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第32届中国控制与决策会议

作者： JiangBo Zhao Shicheng Ma Shanshuai Niu Junzheng Wang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology

Virtual model control(VMC) is the most widely-used method for motion control of quadruped *** could decrease the abrupt ground reaction force and realize compliant interaction between foot and ground at the cost of control *** improve the robustness and precision of VMC,we integrate a fractional-order virtual damper with the classical VMC and propose a fractional-order VMC(FOVMC) for quadruped robot trotting *** we provide the implementation details about optimization-based FOVMC parameter tuning method and carry out the trotting experiments on the quadruped robot *** experiment results demonstrate that FOVMC could improve the precision of single-leg motion control and achieve a better whole-body trotting performance than classical VMC.

关键词： Fractional-order calculus Virtual model control Quadruped robot Trotting

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LVRT During-fault-stage Equilibrium Point is Unnecessary for Renewable Grid-tied systems

LVRT During-fault-stage Equilibrium Point is Unnecessary for...

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Power system and Green Energy Conference (PSGEC)

作者： Yayao Zhang Min Cheng Meng Zhan Jiawei Yu Yihua Zhu Mingkang Wu State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan China Yunnan Power Grid China State Key Laboratory of HVDC Electric Power Research Institute China Southern Power Grid China National Energy Power Grid Technology R&D Centre Electric Power Research Institute China Southern Power Grid China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System Electric Power Research Institute China Southern Power Grid China

ISBN: (数字)9798350365573

ISBN: (纸本)9798350365580

Transient synchronous stability of renewable grid- tied systems is of paramount importance. Most of previous studies focused on the grid-tied converter in the low voltage ride through (LVRT) during-fault stage and performed stability analysis based on the belief that if the system has (or has no) a stable equilibrium point in the during-fault stage, the system will be stable (or unstable). Therefore, it has been broadly accepted that the existence and/or stability of equilibrium point in the during-fault stage is necessary. However, the whole LVRT contains four different stages and the during-fault stage is only one among them. The transient synchronous stability of whole system should be determined by the initial state in the late post-fault stage and the attraction basin of its equilibrium point. The late post-fault stage is essential for stability and all four stages are important. Clearly treating the during-fault stage as the whole LVRT stages makes the nonlinear switched dynamics problem be greatly simplified and, certainly, is incomplete. In order to clarify this point, this paper analyzes the influence of existence (or nonexistence) of equilibrium point in the during-fault stage on the transient synchronous stability of permanent magnet synchronous generator grid-tied system. We can find that the existence of an equilibrium point in the during-fault stage is only a sufficient condition, rather than a necessary condition. The theoretical analysis is also verified in the hardware-in-the-loop experiment Therefore, a large number of previous studies and results on the transient synchronous stability of renewable grid-tied systems are incomplete and questionable.

关键词： Sufficient conditions Stability criteria Switches Voltage Power system stability Synchronous generators Permanent magnets Nonlinear dynamical systems Transient analysis Magnetic switching

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Procedure Recognition by Knowledge-Driven Segmentation in Robotic-Assisted Vitreoretinal Surgery

Procedure Recognition by Knowledge-Driven Segmentation in Ro...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhen Li Yawen Deng Qiang Ye Weihong Yu Haoxiang Qi Yaliang Liu Zhangguo Yu Gui-Bin Bian School of Electronic and Information Engineering Tongji University Shanghai China Institute of Automation Chinese Academy of Sciences Beijing China School of Mechatronic Engineering Beijing Institute of Technology Beijing China Department of Ophthalmology Peking Union Medical College Hospital Chinese Academy of Medical Sciences and Peking Union Medical College Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Internal limiting membrane (ILM) peeling is a vital vitreoretinal surgery procedure. However, due to the thickness of just 1-2 micrometers and the intricacies associated with its varying density and adhesion, the difficulty of manipulation exceeds the physiological limits of human perception and operation. Surgical robot is characterized by high precision and stability. However, navigating intricate intraocular environments and handling minuscule high-precision areas remain enormous challenges. These include issues of uneven lighting, field-of-view loss, and motion blur. This paper proposed a perception method named ‘Multimodal Surgical Process Recognition based on Domain Knowledge and Segmentation (MSPR-DKS),’ designed to address these challenges and provide input for the precise control of robots. Moreover, a comprehensive dataset focused on ILM peeling during macular hole surgeries was established. Experimental results underscore the efficacy of this approach, with segmentation accuracies exceeding 99.27% for instruments and macular holes and an average accuracy of 98.97% in recognizing surgical processes. This study paves the way for leveraging domain knowledge and image segmentation to improve robot-assisted manipulation of soft tissues in ophthalmology.

