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Simulation Analysis of Deformation Control for Magnetic Soft Medical Robots

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 794-796页

作者： Jingxi Wang Baoyu Liu Edmond q.wu Jin Ma Ping Li Key Laboratory of Biomechanics and Mechanobiology(Beihang University) Ministry of Education Beijing Advanced Innovation Center for Biomedical Engineeringthe School of Biological Science and Medical EngineeringBeihang UniversityBeijing100083China IEEE the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China the Department of Aerospace Medicine Air Force Medical UniversityXi’an 710032China

Dear Editor,This letter presents a biocompatible cross-shaped magnetic soft robot and investigates its deformation mode control strategy through COMSOL modeling and *** soft robots offer novel avenues for precise trea... 详细信息

关键词： robot simulation COMSOL

Position Errors and Interference Prediction-Based Trajectory Tracking for Snake Robots

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1810-1821页

作者： Dongfang Li Yilong Zhang Ping Li Rob Law Zhengrong Xiang Xin Xu Limin Zhu Edmond q.wu IEEE School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Sino-US Global Logistics Institute Shanghai Jiao Tong UniversityShanghai 200240 the Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions Fuzhou 350108China School of Biological Science and Medical Engineering and the Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education Beihang UniversityBeijing 100191China University of Macao Macao 999078China School of Automation Nanjing University of Science and TechnologyNanjing 210094China College of Intelligence Science and Technology National University of Defence TechnologyChangsha 410073China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

This work presents a trajectory tracking control method for snake *** method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined *** optimized line-of-sight(LOS)guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and ***,the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control *** compensation is adopted to enhance the compatibility of a robot within ever-changing *** and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors,reduce adjustment time,and improve accuracy.

关键词： Anti-sideslip compensation snake robot trajectory tracking

Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots

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IEEE/CAA Journal of Automatica Sinica 2023年第1期10卷 239-253页

作者： Yang Xiu Dongfang Li Miaomiao Zhang Hongbin Deng Rob Law Yun Huang Edmond q.wu Xin Xu the School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China the School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Antai College of Economics&Management Shanghai Jiao Tong UniversityShanghai 200240China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China the Asia-Pacific Academy of Economics and Management University of MacaoMacao 999078China the Department of Decision Science Macao University of Science and TechnologyMacao 999078China the Department of Automation Shanghai Jiao Tong Universityand also with the Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240China the College of Mechatronics and Automation National University of Defense TechnologyChangsha 410073China IEEE

This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake ***,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track *** proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle *** our method,the designed piecewise auxiliary function guarantees the finite-time stability of position ***,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s *** uniform ultimate boundedness of the closed-loop system is proved by analyzing ***,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential *** last,the availability and superiority of this work are shown through simulation and experiment results.

关键词： Line-of-sight(LOS) path following sideslip snake robot

Prediction of anomalous LA-TA splitting in electrides

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Matter and Radiation at Extremes 2021年第3期6卷 71-76页

作者： Leilei Zhang Hua Y.Geng q.wu National Key Laboratory of Shock Wave and Detonation Physics Institute of Fluid PhysicsCAEPP.O.Box 919-102MianyangSichuan 621900People’s Republic of China

Electrides are an emerging class of materials with excess electrons localized in interstices and acting as anionic interstitial quasi-atoms(ISqs).The spatial ion–electron separation means that electrides can be treated physically as ionic crystals,and this unusual behavior leads to extraordinary physical and chemical ***,a completely different effect in electrides is *** recognizing the long-range Coulomb interactions between matrix atoms and ISqs that are unique in electrides,a nonanalytic correction to the forces exerted on the matrix atoms is *** correction gives rise to a longitudinal acoustic-transverse acoustic splitting in the acoustic branch of lattice phonons near the zone center,similar to the well-known longitudinal optical–transverse optical splitting in the phonon spectra of ionic *** factors that govern this splitting are investigated,with isotropic fcc-Li and anisotropic hP4-Na as the typical *** is found that not all electrides can induce a detectable splitting,and criteria are given for this type of *** present prediction unveils the rich phenomena in electrides and could lead to unprecedented applications.

