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Deployment dynamics and experiments of a tendon-actuated flexible manipulator

Chinese Journal of Aeronautics 2025年第2期38卷 459-477页

作者： Benteng ZHANG Jialiang SUN Haiyan HU State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing 210016China MOE Key Laboratory of Dynamics and Control of Flight Vehicle School of Aerospace EngineeringBeijing Institute of TechnologyBeijing 100081China

The quantity of space debris on Earth orbit has escalated tremendously in recent years, presenting a significant hazard to human space operations. It is urgent to develop effective measures to capture and remove various space debris. For this purpose, this paper presents a tendon-actuated flexible deployable manipulator. The flexible manipulator consists of several deployable units connected by Cardan joints and actuated by tendons. Compared with the present technologies for capturing space debris such as rigid robotic arm or flying net, this flexible manipulator is deployable, reusable, lightweight and applicable to the capture of large space debris. In order to investigate its deployment dynamics, an accurate dynamic model of the flexible manipulator is established based on the natural coordinate formulation (NCF) and the absolute nodal coordinate formulation (ANCF). Subsequently, numerical simulations are carried out to study the effects of system parameters and the base satellite on its deployment dynamics. Finally, ground experiments for both deployment and bending of the flexible manipulator are conducted to verify its effectiveness and feasibility.

关键词： Flexible manipulator Tendon-actuated Dynamic modeling Deployment dynamics Ground experiments

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A Lyapunov-Based Framework for Trajectory Planning of Wheeled Vehicle Using Imitation Learning

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 12118-12133页

作者： Lai, Jialun Wu, Zongze Ren, Zhigang Chen, Ci Tan, Qi Xie, Shengli Guangdong University of Technology School of Automation Guangdong Guangzhou510006 China Shenzhen University College of Mechatronics and Control Engineering Guangdong Shenzhen518052 China Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China

Trajectory planning with a learning-based approach has emerged as a crucial element in autonomous unmanned systems and has attracted substantial interest from both academia and industry. However, unresolved issues persist concerning data efficiency, safety, convergence, and generalization within the control pipeline. To address this gap, this work presents a trajectory planning method that combines the differential flatness of wheeled vehicle with global convergence property. Our proposed framework transforms the trajectory planning problem, integrating kinematic constraints into a motion planning paradigm. This transformation significantly reduces the state space associated with trajectory planning. Initially, Gaussian mixture regression (GMR) is employed to learn the nonlinear mapping from flat input, leveraging a limited number of demonstrations solved by the optimal control method. Subsequently, we design an asymmetric quadratic Lyapunov function that incorporates both random barrier information and the potential convergence property of the demonstration trajectories. Based on the optimized parameterized Lyapunov function incorporating the convergence and safety criteria, the analytical supplementary control is subsequently obtained by solving a quadratic programming problem to compensate for the prediction errors of GMR, which make the framework complete. Both numerical and real-world experiments are performed to validate the effectiveness of our framework. © 2004-2012 IEEE.

关键词： Motion planning

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BGS Distribution Deformation in BOTDR Induced by Self-Phase Modulation

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Photonic Sensors 2025年第1期15卷 11-25页

作者： Haoting WU Wencun GUO Zixuan ZHONG Guolu YIN Tao LIU Tao ZHU State Key Laboratory of Coal Mine Disaster Dynamics and Control Chongqing UniversityChongqing 400044China The Key Laboratory of Optoelectronic Technology&Systems(Ministry of Education) Chongqing UniversityChongqing 400044China

We report the numerical and experimental studies of the two-dimensional Brillouin gain spectrum(BGS)distribution deformation induced by the self-phase modulation in the Brillouin optical time domain reflectometry(BOTDR)with a 20.6 km sensing *** BGS distribution deformation is investigated by analyzing the evolution of the point spread function along the fiber in the two-dimensional model of the *** the simulation and experimental results,the specific deformation degree of the BGS distribution induced by the self-phase modulation is related to the pump pulse profile,pump pulse peak power,BGS demodulation method,and detected scattered light *** comprehensively analyzing the evolution of the point spread function induced by the self-phase modulation and using the image deconvolution,a typical BOTDR sensor with a 25 ns pump pulse reaches the 20 cm spatial resolution over the 20.6 km sensing fiber.

