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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Design and Performance Test of an H-shaped Bionic Piezoelectric Robot Based on the Standing Wave Principle

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Journal of Bionic Engineering 2025年第2期22卷 608-625页

作者： Ying Li Chaofeng Li Zhiwei Wu Binbin Zhu Jinghu Tang School of Mechanical Engineering and Automation Northeastern UniversityShenyang110819People’s Republic of China Key Laboratory of Vibration and Control of Aero-propulsion Systems Northeastern UniversityShenyang110819People’s Republic of China State Key Laboratory of Internet of Things for Smart City University of MacaoMacao999078People’s Republic of China

In this paper,inspired by the running motion gait of a cheetah,an H-shaped bionic piezoelectric robot(H-BPR)based on the standing wave principle is proposed and *** piezoelectric robot realizes linear motion,turning motion,and turning motion with different radi by the voltage differential driving method.A prototype with a weight of 38 g and dimensions of 150×80×31 mm^(3) was ***,the dynamics and kinematics of the piezoelectric robot were analyzed to obtain the trajectory of a point at the end of the piezoelectric robot *** motion principle of the piezo-electric robot was analyzed,and then the piezoelectric robot's modal analysis and harmonic response analysis were carried out using finite element analysis ***,an experimental setup was built to verify the effectiveness and high efficiency of the robot's motion,and the effects of frequency,voltage,load,and height of the driving leg on the robot's motion performance were *** performance test results show that the piezoelectric robot has a maximum veloc-ity of 66.79 mm/s at an excitation voltage of 320 V and a load capacity of 55 *** addition,the H-BPR with unequal drive legs has better climbing performance,and the obtained conclusions are informative for selecting leg heights for piezoelectric robots.

关键词： Piezoelectric Standing wave principle Bionic Differential driving method Robot

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Strain Gradient Finite Element Formulation of Flexoelectricity in Ferroelectric Material Based on Phase-Field Method

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Acta Mechanica Solida Sinica 2024年第4期37卷 570-579页

作者： Shuai Wang Hengchang Su Min Yi Li-Hua Shao National Key Laboratory of Strength and Structural Integrity Institute of Solid MechanicsSchool of Aeronautic Science and EngineeringBeihang UniversityBeijing100191People’s Republic of China State Key Laboratory of Mechanics and Control for Aerospace Structures and Institute for Frontier Science and Key Laboratory for Intelligent Nano Materials and Devices of Ministry of Education and College of Aerospace Engineering Nanjing University of Aeronautics and AstronauticsNanjing210016People’s Republic of China

Flexoelectricity is a two-way coupling effect between the strain gradient and electric field that exists in all dielectrics,regardless of point group ***,the high-order derivatives of displacements involved in the strain gradient pose challenges in solving electromechanical coupling problems incorporating the flexoelectric *** this study,we formulate a phase-field model for ferroelectric materials considering the flexoelectric effect.A four-node quadrilateral element with 20 degrees of freedom is constructed without introducing high-order shape *** microstructure evolution of domains is described by an independent order parameter,namely the spontaneous polarization governed by the time-dependent Ginzburg–Landau *** model is developed based on a thermodynamic framework,in which a set of microforces is introduced to construct the constitutive relation and evolution *** the flexoelectric part of electric enthalpy,the strain gradient is determined by interpolating the mechanical strain at the node via the values of Gaussian integration points in the isoparametric *** model is shown to be capable of reproducing the classic analytical solution of dielectric materials incorporating the flexoelectric *** model is verified by duplicating some typical phenomena in flexoelectricity in cylindrical tubes and truncated pyramids.A comparison is made between the polarization distribution in dielectrics and *** model can reproduce the solution to the boundary value problem of the cylindrical flexoelectric tube,and demonstrate domain twisting at domain walls in ferroelectrics considering the flexoelectric effect.

关键词： Flexoelectricity Phase-field method Ferroelectrics Domain configuration

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CFSeRec: A Contrastive Framework for Sequential Recommendation 42

CFSeRec: A Contrastive Framework for Sequential Recommendati...

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42nd Chinese control Conference, CCC 2023

作者： Wang, Tong Dai, Yaping Shao, Shuai School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

In sequential recommender systems, the main problems are the long-tailed distribution of data and noise interference. A Contrastive Framework for Sequential Recommendation (CFSeRec) is proposed to solve these two problems respectively. Token shuffling and adversarial attack data augmentation methods are used in the framework to improve the quality and quantity of training data, so that the long-tailed problem is mitigated. Through the application of projection head method, the sequence representation becomes more general and robust, rather than just adapted to the task of contrastive learning. Therefore, the impact of noise on sequence recommender systems is effectively alleviated. Experiments on four public datasets show that CFSeRec achieves state-of-the-art performance in the metrics of hit ratio and normalized discounted cumulative gain, when comparing to the seven previous frameworks. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Recommender systems

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Knowledge As Not Only Justified True Beliefs in Vision

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 297-299页

作者： Wenbo Zheng Fei-Yue Wang IEEE School of Computer Science and Artificial Intelligence Wuhan University of Technology Sanya Science and Education Innovation Park of Wuhan University of Technology the State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences

COMPUTATIONAL knowledge vision [1] is emphasized as a novel perspective or field in this paper. It first proposes the visual hierarchy and its connection to knowledge, stating that knowledge is a justified true belief. To further the previous research, we concisely summarize our recent works and suggest a new direction that knowledge is also a thought framework in vision.