关键词： Image segmentation Visualization Accuracy Medical robotics Motion segmentation Surgery Lighting

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Model-free Based Reinforcement Learning control Strategy of Aircraft Attitude systems

Model-free Based Reinforcement Learning Control Strategy of ...

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Chinese Automation Congress (CAC)

作者： Dingcui Huang Jiangping Hu Zhinan Peng Bo Chen Mingrui Hao Bijoy Kumar Ghosh School of Automation Engineering University of Electronic Science and Technology of China Chengdu China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Texas Tech University Lubbock USA

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

Traditional aircraft control algorithms have a strong dependence on system models, and are difficult to cope with the increasingly complex battlefield environment for intelligent aircrafts. In this paper, a model-free reinforcement learning is proposed to solve an attitude stabilization problem of an aircraft based online intelligent control strategy. The attitude control problem is firstly formulated as an optimal control problem, and then an adaptive dynamic programming (ADP) technology is applied to compute the corresponding nonlinear Hamilton-Jacobi-Bellman (HJB) equation. Then, an actor-critic neural network structure is established to learn the optimal controller online not requiring the information of the aircraft dynamics. The proposed intelligent control strategy enables the aircraft to adjust its attitude according to the actual mission targets and environments under the proposed online control strategy, so that autonomous learning and intelligent operation can be realized. Finally, simulation examples are presented to validate the proposed model-free based control strategy.

关键词： Atmospheric modeling Aircraft Adaptation models Mathematical model Aerodynamics Attitude control Vehicle dynamics

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Finite Element Analysis of Series Elastic Actuator for Exoskeleton Robot Joint 17

Finite Element Analysis of Series Elastic Actuator for Exosk...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Xi, Pengyu Ge, Weimin Zhang, Sen Zhang, Zhili Zielinska, Teresa Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin Sino-German University of Applied Science Intelligent Manufacturing College Tianjin300384 China Institute of Aeronautics and Applied Mechanics Warsaw University of Technology Warsaw00665 Poland

ISBN: (纸本)9781728164151

The finite element simulation for the joints of an exoskeleton robot is conducted in this paper. Using software OpenSim to simulate the normal walking gait of the human body, the motion angle and moment of the human hip, knee and ankle joints are obtained. Using the obtained data as the input parameters in the finite element simulation of the simulation software Ls-dyna, the strain diagrams and contact force curves of the circular roller and cam disk were obtained. In this study, three commonly used materials are selected: alloy steel, ductile iron and hard aluminum alloy. Finally, the effects of different materials on the key components of the series elastic actuator are studied. © 2020 IEEE.

关键词： Finite element method

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Branch-and-cut-and-price for agile earth observation satellite scheduling

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European Journal of Operational Research 2025年

作者： Peng, Guansheng Wang, Jianjiang Song, Guopeng Gunawan, Aldy Xing, Lining Vansteenwegen, Pieter School of Advanced Engineering and Great Bay Institute for Advanced Study Great Bay University Dongguan523000 China Defense Innovation Institute Chinese Academy of Military Science Beijing100071 China College of Systems Engineering National University of Defense Technology Changsha410073 China National Key Laboratory of Information Systems Engineering National University of Defense Technology Changsha410073 China School of Computing and Information Systems Singapore Management University Singapore178902 Singapore Research Institute of Intelligent Control and Manufacturing System Jiangsu University of Technology Changzhou213001 China KU Leuven Institute for Mobility - CIB Leuven3001 Belgium

