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A FAS approach for stabilization of generalized chained forms: part 2. Continuous control laws

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Science China(Information Sciences) 2024年第3期67卷 114-135页

作者： guang-Ren duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology

In this paper, continuous time-varying stabilizing controllers for the type of general nonholonomic systems proposed and treated in part 1 are designed using the fully actuated system(FAS) approach. The key step is to differentiate the first scalar equation, and by control of the obtained second-order scalar system, a proportional plus integral feedback form for the first control variable is obtained. With the solution to this designed second-order scalar system, the rest equations in the nonholonomic system form an independent time-varying subsystem which is then handled by the FAS approach. The overall designed controller contains an almost arbitrarily chosen design parameter, and is proven to guarantee the uniformly and globally exponential stability of the closed-loop system. The proposed approach is simple and effective,and is demonstrated with a practical example of ship control.

关键词： nonholonomic systems feedback stabilization fully actuated systems Lyapunov stability continuous controllers

Manipulator-based autonomous inspections at road checkpoints:Application of faster YOLO for detecting large objects

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Defence Technology（防务技术） 2022年第6期18卷 937-951页

作者： Qing-xin Shi Chang-sheng Li Bao-qiao Guo Yong-gui Wang Huan-yu Tian Hao Wen Fan-sheng Meng xing-guang duan School of Mechatronical Engineering Beijing Institute of TechnologyBeijing100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing100081China State Key Laboratory of Explosion Science and Technology Beijing Institute of TechnologyBeijing100081China

With the increasing number of vehicles,manual security inspections are becoming more laborious at road *** address it,a specialized Road Checkpoints Robot(RCRo)system is proposed,incorporated with enhanced You Only Look Once(YOLO)and a 6-degree-of-freedom(DOF)manipulator,for autonomous identity verification and vehicle *** modified YOLO is characterized by large objects’sensitivity and faster detection speed,named“LF-YOLO”.The better sensitivity of large objects and the faster detection speed are achieved by means of the Dense module-based backbone network connecting two-scale detecting network,for object detection tasks,along with optimized anchor boxes and improved loss *** the manipulator motion,Octree-aided motion control scheme is adopted for collision-free motion through Robot Operating System(ROS).The proposed LF-YOLO which utilizes continuous optimization strategy and residual technique provides a promising detector design,which has been found to be more effective during actual object detection,in terms of decreased average detection time by 68.25%and 60.60%,and increased average Intersection over Union(Io U)by 20.74%and6.79%compared to YOLOv3 and YOLOv4 through *** comprehensive functional tests of RCRo system demonstrate the feasibility and competency of the multiple unmanned inspections in practice.

关键词： Robot applications Object detection Vehicle inspection Identity verification You only look once(YOLO)

A FAS approach for stabilization of generalized chained forms: part 1. Discontinuous control laws

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Science China(Information Sciences) 2024年第2期67卷 118-143页

作者： guang-Ren duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Center for Control Science and Technology Southern University of Science and Technology

In this paper, a type of general nonholonomic systems is proposed, which contains both the Brockett’s two example systems, and their extended n-dimensional chained forms, as special cases. For the stabilization of such systems, a stabilizing controller is proposed based on the fully actuated system(FAS)approach, which is discontinuous at the origin but time-invariant when the open-loop system is time-invariant,and drives the feasible trajectories of the system to the origin exponentially. Furthermore, the proposed FAS approach is also extended to the sub-normal system case and the time-delay system case.

关键词： nonholonomic systems feedback stabilization exponential convergence sub-fully actuated systems time-delay systems

Are Solar Active Regions Born with Neutralized Currents?

