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controlling the depth of a gliding robotic dolphin using dual motion control modes

Science China(Information Sciences) 2020年第9期63卷 217-230页

作者： Jian WANG Zhengxing WU Min TAN Junzhi YU State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESAT College of Engineering Peking University

This paper investigates the performance of the dual mode, namely flipper mode and central pattern generator(CPG) mode, for controlling the depth of a gliding robotic dolphin. Subsequent to considering the errors in dynamic models, we propose a depth control system that combines the line-of-sight(LOS)method with an adaptive control approach(ACA) to deal with uncertainties in the model parameters. First,we establish a full-state dynamic model to conduct simulations and optimize the parameters used in later aquatic experiments. Then, we use the LOS method to transform the control target from the depth to the pitch angle and employ the ACA to calculate the control signal. In particular, we optimize the ACA’s control parameters using simulations based on our dynamic model. Finally, our simulated and experimental results demonstrate not only that we can successfully control the robotic dolphin’s depth, but also that its performance was better than that of the CPG-based control, thus indicating that we can achieve three-dimensional motion by combining flipper-based and CPG-based control. The results of this study suggest valuable ideas for practical applications of gliding robotic dolphins.

关键词： gliding robotic dolphin depth control dual motion adaptive control approach

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Decentralized adaptive neural network sliding mode position/force control of constrained reconfigurable manipulators

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Journal of Central South University 2016年第11期23卷 2917-2925页

作者：李元春丁贵彬赵博 Department of Control Science and Engineering Changchun University of Technology Department of Control Science and Engineering Jilin University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooperation, the proposed decentralized position/force control scheme can be applied to series constrained reconfigurable manipulators. By multiplying each row of Jacobian matrix in the dynamics by contact force vector, the converted joint torque is obtained. Furthermore, using desired information of other joints instead of their actual values, the dynamics can be represented as a set of interconnected subsystems by model decomposition technique. An adaptive neural network controller is introduced to approximate the unknown dynamics of subsystem. The interconnection and the whole error term are removed by employing an adaptive sliding mode term. And then, the Lyapunov stability theory guarantees the stability of the closed-loop system. Finally, two reconfigurable manipulators with different configurations are employed to show the effectiveness of the proposed decentralized position/force control scheme.

关键词： constrained reconfigurable manipulators position/force control model decomposition decentralized control neural network

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A new approach of optimal control for a class of continuous-time chaotic systems by an online ADP algorithm

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Chinese Physics B 2014年第5期23卷 138-144页

作者：宋睿卓肖文栋魏庆来 School of Automation and Electrical Engineering University of Science and Technology Beijing The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

We develop an online adaptive dynamic programming （ADP） based optimal control scheme for continuous-time chaotic systems. The idea is to use the ADP algorithm to obtain the optimal control input that makes the performance index function reach an optimum. The expression of the performance index function for the chaotic system is first presented. The online ADP algorithm is presented to achieve optimal control. In the ADP structure, neural networks are used to construct a critic network and an action network, which can obtain an approximate performance index function and the control input, respectively. It is proven that the critic parameter error dynamics and the closed-loop chaotic systems are uniformly ultimately bounded exponentially. Our simulation results illustrate the performance of the established optimal control method.

关键词： adaptive dynamic programming adaptive critic designs optimal control continuous-time chaoticsystem

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Traffic Flow Data Forecasting Based on Interval Type-2 Fuzzy Sets Theory

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IEEE/CAA Journal of Automatica Sinica 2016年第2期3卷 141-148页

作者： Runmei Li Chaoyang Jiang Fenghua Zhu Xiaolong Chen Beijing Jiaotong University the State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences

This paper proposes a long-term forecasting scheme and implementation method based on the interval type-2 fuzzy sets theory for traffic flow data. The type-2 fuzzy sets have advantages in modeling uncertainties because their membership functions are fuzzy. The scheme includes traffic flow data preprocessing module, type-2 fuzzification operation module and long-term traffic flow data forecasting output module, in which the Interval Approach acts as the core algorithm. The central limit theorem is adopted to convert point data of mass traffic flow in some time range into interval data of the same time range (also called confidence interval data) which is being used as the input of interval approach. The confidence interval data retain the uncertainty and randomness of traffic flow, meanwhile reduce the influence of noise from the detection data. The proposed scheme gets not only the traffic flow forecasting result but also can show the possible range of traffic flow variation with high precision using upper and lower limit forecasting result. The effectiveness of the proposed scheme is verified using the actual sample application. © 2014 Chinese Association of Automation.

