检索结果-内蒙古大学图书馆

A Stability-guaranteed Model Predictive Control for Autonomous Surface Vessel Trajectory Tracking based on Lyapunov Theory

引用

IEEE Transactions on Transportation Electrification 2025年第3期11卷 7885-7896页

作者： Chen, Linying Qiu, Qianqian Li, Mengxia Chen, Pengfei Huang, Yaming Mou, Junmin Wuhan University of Technology State Key Laboratory of Maritime Technology and Safety School of Navigation Wuhan430063 China Wuhan University of Technology State Key Laboratory of Maritime Technology and Safety Intelligent Transportation Systems Research Center Wuhan430063 China

This article explores the trajectory tracking problem of an Autonomous Surface Vessel (ASV). As an optimization-based time-domain method, Model Predictive Control (MPC) has incomparable advantages in solving constrained multi-input multi-output system problems. However, ensuring the stability of the MPC is challenging. This article proposes a Stability-Guaranteed Model Predictive Control (SMPC) method by adding the Lyapunov constraint into the linearized MPC framework. The Lyapunov constraint transformed from the backstepping control law restricts the first action of MPC to guarantee closed-loop stability. Furthermore, the stability and recursive feasibility conditions are theoretically derived. Simulation results demonstrate that the proposed SMPC has better tracking and robustness compared with the backstepping methods. © 2025 IEEE.

关键词： Predictive control systems

来源：评论

学校读者我要写书评

暂无评论

Low-frequency chatter suppression in robotic milling using Magnetorheological Joint Damper(MRJD)

引用

Chinese Journal of Aeronautics 2025年第3期38卷 521-543页

作者： Shihao XIN Xiaowei TANG Jiawei WU Fangyu PENG Rong YAN Kai SUN School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

Low-frequency structural vibrations caused by poor rigidity are one of the main obstacles limiting the machining efficiency of robotic *** vibration suppression strategies primarily focus on passive vibration absorption at the robotic end and feedback control at the joint *** these strategies have a certain vibration suppression effect,the limitations of robotic flexibility and the extremely limited applicable speed range remain to be *** this study,a Magnetorheological Joint Damper(MRJD)is *** joint-mounted feature ensures machining flexibility of the robot,and the millisecond response time of the Magnetorheological Fluid(MRF)ensures a large effective spindle speed *** importantly,the evolution law of the damping performance of MRJD was revealed based on a low-frequency chatter mechanism,which guarantees the application of MRJD in robotic milling *** analyze the influence of the robotic joint angle on the suppression effect of the MRJD,the joint braking coefficient and end braking coefficient were *** coordinate plots were used to visualize the joint range with the optimal vibration suppression ***,a combination of different postures and cutting parameters was used to verify the vibration suppression effect and feasibility of the joint angle *** experimental results show that the MRJD,which directly improves the joint vibration resistance,can effectively suppress the low-frequency vibration of robotic milling under a variety of cutting conditions.

关键词： Magnetorheological fluids Joint damper Vibration suppressioni Low-frequency chatter Robotic milling

来源：评论

学校读者我要写书评

暂无评论

Characteristic model-based control of aerial manipulator for improved interaction stability

引用

Science China(Technological Sciences) 2025年第4期68卷 166-178页

作者： Bingkai XIU Zhan LI Yipeng YANG Huijun GAO Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and Systems(HIT) Harbin Institute of TechnologyHarbin150001China

Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关键词： aerial manipulator interaction stability contact force observer characteristic model

来源：评论

学校读者我要写书评

暂无评论

Dynamics of three ferrofluid droplets in a rotating magnetic field

引用

Applied Mathematics and Mechanics(English Edition) 2025年第3期46卷 591-600页

作者： Xinping ZHOU Wencai XIAO Qi ZHANG Chunyue LIANG Wanqiu ZHANG Fei ZHANG School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

Two-dimensional(2D)direct numerical simulations on the dynamics of three identical ferrofluid droplets suspended in a non-magnetic ambient fluid under a rotating uniform magnetic field are conducted,and the motion and deformation of the three ferrofluid droplets are studied in this *** show that there are four modes(i.e.,the three droplets'direct coalescence(TC),the coalescence of two droplets and the subsequent planetary motion with the third droplet(CAP),the three droplets'planetary motion(TP),and the independent spin(IS))for the three ferrofluid droplets,dependent on the magnetic Bond number(Bom)and the initial distance(d0)between two of the *** is found that the decrease in d0and the increase in Bomcan make the droplets'mode change from the IS to the planetary motion,and then turn to the ***,reducing Bomor d0is helpful for the droplets to become merged.

