learned in a model-free fashion. The model-free RL-based control protocol proposed in this paper can not only remove the prior knowledge of agents' dynamics, but also release the dependence on global information by the adaptive event-triggered mechanism(ETM) and the new graph-based Lyapunov function. Finally, simulation results are illustrated to show the feasibility and effectiveness of the proposed control scheme.

关键词： model-free reinforcement learning unknown heterogeneous multi-agent systems fully distributed event-triggered control directed graph

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A trajectory-level robot skill learning method based on fuzzy systems

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Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Theoretical Model Construction and Static Performance Analysis of Multi-Leaf Journal Foil Bearings

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Journal of Tribology 2025年第7期147卷 074101页

作者： Hu, Yang Ding, Pengjing School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai200072 China

Multi-leaf journal foil bearing (MLJFB) structures are complex, making performance prediction challenging, and the accurate prediction of gas film thickness and pressure distributions is crucial. In this study, comsol finite-element software was used to establish an initial foil assembly and structural deformation simulation model for an MLJFB with bump foils. Using matlab, a compressible gas lubrication model was established and solved using the finite volume method. Real-time data transfer between comsol and matlab enabled a fully coupled fluid-structure interaction simulation. This model meticulously accounts for the pre-tension force in the multi-leaf bearing assembly, contact friction between adjacent foils, and the interaction between the top foil and gas film pressure. The effects of journal movement distance, direction, and top foil overlapping ratio on the bearing capacity as well as the effects of different external load directions on the journal equilibrium position were analyzed based on this model. The results indicate that increasing the top foil overlapping ratio enhances the bearing capacity of the MLJFB. Furthermore, compared to the direction of the top foil overlap position, external loads applied in the direction of the top foil midpoint are more beneficial for bearing operational stability. Copyright © 2024 by ASME.

关键词： MATLAB

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Ti6Al4V laser carburizing grinding surface generation considering carbide distribution

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Journal of Manufacturing Processes 2025年 145卷 454-466页

作者： Hong, Yuan Sun, Cong Zhang, He Li, Haoru Guo, Qiang Ma, Liang Zhao, Jibin School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China National Institute of Intelligent Robotics Shenyang Co. Ltd Shenyang110015 China School of Mechanical and Electrical Engineering Changchun University of Science and Technology Changchun130022 China School of Mechanical and Power Engineering Henan Polytechnic University Jiaozuo454000 China School of Mechanical and Electrical Engineering Xinjiang Institute of Engineering Urumchi820023 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

Laser carburizing grinding is a performance-accuracy synergistic manufacturing method with promising applications. However, the existing research on the surface generation mechanism of laser carburizing grinding is not comprehensive. The improvement of grinding surface shape accuracy by laser-assisted heat and carburizing alloying has not been fully explored. Therefore, the differences in dynamic thermal-force coupling states, microscopic phase compositions and surface roughness between laser carburizing grinding and traditional separate machining (laser alloying & grinding) are compared by experimental studies. In laser carburizing grinding, the continuous heating results in a continuous high temperature of the remelted layer (192.7 °C), making the grit removal process more stable. The tangential grinding forces are reduced by 15 % compared to traditional separate machining. SEM and XRD examinations revealed the presence of a diffusely distributed granular TiC phase within the remelted layer, which improves the grindability of the machined surface. Further, a grinding surface generation model is developed considering the microscopic TiC phase distribution, material flow and multiple grits trajectories. The granular TiC has a smaller critical undeformed chip thickness. When the content of TiC in the remelted layer exceeds 30 %, the rubbing and plowing of the grits are suppressed, and the surface grooves are reduced. The roughness Ra of the laser carburizing grinding surface is reduced by 15 % and 25 % compared to traditional separate machining and conventional grinding, respectively. This research has improved the surface generation mechanism of laser carburizing grinding and promoted the development of highly efficient and controllable machining-strengthening integration technology. The relevant conclusions are essential for guiding high-performance Ti6Al4V surface property-accuracy synergistic manufacturing. © 2025 The Society of Manufacturing Engineers

关键词： Carburizing

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CTPU Based MetaMetarial Behaviour as a Soft Strain Sensor

CTPU Based MetaMetarial Behaviour as a Soft Strain Sensor

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2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Mutlu, Rahim Asghar, Umar Odriscoll, Ciara Yildirim, Tanju Southern Cross University Faculty of Science and Engineering Lismore Australia School of Engineering University of Wollongong in Dubai Robotics and Automation Research Group United Arab Emirates School of Engineering University of Wollongong in Dubai Robotics and Automation Research Group Dubai United Arab Emirates

ISBN: (纸本)9798331533892

The surge in flexible and wearable electronics, fueled by advancements in smart technologies and growing market demand, has highlighted the importance of auxetic sensors for applications in healthcare, medical rehabilitation, soft robotics, and human-machine interfaces. For widespread adoption, these sensors must offer high sensitivity, substantial stretchability, and long-term durability. This study explores the possibilities of realizing such wearable soft sensors based on conductive thermoplastic polyurethane (cTPU) 3D printing enhanced with auxetic mechanical metamaterials. Following simultaneous empirical mechanical and electrical measurements, auxetic soft sensor designs were compared with numerical simulations. Results suggest that such soft sensors based on metamaterials are great candidates for applications in healthcare and robotics when realized with 3D printing. © 2025 IEEE.