关键词： Optical time domain reflectometry Brillouin scattering self-phase modulation deconvolution

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CF6D: A Visual Perception Network for Collision-Free Grasping and Manipulation in Complex industrial Environments

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IEEE Sensors Journal 2025年第9期25卷 16250-16259页

作者： Li, Cuiming Shi, Lei Shen, Tao Kang, Ru Lanzhou University of Technology School of Mechanical and Electrical Engineering National Key Laboratory of Large Electrical Drive Systems and Equipment Technology Key Laboratory of Advanced Control of Industrial Processes of Gansu Province Lanzhou730050 China

Accurate 6-D pose estimation is critical for robots to perform grasping tasks successfully. In recent years, numerous 6-D pose estimation algorithms have been widely applied in robotic grasping experiments. However, in complex environments, industrial robots often struggle to extract effective image features, leading to inaccurate 6-D pose estimations and subsequent grasping failures. In addition, improper grasping sequences caused by stacked parts increase the risk of collisions, further elevating the probability of grasping failure. To overcome these challenges, we presented CF6D, a collision-free grasping network based on 6-D pose estimation. Specifically, we devised a keypoint prediction network that utilizes a least squares fitting algorithm to exactly detect object keypoints and estimate 6-D poses. The network also outputs an optimal grasping sequence, enabling the robot to effectively grasp stacked parts based on precise poses and a reasonable order. On the relevant dataset, our method is obviously better than the existing methods in terms of accuracy and robustness. Furthermore, test results on a real-world robotic platform demonstrate that this method excels in practical grasping tasks, meeting the demands of industrial applications. © 2025 IEEE.

关键词： industrial robots

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Physically informed hierarchical learning based soft sensing for aero-engine health management unit

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Chinese Journal of Aeronautics 2025年第3期38卷 374-385页

作者： Aina WANG Pan QIN Yunbo YUAN Guang ZHAO Ximing SUN School of Control Science and Engineering Dalian University of TechnologyDalian 116024China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian 116024China School of Energy and Power Engineering Dalian University of TechnologyDalian 116024China

Partial Differential Equations(PDEs)are model candidates of soft sensing for aero-engine health management *** existing Physics-Informed Neural Networks(PINNs)have made ***,unmeasurable aero-engine driving sources lead to unknown PDE driving terms,which weaken PINNs *** this end,Physically Informed Hierarchical Learning followed by Recurrent-Prediction Term(PIHL-RPT)is ***,PIHL is proposed for learning nonhomogeneous PDE solutions,in which two networks NetU and NetG are *** is for learning solutions satisfying PDEs;NetG is for learning driving terms to regularize NetU ***,we propose a hierarchical learning strategy to optimize and couple NetU and NetG,which are integrated into a data-physics-hybrid loss ***,we prove PIHL-RPT can iteratively generate a series of networks converging to a function,which can approximate a solution to well-posed ***,RPT is proposed for prediction improvement of PIHL,in which network NetU-RP is constructed to compensate for information loss caused by data sampling and driving sources’***,artificial datasets and practical vibration process datasets from our wear experiment platform are used to verify the feasibility and effectiveness of PIHL-RPT based soft ***,comparisons with relevant methods,discussions,and PIHL-RPT based health monitoring example are given.

关键词： Hierarchical learning strategy Monitoring:Partial differen tial equations with unmeasurable driving terms Physically informed hierarchical learning followed by recurrent-prediction term Soft sensing

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In Situ Sulfide-Induced Surface Reconstruction of Catalysts for Enhanced Hydrogenation Efficiency and Sulfur Resistance

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ACS Catalysis 2025年第10期15卷 7810-7822页

作者： Li, Bingcheng He, Wei Liu, Jie Zhang, Xinhui Fang, Rubo Zhang, Xiao Shi, Zhongliang Lu, Chunshan Feng, Feng Zhang, Qunfeng Wang, Qingtao Li, Xiaonian State Key Laboratory Breeding Base of Green Chemistry Synthesis Technology Institute of Industrial Catalysis Zhejiang University of Technology Hangzhou310014 China

The development of sulfur-resistant nonhomogeneous noble metal catalysts with high activity and stability remains a significant challenge. In this work, Pd4S/ZSM-5 catalysts were prepared via in situ sulfidation-induced catalyst surface reconstruction and their sulfur-resistant performance in the hydrogenation of sulfur-containing substrates was systematically evaluated. Structural analysis revealed that Pd/ZSM-5 and Pd4S/ZSM-5 catalysts had similar morphologies and physicochemical properties. However, they differed notably in hydrogenation activity (Pd > Pd4S) and sulfur resistance (Pd 4S). Overall, Pd4S/ZSM-5 has the best stability for catalytic hydrogenation of sulfur-containing substrates in sulfur-containing systems, and its turnover frequency (1471 h-1) is about 5 times higher than that of PdxSy/C (281.09 h-1) during the hydrogenation of 4-nitrothioanisole. Furthermore, Pd4S/ZSM-5 retained its activity across at least 10 reactions without significant deactivation. System characterization and density functional theory calculations suggest that the enhanced sulfur resistance of Pd4S/ZSM-5 is due to the reduced adsorption strength and energy of the sulfur-containing molecules, along with the improved selectivity for -NO2. This study provides valuable insights for designing and optimizing sulfur-resistant noble metal catalysts. © 2025 American Chemical Society.