关键词： ferrofluid droplet rotating magnetic field capillary force

来源：评论

学校读者我要写书评

暂无评论

D-FUSION SLAM: A VSLAM system OPTIMIZED BY INTEGRATING DEPTH INFORMATION AND RGBD FEATURE POINTS

UPB Scientific Bulletin, Series C: Electrical Engineering an...

引用

UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2025年第1期87卷 121-138页

作者： Zheng, Qingchun Wu, Moudong Zhu, Peihao Yang, Bin Li, Shubo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

This paper introduces D-Fusion SLAM, an advanced VSLAM system based on ORB-SLAM2. D-Fusion SLAM integrates depth information to enhance feature selection, aiming to improve accuracy and speed in visual SLAM applications. The system mainly comprises two modules: an image grid filtering module based on grayscale information and a feature selection module integrating depth information. These modules effectively eliminate redundant and useless features, ensuring high-quality features for pose estimation. We tested D-Fusion SLAM on the TUM dataset and compared it with ORB-SLAM2. Experimental results demonstrate that D-Fusion SLAM outperforms ORB-SLAM2, significantly enhancing the system's accuracy and robustness. © 2025, Politechnica University of Bucharest. All rights reserved.

关键词： Feature Selection

来源：评论

学校读者我要写书评

暂无评论

An optical carbon nanotube fibre probe for measurement of nano structures with large aspect ratio

引用

Nano Research 2025年第3期18卷 436-443页

作者： Weihao Tao Shuhao Zhao Hanjin Dong Ze Zhang Peirui Ji Shenghan Qin Wenbo Hu Jinlong Zhu Renjie Zhou Shuming Yang State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong UniversityXi’an 710049China State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China Department of Biomedical Engineering The Chinese University of Hong KongHong KongChina

With the development of imaging and measurement technologies,scanning near-field optical microscopy(SNOM)has achieved high signal-to-noise *** resolution of a fibre probe-based SNOM system is capable of reaching 10 ***,SNOM applications are presently constrained to the measurement of near-field optical information to relatively straightforward structures,including quantum dots,carbon nanotubes,graphene,and so *** geometry of conventional fibre probes,with tips at an angle of 30°-60°,presents a challenge for accurately imaging complex surface *** paper proposes a carbon nanotube composite fibre probe(CNT-FP)with a large aspect *** key point is that a carbon nanotube bundle is composited at the tip of conventional surface plasmon polaritons fibre probes(SPPs-FP),which are the fibre probes coated with gold film to excite the *** coupling,propagation,and focusing effects of SPPs on the carbon nanotube bundle are ***-FPs have been fabricated and applied to measure a grating with the depth of 400 nm and the width of 400 *** experimental results show that the measurement accuracy and imaging quality of CNT-FP are nearly one order of magnitude higher than that of conventional SPPs-FP,as evidenced by evaluation criteria such as line roughness and volatility ***,it achieves an optical resolution of 72.1 nm in the measurements of a nano structure with large aspect *** provides an effective solution of measuring structures with larger aspect ratios.

关键词： carbon nanotubes fibre optic probes surface plasmon polaritons nano-focusing large aspect ratio

来源：评论

学校读者我要写书评

暂无评论

LSF-planner: a visual local planner for legged robots based on ground structure and feature information

引用

Autonomous Robots 2025年第2期49卷 1-17页

作者： Zhang, Teng Wang, Xiangji Zha, Fusheng Liu, Fucheng Harbin Institute of Technology The State Key Laboratory of Robotics and System Harbin150006 China Lanzhou University of Technology Lanzhou730050 China

Three-dimensional navigation of legged robots is crucial for field exploration and post-disaster rescue. Existing optimization-based local trajectory planners predominantly focus on obstacle avoidance, neglecting negative obstacles (e.g., pits) and varying ground features (e.g., different terrain types). Additionally, non-overlapping areas between the planned space in three-dimensional trajectory planning and the robot’s actual reachable space lead to decision-making issues between crossing and obstacle avoidance, making it challenging to differentiate between passable and hazardous areas, thus impacting navigation safety and stability. To address these limitations, we propose a novel visual local planner, LSF-Planner (Visual Local Planner for Legged Robots Based on Ground Structure and Feature Information). The LSF-Planner employs a multi-layer local perception map that integrates ground feature semantics, sensor range, and negative obstacles (e.g., voids detected by depth sensors) to construct a ground reliability representation. The Label2Grad method is introduced to convert this representation into gradient layers, incorporating a ground reliability penalty function into trajectory optimization. By incorporating constraints on the center of mass height and crossing angles, LSF-Planner effectively differentiates between traversable and hazardous areas. Experimental results show that LSF-Planner significantly outperforms existing methods in 3D trajectory planning, enhancing the navigation performance of legged robots in unstructured environments. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Emergency services

