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2nd Information Communication Technologies Conference, ICTC 2021

作者： Tian, He Liu, Lijian Tian, Miao Zhou, Shimin Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology School of Mechanical Engineering Tianjin China Tianjin Academy of Educational Science Tianjin China Tianjin Newborn New Energy Technology Co. Ltd Tianjin China

ISBN: (纸本)9780738142876

According to the idea of "Emerging Engineering Education"talent training model of Ministry of Education, students should be trained to have "metaphysical"concept, connection, imagination, macro thinking. Project-driven experiment teaching focuses on a project, and the goal is the completion of the project;the student is the center of teaching activities, which is supported by the inquiry process. This study analyzes the significance of the project-driven method in experimental teaching. This paper describes the implementation process of experimental teaching in the field of energy and power engineering in terms of project design, teaching system construction and so on under the project-driven method. By analyzing the results of a questionnaire survey distributed to students of energy and power in the College of Mechanical Engineering at the Tianjin University of technology, it is found that the students are satisfied with the effects of project-driven experimental teaching, and the use of experimental teaching has greatly aroused the students' enthusiasm for learning. The ability of the students to engage in autonomous learning, engineering practice and innovation has been greatly improved, and a good teaching effect has been achieved. © 2021 IEEE.

关键词： Students

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Behavior-based cooperative control method for fixed-wing UAV swarm through a virtual tube considering safety constraints

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Chinese Journal of Aeronautics 2025年

作者： Siyi YUE Duo ZHENG Mingjun WEI Zhichen CHU Defu LIN School of Astronautics Engineering Beijing Institute of Technology Beijing 100081 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Yungang Street Beijing 100074 China

Unmanned Aerial Vehicle (UAV) swarm collaboration enhances mission effectiveness. However, fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments. Aimed at the cooperative control problem of fixed-wing UAV swarm flights under the airspace constraints of a virtual tube in a complex environment, this paper proposes a behavior-based distributed control method for fixed-wing UAV swarm considering flight safety constraints. Considering the fixed-wing UAV swarm flight problem in complex environment, a virtual tube model based on generator curve is established. The tube keeping, centerline tracking and flight safety behavioral control strategies of the UAV swarm are designed to ensure that the UAV swarm flies along the inside of the virtual tube safety and does not go beyond its boundary. On this basis, a maneuvering decision-making method based on behavioral fusion is proposed to ensure the safe flight of UAV swarm in the restricted airspace. This cooperative control method eliminates the need for respective pre-planned trajectories, reduces communication requirements, and achieves a high level of intelligence. Simulation results show that the proposed behavior-based UAV swarm cooperative control method is able to make the fixed-wing UAV swarm, which is faster and unable to hover, fly along the virtual tube airspace under various virtual tube shapes and different swarm sizes, and the spacing between the UAVs is larger than the minimum safe distance during the flight.

关键词： Unmanned aerial vehicles (UAV) UAV swarm Distributed cooperative control Swarm flight safety Behavior-based method Virtual tube airspace

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Cross-Membrane Penetration to Nucleus of Adherent Cells Using Micropipettes Made by Borosilicate Glass and Quartz 17

Cross-Membrane Penetration to Nucleus of Adherent Cells Usin...

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

作者： Xu, Xinyue Liu, Xiaoming Lin, Yuqing Li, Pengyun Liu, Fengyu Tang, Xiaoqing Huang, Qiang Arai, Tatsuo Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineering Beijing100081 China

ISBN: (纸本)9781728164151

In the biomicromanipulation field, single-cell manipulation is receiving attention due to its potential applications in many aspects of biomedicine. Cell injection, as a typical cell micromanipulation technique, is devoted to introducing foreign substances into living cells by penetrating a fine micropipette into cell membranes. Direct access to the intracellular environment, especially the nucleus, provides an ideal way to gain insight into the dynamic processes of living cells. This paper presents the comparison of controlled penetrations of two types of adherent cells and their nuclei by two types of micropipettes, made of borosilicate glass and quartz respectively. Due to the differences in the cell properties (e.g., height, adhesion strength), two corresponding penetration strategies optimizing the puncture angle and puncture height, are proposed to improve the success rate of the puncture process and the survival rate of cells after the puncture. Real nucleus puncture experiments adopting the optimal puncture strategy for each type of cells and carried out by a semi-automatic system, indicated a better puncture effect by quartz pipettes. Through this method, functional materials such as peptides and nanoparticles can be potentially introduced to perturb the cell activities and then realize its full automation. © 2020 IEEE.