关键词： Sulfur compounds

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

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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

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Development and application of rock rheological constitutive model considering dynamic stress field and seepage field

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International Journal of Mining Science and technology 2025年第3期35卷 467-482页

作者： Yian Chen Guangming Zhao Wensong Xu Shoujian Peng Jiang Xu Key Laboratory of Safe and Effective Coal Mining Ministry of Education Anhui University of Science and TechnologyHuainan 232001China State Key Laboratory of Coal Mine Disaster Dynamics and Control Chongqing UniversityChongqing 400044China

The generalized rheological tests on sandstone were conducted under both dynamic stress and seepage *** results demonstrate that the rheological strain of the specimen under increased stress conditions is greater than that under creep conditions,indicating that the dynamic stress field significantly influences the rheological behaviours of *** the rheological tests,the number of small pores in the sandstone decreased,while the number of medium-sized pores increased,forming new seepage *** high initial rheological stress accelerated fracture compression and the closure of seepage channels,resulting in reduction in the permeability of *** on the principles of generalized rheology and the experimental findings,a novel rock rheological constitutive model incorporating both the dynamic stress field and seepage properties has been *** simulations of surrounding rock deformation in geotechnical engineering were carried out using a secondary development version of this model,which confirmed the applicability of the generalized rheological numerical simulation *** results provide theoretical support for the long-term stability evaluation of engineering rock masses and for predicting the deformation of surrounding rock.

关键词： Generalized rheological test Seepage-stress coupling Seepage properties Dynamic stress field Rheological constitutive model

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Achieving ultralow leakage current in Schottky-MIS cascode anode lateral field-effect diode based on AlGaN/GaN HEMT

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Science China(Information Sciences) 2025年第1期68卷 379-385页

作者： Fangzhou WANG Changhong GAO Guojian DING Cheng YU Zhuocheng WANG Xiaohui WANG Qi FENG Ping YU Peng ZUO Wanjun CHEN Yang WANG Haiqiang JIA Hong CHEN Bo ZHANG Zeheng WANG Songshan Lake Materials Laboratory School of Microelectronics Southern University of Science and Technology State Key Laboratory of Electronic Thin Films and Integrated Devices University of Electronic Science and Technology of China Manufacturing Commonwealth Scientific and Industrial Research Organisation

In this paper,we design and fabricate a Schottky-metal-insulator-semiconductor（MIS） cascode anode GaN lateral field-effect diode（CA-LFED） to achieve ultralow reverse leakage current(ILEAK).The device based on AlGaN/GaN highelectron-mobility-transistor（HEMT） includes a normally-off MIS-controlled channel that is cascoded with a high barrier height Schottky *** reverse bias,the high electric-field is effectively prevented by the normally-off MIS-controlled channel *** with the high barrier height Schottky contact,this feature significantly suppresses the *** by the device fabrication,the CA-LFED with high breakdown voltage（BV）>600 V shows an ultralow ILEAKof 3.6×10-9A/mm as well as a low forward voltage drop（VF） of 2.2 *** performance suggests that the CA-LFED can be a promising candidate for ultralow ILEAKand better VF-ILEAKtrade-off GaN power diode applications.

关键词： Schottky-MIS cascode anode lateral field-effect diode (LFED) ultralow reverse leakage current ($I_{\rm{LEAK}}$) forward drop and reverse leakage trade-off AlGaN/GaN HEMTs

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Classification of Neuropsychiatric Disorders via Brain-Region-Selected Graph Convolutional Network

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IEEE Transactions on Neural Systems and Rehabilitation Engineering 2025年 33卷 1664-1672页

作者： Qin, Zhenzhe Li, Yongbo Song, Xiaoying Chai, Li Wuhan University of Science and Technology School of Electronic Information Wuhan430081 China Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China

For the classification of patients with neuropsychiatric disorders based on rs-fMRI data, this paper proposed a Brain-Region-Selected graph convolutional network (BRS-GCN). In order to effectively identify the most significant biomarkers associated with disease, we designed a novel ROI pooling score function. Additionally, we also designed a comprehensive loss function, including a group-level consistency loss function for preserving the same brain regions in subjects of the same category, and an anti-consistency function for maximizing brain region preservation differences between subjects of different categories. On the basis of the ROI graph, we directly incorporate the non-imaging information of the subjects in the network training. Experimental results on two public datasets, ABIDE and ADNI, validate the superiority of the model proposed in this paper, and the qualitative results of the biomarkers demonstrate the potential application of the model in medical diagnosis and treatment of neuropsychiatric disorders. © 2001-2011 IEEE.

关键词： Neurons

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