关键词： Flexible electronics

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An Untethered Bionic Soft Robotic Vehicle With Magnetic Actuation and Control for Multi-Scenario Applications

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IEEE robotics and automation Letters 2025年第6期10卷 5289-5296页

作者： Yang, Wenguang Qiao, Zezheng Gao, Zhizheng Yu, Haibo Yantai University School of Electromechanical and Automotive Engineering Yantai264005 China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China

In this study, a bionic soft robotic vehicle is designed with overall dimensions of 22.7 mm in length and 22 mm in width and weighs just 1.69 g. The robotic vehicle can realize precise motion control through a rotating magnetic field generated by Helmholtz coils. In the rotating magnetic field environment, by changing the parameters of the input current waveform, the vehicle can perform a variety of modes of motion, such as forward, backward, steering, and more. Furthermore, the robotic vehicle exhibits excellent motion performance. It is capable of moving stably on a variety of surfaces, including glass, wooden board, frosted board, and sandy soil, and can even successfully climb over obstacles as high as 30°. In particular, it can climb over a 20° barrier at 11.87 mm/s when loaded with three times its own weight (5 g). At the functional level, the robotic vehicle showcases its capabilities in obstacle clearance, path planning, and detection, underscoring its potential for performing complex tasks. © 2016 IEEE.

关键词： Motion planning

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Direct Ink Writing Method of Fractal Wearable Flexible Sensor Based on Conductive Graphene/Polydimethylsiloxane Ink

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 18-26页

作者： CHEN Junling GAO Feiyang ZHANG Liming ZHENG Xiongfei State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China School of Mechanical Engineering Shenyang Ligong UniversityShenyang110159China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China

Flexible electronic technology has laid the foundation for complex human-computer interaction system,and has attracted great attention in the field of human motion detection and soft *** has received an extensive attention due to its excellent electrical conductivity;however,how to use it to fabricate wearable flexible sensors with complex structures remains *** this study,we studied the rheological behavior of graphene/polydimethylsiloxane ink and proposed an optimal graphene ratio,which makes the ink have an good printability and conductivity at the same ***,based on the theory of Peano fractal layout,we proposed a two-dimensional structure that can withstand multi-directional tension by replacing the traditional arris structure with the arc *** that,we manufactured circular arc fractal structure sensor by adjusting ink composition and printing structure through direct ink writing ***,we evaluated the detection performance and repeatability of the *** method provides a simple and effective solution for fabricating wearable flexible sensors and exhibits the potential to fabricate 3D complex flexible electronic devices.

关键词： direct ink writing conductive graphene ink wearable flexible sensor strain sensing fractal structure

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Research on 3D Model Retrieval Technology Based on Audio Fingerprint and Contour View 14th

Research on 3D Model Retrieval Technology Based on Audio Fin...

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14th International Workshop of Advanced Manufacturing and automation, IWAMA 2024

作者： Lv, Yingshou Zhou, Chuanhong Ma, Chuanqi School of Automation and Mechanical Engineering Shanghai University Shanghai200072 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200072 China

ISBN: (纸本)9789819626243

With the sustained development of CAD technology in the field of mechanical design, the volume of three-dimensional (3D) CAD model data has been growing exponentially. To meet the challenge of rapidly increasing 3D model repositories in the mechanical industry and the demand for efficient retrieval, this paper proposes a 3D model retrieval algorithm based on audio fingerprints and contour views for STL format 3D models. The aim is to provide mechanical designers with an efficient and accurate method of retrieving the required parts from the vast model repository. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： 3D model retrieval Audio fingerprint extraction Contour view Rotational normalization

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Offline Palletizing Research Based on Greedy Tabu Search Algorithm 14th

Offline Palletizing Research Based on Greedy Tabu Search Alg...

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14th International Workshop of Advanced Manufacturing and automation, IWAMA 2024

作者： Zhang, Linjun Zhou, Chuanhong Chen, Yuan School of Automation and Mechanical Engineering Shanghai University Shanghai200072 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200072 China

ISBN: (纸本)9789819626243

This paper implements a greedy tabu search algorithm to deal with the offline palletizing problem, and proposes a two-phase greedy tabu search algorithm. In the first phase, a greedy stochastic adaptive search algorithm is utilized to obtain the local optimal solution of the palletizing problem in the construction process and the local search process, which includes the residual space strategy and the combination of the cargo block strategy, as well as the optimization of the space utilization rate by using the tiling wall strategy. In the second stage, the local optimal solution obtained in the first stage is used as the initial solution, and the tabu search algorithm is used to record the history information of the solution through the tabu table to prevent the algorithm from falling into the local optimal solution, so as to dig deeper into the global optimal solution. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Optimization algorithms

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Research on 3D Model Classification and Retrieval Based on Graph Convolutional Neural Network 14th

Research on 3D Model Classification and Retrieval Based on G...

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14th International Workshop of Advanced Manufacturing and automation, IWAMA 2024

作者： Deng, Junqiang Zhou, Chuanhong Chen, Xi School of Automation and Mechanical Engineering Shanghai University Shanghai200072 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200072 China

ISBN: (纸本)9789819626243

With the popularization of CAD technology in the manufacturing industry, the number of 3D models in the industry is rapidly expanding and becoming increasingly complex. These models carry the intelligence of designers and are highly reusable in the product development process. Manufacturing practitioners realize that they can accelerate product development by reusing the structure of previously designed models. Today, many open-source and private model databases have emerged, but efficient and accurate retrieval of 3D models is still an urgent problem. Current mainstream 3D model classification and retrieval algorithms commonly use deep learning techniques, which can usually be subdivided into voxel-based, point cloud-based and view-based methods. However, they all have their own shortcomings. Therefore, in this paper, we propose a 3D model classification and retrieval algorithm based on graph convolutional neural network for feature extraction of STEP files, which improves the efficiency and accuracy of 3D model classification and retrieval. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Convolutional neural networks

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