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Preface to special topic on Tri-Co Robots

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National Science Review 2023年第5期10卷 7-7页

作者： Han DING Huazhong University of Science and Technology

The invention of the Unimate in the 1950s marked the landmark beginning of a 70-year boom in robotics.Today,the morphology,functionality and missions of robots have undergone revolutionary changes.Space robots taking over on-orbit services,surgical robots remotely controlled by doctors,dexterous wearable prosthetic hands,and robotic tools for manufacturing large parts have far exceeded expectations when industrial robots first emerged.

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Newborn screening for genetic disorders:Current status and prospects for the future

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Pediatric Investigation 2022年第4期6卷 291-298页

作者： Si ding Lianshu han Department of Pediatric Endocrinology and Genetic Metabolism Xinhua HospitalShanghai Institute of Pediatric ResearchShanghai Jiao Tong University School of MedicineShanghaiChina

Newborn screening(NBS)is a public health service aimed at identifying infants with severe genetic disorders,thus providing effective treatment early enough to prevent or ameliorate the onset of symptoms.Current NBS uses biochemical analysis of dried blood spots,predominately with timeresolved fluorescence immunoassay and tandem mass spectrometry,which produces some false positives and false negatives.The application of enzymatic activity-based testing technology provides a reliable screening method for some disorders.Genetic testing is now commonly used for secondary or confirmatory testing after a positive result in some NBS programs.Recently,next-generation sequencing(NGS)has emerged as a robust tool that enables large panels of genes to be scanned together rapidly.Rapid advances in NGS emphasize the potential for genomic sequencing to improve NBS programs.However,some challenges still remain and require solution before this is applied for population screening.

关键词： Genetic disorders Genetic testing Newborn screening Next-generation sequencing Tandem mass spectrometry

Human-Robot Collaboration Framework Based on Impedance Control in Robotic Assembly

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Engineering 2023年第11期30卷 83-92页

作者： Xingwei Zhao Yiming Chen Lu Qian Bo Tao Han DING State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

Human–robot(HR)collaboration(HRC)is an emerging research field because of the complementary advantages of humans and robots.An HRC framework for robotic assembly based on impedance control is proposed in this paper.In the HRC framework,the human is the decision maker,the robot acts as the executor,while the assembly environment provides constraints.The robot is the main executor to perform the assembly action,which has the position control,drag and drop,positive impedance control,and negative impedance control modes.To reveal the characteristics of the HRC framework,the switch condition map of different control modes and the stability analysis of the HR coupled system are discussed.In the end,HRC assembly experiments are conducted,where the HRC assembly task can be accomplished when the assembling tolerance is 0.08 mm or with the interference fit.Experiments show that the HRC assembly has the complementary advantages of humans and robots and is efficient in finishing complex assembly tasks.

关键词： Human-robot collaboration Impedance control Robotic assembly

Structural parameter design method for a fast-steering mirror based on a closed-loop bandwidth

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Frontiers of Mechanical Engineering 2020年第1期15卷 55-65页

作者： Guozhen CHEN Pinkuan LIU Han DING School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China

When a fast-steering mirror(FSM)system is designed,satisfying the performance requirements before fabrication and assembly is vital.This study proposes a structural parameter design approach for an FSM system based on the quantitative analysis of the required closed-loop bandwidth.First,the open-loop transfer function of the FSM system is derived.In accordance with the transfer function,the notch filter and proportional-integral(PI)feedback controller are designed as a closed-loop controller.The gains of the PI controller are determined by maximizing the closed-loop bandwidth while ensuring the robustness of the system.Then,the two unknown variables of rotational radius and stiffness in the open-loop transfer function are optimized,considering the bandwidth as a constraint condition.Finally,the structural parameters of the stage are determined on the basis of the optimized results of rotational radius and stiffness.Simulations are conducted to verify the theoretical analysis.A prototype of the FSM system is fabricated,and corresponding experimental tests are conducted.Experimental results indicate that the bandwidth of the proposed FSM system is 117.6 Hz,which satisfies the minimum bandwidth requirement of 100 Hz.