关键词： splitting correction transverse

Coherent Acoustic Phonon and Its Chirping in Dirac Semimetal Cd_3As_2

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Chinese Physics Letters 2018年第11期35卷 56-60页

作者： Fei Sun M.Yang M W Yang q.wu H.Zhao X.Ye Youguo Shi Jimin Zhao Beijing National Laboratory for Condensed Matter Physics Institute of PhysicsChinese Academy of SciencesBeijing 100190 School of Physical Sciences University of Chinese Academy of SciencesBeijing 100049

Ultrafast optical spectroscopy of a single crystal of a Dirac semimetal Cd_3As_（2 ）is carried *** acoustic phonon（AP）mode with central frequency f=0.037 THz（i.e.,1.23 cm^（-1）or 0.153 meV）is unambiguously generated and detected,which we attribute to laser-induced thermal *** AP chirping（i.e.,variation of the phonon frequency）is clearly detected,which is ascribed to heat capacity variation with *** comparing our experimental results and the theoretical model,we obtain a chirping time constant,which is 31.2 ps at 6 K and 19.8 ps at 300 K,***,we identify an asymmetry in the AP frequency domain peak and find that it is caused by the chirping,instead of a Fano ***,we experimentally demonstrate that the central frequency of AP is extremely stable with varying laser fluence,as well as temperature,which endows Cd_3As_2application potentials in thermoelectric devices.

关键词： As Cd AP Coherent Acoustic Phonon and Its Chirping in Dirac Semimetal Cd3As2

Snake robots play an important role in social services and military needs

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The Innovation 2022年第6期3卷 25-26页

作者： Dongfang Li Binxin Zhang Yang Xiu Hongbin Deng Miaomiao Zhang Wei Tong Rob Law Guangyu Zhu Edmond q.wu Limin Zhu School of Electrical Engineering and Automation Fuzhou UniversityFujian 350108China School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China Department of Automation Shanghai JiaoTong UniversityShanghai 200240China School of Automation Nanjing University of Science and TechnologyNanjing 210094China Asia-Pacific Academy of Economics and Management Faculty of Business AdministrationUniversity of MacaoMacao 999078China School of Traffic and Transportation Beijing JiaoTong UniversityBeijing 100044China

Intelligent robotic systems have gradually penetrated into the fields of social services and military reconnaissance with the rapid economic *** robots,as multi-redundant bionic robots,play an indispensable and important role in public life and military needs.1 These robots have been widely favored and highly regarded by the academia and industry because of 1)their small size and flexibility,thereby easily entering small spaces for work,2)their ability to carry a variety of equipment for disaster rescue and military reconnaissance,and 3)their variety of movement modes,which can adapt to various complex terrain environments.

关键词： Snake services military

Thermal induced spin crossover behavior of two dinuclear Fe(Ⅱ) complexes

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Thermal induced spin crossover behavior of two dinuclear Fe(...

Potential-induced surface alloying of Sb adlayer on Au(100)

第七届全国物理无机化学学术会议

作者： J.L.Wang q.Liu q.wu T.Liu State Key Laboratory of Fine Chemicals Dalian University of Technology

Two dinuclear Fe(Ⅱ)complexes FeL(NCS)×2DMF×2HO(1)and FeL(NCSe)4×2DMF×2HO(2)have been designed and prepared based on ligand 1-naphthylimino-1,2,4-triazole(L).Single-crystal structural analyses at 298 K identified that the dinuclear complex contains two iron(II)ions in the high spin(HS)state for 1 and *** Fe(Ⅱ)ions in 1 and 2 were low spin(LS)state at 90 K by comparison with the

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Potential-induced surface alloying of Sb adlayer on Au(100)

Simulation of the Motion of a Bead in Shallow Water via SPH Method

2～(nd) Spring Meeting of the International Society of Electrochemistry

作者： J.W.Yan W.H.Shang q.wu B.W.Mao State Key Laboratory for Physical Chemisty of Solid Surfaces Department of Chemistry Xiamen University 361005 Xiamen China State Key Laboratory for Physical Chemisty of Solid Surfaces Department of Chemistry Xiamen University 361005 Xiamen China State Key Laboratory for Physical Chemisty of Solid Surfaces Department of Chemistry Xiamen University 361005 Xiamen China State Key Laboratory for Physical Chemisty of Solid Surfaces Department of Chemistry Xiamen University 361005 Xiamen China

Surface alloys have shown various interesting physical and chemical properties closelyrelated to the alloy structures at nanometer scale. Increasing attention has been drawn tothe growth and structure of surface alloy films in an effort to elucidate the atomisticmechanism of surface alloying process Here, we report our recent in-situ STM study on thepotential-induced surface alloying of an underpotentially deposited Sb on Au(100).

关键词： Potential-induced surface alloying of Sb adlayer on Au STM

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Simulation of the Motion of a Bead in Shallow Water via SPH ...