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Modeling the pull-off force of a mushroom-shaped fibrillar adhesive in dynamic detachment

INTERNATIONAL JOURNAL OF SOLIDS AND STRUCTURES 2025年 308卷

作者： Ji, Ru-Guo Yuan, Yue-Yu Liu, Xiao-Feng Zhang, Xiao-Long Cai, Guo-Ping Shanghai Jiao Tong Univ State Key Lab Ocean Engn Key Lab Hydrodynam Minist Educ Shanghai 200240 Peoples R China Shanghai Aerosp Control Technol Inst Shanghai 201109 Peoples R China Shanghai Key Lab Aerosp Intelligent Control Techno Shanghai 201109 Peoples R China

Fibrillar adhesive, as a novel biomimetic controllable adhesive, holds broad application prospects in the fields of medical devices, aerospace, and robotics. Evaluating the critical detachment force (pull-off force) of such materials, that is, establishing a pull-off force model, is one of the key issues to be addressed in the application process. The experimental results show that preload, dwell time, and retraction velocity are key factors affecting critical detachment force. However, there is no model that can take into account the influence of these three factors. In order to accurately evaluate the adhesion performance of fibrillar adhesive, this study took mushroom- shaped fibrillar adhesive (MFSA) as the object and carried out theoretical and experimental research on the modeling problem of its pull-off force. First, we derived a new pull-off force model based on the Gent & Schultz hypothesis and linear elastic fracture theory. In this model, the relative contact area is introduced to quantify the impact of preload and dwell time on the pull-off force, and the rate-dependent properties of the effective adhesion work are used to describe the impact of retraction velocity on the pull-off force. Then, the validity of the model is experimentally investigated. The experimental results show that this paper' s model can accurately predict the pull-off force of MFSA after parameter identification, thereby verifying the model's effectiveness. Finally, we used the pull-off force model to study the effects of model parameters on pull-off force.

关键词： Mushroom-shaped fibrillar adhesives Dynamic detachment Preload Dwell time Retraction velocity

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Heuristic learning for co-design scheme of optimal sequential attack☆

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AUTOMATICA 2025年 174卷

作者： Luo, Xiaoyu Pan, Haoxuan Fang, Chongrong Zhao, Chengcheng Cheng, Peng He, Jianping Shanghai Jiao Tong Univ Dept Automat Key Lab Syst Control & Informat Proc Minist Educ China Shanghai Peoples R China Shanghai Engn Res Ctr Intelligent Control & Manage Shanghai Peoples R China Zhejiang Univ State Key Lab Ind Control Technol Hangzhou Peoples R China

This paper considers a novel co-design problem of the optimal sequential attack, whose attack strategy changes with the time series, and in which the sequential attack selection strategy and sequential attack signal are simultaneously designed. Different from the existing attack design works that separately focus on attack subsets or attack signals, the joint design of the attack strategy poses a huge challenge due to the deep coupling relation between the sequential attack selection strategy and sequential attack signal. In this manuscript, we decompose the sequential co-design problem into two equivalent sub-problems. Specifically, we first derive an analytical closed-form expression between the optimal attack signal and the sequential attack selection strategy. Furthermore, we prove the finite-time inverse convergence of the critical parameters in the injected optimal attack signal by discrete-time Lyapunov analysis, which enables the efficient off-line design of the attack signal and saves computing resources. Finally, we exploit its relationship to design a heuristic two-stage learning-based joint attack algorithm (HTL-JA), which can accelerate the realization of the attack target compared to the one-stage proximal-policy-optimization-based (PPO) algorithm. Extensive simulations are conducted to show the effectiveness of the injected optimal sequential attack. (c) 2025 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.

关键词： False data injection attacks Learning-based methods Attack selection strategy Convergence Co-design scheme

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Investigation on multi-component gas distribution and the influence on the performance of variable conductance heat pipe

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INTERNATIONAL JOURNAL OF THERMAL SCIENCES 2025年 212卷

作者： Lei, Jihong Wang, Wen Liu, Sixue Wang, Huizhi Miao, Jianyin Zhang, Hongxing Shanghai Jiao Tong Univ Inst Refrigerat & Cryogen Sch Mech Engn Shanghai 200240 Peoples R China China Acad Space Technol Beijing Inst Spacecraft Syst Engn Natl Key Lab Spacecraft Thermal Control Beijing Key Lab Space Thermal Control Technol Beijing 100094 Peoples R China

The variable conductance heat pipe (VCHP) can prevent the operating temperature from changing with heat load varying and employs a better temperature control performance while facing large temperature-changing environments since the filled non-condensable gas (NCG) in VCHP could adjust the temperature distribution along VCHP and the working status through changing the effective heat exchange area. In this study, the steady heat and mass transfer model of VCHP is established, and the operating mechanism and performance of a grooved heat pipe with distinct working fluids and NCGs are studied under different working conditions. It is found that the position of the vapor-NCG interface in VCHP is related to the logarithmic gradients of the heat transfer Pelect number PeT and the derivative of the mass transfer Peclet number Pem gradient between species in this region. The effects of heat load, operating temperature, and NCG filling molar amount on the flow and heat transfer mechanism in pipes are discussed. The operating temperature in the evaporation section and position of the vapor-NCG interface change obviously with heat load and NCG filling molar amount.