The Agile Earth Observation Satellite scheduling selects and sequences satellite observations of possible targets on the Earth's surface, each with a specific profit and multiple time windows. The objective is to maximize the collected profit of all observations completed under some operational constraints. The problem can be modeled as a variant of the Team Orienteering Problem with Time Windows (TOPTW). The key differences with the regular TOPTW are twofold: first, a time-dependent transition time is required for each pair of consecutive observations to adjust the camera's look angles. Second, the time windows of each target vary during different observation cycles, called "orbits". Some targets are invisible during certain orbits. We call this variant the Time-dependent Team Orienteering Problem with Variable Time Windows. In this paper, we present an efficient branch-and-cut-and-price (BCP) algorithm that exploits the problem's characteristics to solve it to optimality. Some algorithmic enhancements have been implemented, such as a Lagrangian bound, an ng-path relaxation, a primal heuristic, and subset-row inequalities. Extensive experiments on different configurations of benchmark instances demonstrate the superior performance of the proposed BCP algorithm and its algorithmic enhancements. Moreover, the primal heuristic yields a high-quality lower bound and outperforms state-of-the-art heuristics. Finally, we adopt our framework to solve the well-known TOPTW, and our algorithm is much faster than state-of-the-art exact algorithms. © 2025 Elsevier B.V.

关键词： Branch and bound method

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Path Planning and Evaluation for Obstacle Avoidance of Manipulator Based on Improved Artificial Potential Field and Danger Field

Path Planning and Evaluation for Obstacle Avoidance of Manip...

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第33届中国控制与决策会议

作者： Jiangbo Zhao Qiang Zhao Junzheng Wang Xin Zhang Yanlong Wang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology Technical center Xinxing Cathay International Group Co.Ltd. Technology Center of Special Vehicle Manufacture and Evaluation Enginneering of Beijing Beijing North Vehicle Group Co.Ltd.

This paper takes 6-DOF manipulator as the research object,proposes the improved Artificial Potential Field(APF) method to plan the obstacle avoidance path of the manipulator,and combines the Danger Field(DF) method to evaluate the safety of the path planned using *** to the characteristics of the manipulator,the kinematics model of the manipulator is analyzed,and the ball envelope algorithm is applied to simplify the physical model of the *** with the traditional APF method,the improved APF searches in the joint space and introduces the joint attraction potential to improve the search speed and *** problem of local minimum is dealt with by the combination of adding virtual obstacles and increasing joint attraction *** improved APF not only has the advantages of good real-time performance and smooth path,but also solves the problem of the traditional APF falling into a local minimum,and combines the danger field method to judge the path rationality to ensure no collision with *** simulation verification,the proposed method realizes the obstacle avoidance path planning of the manipulator and the safety evaluation of the planned path.

关键词： Artificial potential field Danger field Obstacle avoidance Path planning Collision detection

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Mechanical Structure and control Methods for Lower-Limb Rehabilitation Robots

Mechanical Structure and Control Methods for Lower-Limb Reha...

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第40届中国控制会议

作者： Wangyang Ge Ruoyu Jiang Juan Zhao Zhentao Liu Zhaohui Yang Jinhua She School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Department of Rehabilitation Union HospitalTongji Medical CollegeHuazhong Univ.Science & Technology School of Engineering Tokyo University of Technology

As a rehabilitation aid,lower-limb rehabilitation robots help patients recover their walking *** paper presets a review of such a rehabilitation ***,we classify commercially available common types of lower-limb rehabilitation ***,we briefly describe the structure and characteristics of those robots,Then,we present the control methods used in those ***,we explain future research directions.