关键词： Quartz

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Effect of Annealing Process Parameters on N-Gaas Ohmic Contacts

SSRN

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SSRN 2021年

作者： Lin, Tao Xie, Jianan Ning, Shaohuan Ma, Zekun Mu, Yan Sun, WanJun Yang, Sha Department of Electronic Engineering Xi'an University of Technology Xi'an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Shaanxi Xi’an710048 China

Ni/Ge/Ni/Au multi-layer metal electrodes were prepared on N-GaAs substrate by electron-beam evaporation to investigate the effect of annealing process parameters on N-GaAs ohmic contacts. In the annealing temperature range of 370 °C to 430 °C, the metal-semiconductor contact was found changing from Schottky contact to ohmic contact as the annealing temperature was above 380 °C. Specific contact resistivity of n-GaAs samples firstly decreased and then increased with the increasing of annealing temperature, and the minimum specific contact resistivity of 3.3×10 -5 Ω·cm 2 was formed at 420 °C annealing for 80 s. Although the specific contact resistivity of the metal-semiconductor contact performed satisfactorily, the surface morphology of the n-GaAs metal electrode was found having metal shrinkage after annealing. The formation mechanism of ohmic contact was qualitatively explained by the elements diffusion under different annealing parameters, which were confirmed by the comparative analysis of SEM and EDX results. © 2021, The Authors. All rights reserved.

关键词： Gallium arsenide

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An error analysis method for attitude estimation system based on epipolar geometry

An error analysis method for attitude estimation system base...

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Power Electronics, Computer Applications (ICPECA), IEEE International Conference on

作者： Shilin Luo Cheng Xu Lundong Zhang Jing Dong Wenxing Fu Songlai Han School of Aeronautics and Astronautics Central South University Changsha China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratary Beijing China Information Engineering University Zhengzhou China School of Aerospace Science and Engineering National University of Defense Technology Changsha China

ISBN: (数字)9781728190044

ISBN: (纸本)9781728190051

This paper proposes an error analysis method based on epipolar geometry which is analyzed for improving the accuracy of attitude estimation. The influence of equivalent focal length and principal point coordinates on modeling error was analyzed by simulation and experiment based on a rotary table. The result shows that the influence of the equivalent focal length will increase as the rotation angle increases, the different motion states will lead to different degrees of impact of the principal point coordinates. Besides, we derived that pose measuring accuracy is unrelated to the magnitude of rotation angle and there is no accumulative error under simulation conditions. This proposed method can enhance the measuring accuracy and provide some meaningful advice for engineering applications.

关键词： Geometry Analytical models Error analysis Computational modeling Measurement uncertainty Estimation Rotation measurement

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Extended NNs-Based Adaptive Event-Triggered Asymptotic control for Nonlinear systems Against Actuator Faults

Extended NNs-Based Adaptive Event-Triggered Asymptotic Contr...

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International Symposium on Autonomous systems (ISAS)

作者： Shanlin Liu Yingwei Zhang Xudong Zhao Hesheng Wang College of Information Science and Engineering Northeastern University Shenyang China State Laboratory of Synthesis Automation of Process Industry Northeastern University Shenyang China Faculty of Electronic Information and Electrical Engineering Dalian University of Technology Dalian China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of IntelligentControl and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350363173

ISBN: (纸本)9798350363180

In this article, an adaptive event-triggered asymp¬totically fault-tolerant control (FTC) issue for nonlinear systems with actuator faults is investigated. An extended neural networks (NNs) technique is introduced to estimate unknown functions of the system under consideration. Compared with traditional NNs that ignore approximation errors, the proposed extended NNs further processes approximation errors, reducing the conservatism of the proposed algorithm. Then, within the framework of backstepping method, a new adaptive control strategy is developed by combining event-triggered mechanism (ETM) and bound estimation (BE) approach, which ensures the asymptotic convergence of system states while also reducing the transmission of unnecessary information, thus improving the utilization of communication resources. At the same time, the designed controller eliminates the adverse effects of actuator failures and system nonlinear terms. Finally, a simulation example of a single-link robot system is provided to demonstrate that the developed control strategy can ensure that all signals are bounded and system states are asymptotically convergent.