关键词： Variable conductance heat pipe (VCHP) Non-condensable gas (NCG) Species diffusion Vapor-NCG interface Heat and mass transfer

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Fault detection and diagnosis of satellite ACS base on Riemannian metric improved LPP and GLS

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROspace ENGINEERING 2025年

作者： Shi, Changyong Hu, Lisheng Zhang, Jingtian Shanghai Jiao Tong Univ Sch Elect Informat & Elect Engn 800 Dongchuan Rd Shanghai 200240 Peoples R China Shanghai Aerosp Control Technol Inst Shanghai Peoples R China Shanghai Key Lab Aerosp Intelligent Control Techno Shanghai 201109 Peoples R China

Fault detection and diagnosis is widely recognized as a crucial task for satellite attitude control systems (ACS) within the field. Any faults within the ACS can result in degraded system performance, disruption of satellite missions, and reduced lifespan. However, traditional fault feature extraction diagnosis faces challenges in the ACS due to the nonlinear characteristics of the data and the high dimensionality of the pattern features. Furthermore, the manifold structure of the data is unknown. In order to address these issues, a novel learning method that utilizes Riemannian metric is proposed,and Generalized Least Squares(GLS) is utilized to new sample extention, these methods preserve the intrinsic structure of the data and performs fault diagnosis within its feature space. Two statistical methods, T 2 and SPE, are employed, along with Kernel density estimation (KDE) to calculate the control limit. The effectiveness of the proposed method is validated through mathematical simulation on a fault simulation system for attitude control systems, demonstrating superior diagnostic capabilities compared to conventional approaches.

关键词： Manifold learning Riemannian metric GLS attitude control system fault diagnosis

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Online Geometric Memory Generation and Maintenance for Visuomotor Navigation in Structural Dynamic Environments

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2025年 22卷 62-74页

作者： Liu, Qiming Xu, Neng Liu, Zhe Wang, Hesheng Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ SJTU Paris Elite Inst Technol Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ AI Inst MoE Key Lab Artificial Intelligence Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ Dept AutomatKey Lab Syst Control & Informat Proc Shanghai Engn Res Ctr Intelligent Control & Manag Minist EducKey Lab Marine Intelligent Equipment Shanghai 200240 Peoples R China

Autonomous navigation substantially depends on memory mechanisms for enhancing path optimality. However, the dynamic nature of environments can cause inconsistencies between the stored scene memory and real-time perception, leading to potentially catastrophic navigation errors. Existing memory structures often fall short in addressing these challenges, as they typically only account for object-level dynamics and falter when faced with long-term alterations in environmental structure. To counter these constraints, this paper presents a learning-based framework designed to construct and maintain a geometric memory, thereby facilitating improved visuomotor navigation under structural dynamics. This proposed framework employs visual inputs to construct a geometric representation of the environment, and identifies structural changes by assessing the consistency between the established memory and instantaneous perception. To update the geometric memory efficiently, we introduce a memory updater grounded in a structure storage pool. Furthermore, a two-phase hierarchical planner is proposed to decompose navigation tasks and formulate smooth navigation strategies. Experimental results from photorealistic simulations underscore the efficacy of the proposed system in managing long-term dynamics and navigation control. The effectiveness of the proposed system is further corroborated through deployment and testing in real-world environments. Note to Practitioners-Classic geometry-based navigation methods hinge on the construction of a global map for spatial reasoning and optimized robot control. Within a learning-based pipeline, the dependence on memory information becomes critical for enabling robots to develop spatial and temporal awareness. While the maintenance of memory structures can significantly expand the field of the robot's perception in time and space, discrepancies between historical memory and real-time perception in dynamic environments can lead to misguided decis

关键词： Visuomotor navigation memory maintenance structural dynamic environments

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System Modeling and Simulation of TianWen-2 Sampling on an Asteroid Regolith Surface

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space-SCIENCE & technolOGY 2025年 5卷

作者： Zhang, He Ge, Dongming Deng, Runran Liu, Cuicui Guo, Fan Xu, Yingqiao Zeng, Fuming Hu, Jinchang Zou, Yuanjie Gong, Weiwei Wei, E. China Acad Space Technol Beijing Inst Spacecraft Syst Engn Beijing 100094 Peoples R China Beijing Inst Control Engn Natl Key Lab Space Intelligent Control Beijing 100094 Peoples R China

