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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yuhang Chen Chenxing Wang School of Automation Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Single-view 3D human reconstruction has been a hot topic due to the potential of wide applications. To achieve high accuracy, existing works usually take computationally intensive models as backbone for exhaustive underlying features and then directly estimate human mesh vertices. These factors lead to redundant parameters, large calculations and low efficiency, while lightweight solutions to address these challenges are relatively scarce. In this work, based on the problems studied above, we propose a keypoints-guided lightweight network with an encoding-decoding framework. As the input is an image, a lightweight backbone named multi-stage and global feature enhanced network is designed for 2D encoding, where some operations of multi-scale fusion and frequency domain filtering are performed to extract more informative but low-resolution features. As the output is mesh of human body, we construct a keypoints-based 3D human template, with which the 2D low-resolution features can be mapped to 3D space to guide the 3D decoding with high efficiency and high accuracy. Extensive experiments on popular benchmarks 3DPW and Human3.6M illustrate the favorable trade-off between the accuracy and complexity of our method. Our code is publicly available at https://***/ChrisChenYh/***.

关键词： Three-dimensional displays Accuracy Image coding Frequency-domain analysis Estimation Benchmark testing Feature extraction

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Data-driven finite-time adaptive attitude tracking control for spacecraft

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Advances in Space Research 2025年第12期75卷 8780-8791页

作者： Wang, Jianhui He, Guangping Bian, Guibin Geng, Shixiong College of Mechanical & Energy Engineering Beijing University Of Technology Beijing100124 China Department of Mechanical and Electrical Engineering North China University of Technology Beijing100144 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

This paper proposes a novel data-driven finite-time adaptive control method for the spacecraft attitude tracking control problem with inertial uncertainty. Based on the dynamic regression extension technique, the disturbance unit matrix is introduced, and the parameter estimation law in the form of algebraic equations is presented, which realizes the arbitrarily small convergence of parameter estimation error. The convergence of parameter estimation errors is verified through stability analysis. Globally non-singular fast terminal sliding mode control is designed to achieve finite-time arrival of the sliding surface and convergence of the system state error. The stability analysis of the closed-loop system demonstrates the effectiveness of the proposed method. Furthermore, the effectiveness and superiority of the proposed method are verified through numerical simulations of spacecraft attitude tracking control. © 2025 COSPAR

关键词： Attitude control

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Distributed Finite-Time Anti-Disturbance Secondary Voltage Regulation for Islanded Alternating-Current Microgrids 41

Distributed Finite-Time Anti-Disturbance Secondary Voltage R...

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第41届中国控制会议

作者： Xuechao Qiu Guanjun Li Xiangyu Wang School of Automation Southeast Universityand Key Laboratory of Measurement and Control of Complex Systems of EngineeringMinistry of Education China Electric Power Research Institude Company Ltd.

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,a distributed finite-time anti-disturbance secondary voltage regulation problem is investigated for islanded alternating-current(AC) microgrids with unmeasurable states and *** combining the integral-type nonsingular terminal sliding-mode control and finite-time extended-state observer technique together,distributed finite-time anti-disturbance secondary voltage regulation protocols are *** order to estimate the unmeasurable states and disturbances,some finite-time extended-state observers are constructed at ***,according to the estimates of disturbances and unmeasurable states,some integral-type nonsingular terminal sliding-mode surfaces are designed for the ***,secondary voltage regulation protocols are proposed based on the *** the islanded AC microgrid system,these protocols achieve the output voltage consensus in finite *** demonstrate the effectiveness of the proposed secondary voltage regulation protocols.

