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A New Recursive Composite Adaptive Controller for Robot Manipulators

Space(Science & Technology) 2021年第1期2021卷 77-83页

作者： Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a new recursive implementation of composite adaptive control for robot manipulators is *** investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form,which,to our knowledge,is the first result on this point in the *** proposed algorithm has an amount of computation O(n),which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree *** manipulator of the Chinese Space Station is employed as a simulation example,and the results verify the effectiveness of this proposed recursive algorithm.

关键词： Robot manipulators robot

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Relay Protection Setting Management system and Method Based on Blockchain Encryption Technology

Relay Protection Setting Management System and Method Based ...

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2023 International Conference on Power system Technology, PowerCon 2023

作者： Chai, Qingfa Tang, Yi Wang, Quan Jiang, Jiayin Wang, Anning Li, Yudun Li, Congcong Key Laboratory of Power System Intelligent Dispatch and Control Jinan China State Grid Shandong Electric Power Company Jinan China

ISBN: (纸本)9798350300222

Aiming at the problems such as low efficiency of relay protection setting management and remote setting, risk of error in setting delivery and setting, and difficulty of quick warning of setting value mutation, this paper proposes a method of relay protection setting management and remote setting based on hash value check. A remote setting system of setting value is established, which is composed of block chain server, substation centralized control master station, control cloud platform and protection device. The setting value is set and transferred remotely in the form of file. The block hash encryption of the setting value file is carried out, and the block chain provides reliable data storage and transmission services, so that the setting value file cannot be tampered with in the flow of all parts. Ensure the high reliability of relay protection remote setting. The engineering test results show that the proposed method is reliable and effective, and can provide technical support for the reliable automatic setting of setting values. © 2023 IEEE.

关键词： Blockchain

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Hierarchical Trajectory Optimization for Humanoid Robot Jumping Motion 16th

Hierarchical Trajectory Optimization for Humanoid Robot Jump...

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

作者： Sun, Junbao Liu, Haopeng Li, Xu Feng, Haibo Fu, Yili Zhang, Songyuan Intelligent Robot Research Center Zhejiang Laboratory Hangzhou311100 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819964796

In order to make the robot have high dynamic motion ability, this paper uses the trajectory optimization method to plan the jumping motion trajectory of the humanoid robot quickly and effectively, and carries out the jumping motion experiment on the HIT-HU humanoid robot platform. In order to improve the solving speed of trajectory optimization problem, simplified centroid dynamics model and single rigid body model are established. Differential dynamic programming (DDP) based on the combination of the centroid dynamic model and the whole body joint kinematic model is used to solve the hopping trajectory optimization problem with high accuracy, and the external penalty function method is used to deal with the relevant constraints. In order to overcome the problem that the solver is sensitive to the initial point selection, a hierarchical trajectory optimization framework is proposed. The framework uses the direct collocation method based on the single rigid body model. The trajectory of the simplified model is used as the initial trajectory guess, and the differential dynamic programming method is introduced to solve the optimal trajectory of the whole joint. The differential dynamic programming algorithm using the direct method of warm start is about twice as fast as the method of manually given initial trajectory. The simulation and experimental verification of the vertical jump trajectories generated by the algorithm on the humanoid robot HIT-HU show that the jump trajectories generated by the algorithm can be effectively transformed into the motion trajectories of humanoid robots, and can be effectively executed on the physical prototype. This further verifies the effectiveness of the algorithm and plays an important role in practical application. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Anthropomorphic robots

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The Autonomous Pipeline Navigation of a Cockroach Bio-Robot with Enhanced Walking Stimuli

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Cyborg and Bionic systems 2023年第1期4卷 47-55页

作者： Songsong Ma Yuansheng Chen Songlin Yang Shen Liu Lingqi Tang Bing Li Yao Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhenChina School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhenChina The Biorobotics Institute Scuola Superiore Sant'AnnaPisaItaly

Tens of crawling bio-robots with cockroaches as the mobile platform have been developed with various *** with artificial crawling robots of the same size,they revealed better flexibility,larger payload,and stronger *** features made bio-robots ideal for pipeline inspection scenarios because the advancements in locomotion mechanisms and efficient power systems are still hurdles for current artificial *** this study,we controlled the bio-robot to crawl in the confined dark pipeline and achieved autonomous motion control with the help of an onboard sensing ***,a micro-camera was mounted on the electronic backpack of the cockroach for image collection,and an IMU sensor was used to compute its body *** electronic backpack transmitted images to the host computer for junction recognition and distance ***,the insect's habituation to electrical stimulation has long been an uncertain factor in the control of ***,a synergistic stimulation strategy was proposed to markedly reduce the habituation and increase the number of effective turning controls to over 100 *** is also found that both the increase of payload and the application of stimulations could promote the metabolic rate by monitoring carbon dioxide *** the integration of synergistic stimulation and autonomous control,we demonstrated the fully autonomous pipeline navigation with our cockroach bio-robot,which realized the cycle number of approximately 10 in a *** research provides a novel technology that has the potential for practical applications in the future.

