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Soft Robotics:Morphology and Morphology-inspired Motion Strategy

IEEE/CAA Journal of Automatica Sinica 2021年第9期8卷 1500-1522页

作者： Fan Xu Hesheng Wang Department of Automation Institute of Medical RoboticsKey Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China

Robotics has aroused huge attention since the *** of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental ***,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured *** decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing *** presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific *** paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.

关键词： Soft continuum manipulator soft gripper soft mobile robot soft robot control method soft robot modeling method soft robotics

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Ultrasensitive measurement of angular rotations via a Hermite–Gaussian pointer

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Photonics Research 2022年第12期10卷 2816-2827页

作者： BINKE XIA JINGZHENG HUANG HONGJING LI MIAOMIAO LIU TAILONG XIAO CHEN FANG GUIHUA ZENG State Key Laboratory of Advanced Optical Communication Systems and Networks Institute for Quantum Sensing and Information ProcessingShanghai Jiao Tong UniversityShanghai 200240China

Exploring high sensitivity on the measurement of angular rotations is an outstanding challenge in optics and *** this work,we employ the mn-order Hermite-Gaussian(HG) beam in the weak measurement scheme with an angular rotation interaction,where the rotation information is taken by another HG mode state completely after the *** taking a projective measurement on the final light beam,the precision of angular rotation is improved by a factor of 2mn+m+*** verification,we perform an optical experiment where the minimum detectable angular rotation improves √15-fold with HG55 mode over that of HG11 mode,and achieves a sub-microradian scale of the measurement *** theoretical framework and experimental results not only provide a more practical and convenient scheme for ultrasensitive measurement of angular rotations but also contribute to a wide range of applications in quantum metrology.

关键词： rotation angular scheme

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Carrier Frequency Offset Estimation for MIMO OCDM Underwater Acoustic Communications Based on Null Symbols

Carrier Frequency Offset Estimation for MIMO OCDM Underwater...

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第43届中国控制会议

作者： Buyiyi Wang Peishuo Huang Yichen Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China School of information and Communication Engineering Hainan University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Orthogonal chirp division multiplexing(OCDM) has emerged as a promising approach for underwater acoustic(UWA)*** the constraints of limited bandwidth resources in the underwater environment,enhancing the data transmission rate necessitates leveraging spatial resources ***,we should integrate multiple-input multipleoutput(MIMO) technology with OCDM UWA communication ***,existing MIMO OCDM systems ignore the interference caused by carrier frequency offset(CFO),which is a primary challenge faced by co-located MIMO systems in underwater *** this paper,we propose a CFO estimator based on the null symbols of the Fresnel domain tailored for MIMO OCDM *** estimator regards the energy leakage on null symbols as the objective function to identify the optimal CFO ***,we design pilot allocation strategies for different transmitters to mitigate co-channel interference in MIMO *** enables the estimation of the channel transfer matrix and simultaneous transmission of information,thereby enhancing adaptability to dynamic UWA ***,we derive a low-complexity equalizer *** simulations,the proposed algorithm demonstrates superior communication performance compared to existing algorithms with and without CFO interference.

关键词： Orthogonal chirp division multiplexing(OCDM) carrier frequency offset(CFO) multiple-input multiple-output(MIMO) underwater communications

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Phonon anharmonicity and thermal conductivity of two-dimensional van der Waals materials: A review

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Science China(Physics,Mechanics & Astronomy) 2022年第11期65卷 36-45页

作者： Xuefei Yan Bowen Wang Yulong Hai Devesh RKripalani Qingqing Ke Yongqing Cai Joint Key Laboratory of the Ministry of Education Institute of Applied Physics and Materials EngineeringUniversity of MacaoMacao 999078China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore School of Microelectronics Science and Technology Sun Yat-sen UniversityZhuhai 519082China Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems Sun Yat-sen UniversityZhuhai 519082China