关键词： rehabilitation robots mechanical structure control method biological signal

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A Relay Satellite-Assisted Covert Communication Position Optimization in 6G Satellite Communication

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Electronics Letters 2025年第1期61卷

作者： Wanxin Ma Wen Tian Huaifeng Shi Xufei Ding Xin Sun Shuhua Huang CountryKey Laboratory of Intelligent Support Technology In Complex Environment (Nanjing University of Information Science and Technology) Ministry of Education Nanjing University of Information Science and Technology Nanjing China The College of Computer Science and Software Engineering Hohai University Nanjing China School of Automation Nanjing University of Science and Technology Nanjing China The College of Electrical Engineering and Control Science Nanjing Tech University Nanjing China

Satellite communication, a key technology in the 6G communication system, has advantages such as wide coverage, being unrestricted by geographical conditions, and large communication capacity. However, the communication process timely face eavesdropping from illegal warden due to the wireless broadcast characteristics of satellite communication. To solve this problem, we propose a relay satellite-assisted covert communication on position optimization mechanics (RSCCPOM). Specifically, we construct a satellite communication countermeasure model and obtain the minimum detection error probability for the warden, and then optimize the position of relay satellite. Simulation results show that our RSCCPOM improve covert communication rate compared with existing work.

关键词： satellite communication wireless communications

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Surface protonation amplifies carbon nitride nanosheet-induced phospholipid extraction: Mechanistic insights into enhanced cytotoxicity

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Environmental Chemistry and Ecotoxicology 2025年 7卷 1169-1177页

作者： Feng, Yiping Lao, Jiayong Xue, Jingchuan Guangdong Key Laboratory of Environmental Catalysis and Health Risk Control School of Environmental Science and Engineering Institute of Environmental Health and Pollution Control Guangdong University of Technology Guangzhou510006 China Guangdong Basic Research Center of Excellence for Ecological Security and Green Development Key Laboratory for City Cluster Environmental Safety and Green Development of the Ministry of Education School of Ecology Environment and Resources Guangdong University of Technology Guangzhou510006 China Guangdong Provincial Key Laboratory of Water Quality Improvement and Ecological Restoration for Watersheds Institute of Environmental and Ecological Engineering Guangdong University of Technology Guangzhou510006 China Guangdong Provincial Engineering Research Center of Intelligent Low-carbon Pollution Prevention and Digital Technology South China Normal University Guangzhou510006 China Green and Low-carbon Innovation Center Nan'an SCNU Institute of Green and Low-carbon Research Quanzhou362300 China Guangdong Provincial Observation and Research Station for Social-Natural Complex Ecosystems in Haizhu Wetlands Guangzhou510006 China

The transformation of graphitic carbon nitride (g-C3N4) in biological and environmental systems can significantly alter its properties and toxicity, posing potential risks to human health and biological systems. This study systematically examines the cytotoxicity evolution of protonated carbon nitride (p-C3N4) toward red blood cells and elucidates its underlying mechanisms. Hemolysis assays revealed that p-C3N4 exhibits enhanced phospholipid membrane-rupturing capabilities compared to pristine g-C3N4, with absence of significant lipid peroxidation detected via malondialdehyde assays. Surface characterization revealed that protonation reduces the net negative charge of carbon nitride, thereby increasing its affinity with phospholipid membranes. Molecular docking simulations identified that the interactions between p-C3N4 and phospholipid molecules are governed by electrostatic and hydrophobic forces, as well as hydrogen bonding with oxygen-containing functional groups. Molecular dynamics simulations further revealed that larger oxygen-bearing macropores on p-C3N4 allow for tight and specific binding with phospholipid headgroups, facilitating efficient lipid extraction and intensifying membrane disruption. These findings provide critical insights into the cytotoxic changes that carbon nitride materials may undergo during transformations, emphasizing the importance of careful application and disposal of them in biomedical and environmental contexts. Furthermore, this work highlights opportunities to mitigate associated risks or use surface protonation for enhanced functionality in carbon nitride-based technologies. © 2024

关键词： Lecithin

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