关键词： robot artificial Robot

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Research on Multi-sensor Fusion Localization of Wheel-Legged Robots in Dynamic Scenarios 7

Research on Multi-sensor Fusion Localization of Wheel-Legged...

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7th International Conference on Automation, Control and Robots, ICACR 2023

作者： Li, Xu Fu, Yili Cheng, Zuolun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China Zhejiang Laboratory Intelligent Robot Research Center Hangzhou311100 China

ISBN: (纸本)9798350302882

With the rapid development of human beings in motion control and localization perception, intelligent mobile robots are widely used in various scenarios, such as industrial production, medical care, logistics and distribution. Among them, wheel-legged robots have both the high mobility of wheeled robots and the high adaptability of legged robots, which can not only move fast on platform terrain, but also adapt to rugged and complex ground with the multiple degrees of freedom of their legs. Wheel-legged robots face the following main problems in high-precision robust localization in multiple scenarios: there are a lot of dynamic factors in daily indoor and outdoor scenarios, such as vehicles, pedestrians, etc., which require specific processing of dynamic environment in the visual front-end part to improve the effect of visual factor constraints;as ground mobile robots, the localization framework of visual inertial fusion (VIO) will show scale degeneration phenomenon, resulting in long-distance localization accuracy decline. In addition, as a two wheeled inverted pendulum robot, the ground constraint form will undergo corresponding changes. Aiming at the above problems, this paper takes the hydraulic-driven wheel-legged robot as the object and proposes a multi-sensor fusion localization method in dynamic scenarios. © 2023 IEEE.

关键词： Degrees of freedom (mechanics)

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Fully sprayed MXene-based high-performance flexible piezoresistive sensor for image recognition

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Nano Materials Science 2024年第1期6卷 77-85页

作者： Zhi-Dong Zhang Xue-Feng Zhao Qing-Chao Zhang Jie Liang Hui-Nan Zhang Tian-Sheng Zhang Chen-Yang Xue Key Laboratory of Instrumentation Science&Dynamic Measurement of Ministry of Education North University of ChinaTaiyuan030051People's Republic of China State Key Laboratory of ASIC and System Shanghai Institute of Intelligent Electronics&SystemsSchool of MicroelectronicsFudan UniversityShanghai200433People's Republic of China Shanxi Hosipital of Acupuncture and Moxibustion Taiyuan030006People's Republic of China

High-performance flexible pressure sensors provide comprehensive tactile perception and are applied in human activity monitoring,soft robotics,medical treatment,and human-computer ***,these flexible pressure sensors require extensive nano-architectural design and complicated manufacturing and are ***,a highly sensitive,flexible piezoresistive tactile sensor is designed and fabricated,consisting of three main parts:the randomly distributed microstructure on T-ZnOw/PDMS film as a top substrate,multilayer Ti_(3)C_(2)-MXene film as an intermediate conductive filler,and the few-layer Ti_(3)C_(2)-MXene nanosheetbased interdigital electrodes as the bottom *** MXene-based piezoresistive sensor with randomly distributed microstructure exhibits a high sensitivity over a broad pressure range(less than 10 kPa for 175 kPa^(-1))and possesses an out-standing permanence of up to 5000 ***,a 16-pixel sensor array is designed,and its potential applications in visualizing pressure distribution and an example of tactile feedback are *** fully sprayed MXene-based pressure sensor,with high sensitivity and excellent durability,can be widely used in,electronic skin,intelligent robots,and many other emerging technologies.

关键词： Piezoresistive sensor Ti_(3)C_(2)-MXene T-ZnOw/PDMS film Randomly distributed microstructure

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Bulk photovoltaic effect in two-dimensional ferroelectric α-In2Se3

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Science China(Information Sciences) 2025年第2期68卷 285-292页

作者： Huiting WANG Shuaiqin WU Yan CHEN Qianru ZHAO Jinhua ZENG Ruotong YIN Yuqing ZHENG Chang LIU Shukui ZHANG Tie LIN Hong SHEN Xiangjian MENG Jun GE Xudong WANG Junhao CHU Jianlu WANG State Key Laboratory of Infrared Physics Shanghai Institute of Technical PhysicsChinese Academy of Sciences University of Chinese Academy of Sciences Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception Institute of OptoelectronicsFudan University Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences Frontier Institute of Chip and System Fudan University

Non-centrosymmetric material systems can generate spontaneous photocurrent without a p-n junction under uniform illumination, which is known as the bulk photovoltaic effect（BPVE）. It has garnered significant attention for its application potential in the fields of energy harvesting and photoelectric detection. In this study, we report the BPVE observed in twodimensional ferroelectric α-In2Se3multilayer flakes. The reversal in spontaneous photocurrent polarity is observed and associated with the out-of-plane ferroelectric polarization direction. The spontaneous photocurrent originating from the shift current is also polarization-sensitive. The amplitude of spontaneous photocurrent is further increased by one order of magnitude through vacuum annealing. Our results provide a further application potential for new-generation photodetectors based on BPVE with low power consumption and multi-dimensional optoelectronic detection.