As China's first asteroid exploration mission, the TianWen-2 spacecraft mainly focuses on surface sampling on the near-Earth asteroid 2016 HO3. Different from the usual sampling strategy of releasing a small lander or ejecting a projectile, the whole TianWen-2 spacecraft will be controlled to achieve touchdown and sampling. However, sampling on a low-gravity regolith-covered surface with unknown physical properties is particularly challenging and risky. In order to successfully implement an in situ exploration, a comprehensive understanding and evaluation of spacecraft dynamics and control behavior during sampling is essential for system design. In this paper, a system-level simulation method for the interaction between the spacecraft and the regolith surface is proposed. The discrete element method is adopted for the simulation of granular material dynamics. Parametric comparisons with test data from microgravity low-speed intrusion drop-tower experiments are implemented to calibrate and verify the physical parameters of the discrete element method simulation model. An explicit multibody dynamics model of the spacecraft is developed to describe dynamic characteristics such as orbit and attitude motion, solar array vibration, and sampler deformation. Finally, numerical simulations of the interaction between granular dynamics, multibody dynamics, and control are performed to study the dynamics and control behaviors of TianWen-2 sampling on an asteroid regolith surface.

关键词： Asteroids

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Accurate determination of solid-phase diffusion coefficients via surface concentration potential response method

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CHEMICAL ENGINEERING JOURNAL 2025年 507卷

作者： Zhu, Haitao Zhou, Mengyuan Lu, Taolin Li, Maoyuan Huang, Tianlun Zhang, Yun Zhou, Huamin Huazhong Univ Sci & Technol Sch Mat Sci & Engn State Key Lab Mat Proc & Die & Mould Technol Wuhan 430074 Peoples R China Shanghai Inst Space Power Sources Space Power Technol State Key Lab Shanghai 200245 Peoples R China Guangdong Acad Sci Inst Inteligent Mamnufacturing Guangdong Key Lab Modem Control Technol Guungzhou 51075 Guangdong Peoples R China

The solid-phase diffusion coefficient is a crucial parameter for understanding material properties and battery performances. The widely used galvanostatic intermittent titration technique (GITT) suffers from systematic errors due to its assumption of linear diffusion and the nonlinearity of open-circuit potential. We propose a surface concentration potential response (SCPR) method as a more accurate and comprehensive solution. The SCPR method employs a realistic 3D radial diffusion model and extracts the instantaneous solid-phase diffusion overpotential, achieving the first measurement of the changes in particle surface concentration, to estimate the solid-phase diffusion coefficients. Validation experiments with NCM523 demonstrate that the SCPR method can obtain the same measurement results as GITT when using the same diffusion model. And the SCPR method combined with 3D radial model reduces the estimation error of solid-phase diffusion coefficients to 3.8 %similar to 8.8 %, which is more accurate compared to GITT (23.8 %similar to 45 %).The presented method also offers a novel approach to determining lithium-ion concentration at the particle surface. Its independence from current magnitude and its superior capability in measuring surface concentration make it broadly applicable to a range of electrochemical challenges.

关键词： Lithium-ion battery Solid-phase diffusion coefficients Realistic 3D radial diffusion model Galvanostatic intermittent titration technique Surface concentration potential response method

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USVs cooperative hunting method based on advantage decomposition and sequential decision

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OCEAN ENGINEERING 2025年 318卷

作者： Zhong, Weibo Tan, Qijin Yan, Shengming Meng, Yizhen Ye, Nan Jiangsu Univ Sci & Technol Ocean Coll Zhenjiang 212003 Peoples R China Shanghai Aerosp Control Technol Inst Shanghai Key Lab Aerosp Intelligent Control Techno Shanghai 201109 Peoples R China CSSC PRIDe Nanjing Atmospher & Ocean Informat Syst Nanjing 211100 Peoples R China

To improve the efficiency and success rate of multi unmanned surface vehicles (USVs) cooperative hunting, this paper proposed a sequential decision cooperative hunting algorithm with advantage decomposition. In this algorithm, the USVs were sorted in sequence. Each USV operated independently and made decisions based on the current state and the joint action of previous USVs. The convergence of sequential decision with advantage decomposition was theoretically validated. Then based on the proximal policy optimization (PPO) network, the sequential decision-PPO (SD-PPO) algorithm was proposed. The effectiveness of the SD-PPO algorithm is proved by the success rate and the average steps with different numbers and velocities of USVs. Treating the obstacle as a USV, the proposed algorithm also can make abetter hunting result without modifying the network structure and reward function. Compared with the average allocation reward mechanism algorithm, SD-PPO has faster convergence and more suitable for application.

