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Bioinspired Sensing of Undulatory Flow Fields Generated by Leg Kicks in Swimming

IEEE Transactions on Automation Science and engineering 2025年 22卷 13895-13906页

作者： Wang, Jun Shen, Tongsheng Zhao, Dexin Zhang, Feitian Peking University State Key Laboratory of Turbulence and Complex Systems College of Engineering Department of Advanced Manufacturing and Robotics Beijing100871 China National Innovation Institute of Defense Technology Beijing100071 China

The artificial lateral line (ALL) is a bioinspired flow sensing system for underwater robots, comprising of distributed flow sensors. The ALL has been successfully applied to detect the undulatory flow fields generated by body undulation and tail-flapping of bioinspired robotic fish. However, its feasibility and performance in sensing the undulatory flow fields produced by human leg kicks during swimming have not been systematically tested and studied. This paper presents a novel sensing framework to investigate the undulatory flow field generated by swimmer’s leg kicks, leveraging bioinspired ALL sensing. To evaluate the feasibility of using the ALL system for sensing the undulatory flow fields generated by swimmer leg kicks, this paper designs an experimental platform integrating an ALL system and a lab-fabricated human leg model. To enhance the accuracy of flow sensing, this paper proposes a feature extraction method that dynamically fuses time-domain and time-frequency characteristics. Specifically, time-domain features are extracted using one-dimensional convolutional neural networks and bidirectional long short-term memory networks (1DCNN-BiLSTM), while time-frequency features are extracted using short-term Fourier transform and two-dimensional convolutional neural networks (STFT-2DCNN). These features are then dynamically fused based on attention mechanisms to achieve accurate sensing of the undulatory flow field. Furthermore, extensive experiments are conducted to test various scenarios inspired by human swimming, such as leg kick pattern recognition and kicking leg localization, achieving satisfactory results. © 2004-2012 IEEE.

关键词： Long short-term memory

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Contextual Multi-Armed Bandit-Based Dynamic Cooperative Link Configuration for AUV in UWASNs With Energy Harvesting

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IEEE Transactions on Cognitive Communications and Networking 2025年

作者： Dai, Jun Li, Xinbin Han, Song Yu, Junzhi Liu, Zhixin Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Yanshan University Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province Qinhuangdao066004 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Beijing100871 China

This paper investigates the cooperative link configuration problem for Autonomous Underwater Vehicle (AUV) in Underwater Acoustic (UWA) sensor networks with Energy Harvesting (EH), which aims to maximize long-term cumulative capacity by jointly optimizing cooperation relay, AUV transmission power, and relay transmission power. Subject to unknown time-varying Channel state Information (CSI), unpredictable stochastic EH, and variable communication topology caused by AUV mobility, the proposed problem is an unknown dynamic combination decision optimization problem. To resist the change of the dynamic UWA communication topology with unknown time-varying CSI and EH, a novel collaborative contextual multi-armed bandit learning framework is proposed, which allows relay nodes to learn cooperatively and enriches the learning information of relays. Consequently, the proposed learning framework can resist the change of the dynamic UWA communication topology efficiently, thereby achieving the superior link configuration quickly. Besides, a learning-rate adjustment rule for the dynamic UWA communication topology is proposed to adaptively balance the exploration-exploitation, thereby avoiding missing the real superior joint relay-power configuration. Finally, simulation results show the significantly superiority of the proposed scheme. © 2015 IEEE.

关键词： Cooperative communication

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Bioinspired Sensing of Undulatory Flow Fields Generated by Leg Kicks in Swimming

arXiv

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arXiv 2025年

作者： Wang, Jun Shen, Tongsheng Zhao, Dexin Zhang, Feitian Department of Advanced Manufacturing and Robotics The State Key Laboratory of Turbulence and Complex Systems College of Engineering Peking University Beijing100871 China The National Innovation Institute of Defense Technology Beijing China National Innovation Institute of Defense Technology Beijing100071 China