关键词： Computational modeling Visualization Artificial intelligence Data models Visual perception Visual databases Training data

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Two Degree of Freedom Active Disturbance Rejection control Strategy for Time Delay systems 42

Two Degree of Freedom Active Disturbance Rejection Control S...

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42nd Chinese control Conference, CCC 2023

作者： Shan, Xiyuan Cai, Tao School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

This paper is concerned with the controller design and the theoretical analysis for time-delay systems, a two degree of freedom (feedforward and feedback) control method is proposed, which combines advantages of the Smith predictor and the active disturbance rejection control (ADRC). The feedforward part of controller is used to track the set point, the feedback part of controller (ADRC) is used to suppress interferences and the Smith predictor is used to correct time delay. The proposed control design is easy to tune parameters and has been proved to effectively control systems with large time delay. The bounded input bounded output (BIBO) stability of closed-loop system is verified. Finally, numerical simulations show the effectiveness and practicality of the proposed design. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Time delay

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Revitalizing Human-Robot Interaction: Phygital Twin Driven Robot Avatar for China-Sweden Teleoperation

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Chinese Journal of Mechanical Engineering 2023年第5期36卷 1-6页

作者： Huiying Zhou Honghao Lv Ruohan Wang Haiteng Wu Geng Yang State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China Hangzhou Shenhao Technology Co. Ltd.Hangzhou 310000China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou 310000China

1 Introduction Digital Twin(DT)is built and maintained in the digital rather physical realm[1,2].Dynamic DT mirrors the exact state of the physical system by means of multidimensional models describing the behavior of physical entity,and sensors providing the real-time coupling to models[3].Te outbreak of COVID-19 pandemic results in speeding up the virtualization and digitization of the physical entity with the support from ***,quarantine and division led by COVID-19 pandemic make human beings’eyes for the physical interaction become more *** physical world and the digital world are becoming interwoven,which indicates a new opportunity towards phygital *** is so often the question:how can I get closer to my distant companion?How can I extend my service or emotional concern to facilitate interaction in spite of space obstruction?Tese questions deserve thinking as a lesson learned from outbreak of COVID-19 pandemic.

关键词： Twin Robot closer

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D-scheduler:A scheduler in time-triggered distributed system through decoupling dependencies between tasks and messages

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Science China(Technological Sciences) 2024年第1期67卷 183-196页

作者： YANG TingTing ZHANG YuQi YUE FengLai WUNIRI QiQiGe TONG Chao School of Computer Science&Engineering Beihang UniversityBeijing 100191China State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China National Innovation Center of Intelligent and Connected Vehicles Beijing 100176China

Time-triggered architecture,as a mainstream design of the distributed real-time system,has been successfully applied in the aerospace,automotive and mechanical ***,time-triggered scheduling is a challenging NP-hard *** are few studies that could quickly solve the scheduling problem of large distributed time-triggered *** solve this problem,a communication affinity parameter is defined in this paper to describe the degree of bias of the shaper task towards sending or receiving *** on this,an innovative task-message decoupling model named D-scheduler is built to reduce the computation complexity of the scheduling problem in large-scale ***,we provide mathematical proof that our model is a convex optimization that is easy to solve with existing computational *** experiments substantiate the efficacy of the *** dramatically reduces the scheduling complexity of large-scale real-time systems with a small loss of solving space compared to the federal scheduler.

关键词： time-triggered architecture time-triggered scheduling communication affinity parameter task-message decoupling model

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Detection and Positioning of Workpiece Grinding Area in Dark Scenes with Large Exposure 1

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16th International Conference on intelligent Robotics and Applications, ICIRA 2023

作者： Guo, Zhentao Zhao, Guiyu Bian, Jinyue Ma, Hongbin School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Workpiece grinding is a crucial process in the smart manufacturing chain. In order to meet the requirements of industrial precision and relieve heavy work, researchers have developed a vision-based grinding robot. However, the problem of workpiece grinding area detection and positioning is difficult to be solved in dark scenes with large exposure. This paper proposes a method that fuses technologies such as processing of the image, coordinate and point cloud, which can accurately detect and locate the workpiece grinding area. Firstly, A method based on YOLOv7 and improved image preprocessing is used to detect labels of the grinding area. Secondly, A model for the prediction of the coordinates based on multiple linear regression was used to predict the coordinates of missing labels for the same grinding area. Finally, Data processing of the point cloud and transformation of the system of coordinates are used to achieve the acquisition of the coordinates of positioning vertices in the grinding area and conversion from the camera coordinate system to the world coordinate system. We used several sets of data for evaluation in our experiments, and the experimental results show that our proposed method can effectively detect the workpiece grinding area. At the same time, our method can also predict the coordinates of missing labels, which provides a more stable and reliable guarantee for industrial production. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Multiple linear regression

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Parallel Seeds:From Foundation Models to Foundation Intelligence for Agricultural Sustainability

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IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 481-484页

作者： Laiyi Fu Shunkang Ling Danyang Wu Mengzhen Kang Fei-Yue Wang Hequan Sun the Shool of Automation Science and Engineering Faculty of Electronic and Information Engineering Xi'an Jiaotong University the College of Information Engineering Northwest A&F University IEEE the State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences

THE development of agriculture faces significant challenges due to population growth, climate change, land depletion, and environmental pollution, threatening global food security [1]. This necessitates the development of sustainable agriculture, where a fundamental step is crop breeding to improve agronomic or economic traits, e.g., increasing yields of crops while decreasing resource usage and minimizing pollution to the environment [2].

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