关键词： Islanded Alternating-Current Microgrids Disturbance Rejection control Secondary Voltage Regulation Output-Feedback control

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Effects of phonon bandgap on phonon-phonon scattering in ultrahigh thermal conductivityθ-phase TaN

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Chinese Physics B 2023年第4期32卷 543-548页

作者：吴超刘晨晗 Laboratory of Solid State Microstructures Nanjing UniversityNanjing 210093China Micro-and Nano-scale Thermal Measurement and Thermal Management Laboratory School of Energy and Mechanical EngineeringNanjing Normal UniversityNanjing 210023China Jiangsu Key Laboratory for Numerical Simulation of Large-Scale Complex Systems Nanjing Normal UniversityNanjing 210023China Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments School of Mechanical EngineeringSoutheast UniversityNanjing 211100China

Phonon bandgap typically has a significant effect on phonon-phonon scattering *** this work,the effects of mass modified phonon bandgap inθ-phase Ta N are systemically investigated by the means of first-principles calculations with linearized Boltzmann transport *** detailed calculations,we find that phonon bandgap has a significant effect on three-phonon process while exhibits a much weaker effect on four-phonon *** reason for the ultrahigh thermal conductivity ofθ-phase Ta N is the long lifetime of phonons including both three-phonon and four-phonon processes,which originates from the weak phonon anharmonicity and large phonon bandgap-induced small phonon-phonon scattering phase *** work advances the understanding of phonon bandgap effects on phonon transport.

关键词： ultrahigh thermal conductivity phonon-phonon scattering phase space first-principles calculation phonon bandgap

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Neural Dynamics for Cooperative Motion control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao Jiliang Zhang Long Jin Junzhi Yu Zhongbo Sun the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

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eVTOL Performance Analysis: A Review From control Perspectives

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第5期9卷 1-13页

作者： Su, Jiangcheng Huang, Hailong Zhang, Hong Wang, Yutong Wang, Fei-Yue Department of Aeronautical and Aviation Engineering Hong Kong Polytechnic University Hong Kong China Co. Ltd. Guangzhou China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Electric Vertical Takeoff and Landing (eVTOL) aircraft has gained significant attention as a basic element of urban air mobility (UAM), a potential solution for urban transportation challenges using low-altitude urban airspace. Ensuring the safe operation of eVTOL is crucial for UAM applications, which are related to various professional fields such as aerodynamics, control, structures, and power systems. This article systematically analyzes the characteristics of different design configurations, including multi-rotor, lift+cruise, and tilt-rotor types of eVTOL. The advantages and limitations of each type of eVTOL are analyzed. After that, the overall design problems are analyzed, and challenges of eVTOL control system design are discussed from aspects of overall control structure and subsystems, such as controller, sensors, actuators, and command generator. This article tries to fill the gap in the eVTOL design from a control perspective and provides some resolutions for the eVTOL application. IEEE

关键词： Air mobility

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Anti-disturbance speed regulation control of PMSM at low speed by extended state observer and kalman filter

Anti-disturbance speed regulation control of PMSM at low spe...

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2023 Jiangsu Annual Conference on Automation, JACA 2023

作者： Xu, Lei Mao, Linxuan Li, Shihua School of Electronic Science and Engineering Southeast University Nanjing210096 China School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9781839539848

This paper presents an enhanced friction compensation anti-disturbance control strategy for improving the speed regulation control performance of a permanent magnet synchronous motor operating in low-speed mode. This is achieved via friction modelling and lumped disturbance compensation by seamlessly integrating extended state observer (ESO) and Kalman filter algorithms. Considering that nonlinear friction torque can not be ignored at low speeds, a piece-wise linearized friction model is first established based on speed estimation of Kalman filter and ESO. Then feed-forward compensation of friction torque and lumped disturbance estimation is conducted to reduce speed fluctuation during load changes at low speeds. Comparative simulation studies in the presence of measurement noises, external disturbances and nonlinear friction torque are conducted to validate the proposed algorithm with improved performance. © The Institution of engineering & Technology 2023.

关键词： Kalman filters

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An optimal trajectory planning algorithm for T-shaped acceleration curve with non-zero acceleration at the beginning and end

An optimal trajectory planning algorithm for T-shaped accele...