The artificial lateral line (ALL) is a bioinspired flow sensing system for underwater robots, comprising of distributed flow sensors. The ALL has been successfully applied to detect the undulatory flow fields generated by body undulation and tail-flapping of bioinspired robotic fish. However, its feasibility and performance in sensing the undulatory flow fields produced by human leg kicks during swimming has not been systematically tested and studied. This paper presents a novel sensing framework to investigate the undulatory flow field generated by swimmer’s leg kicks, leveraging bioinspired ALL sensing. To evaluate the feasibility of using the ALL system for sensing the undulatory flow fields generated by swimmer leg kicks, this paper designs an experimental platform integrating an ALL system and a lab-fabricated human leg model. To enhance the accuracy of flow sensing, this paper proposes a feature extraction method that dynamically fuses time-domain and time-frequency characteristics. Specifically, time-domain features are extracted using one-dimensional convolutional neural networks and bidirectional long short-term memory networks (1DCNN-BiLSTM), while time-frequency features are extracted using short-term Fourier transform and two-dimensional convolutional neural networks (STFT-2DCNN). These features are then dynamically fused based on attention mechanisms to achieve accurate sensing of the undulatory flow field. Furthermore, extensive experiments are conducted to test various scenarios inspired by human swimming, such as leg kick pattern recognition and kicking leg localization, achieving satisfactory results. Copyright © 2025, The Authors. All rights reserved.

关键词： Convolutional neural networks

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On decoupled or coupled control of bank-to-turn missiles

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Science China(Information Sciences) 2015年第5期58卷 195-207页

作者： DUAN ZhiSheng HUANG Lin YANG JianYing QIN GuoZheng State Key Lab for Turbulence and Complex Systems and Department of Mechanics and Engineering Science College of Engineering Peking University

In this paper, the differences between decoupled and coupled control of bank-to-turn(BTT) missiles have been studied in detail from three aspects: stabilizability, linear quadratic regulator(LQR) control and tracking control. It is found that for some parameters the BTT missile can be controlled by a decoupled way,especially for stabilizability and LQR control. However, for some others, the BTT missile cannot be decoupled and a coupled control method is needed. Therefore, for a practical flight control system, the decouplability should be studied before giving a decoupled control method. In addition, in order to avoid the disadvantages of LQR control method, an improved H∞controller design method is given. Combined with tracking control problem, a new H∞control method is established for trajectory tracking.

关键词： BTT missile decoupled control coupled control tracking control

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Disentangle the intrinsic line tension from the nano-corrugations induced by surface lateral roughness

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International Communications in Heat and Mass Transfer 2025年 164卷

作者： Long, Zhilin Yuan, Zifeng Wang, Hao Lab of Heat Mass Transfer and Carbon Cycling College of Engineering Peking University Beijing100871 China Center for Applied Physics and Technology Peking University Beijing100871 China Department of Mechanics and Engineering Science Peking University Beijing100871 China State Key Laboratory for Turbulence & Complex System Peking University Beijing100871 China

Line tension of the contact line plays an important role in microscopic wetting, but its understanding remains vague and the reported values are far from convergence. We note in most studies the contact lines are treated as smooth lines as the droplets are considered as smooth spherical caps. Here using helium ion microscopy, we confirm ubiquitous nano-corrugations along the contact lines even on smooth solids like mica. The corrugation size is correlated with the lateral roughness, which represents the lateral characteristic size of the solid roughness elements. A remodified Young's equation for line tension is therefore derived by including the corrugations and the droplet deformation in the surface energy calculations. By applying the remodified Young's equation, the nonlinear relationship between the apparent contact angle and the droplet radius reported in experiments can be well explained, and a converged line tension value is given around 10−10 J/m. © 2025 Elsevier Ltd

关键词： Linewidth

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DYNAMIC FRACTURE ANALYSIS OF AGED GLASSY POLYCARBONATE BY THE METHOD OF CAUSTICS

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Acta Mechanica Solida Sinica 2013年第5期26卷 448-457页

作者： Guiyun Gao Zheng Li Mehrdad Negahban State Key Lab for Turbulence and Complex Systems and College of Engineering Peking University Department of Engineering Mechanics University of Nebraska-Lincoln

The purpose of this work is to investigate the dynamic fracture properties of glassy polycarbonate （PC） with different aging times. The optical method of caustics is adopted in which the shadow spot patterns are recorded by a high speed camera during the dynamic fracture process. Then, the dynamic crack propagation, the stress intensity factor （SIF） and the dynamic fracture toughness of aged PC are obtained through an analysis of the characteristic size of caustic pattern. Moreover, by combining with the investigation of the fracture surface and the energy release rate analysis, the influence of aging time on the dynamic fracture behavior is discussed. Results show that the dynamic fracture toughness and critical energy release rate of PC decreases with aging time for short aging times, whereas they have little change or even increase for longer aging times. Therefore, aging modifies the mechanical properties especially the dynamic fracture properties of PC nonlinearly, not linearly as generally thought of.