关键词： Unmanned surface vehicle Cooperative hunting Multi-agent reinforcement learning Sequential decision Advantage decomposition

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Obstacle-Avoidance Distributed Reinforcement Learning Optimal control for spacecraft Cluster Flight

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IEEE TRANSACTIONS ON AEROspace AND ELECTRONIC SYSTEMS 2025年第1期61卷 443-456页

作者： Meng, Yizhen Liu, Chun Zhao, Jing Huang, Jing Shanghai Aerosp Control Technol Inst Aerosp R&D Ctr Shanghai 201108 Peoples R China Shanghai Aerosp Control Technol Inst Shanghai Key Lab Aerosp Intelligent Control Techno Shanghai 201108 Peoples R China Shanghai Univ Sch Mechatron Engn & Automat Shanghai 200444 Peoples R China Shanghai Microsate Engn Ctr Shanghai 200240 Peoples R China Shanghai Univ Inst Artificial Intelligence Shanghai 200444 Peoples R China

The scientific objectives of space missions impose stringent requirements on the cooperative control systems of spacecraft clusters. Achieving optimal distributed consensus control, particularly under external disturbances and collision avoidance, remains a significant challenge. To address this issue, the problem of spacecraft cluster flight cooperative control using Reinforcement Learning (RL) and adaptive control with collision-free guarantees is investigated for rigid spacecraft clusters subjected to system uncertainties and unexpected disturbances. Initially, obstacle-avoidance performance functions are employed to impose desired performance metrics on the collision-free behavior of the spacecraft cluster. Specifically, the smaller the long-term index, the greater the distance from obstacles, thereby ensuring enhanced safety. The challenge of collision avoidance in spacecraft is reframed into a "Min-max collision-free Actor-Critic" RL mechanism. This framework effectively enhances collision avoidance capabilities by minimizing the maximum long-term indexes (Critic) within the spacecraft cluster through an optimized control strategy (Actor). Subsequently, a fully distributed control strategy is derived by integrating convex optimization, adaptive control, actor neural networks (NN), backstepping control, and the maximum consensus algorithm. It is demonstrated that the designed optimal distributed cooperative controller can achieve control targets without collision risk, while ensuring the boundedness of all closed-loop signals, as verified through the Lyapunov stability theorem and convergence analysis of infinite series. Finally, simulation experiments on spacecraft cluster flight confirm the effectiveness of the proposed control protocol.

关键词： space vehicles Collision avoidance Linear programming Aerospace and electronic systems Indexes Convergence Artificial neural networks Collision-free distributed coordination control neural network (NN) reinforcement learning (RL) control spacecraft cluster flight

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Hierarchical prescribed-time ESO-based fault-tolerant controller synthesis for error-constrained coordination of networked robotic systems

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NONLINEAR DYNAMICS 2025年第4期113卷 3593-3609页

作者： Zhao, Xiaofeng Wang, Zhuping Zhang, Hao Yan, Huaicheng Tongji Univ Shanghai Res Inst Intelligent Autonomous Syst Shanghai 201210 Peoples R China Tongji Univ Shanghai Inst Intelligent Sci & Technol Shanghai 201210 Peoples R China Natl Key Lab Autonomous Intelligent Unmanned Syst Shanghai 201210 Peoples R China Minist Educ Frontiers Sci Intelligent Autonomous Syst Shanghai 201210 Peoples R China Tongji Univ Coll Elect & Informat Engn Dept Control Sci & Engn Shanghai 201804 Peoples R China Minist Educ Key Lab Adv Control & Optimizat Chem Proc Shanghai 200237 Peoples R China East China Univ Sci & Technol Sch Informat Sci & Engn Shanghai 200237 Peoples R China

This paper investigates the prescribed-time coordination of networked robotic systems subject to complex unknowns including disturbances and actuator faults. A prescribed-time distributed estimator and extended state observer are proposed to acquire the leader's information and complex unknowns, eliminating the need for prior knowledge of these unknowns and providing a promising approach for handling them within the prescribed time. To ensure the desired transient and steady-state responses, performance criteria are applied to coordination errors using a prescribed performance function. Subsequently, a hierarchical prescribed-time fault-tolerant control scheme is synthesized, consisting of a distributed estimator layer and a local control layer. The distinctive advantage of this hierarchical control scheme is that the coordination problem can be divided into two relatively simple sub-problems, namely coordination estimation and local robust tracking, easing control design and enhancing compatibility. Finally, simulation examples demonstrate the effectiveness of the theoretical results.

关键词： Prescribed-time fault-tolerant control Networked robotic systems Prescribed-time convergence Prescribed performance

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