关键词： Data handling Forecasting Fuzzy sets Membership functions Uncertainty analysis

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Design and development of a new autonomous transportation robot for finished vehicles docking transportation in RO/RO logistics terminal

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Advanced Engineering Informatics 2025年 66卷

作者： Yongkang Xu Lin Zhang Zhi Liu Shoukun Wang Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

With the continuous growth of the automobile trade, the inefficiency of traditional cargo transshipment in Roll-On/Roll-Off (RO/RO) terminals has become increasingly pronounced. As a result, the adoption of autonomous transportation robot (ATR) for the automatic handling of finished vehicles has seen significant growth. However, ATRs designed for this purpose face several limitations, including suboptimal mobility performance and the necessity for additional infrastructure to support their operation. This paper introduces a novel ATR that offers enhanced flexibility and operational capability. To further optimize the positioning of LiDAR, we develop a multi-stage LiDAR fusion algorithm for the precise localization of finished vehicles, incorporating an event-triggered decision-making approach to improve positioning accuracy. Based on the accurate positioning data, we propose a docking strategy consisting of two key phases: the approach phase and the docking phase. During the docking phase, an enhanced Model Predictive control (MPC) algorithm, integrated with a Radial Basis Function (RBF) neural network, is designed to enable real-time adjustment of the robot’s docking attitude. The effectiveness of the proposed approach is validated through real-world robot experimentals demonstrating its practical viability.

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SARS-CoV-2 Inhibits Exo-Endocytosis and Enhances Short-Term Depression at a Central Synapse

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Neuroscience Bulletin 2025年第1期41卷 165-171页

作者： Jiawei Hu Yuhan Zhang Qingzhuo Liu Jiaqi Hu Yichen Ru Lu Zhang Lixin Xie Lei Xue State Key Laboratory of Medical Neurobiology and MOE Frontiers Center for Brain Science Fudan UniversityShanghai200438China Department of Physiology and Neurobiology School of Life SciencesFudan UniversityShanghai200438China Department of Pulmonary and Critical Care Medicine Ruijin HospitalShanghai Jiao Tong University School of MedicineShanghai200025China Center for Rehabilitation Medicine Department of Pain ManagementZhejiang Provincial People’s HospitalAffiliated People’s HospitalHangzhou Medical CollegeHangzhou310014China Department of Microbiology and Immunology School of Life SciencesFudan UniversityShanghai200438China College of Pulmonary and Critical Care Medicine 8th Medical Center of Chinese PLA General HospitalBeijing100091China Research Institute of Intelligent Complex Systems Fudan UniversityShanghai200433China

Dear Editor,SARS-CoV-2 is the virus that caused the COVID-19 pandemic,leading to more than 774 million cases and 7,037,007 deaths by March 2024(World Health Organization,http://***/).Despite effective treatments,15%-20%of patients experience long-term symptoms,such as breathlessness,fatigue,depression,and cognitive impairment,which are often linked to an excessive immune response[1].All variants of the virus(α,,,Omicron,and BA.1),which can potentially access the brain via the olfactory mucosa,have been found in the brains of Syrian hamsters,triggering inflammation and demonstrating axonal travel[2].

关键词： travel spite fatigue

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Interfacial Thermal Transport and Energy Dissipation in Multilayer PdSe2 Field Effect Transistors

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Advanced Materials 2025年第0期 e2503264页

作者： Xie, Jiaqiu Yu, Zehao Sun, Yuanchen Gan, Qikang Liu, Chenhan Wang, Lei Zhang, Lifa Zhao, Yunshan Phonon Engineering Research Center of Jiangsu Province Ministry of Education Key Laboratory of NSLSCS Center for Quantum Transport and Thermal Energy Science Institute of Physics Frontiers and Interdisciplinary Sciences School of Physics and Technology Nanjing Normal University Nanjing210023 China National Laboratory of Solid-State Microstructures School of Physics Collaborative Innovation Center of Advanced Microstructures Nanjing University Nanjing210093 China Micro- and Nano-scale Thermal Measurement and Thermal Management Laboratory Jiangsu Key Laboratory for Numerical Simulation of Large-Scale Complex Systems School of Energy and Mechanical Engineering Nanjing Normal University Nanjing210046 China

