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Sliding mode fuzzy control-based path-following control for a dolphin robot

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Science China(Information Sciences) 2018年第2期61卷 240-242页

作者： Jincun LIU Zhengxing WU Junzhi YU min tan State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

Dolphins are one of the most enigmatic sea creatures in the ***-term evolution endows them with excellent swimming skills,which motivate researchers and engineers to create an innovative biomimetic propulsive mechanis... 详细信息

关键词： Sliding mode fuzzy control-based path-following control for a dolphin robot

Blockchain Technology Empowers Telecom Network Operation

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China Communications 2022年第1期19卷 274-283页

作者： Huidi Li Peng Gao Yi Zhan min tan China Mobile Group Beijing 100032China China Mobile Group Design Institute Co. Ltd Beijing 100080China

Telecom operators are deploying the fifth generation(5G) networks around the world which promises high information transmission rate, wide network coverage, low communication delay, and easy access to a large number of devices. However, during the construction and operation of 5G, telecom operators face many challenges, such as insufficient frequency resources, low efficiency of network management, information opacity, risks of data interoperability, and network privacy vulnerabilities. As 5G is generally deployed in heterogeneous networks with massive ubiquitous devices, it is quite necessary to provide secure and decentralized solutions. Blockchain is a distributed system maintained by multiple parties with inherit features including decentralization,traceability and tamperproof. These features collectively contribute to a new application ecosystem where transactions are secure and trustworthy. Therefore,blockchain is expected to integrate with 5G networks to build safer and more reliable mobile network infrastructures. This paper firstly discusses the merits of blockchain technology and the benefits of integrating it with 5G networks. Then a variety of applications of blockchain technology in telecom network operation are reviewed, including spectrum sharing, international roaming settlement, network operation management, number selection management and supply chain management. In the end, we show our recently advance in integrating blockchain in 5G by introducing a multi framework based blockchain service network architecture deployed in real environment.

关键词： blockchain 5G IoT smart contracts BSN

Development and Control of Underwater Gliding Robots:A Review

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1543-1560页

作者： Jian Wang Zhengxing Wu Huijie Dong min tan Junzhi Yu the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China the State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking UniversityBeijing 100871China

As one of the most effective vehicles for ocean development and exploration,underwater gliding robots(UGRs)have the unique characteristics of low energy consumption and strong ***,by borrowing the motion principles of current underwater robots,a variety of novel UGRs have emerged with improving their maneuverability,concealment,and environmental friendliness,which significantly broadens the ocean *** this paper,we provide a comprehensive review of underwater gliding robots,including prototype design and their key *** the perspective of motion characteristics,we categorize the underwater gliding robots in terms of traditional underwater gliders(UGs),hybrid-driven UGs,bio-inspired UGs,thermal UGs,and ***,their buoyancy driven system,dynamic and energy model,and motion control are concluded with detailed ***,we have discussed the current critical issues and future *** review offers valuable insight into the development of next-generation underwater robots well-suited for various oceanic applications,and aims to gain more attention of researchers and engineers to this growing field.

关键词： Buoyancy driven motion control oceanic applications system development underwater gliding robots

Numerical investigation on particles removal by bubble flotation in swirling flow

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Journal of Iron and Steel Research International 2022年第6期29卷 961-972页

作者： He-nan Cui Tao Li Yu-lin Zhu min tan College of Materials Science and Engineering Chongqing UniversityChongqing 400044China Chongqing Key Laboratory of Vanadium-Titanium Metallurgy and Advanced Materials Chongqing UniversityChongqing 400044China College of Metallurgy and Energy North China University of Science and TechnologyTangshan 063210HebeiChina

The removal of particles is of great importance in many fields including effluent treatment,mineral separation,clean metal production,***,most of the researchers paid their attention to the two-phase flow involving gas–liquid or solid–liquid *** motion and interaction between bubbles and particles in the swirling three-phase flow field were simulated by discrete phase *** swirling flow and the collision between bubbles and particles were governed by compiling the user-defined function *** centripetal pressure gradient force pushes the discrete phases toward the central region,where the collision rate between particle and bubbles is improved ***,it proved beneficially for particle removal to increase the swirling velocity,particularly for larger ***,bubble flotation is an effective method to remove particles from the *** swirling velocity was optimized,which is valuable for industrial design.

关键词： Particle removal Swirling flow Blowing bubble Discrete phase model

A New Pre-alignment Approach Based on Four-Quadrant-Photo-Detector for IC Mask

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International Journal of Automation and computing 2007年第2期4卷 208-216页

作者： Yun Liu De Xu min tan The Key Laboratory of Complex Systems and Intelligence Science Institute of Automation CAS Beijing 100080. PRC

In this paper, a new pre-alignment approach based on Four-Quadrant-Photo-Detector （FQPD） for IC mask is presented. The voltage outputs from FQPDs are the functions of alignment mark＇s position offsets with respect to FQPDs. The functions are obtained with least squares error （LSE）-based polynomial fitting after the normalization of experimental data. As the acquired functions are not monotonic about their variables, the alignment mark＇s position offset cannot be given by direct inverse operation on the obtained functions. However, the piecewise polynomial fitting gives the inverse function, with which the alignment mark＇s position offset can be predicted according to the voltage outputs of FQPDs. On the basis of prediction, a pre-alignment control strategy is proposed. The feasibility and robustness of the pre-alignment approach is shown by experiments. Furthermore, the results demonstrate that the maximum error of mask＇s position offset in the X- and Y- directions is less than 15μm after coarse pre-alignment. Keywords： Four-Quadrant-Photo-Detector （FQPD）, pre-alignment, IC mask, polynomial fitting

关键词： Four-Quadrant-Photo-Detector (FQPD) pre-alignment IC mask polynomial fitting.