来源：评论

学校读者我要写书评

暂无评论

An effective way for sustainable application catalyzed by haem peroxygenases using O2/small-molecule reducing agents

引用

Science China Chemistry 2025年第6期68卷 2199-2201页

作者： Yinjun Tang Chengzhou Zhu State Key Laboratory of Green Pesticide International Joint Research Center for Intelligent Biosensing Technology and Health College of Chemistry Central China Normal University

Enzymatic biocatalysis harnesses the efficiency, specificity,and environmental friendliness of enzymes to drive innovations in green synthesis, drug development, environmental remediation, and industrial production, m...

关键词：

来源：评论

学校读者我要写书评

暂无评论

Mechanism of material removal and chip formation of alumina dispersion strengthened copper in micro-milling

引用

Frontiers of Mechanical Engineering 2025年第1期20卷 27-43页

作者： Chang LIU Chunya WU Xiguang LI Bo HOU Jiahao WU Ruijiang SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Alumina dispersion-strengthened copper (ADSC), as a representative particle-reinforced metal matrix composite (PRMMC), exhibits superior wear resistance and high strength. However, challenges arise in their processability because of the non-uniform material properties of biphasic materials. In particular, limited research has been conducted on the reinforcement mechanism and behavior of particles during material cutting deformation of PRMMC with nanoscale particles. In this study, a cutting simulation model for ADSC was established, separating the nanoscale reinforcement particles from the matrix. This model was utilized to analyze the interactions among particles, matrix, and tool during the cutting process, providing insights into chip formation and fracture. Particles with high strength and hardness are more prone to storing stress concentrations, anchoring themselves at grain boundaries to resist grain fibration, thereby influencing the stress distribution in the cutting deformation zone. Stress concentration around the particles leads to the formation of discontinuous chips, indicating that ADSC with high-volume fractions of particle (VFP) exhibits low cutting continuity, which is consistent with the results of cutting experiments. The tool tip that is in contact with particles experiences stress concentration, thereby accelerating tool wear. Cutting ADSC with 1.1% VFP results in tool blunting, which increases the radius of cutting edge from 0.5 to 1.9 μm, accompanied with remarkable coating delamination and wear. Simulation results indicate that the minimum uncut chip thickness increases from 0.04 to 0.07 μm as VFP increases from 0.3% to 1.1%. In conjunction with scratch experiments, MUCT increases with the augmentation of VFP. Computational analysis of the specific cutting force indicates that particles contribute to the material’s size effect. The results of this study provide theoretical guidance for practical engineering machining of ADSC, indicating its g

关键词： alumina dispersion-strengthened copper particle-reinforced metal matrix composites material removal mechanism micro-milling chip formation minimum uncut chip thickness

来源：评论

学校读者我要写书评

暂无评论

Deep Reinforcement Learning-based Multi-Objective Scheduling for Distributed Heterogeneous Hybrid Flow Shops with Blocking Constraints

引用

Engineering 2025年第3期46卷 278-291页

作者： Xueyan Sun Weiming Shen Jiaxin Fan Birgit Vogel-Heuser Fandi Bi Chunjiang Zhang State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China Institute of Automation and Information Systems Technical University of MunichGarching 85748Germany

This paper investigates a distributed heterogeneous hybrid blocking flow-shop scheduling problem(DHHBFSP)designed to minimize the total tardiness and total energy consumption simultaneously,and proposes an improved proximal policy optimization(IPPO)method to make real-time decisions for the DHHBFSP.A multi-objective Markov decision process is modeled for the DHHBFSP,where the reward function is represented by a vector with dynamic weights instead of the common objectiverelated scalar value.A factory agent(FA)is formulated for each factory to select unscheduled jobs and is trained by the proposed IPPO to improve the decision *** FAs work asynchronously to allocate jobs that arrive randomly at the shop.A two-stage training strategy is introduced in the IPPO,which learns from both single-and dual-policy data for better data *** proposed IPPO is tested on randomly generated instances and compared with variants of the basic proximal policy optimization(PPO),dispatch rules,multi-objective metaheuristics,and multi-agent reinforcement learning *** experimental results suggest that the proposed strategies offer significant improvements to the basic PPO,and the proposed IPPO outperforms the state-of-the-art scheduling methods in both convergence and solution quality.

关键词： Multi-objective Markov decision process Multi-agent deep reinforcement learning Proximal policy optimization Distributed hybrid flow-shop scheduling Blocking constraints

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：