关键词： fast-steering mirror structural parameter PI controller bandwidth notch filter

A Blockchain-Based Life-Cycle Environmental Management Framework for Hospitals in the COVID-19 Context

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Engineering 2023年第1期20卷 208-221页

作者： Botao Zhong han Gao Lieyun ding Yuhang Wang National Center of Technology Innovation for Digital Construction Huazhong University of Science and TechnologyWuhan 430074China School of Civil and Hydraulic Engineering Huazhong University of Science and TechnologyWuhan 430074China Department of Civil and Building Systems Technische Universität BerlinBerlin 13156Germany

During the coronavirus disease 2019 (COVID-19) emergency, many hospitals were built or renovated around the world to meet the challenges posed by the rising number of infected cases. Environmental management in the hospital life cycle is vital in preventing nosocomial infection and includes many infection control procedures. In certain urgent situations, a hospital must be completed quickly, and work process approval and supervision must therefore be accelerated. Thus, many works cannot be checked in detail. This results in a lack of work liability control and increases the difficulty of ensuring the fulfillment of key infection prevention measures. This study investigates how blockchain technology can transform the work quality inspection workflow to assist in nosocomial infection control under a fast delivery requirement. A blockchain-based life-cycle environmental management framework is proposed to track the fulfillment of crucial infection control measures in the design, construction, and operation stages of hospitals. The proposed framework allows for work quality checking after the work is completed, when some work cannot be checked on time. Illustrative use cases are selected to demonstrate the capabilities of the developed solution. This study provides new insights into applying blockchain technology to address the challenge of environmental management brought by rapid delivery requirements.

关键词： Blockchain Envir onmental management Nosocomial infection control Work quality management Life-cycle traceability

Real time tool path smoothing of short linear commands for robot manipulator by constructing asymmetrical Pythagoran-hodograph(PH)splines

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Science China(Technological Sciences) 2023年第3期66卷 674-688页

作者： YANG JiXiang ADILI Abulikemu ding han School of Mechanical Science and Engineering State Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhan 430074China

Tool path smoothing of linear commands is important to guarantee the high-order motion continuity of multi-axis motion control systems.The existing local tool path smoothing methods mainly construct symmetrical splines at transition corners of linear segments.When the linear segments are short,the symmetrical splines must be shrunk to avoid overlapping,which gives rise to relatively high curvature and low machining efficiency.This paper proposes a tool-path smoothing algorithm for serial industrial robots with 6 rotary(6R)joints by constructing asymmetrical Pythagorean-hodograph(PH)splines.Firstly,symmetrical PH splines are initially constructed at transition corners to realize the third-order differential continuity of tool path position and tool orientation.Tool tip position smoothing errors are constrained by directly evaluating the control polygon length of spline according to the error tolerance in the workpiece coordinate system,while the tool orientation smoothing errors are constrained by adjusting control polygon length after converting tool orientation error to Euler angles using Jacobian matrix.Then asymmetrical splines are constructed by dealing with the spline overlapping problem,while guarantying the fully utilization of error tolerance to reduce spline curvature.The position and orientation are synchronized to the arc-length of the tool tip position to ensure the continuity of acceleration and jerk commands.The control points and arc-length of the constructed asymmetrical splines can all be solved analytically,which makes it suitable for on-line tool path smoothing.Experiments demonstrate that the proposed method achieves higher motion efficiency and lower tracking error than the existing symmetrical and asymmetrical tool path smoothing methods,which validates the advantages of the proposed method in high speed machining.

关键词： robot tool path real time interpolation spline

Distributed Beamforming Based Wireless Power Transfer:Analysis and Realization

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Tsinghua Science and Technology 2020年第6期25卷 758-775页

作者： Xiaoran Fan Han DING Yanyong Zhang Wade Trappe Zhu han Rich Howard the Wireless Information Network Laboratory(WINLAB) Rutgers UniversityNew BrunswickNJ 08901USA the Department of Computer Science and Technology Xi'an Jiaotong UniversityXi'an 710049China the Department of Computer Science and Technology University of Science and Technology of ChinaHefei 230052China the Department of Electrical and Computer Engineering University of HoustonHoustonTX 77004USA.