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Research in Astronomy and Astrophysics 2024年第7期24卷 79-88页

作者： Aiying duan Yaoyu xing Chaowei Jiang Planetary Environmental and Astrobiological Research Laboratory(PEARL) School of Atmospheric SciencesSun Yat-sen UniversityZhuhai 519000China Yunnan Key Laboratory of the Solar Physics and Space Science Kunming 650216China Key Laboratory of Tropical Atmosphere-Ocean System Sun Yat-sen UniversityMinistry of EducationZhuhai 519000China Institute of Space Science and Applied Technology Harbin Institute of TechnologyShenzhen 518055China

Solar active regions(ARs)are formed by the emergence of current-carrying magnetic flux tubes from below the *** for an isolated flux tube the direct and return currents flowing along the tube should balance with each other,it remains controversial whether such a neutralization of currents is also maintained during the emergence *** we present a systematic survey of the degrees of the current neutralization in a large sample of flux-emerging ARs which appeared on the solar disk around the central meridian from 2010 to *** vector magnetograms taken by Helioseismic and Magnetic Imager onboard Solar Dynamic Observatory are employed to calculate the distributions of the vertical current density at the *** on the main phase of flux emergence,i.e.,the phase in which the total unsigned magnetic flux is continuously increased,we statistically examined the ratios of direct to return currents in all the *** a large-sample statistical study suggests that most of the ARs were born with currents close to *** degree of current neutralization seems to be not affected by the active-region size,the active-region growing rate,and the total unsigned *** only correlation of significance as found is that the stronger the magnetic field nonpotentiality is,the further the AR deviates from current neutrality,which supports previous event studies that eruption-productive ARs often have non-neutralized currents.

关键词： Sun magnetic fields-Sun flares-Sun corona-Sun coronal mass ejections(CMEs)

CO_(2) capture by modified clinoptilolite and its regeneration performance

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International Journal of Coal Science & Technology 2024年第2期11卷 81-90页

作者： Bo Jiang Bo Zhang Xuqin duan Yi xing School of Energy and Environmental Engineering University of Science and Technology BeijingBeijing 100083China Beijing Key Laboratory of Resource-Oriented Treatment of Industrial Pollutants University of Science and Technology BeijingBeijing 100083China YangQuan Coal Industry(Group)Co.Ltd. Yangquan 045000China School of Civil and Resource Engineering University of Science and Technology BeijingBeijing 100083China

This study focuses on CO_(2) capture by pressure swing adsorption(PSA),with modified clinoptilolite as the *** clinoptilolite is modified by roasting,by acid pickling,by a combination of acid pickling and roasting,and by ion *** by acid pickling-roasting and by ion exchange are found to give the highest CO_(2) adsorption capacities,of 730 mL/g and 876.7 mL/g,*** is found that regeneration of clinoptilolite by a combination of vacuum desorption and heating enables recovery of as much as 89%of its previous CO_(2) adsorption *** examine the CO_(2) adsorption capacity of clinoptilolite when applied to mixed gas,a simulated coking exhaust containing 12%CO_(2) and 4%O_(2) is used,and it is found that ion exchange modified clinoptilolite achieves a CO_(2) removal efficiency of 92.5%.A BET test reveals that acid pickling-roasting and Na^(+) modification enhance the porosity of clinoptilolite,thereby improving its adsorption *** work demonstrates the feasibility of applying modified clinoptilolite as an effective adsorbent for COO_(2)capture,providing a promising tool for dealing with greenhouse gases.

关键词： Clinoptilolite Carbon dioxide capture Pressure swing adsorption(PSA)

A model reduction approach for discrete-time linear time-variant systems with delayed inputs

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Science China(Information Sciences) 2024年第4期67卷 197-217页

作者： Ai-Guo WU guang-Ren duan Yu WANG Jie ZHANG School of Mechanical Engineering and Automation Harbin Institute of Technology(Shenzhen) HIT Wuhu Robot Technology Research Institute Center for Control Science and Technology Southern University of Science and Technology

A model reduction approach is presented for discrete-time linear time-variant input-delayed systems. According to this proposed approach, a dynamical variable is constructed by taking advantage of the current state and historical information of input. It is revealed that the behavior of this dynamical variable is governed by a discrete-time linear delay-free system. It is worth noting that the presented variable transformation does not require the system matrix to be invertible. Based on the reduced delay-free models,stabilizing control laws can be easily obtained for the original delayed system. For the case with a single input delay, the constructed variable is an exact prediction for the future state, and thus the stabilizing control law could be designed by replacing the future state with its prediction. Finally, three discrete-time periodic systems with delayed input are employed to illustrate how to utilize the presented model reduction approaches.