A marsupial robotic fish team: Design, motion and cooperation

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Science China(Technological Sciences) 2010年第11期53卷 2896-2904页

作者： ZHOU Chao CAO ZhiQiang WANG Shuo tan min Laboratory of Complex Systems and Intelligence Science Institute of AutomationChinese Academy of SciencesBeijing 100190China

A bio-inspired marsupial robotic fish system composed of heterogeneous robotic fish is proposed in this paper. A miniature robotic fish, as the daughter robotic fish, can adapt to some narrow space, while the mother robotic fish, with a cabin to transport the daughter, possesses a powerful movement ability to improve the mobility and endurance of the team. The structures for mimicking bio-motion and the method for fishlike-motion are presented. A typical task of daughter-mother following is given to show the cooperation of the team. A motion model of free swimming is built based on the Lagrangian function, and the coupled dynamic and kinematic functions are calculated based on the relation between the generalized force and fluid force. Then, a neural network is trained through the data generated from this model to get a predictive yaw controller, which can control the orientation by a different offset of each link. The daughter robotic fish adopts a dynamic light source tracking approach to follow the mother, and a heterogeneous communication-based finite state machine is presented for task modeling. Experiments are carried out to verify the system.

关键词： marsupial robotic fish daughter-mother following heterogeneous communication-based FSM

Reaching a stochastic consensus in the noisy networks of linear MIMO agents:Dynamic output-feedback and convergence rate

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Science China(Technological Sciences) 2016年第1期59卷 45-54页

作者： WANG YunPeng CHENG Long YANG ChenGuang HOU ZengGuang tan min State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Plymouth University Plymouth PL48ABUnited Kingdom College of Automation Science and Engineering South China University of TechnologyGuangzhou 510640China

This paper addresses the leader-following consensus problem of linear multi-agent systems(MASs) with communication noise. Each agent's dynamical behavior is described by a linear multi-input and multi-output(MIMO) system, and the agent's full state is assumed to be unavailable. To deal with this challenge, a state observer is constructed to estimate the agent's full state. A dynamic output-feedback based protocol that is based on the estimated state is proposed. To mitigate the effect of communication noise, noise-attenuation gains are also introduced into the proposed protocol. In this study, each agent is allowed to have its own noise-attenuation gain. It is shown that the proposed protocol can solve the mean square leader-following consensus problem of a linear MIMO MAS. Moreover, if all noise-attenuation gains are of Q(t-β), where b∈(0,1), the convergence rate of the MAS can be quantitatively analyzed. It turns out that all followers' states converge to the leader's state in the mean square sense at a rate of O(t-β).

关键词： multi-agent system mean square consensus communication noise noise-attenuation gain convergence rate

Towards an Esox lucius inspired multimodal robotic fish

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Science China(Information Sciences) 2015年第5期58卷 182-194页

作者： WU ZhengXing YU JunZhi SU ZongShuai tan min LI ZhenLong State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences College of Electronic Information and Control Engineering Beijing University of Technology

In this paper, we further explore multimodal locomotion via an updated robotic fish model based on Esox lucius. Besides the improved actuation properties like higher torque servomotors and powerful electronics,the robotic fish has some innovative mechanical design to pursue diverse swimming modes and superior performance. Specifically, we introduced a ±50° yawing head joint that functions as the neck for enhancing turning ability. A pair of pectoral mechanisms with two DOFs per fin is constructed to achieve 3-D swimming and to enrich multiple pectoral motions. At the control level, an improved central pattern generator(CPG) model allowing for free adjustment of the phase relationship among outputs is employed to produce rhythmic signals of multimodal swimming. Extensive experiments were carried out to examine how characteristic parameters in CPGs including amplitude, frequency, and phase lag affect the swimming performance. As a result, the robotic fish successfully performed various locomotion actions such as forward swimming, backward swimming, turning, diving, surfacing, as well as three pectoral motions in the form of pitching, heaving, and *** found that small phase lag between oscillating joints which means large propulsive body wave length and undulation width could lead to a faster swimming in body and/or caudal fin(BCF) locomotion.

关键词： bio-inspired robot robotic fish CPG multimodal swimming motion control

Mechanical design and implementation of a new biomimetic robot fish

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High Technology Letters 2007年第4期13卷 343-349页

作者：王龙 Cao Zhiqiang tan min Wang Shuo Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 P.R. China

A mechanical design method of mbet fish is introduced in this paper. Based on this method, an autonomous 3-Dimension （3D） locomotion mbet fish with two pectoral fins and a caudal fin is developed. The pectoral fin mechanism has 3 degrees of freedom （3-DOFs）, which enables the mbet fish to realize yawing and pitching motions by controlling two pectoral fins. And the eandal fin mechanism is designed based on fish body wave curve fitting. The forward velocity can be adjusted by changing the eandal mechanism＇ s oscillating frequency. Finally a physical implementation of the robot fish and experimental results are given.

关键词： biomimetic fish body wave mechanism robot fish pectoral caudal