关键词： polycarbonate physical aging dynamic fracture stress intensity factor

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H_∞ CONTROL OF NETWORKED MULTI-AGENT systems

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Journal of systems Science & complexity 2009年第1期22卷 35-48页

作者： Zhongkui LI Zhisheng DUAN Lin HUANG State Key Lab for Turbulence and Complex Systems and Department of Mechanics and Aerospace Engineering College of Engineering Peking University Beijing 100871 China.

This paper concerns the disturbance rejection problem arising in the coordination control of a group of autonomous agents subject to external disturbances. The agent network is said to possess a desired level of disturbance rejection, if the H∞ norm of its transfer function matrix from the disturbance to the controlled output is satisfactorily small. Undirected graph is used to represent the information flow topology among agents. It is shown that the disturbance rejection problem of an agent network can be solved by analyzing the H∞ control problem of a set of independent systems whose dimensions are equal to that of a single node. An interesting result is that the disturbance rejection ability of the whole agent network coupled via feedback of merely relative measurements between agents will never be better than that of an isolated agent. To improve this, local feedback injections are applied to a small fraction of tile agents in the network. Some criteria for possible performance improvement are derived in terms of linear matrix inequalities. Finally, extensions to the case when communication time delays exist are also discussed.

关键词： Coordination control graph theory H∞ control linear matrix inequality （LMI） pinning control.

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Robust fault-sensitive synchronization of a class of nonlinear systems

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Chinese Physics B 2011年第2期20卷 148-157页

作者：徐式蕴杨莹刘仙汤涌孙华东 China Electric Power Research Institute State Key Lab for Turbulence and Complex Systems Department of Mechanics and Aerospace EngineeringCollege of EngineeringPeking University Department of Automation Yanshan University

Aiming at enhancing the quality as well as the reliability of synchronization, this paper is concerned with the fault detection issue within the synchronization process for a class of nonlinear systems in the existence of external disturbances. To handle such problems, the concept of robust fault-sensitive （RFS） synchronization is proposed, and a method of determining such a kind of syncbronization is developed. Under the framework of RFS synchronization, the master and the slave systems are robustly synchronized, and at the same time, sensitive to possible faults based on a mixed H_/H~ performance. The design of desired output feedback controller is realized by solving a linear matrix inequality, and the fault sensitivity H index can be optimized via a convex optimization algorithm. A master-slave configuration composed of identical Chua＇s circuits is adopted as a numerical example to demonstrate the effectiveness and applicability of the analytical results.

关键词： nonlinear system synchronization disturbance rejection fault detection

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TWO KINDS OF HARMONIC PROBLEMS IN CONTROL systems

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Journal of systems Science & complexity 2009年第4期22卷 587-596页

作者： Zhisheng DUAN Lin HUANG state key lab for turbulence and complex systems and department of Mechanics and Aerospace engineering,College of engineering,Peking University,Beijing 100871,China. State Key Lab for Turbulence and Complex Systems and Department of Mechanics and Aerospace Engineering College of Engineering Peking University Beijing 100871 China

This paper discusses the harmonic problems in control systems from two aspects:Oneis the harmonic control among different subsystems,and the other is the harmonic control amongmultiple *** intrinsic problems in such systems are *** is pointed out that somesubsystems must be unstable to stabilize the whole interconnected system by an *** discrete-time multi-input systems,a necessary and sufficient condition is presented for the strictdecrease of the quadratic optimal performance index with the control input *** showsan essential difference between single-input and multi-input control ***,some futureresearch directions are discussed in harmonic control of interconnected systems,allocation of multi-control inputs,fault-tolerant control,and fault-diagnosis.

关键词： Interconnected system quadratic optimal control redundant inputs Riccati equation simplectic matrix.

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Fault Diagnosis System Design for Ship Propulsion System via Classification 36

Fault Diagnosis System Design for Ship Propulsion System via...

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第36届中国控制会议

作者： Jing Zhou Ying Yang Ruijie Liu State Key Lab for Turbulence and Complex Systems Department of Mechanics and Engineering SciencePeking University

ISBN: (纸本)9781538629185

In the data-driven framework of fault detection system design,both faults and normal conditions can be viewed as different patterns and thus can be distinguished by ways of pattern *** paper first generates four data sets by means of simulation and then deals with three kinds of faults in the ship propulsion system through softmax classification,which is a widely used method in multi-class *** simulation results have proved that it is an effective solution in the fault detection and identification（FDI） system design of 1E1P（1 engine 1 propeller） ship propulsion system.

关键词： Fault Detection and Identification Softmax Classification Ship Propulsion System

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