关键词： reduction approach predictor-based feedback time-varying systems delayed input periodic system

Prescribed time control based on the periodic delayed sliding mode surface without singularities

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Science China(Information Sciences) 2024年第7期67卷 256-270页

作者： Bin ZHOU Yi DING Kang-Kang ZHANG guang-Ren duan Center for Control Theory and Guidance Technology Harbin Institute of Technology

In this paper, nonsingular prescribed-time control is studied based on periodic delayed sliding mode surfaces. Different from the existing sliding mode control, where either singularity problems may appear or the convergence time depends on the initial state, the proposed sliding mode control approaches can achieve prescribed-time convergence without singularity. The proposed nonsingular sliding mode control approaches can be applied to both second-order and high-order nonlinear systems with prescribed-time convergence. As applications of the proposed sliding mode control approaches, the control of hypersonic vehicle systems is revisited. Numerical simulations on the nonlinear model of the hypersonic vehicle system show the effectiveness of the proposed methods.

关键词： prescribed-time control smooth periodic delayed feedback sliding mode control high-order nonlinear systems hypersonic vehicle systems

Swelling of Spherical Polyelectrolyte Gels

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Chinese Journal of Polymer Science 2024年第9期42卷 1386-1392,I0009页

作者： Ming-Yu duan Jia-Dong Chen Yi-Ming Liu Zhao-Feng Peng guang Chen Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Polyelectrolyte(PE)gels,distinguished by their unique stimuli-responsive swelling behavior,serve as the basis of broad applications,such as artificial muscles and drug *** this work,we present a theoretical model to analyze the electrostatics and its contribution to the swelling behavior of PE gels in salt *** minimizing the free energy of PE gels,we obtain two distinct scaling regimes for the swelling ratio at equilibrium with respect to the salt *** compare our predictions for the swelling ratio with experimental measurements,which show excellent *** addition,we employ a finite element method to assess the applicability range of our theoretical model and *** anticipate that our model will also provide valuable insights into drug adsorption and release,deformation of red blood cells,4D printing and soft robotics,where the underlying mechanism of swelling remains enigmatic.

关键词： Gels Polyelectrolytes Swelling Stimuli-responsive Electrostatic interaction Cell model

Effect of Active–Passive Deformation on the Thrust by the Pectoral Fins of Bionic Manta Robot

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Journal of Bionic Engineering 2024年第2期21卷 718-728页

作者： Yang Lu Shaomin Meng Cheng xing Yiwei Hao Yonghui Cao guang Pan Yong Cao School of Marine Science and Technology Northwestern Polytechnical UniversityXi’an710072China Unmanned Vehicle Innovation Center Ningbo Institute of NPUNingbo315103China State Key Lab of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou310027China Zhejiang Key Laboratory of Advanced Manufacturing Technology School of Mechanical EngineeringZhejiang UniversityHangzhou310027China

Bionic manta underwater vehicles will play an essential role in future oceans and can perform tasks,such as long-duration reconnaissance and exploration,due to their efficient *** manta wings’deformation is evident during the swimming *** improve the propulsion performance of the unmanned submersible,the study of the deformation into the bionic pectoral fin is *** this research,we designed and fabricated a flexible bionic pectoral fin,which is based on the Fin Ray®effect with active and passive deformation(APD)*** APD fin was actively controlled by two servo motors and could be passively deformed to variable *** APD fin was moved at 0.5 Hz beat frequency,and the propulsive performance was experimentally verified of the bionic pectoral fins equipped with different extents of *** results showed that the pectoral fin with active–passive deformed capabilities could achieve similar natural biological deformation in the wingspan *** average thrust(T)under the optimal wingspan deformation is 61.5%higher than the traditional passive deformed pectoral *** obtained results shed light on the design and optimization of the bionic pectoral fins to improve the propulsive performance of unmanned underwater vehicles(UUV).

关键词： Manta ray Bionic pectoral fin Fin Ray®effect Active-passive deformation(APD)