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2022 Chinese Automation Congress, CAC 2022

作者： Luo, Yongxu Yahui, Gan Xianzhong, Dai SE University Key Laboratorty of Measurement and Control of Complex Systems of Engineering Ministry School of Automation NanJing China

ISBN: (纸本)9781665465335

In order to solve the problem that T-type trajectory planning curve can not completely replace polynomial trajectory planning,this paper proposes an S-type programming algorithm based on the optimization algorithm with T-type acceleration. The algorithm solves the complex and cumbersome problem of time planning of T-shaped acceleration and deceleration curve with non-zero acceleration and velocity at the beginning and end. Taking into account the characteristics of fast acceleration of trajectory planning curve, it can not only solve the case where the initial and end velocities are not zero, but also solve the case where the initial and end accelerations are not zero. The algorithm is based on the analysis of the characteristics of acceleration stage, constant speed stage and deceleration stage. When the highest speed of the curve is determined, the time of all speed segments is also determined. The concept of maximum reachable speed of trajectory is proposed. The complex multivariate nonlinear programming is transformed into a single convex function. The algorithm is simplified by using the symmetry of the variation forms in acceleration stage and deceleration stage. The maximum achievable velocity is solved by dichotomy, Newton iterative method and gradient descent method. The experiment shows that the solving efficiency of Newton iterative method is 40% higher than that of dichotomy method. Compared with the quintic polynomial programming algorithm, the overall planning time is reduced by 9.6% and the tracking error is reduced by 15.9%. © 2022 IEEE.

关键词： Acceleration

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Accurate and straightforward symplectic approach for fracture analysis of fractional viscoelastic media

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Applied Mathematics and Mechanics(English Edition) 2022年第3期43卷 403-416页

作者： Chenghui XU Sen LENG Zhenhuan ZHOU Xinsheng XU Zichen DENG MIIT Key Laboratory of Dynamics and Control of Complex Systems Department of Engineering MechanicsNorthwestern Polytechnical UniversityXi'an 710072China State Key Laboratory of Structure Analysis of Industrial Equipment Department of Engineering MechanicsDalian University of TechnologyDalian 116024Liaoning ProvinceChina

An accurate and straightforward symplectic method is presented for the fracture analysis of fractional two-dimensional(2D)viscoelastic *** fractional Kelvin-Zener constitutive model is used to describe the time-dependent behavior of viscoelastic *** the framework of symplectic elasticity,the governing equations in the Hamiltonian form for the frequency domain(s-domain)can be directly and rigorously *** the s-domain,the analytical solutions of the displacement and stress fields are constructed by superposing the symplectic eigensolutions without any trial function,and the explicit expressions of the intensity factors and J-integral are derived *** studies are provided to validate the accuracy and effectiveness of the present solutions.A detailed analysis is made to reveal the effects of viscoelastic parameters and applied loads on the intensity factors and J-integral.

关键词： symplectic approach viscoelastic material fractional Kelvin-Zener model crack fracture parameter

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Topological edge state analysis of hexagonal phononic crystals

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Acta Mechanica Sinica 2022年第3期38卷 78-85,I0002页

作者： Kai Zhang Fang Hong Je Luo Zichen Deng School of Mechanics Civil Engineering and ArchitectureNorthwestern Polytechnical UniversityXi'an 710072China MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical UniversityXi'an 710072China

In this study,we propose valley phononic crystals that consist of a hexagonal aluminum plate with six chiral arrangements of *** phononic crystals were introduced into a topological insulator(TI)system to produce topologically protected edge waves(TPEW s)along the topological *** implementation of chiral topological edge states is different from the implementation of topological edge states of systems with *** the conventional breaking of mirror symmetry,a new complete band with topological edge modes gap was opened up at the Dirac point by tuning the difference in lengths of the ligaments in the chiral unit *** investigated the dispersion properties in chiral systems and applied the dispersion properties to waveguides on the interfaces to achieve designable route ***,we simulated the robust propagation of TPEWs in different routes and demonstrated their immunity to backscattering at ***,the existence of the valley Hall effect in chiral systems was *** study findings may lead to the further study of the topological states of chiral materials.

关键词： Phononic crystals Topologically protected edge waves Chiral unit cells Topological insulator

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