关键词： bulk photovoltaic effect 2D ferroelectrics 3R $\alpha$-In$_2$Se$_3$ shift current self-powered photodetection

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Reliable observer-based control against sensor failures for fractional order systems 41

Reliable observer-based control against sensor failures for ...

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第41届中国控制会议

作者： Bingxin Li Xiangfei Zhao Yaowei Liu Xin Zhao Institute of Robotics and Automatic Information System and the Tianjin Key Laboratory of Intelligent Robotics Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In the paper,the state and sensor failure observer for fractional order systems with order 0 <α <1 and 1 <α<2 is proposed to estimate the system state and sensor failures at the same *** general,unbounded sensor faults will inevitably lead to system ***,it is very necessary to study the reliable controller for fractional order systems against sensor *** the linear matrix inequality concept and the augmented system method,the sensor faults can be in any form,even unbounded.A reliable observer-based controller based on the state and sensor failures estimation is proposed,which can make the system work well regardless of whether the sensor *** α=1,methods proposed in the paper are equivalent to these of the integer order systems,scilicet,our methods can be extended to integer order ***,a simulation example is used to demonstrate the efficiency of the present methods.

关键词： Fractional order systems state and sensor failures linear matrix inequality reliable observer-based controller

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A Survey of Space robotic Technologies for On-Orbit Assembly

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Space(Science & Technology) 2022年第1期2022卷 325-337页

作者： Delun Li Lou Zhong Wei Zhu Zhipeng Xu Qirong Tang Wenhao Zhan Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringCASTBeijingChina College of Mechanical Engineering Tongji UniversityShanghaiChina National Key Laboratory of Human Factors Engineering China Astronaut Research and Training CenterBeijingChina

The construction of large structures is one of the main development trends of the space exploration in the future,such as large space stations,large space solar power stations,and large space *** is one of important development tendency,which aims to make full use of space robots to assemble space structures autonomously in the aerospace *** that on-orbit assembly is an effective method to solve the problem of construction of large-scale spatial structures,it is necessary to motivate and facilitate the research of space robotics technologies for on-orbit ***,in this paper,the development status of space robot technology and the relevant space robot on-orbit assembly technology in recent decades are ***,based on the space robot motion planning and assembly sequence planning,the development of space robot planning algorithms is *** space robot assembly task,the space robot assembly method is *** the control point of view,how to solve the vibration suppression and compliant assembly of on-orbit assembly is reviewed,which provides a reference for the autonomous intelligent assembly of space robots for large-scale structures in *** order to simulate the space assembly scene on the ground,this paper introduces the development of ground verification experiments and provides ideas for the effective verification of space on-orbit assembly *** summary,though some of these problems have been satisfactorily solved in the past research,further research is still necessary in the ***,it looks forward to the future research direction of space machine on-orbit assembly.

关键词： robot summarized autonomous

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Architectural Color Image Scale Computing of Beijing Forbidden City

Architectural Color Image Scale Computing of Beijing Forbidd...

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2024 International Conference on Culture-Oriented Science and Technology, CoST 2024

作者： Liu, Bowen Huang, Wenli Yu, Xiumeng Ma, Zongliu Guo, Ziyi Wang, Shuang Jiang, Wei Communication University of China State Key Laboratory of Media Convergence and Communication 100024 China Communication University of China Key Laboratory of Acoustic Visual Technology and Intelligent Control System 100024 China Communication University of China Beijing Key Laboratory of Modern Entertainment Technology 100024 China

ISBN: (纸本)9798350380347

The traditional color system of Beijing Forbidden City is comprehensive and complex. The research focuses on collecting color data from the Forbidden City, analyzing subjective and objective color attributes, and compute architectural color image scale. First this research used K-means algorithm to extract the theme color cards of Beijing Forbidden City. Subsequently, single colors were extracted using the idea of community detection, and matching colors were extracted based on the thought of association rule mining. Then this research extracted objective attributes of colors and designed experiments to quantify subjective attributes. Finally, the color subjective and objective data fitting was completed. This outcome is helpful for the digital preservation of traditional colors and the advancement of color culture inheritance practices. © 2024 IEEE.

关键词： Color computer graphics

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