This paper presents a new Wireless Power Transfer(WPT)approach by aligning the phases of a group of spatially distributed Radio Frequency(RF)transmitters(TX)at the target receiver(RX)device.Our approach can transfer energy over tens of meters and even to targets blocked by obstacles.Compared to popular beamforming based WPTs,our approach leads to a drastically different energy density distribution:the energy density at the target receiver is much higher than the energy density at other locations.Due to this unique energy distribution pattern,our approach offers a safer WPT solution,which can be potentially scaled up to ship a higher level of energy over longer distances.Specifically,we model the energy density distribution and prove that our proposed system can create a high energy peak exactly at the target receiver.Then we conduct detailed simulation studies to investigate how the actual energy distribution is impacted by various important system parameters,including number/topology of transmitters,transmitter antenna directionality,the distance between receiver and transmitters,and environmental multipath.Finally,we build an actual prototype with 17 N210 and 4 B210 Universal Software Radio Peripheral(USRP)nodes,through which we validate the salient features and performance promises of the proposed system.

关键词： Wireless Power Transfer(WPT) distributed beamforming wireless network

Secure control and filtering for industrial metaverse

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Frontiers of Information Technology & Electronic Engineering 2024年第2期25卷 179-181页

作者： Qing-Long han Derui ding Xiaohua GE School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia Department of Control Science and Engineering University of Shanghai for Science and TechnologyShanghai 200093China

Metaverse can be regarded as a socialized and virtualized cyberspace parallel yet interactive to the real world.Benefiting from the rapid development of cloud computing and digital twins,metaverse is transforming traditional control and filtering para‐digms of industrial automation systems into cyberphysical social systems.Under this scenario,future industrial automation systems could be an integration of real-world ones and virtual twins combined with great computational power within a certain temporal and spatial range.

关键词： interactive filtering Secure

Stride Strategy to Enable a Quasi-ergodic Search of Reaction Pathways Demonstrated by Ring-opening Polymerization of Cyclic Esters

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Chinese Journal of Polymer Science 2023年第5期41卷 745-759,I0009页

作者： Wei-han Rao Lin Yu Jian-Dong ding State Key Laboratory of Molecular Engineering of Polymers Department of Macromolecular ScienceFudan UniversityShanghai 200438China

Coordination-insertion ring-opening polymerization(ROP)of cyclic esters is an industrial way to synthesize polyesters,which are widely applied in biomedical and environment-benign fields.However,the rate-determining transition state(TS)identified by the conventional reaction pathways(pathway A and pathway B)presented in the literature did not well describe the structure-reactivity relationship.The misidentification of the rate-determining TS might arise from the less ergodicity in the search of reaction pathways.Herein,we suggested a stride strategy based on the insight that even a partial double bond is rotatable at the catalysis temperature.As a result,we revealed a new reaction pathway,pathway C with a torsion transition state TSC2,by density functional theory(DFT).We also carried out kinetic experiments of ROP of D-lactide(D-LA),L-lactide(L-LA),ε-caprolactone(CL),andδ-valerolactone(VL),using poly(ethylene glycol)as the initiator and stannous octoate as the catalyst.The excellent linearity between the calculated free energy barriers and logarithms of the experimental kinetic constants of the two kinds of lactide and lactone monomers,was established,validating the quasi-ergodic search of reaction pathways and the scaling predicted by transition state theory.The linearity was highly predictive for the other lactide and lactone monomers,demonstrated by glycolide(GA)and trimethylene urethane(TU).

关键词： Coordination-insertion mechanism Ring-opening polymerization Density functional theory Biodegradable polymer Lactide Lactone Cyclic ester