Two-dimensional(2D) van der Waals(vdW) materials have extraordinary thermal properties due to the effect of quantum confinement, making them promising for thermoelectric energy conversion and thermal management in microelectronic *** this review, the mechanism of phonon anharmonicity originating from three-and four-phonon interactions is derived. The phonon anharmonicity of 2D vdW materials, involving the Grüneisen parameter, phonon lifetime, and thermal conductivity, is summarized and derived in detail. The size-dependent thermal conductivity of representative 2D vdW materials is discussed experimentally and theoretically. This review will present fundamental and advanced knowledge on how to evaluate the phonon anharmonicity in 2D vdW materials, which will aid the design of new structures and materials for applications related to energy transfer and conversion.

关键词： van der Waals materials two-dimensional phonon anharmonicity thermal conductivity

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Model-Based Reinforcement Learning for Robotic Arm control with Limited Environment Interaction 13

Model-Based Reinforcement Learning for Robotic Arm Control w...

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13th IEEE International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2023

作者： Chen, Yi Sun, Xiao Zheng, Song Huang, Weibing Zeng, Sheng Chen, Dan Xu, Zhezhuang College of Electrical Engineering and Automation Key Laboratory of Industrial Automation Control Technology and Information Processing Fuzhou University Education Department of Fujian Province Fuzhou350000 China Evomotion Co. Ltd. Shenzhen Guangdong518000 China

ISBN: (纸本)9798350315196

Reinforcement Learning (RL) has been applied to robotic arm control, which enables the agent to learn an effective policy to solve complex tasks. However, it requires constant interaction with the environment leading to low sample efficiency. In this paper, we propose a robotic arm control approach based on planning via lookahead search, which is a model-based RL algorithm to improve the sample efficiency. The approach builds an environment model in order to obtain the dynamics of the environment. Thus the model can be used to plan future actions by a tree-based search. The experiments show that our approach can solve the task of robotic arm control with less environmental samples. © 2023 IEEE.

关键词： Robotic arms

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Tissue P systems with Look-Ahead Mode

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Chinese Journal of Electronics 2025年第1期23卷 81-86页

作者： Yun Jiang Tao Song Zheng Zhang School of Computer Science and Information Engineering Chongqing Technology and Business University Chongqing China Department of Control Science and Engineering Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan China

Tissue P systems are a class of distributed and parallel computing models inspired from inter-cellular communication and cooperation between cells. In this work, a variant of tissue P system, named tissue P system with look-ahead mode, is discussed for decreasing the inherent non-determinism of tissue P systems and helping implementing tissue P systems on computers. Such systems are proved to be universal by simulating register machine, and they are also proved to be able to efficiently solve computationally hard problems by means of a space-time tradeoff, which is illustrated with a polynomial solution to 3-coloring problem.

关键词： Computers Computational modeling Medical services Parallel processing Polynomials Computational efficiency Registers Business

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Electrical Dispersion Pre-Compensation Based on Multi-Output Neural Network for 200 Gbps O-band IM-DD Short Reach Optical systems

Electrical Dispersion Pre-Compensation Based on Multi-Output...

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2024 IEEE Global Communications Conference, GLOBECOM 2024

作者： Ni, Weihao Chen, Liming Yin, Mingzhu Huang, Xiao Li, Fan Sun Yat-Sen University School of Electronics and Information Technology Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems Guangzhou510275 China China Southern Power Grid Electric Power Research Institute Guangzhou510663 China Sun Yat-Sen University School of Microelectronics Science and Technology Zhuhai519082 China

ISBN: (纸本)9798350351255

A non-iterative electrical dispersion pre-compensation (pre-EDC) scheme based on a multi-output neural network (NN) is proposed. The scheme is evaluated in an O-band simulation system utilizing the 1270nm optical carrier with the dispersion coefficient of -5 ps/(***). The simulation results show that the multi-output NN pre-EDC realizes the same performance as the traditional iterative modified GS pre-EDC while surpassing previously proposed non-iterative pre-EDC. Additionally, the proposed multi-output NN-based pre-EDC can reduce the time consumption of the pre-EDC procedure by 50%. © 2024 IEEE.