The continuous miniaturization of 2D electronic circuits results in increased power density during device operation, leading to heat localization and placing higher demands on their performance thresholds. The risk to thermal breakdown and subsequent damage, due to the energy dissipation in the 2D semiconductor field-effect transistors (FETs) supported on the bulk substrates, represents a significant challenge in maintaining their optimal performance. Herein, this study investigates energy dissipation behavior in multilayer PdSe2 FETs for the first time. The high-field breakdown behavior is firstly studied in multilayer PdSe2 FETs on SiO2/Si substrates, where a maximum current density of ≈2.74 MA cm−2 is observed, which is comparable to that of multilayer black phosphorus FET and significantly higher—by about five times—than that of multilayer MoS2 FET. Additionally, the thermal boundary conductance (TBC) of PdSe2/SiO2 interface is measured at room temperature using Raman thermometry. The TBC is found to be ≈12–13 MW m−2 K−1, which is relatively low compared to the other known solid–solid interfaces, indicating that enhancing the performance of PdSe2 FETs can be possible by optimizing the TBC at the PdSe2/SiO2 interface. These findings provide valuable insights for design of high-quality and high-performance PdSe2 electronic and optoelectronic devices. © 2025 Wiley-VCH GmbH.

关键词： Multilayers

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Path planning for unmanned aerial vehicles in surveillance tasks under wind fields

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Journal of Central South University 2014年第8期21卷 3079-3091页

作者：张兴陈杰辛斌 School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

The optimal path planning for fixed-wing unmanned aerial vehicles(UAVs) in multi-target surveillance tasks(MTST) in the presence of wind is *** take into account the minimal turning radius of UAVs,the Dubins model is used to approximate the dynamics of *** on the assumption,the path planning problem of UAVs in MTST can be formulated as a Dubins traveling salesman problem(DTSP).By considering its prohibitively high computational cost,the Dubins paths under terminal heading relaxation are introduced,which leads to significant reduction of the optimization scale and difficulty of the whole ***,in view of the impact of wind on UAVs' paths,the notion of virtual target is *** application of the idea successfully converts the Dubins path planning problem from an initial configuration to a target in wind into a problem of finding the minimal root of a transcendental ***,the Dubins tour is derived by using differential evolution(DE) algorithm which employs random-key encoding technique to optimize the visiting sequence of ***,the effectiveness and efficiency of the proposed algorithm are demonstrated through computational *** results exhibit that the proposed algorithm can produce high quality solutions to the problem.

关键词： unmanned aerial vehicle path planning in wind field Dubins traveling salesman problem terminal heading relaxation differential evolution

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The DAO to Metacontrol for Metasystems in Metaverses:The System of Parallel control systems for Knowledge Automation and control Intelligence in CPSS

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IEEE/CAA Journal of Automatica Sinica 2022年第11期9卷 1899-1908页

作者： Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing100190Chi the Macao Institute of Systems Engineering Macao University of Science and TechnologyMacao999078China

An investigation and outline of Metacontrol and Decontrol in Metaverses for control intelligence and knowledge automation are *** control with prescriptive knowledge and parallel philosophy is proposed as the starting point for the new control philosophy and technology,especially for computational control of metasystems in cyberphysical-social *** argue that circular causality,the generalized feedback mechanism for complex and purposive systems,should be adapted as the fundamental principle for control and management of metasystems with metacomplexity in ***,an interdisciplinary approach is suggested for Metacontrol and Decontrol as a new form of intelligent control based on five control metaverses:MetaVerses,MultiVerses,InterVerses,TransVerse,and DeepVerses.

关键词： Metacontrol Metasystems Metaverses CPSS DAO Decontrol Prescriptive control Parallel control Computational control Knowledge Automation control Intelligence Parallel Intelligence

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Social influence and spread dynamics in social networks

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Frontiers of Computer Science 2012年第5期6卷 611-620页

作者： Xiaolong ZHENG Yongguang ZHONG Daniel ZENG Fei-Yue WANG State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Department of Management Science and Engineering Qingdao UniversityQingdao 266071China

Social networks often serve as a critical medium for information dissemination, diffusion of epidemics, and spread of behavior, by shared activities or similarities be- tween individuals. Recently, we have witnessed an explosion of interest in studying social influence and spread dynamics in social networks. To date, relatively little material has been provided on a comprehensive review in this field. This brief survey addresses this issue. We present the current significant empirical studies on real social systems, including network construction methods, measures of network, and newly em- pirical results. We then provide a concise description of some related social models from both macro- and micro-level per- spectives. Due to the difficulties in combining real data and simulation data for verifying and validating real social sys- tems, we further emphasize the current research results of computational experiments. We hope this paper can provide researchers significant insights into better understanding the characteristics of personal influence and spread patterns in large-scale social systems.

关键词： social networks spread dynamics social influence computational experiment

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