关键词： Actuators Backstepping Fault tolerant systems Process control Artificial neural networks control systems Approximation error

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Design of Reusable Effectiveness Evaluation Model Framework

Design of Reusable Effectiveness Evaluation Model Framework

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Chinese control and Decision Conference, CCDC

作者： Shuang Zhang Wei Li Shenglin Lin Ming Yang Jiahui Tong Control and Simulation Center Harbin Institute of Technology Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

In order to make the effectiveness evaluation models of the weapon equipment system universal and flexible, and adapt to different evaluation objects, a framework of effectiveness evaluation model is designed. Next a series of modular and reusable effectiveness evaluation models are proposed under the framework. Each type of evaluation model is built based on IDEF0, and the corresponding input and output of each model are designed. To further improve reusability, several models are mathematically described and model interface is designed based on XML.

关键词： Indexes Data models Data mining Analytical models Mathematical model Optimization Adaptation models

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Incorporating Steering Constraints in AGV Path Planning Through Graph Augmentation

Incorporating Steering Constraints in AGV Path Planning Thro...

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Liming Zhang Zhimin Han Bo Wang Zhiyun Lin Xiangdong Xu School of Automation Hangzhou Dianzi University Hangzhou P. R. China Zhejiang CoTEK Robotics Co. Ltd Hangzhou P. R. China Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen P. R. China Peng Cheng Laboratory Shenzhen P. R. China Wenzhou Institute of Industry & Science Wenzhou P. R. China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

In this paper, we introduce an innovative method for the orientation-specific path planning of an Automated Guided Vehicle (AGV) with steering constraints, such as unmanned forklifts. Traditional shortest-path algorithms, which solely consider distance or travel time, are unsuitable for tasks where the AGV’s orientation is crucial. To address this, we have created an augmented graph that inherently incorporates the AGV’s steering constraints and orientation. By utilizing this enhanced graph structure, conventional shortest-path algorithms can be employed to ascertain a path that takes the AGV’s orientation into account. This novel method facilitates more adaptable and secure path planning, while preserving the immediacy required for real-time path planning execution.

关键词： Remotely guided vehicles Path planning Real-time systems Task analysis Standards Robots

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Research on Performance Evaluation Method of UAV Multi-Source Data Fusion Based on Credibility

Research on Performance Evaluation Method of UAV Multi-Sourc...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Hua-pin Geng Jia-hui Tong Beijing Electromechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781728180250

ISBN: (纸本)9781728180267

Based on the analysis of aircraft multi-source test data and the characteristics of common data fusion methods, this paper puts forward a multi-source data fusion performance evaluation process model based on credibility, and studies the key points of test data pre-processing and compatibility test Methods, credibility analysis methods and multi-source test data fusion methods based on credibility, focusing on the credibility analysis method of multi-source data based on evidence distance and the credibility analysis method based on consistency analysis, from the perspective of reliability, objectively measure the weight of multi-source data in fusion, and carry out typical Validation to test the effectiveness of the multi-source test data fusion performance evaluation method based on credibility.

关键词： Quality function deployment Xenon Rail to rail outputs

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Design and Implementation of Number Gesture Recognition system Based on Kinect

Design and Implementation of Number Gesture Recognition Syst...

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第三十九届中国控制会议

作者： Xingxiu He Jia Zhang School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control of Complex System

The paper designs a number gesture recognition system based on Kinect. The system uses the depth image captured by Kinect sensor to extract gesture information for recognition. In the process of recognition, the AdaBoost algorithm in machine learning is adopted firstly, by the help of Visual Gesture Builder to train the number gesture classifier,and export the classifiers to the recognition program to recognize the current gesture. Finally, numbers are outputted according to the recognized gesture, and the basic functions of number gesture recognition system are realized. Through the experimental verification, the recognition system has enough accuracy, and the system is suitable for various factors such as environment, personnel, etc., which has a certain practical value.

关键词： Kinect sensor number gesture recognition Adaboost algorithm human-computer interaction

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