关键词： Chromatic dispersion

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ARTI: One New Adaptive Elliptical Weighting Model Combining with the Tikhonov-p-norm for Image Reconstruction 1

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12th International Conference on Broadband Communications, Networks, and systems, BROADNETS 2021

作者： Zhu, Chunhua Shi, Zhen Yang, Weidong Key Laboratory of Grain Information Processing and Control Ministry of Education Henan University of Technology Henan Zhengzhou450001 China College of Information Science and Engineering Henan University of Technology Henan Zhengzhou450001 China Henan Key Laboratory of Grain Photoelectric Detection and Control Henan University of Technology Henan Zhengzhou450001 China

ISBN: (数字)9783030934798

ISBN: (纸本)9783030934781

To reconstruct the target-induced attenuation image keeping consistent with the observed measurement data, this paper explores the use of a new horizontal distance attenuation-based elliptical weighting model in building an attenuation image, where a horizontal distance attenuation factor and a vertical distance attenuation factor are introduced, respectively, which is able to clear the difference of the voxel weightings perpendicular to the line-of-sight (LOS) direction, as well as the difference of the voxel weightings parallel to the LOS direction. Compared with the existing model, the proposed model can additively reflect the occlusion effect of the radio frequency signal when the target is close to the transceiver nodes. Besides, the Tikhonov-p-norm regularization is incorporated into the image reconstruction, which makes full use of the sparse ability of the p-norm (0 © 2022, ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering.

关键词： Image reconstruction

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A Multi-Agent Routing Algorithm with Trajectory Prediction for Highly Dynamic UAV Networks 22

A Multi-Agent Routing Algorithm with Trajectory Prediction f...

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22nd International Conference on Optical Communications and Networks, ICOCN 2024

作者： Zhao, Ziyi Zhang, Qi Li, Yuanfeng Xin, Xiangjun Ma, Jianxin Sun, Meng Zhao, Yi Chai, Furong Tian, Feng Wang, Fu Tian, Qinghua Wang, Yongjun Beijing100876 China BUPT Beijing Key Laboratory of Space-ground Interconnection and Convergence Beijing100876 China National University of Defense Technology Science and Technology on Information Systems Engineering Laboratory Changsha410073 China School of Information and Electronics Beijing Institute of Technology Beijing100081 China Beijing Institute of Control and Electronic Technology Beijing100038 China

To address the routing problems in high-dynamic UAV networks, a multi-agent routing algorithm with trajectory prediction is proposed. Simulations show the proposed algorithm can achieve better performance on the end-t... 详细信息

ISBN: (纸本)9798350367652

关键词： Unmanned aerial vehicles (UAV)

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State-of-Charge Balancing control for Battery Energy Storage systems of Near-Space Vehicles with An Electric-Thermal-Aging Coupling Model

State-of-Charge Balancing Control for Battery Energy Storage...

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第42届中国控制会议

作者： Zhiqiang Zuo Yunhao Du Yijing Wang Zhicheng Zhang Peng Li Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Key Laboratory of System Control and Information Processing Ministry of Education

State-of-charge(SoC) balancing is crucial for improving the efficiency and lifetime of the battery energy storage system in near-space vehicles. In this paper, the So C balancing control problem is investigated by a coupling battery model with electric-thermal-aging dynamics. Firstly, a system identification experiment is carried out to obtain the internal parameters of the battery. Secondly, a weight optimization index is designed by integrating the balancing speed and battery state-of-health(SoH). Then, a receding horizon control algorithm is proposed to realize multi-unit battery SoC balancing with partial swarm optimization(PSO). Finally, the effectiveness of the proposed strategy is verified by simulation results.

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