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Simulating the GRF of Humanoid Robot Vertical Jumping Using a Simplified Model with a Foot Structure for Foot Design

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Journal of Bionic engineering 2024年第1期21卷 112-125页

作者： Chuanku Yi Xuechao Chen Yu Zhang Zhangguo Yu Haoxiang Qi Yaliang Liu Qiang Huang school of Mechatronical engineering Beijing Institute of TechnologyZizhuyaunHaidianBeijing 100081China Beijing Advanced Innovation Center for intelligent Robots and systems Beijing Institute of Tec

There are many theories and tools for human or robot motion simulation,but most of them require complex *** LNZN model(a simplified model named by the proposers)simplifies the human model and facilitates simulation of the Ground Reaction Force(GRF)of body landing by spring damping model and ignoring joint rotation movements,which can reduce the amount of computation *** this paper,the LNZN model of human running is selected as the basis and is modified to obtain the LNZN model of a robot,which expands the application of the LNZN *** to the structure of the human foot,a foot structure is then added to the simplified model to reduce the *** also applied driving forces to the new model to simulate the whole high jump motion of the robot to expand the functions of the LNZN *** obtained GRF data were anastomotic to the actual experimental *** addition,the effects of variables,such as the mass,hardness,and damping,of the foot on the GRF at the moment of landing were also ***,based on the guidelines obtained for the design of the robot’s foot structure,we fabricated new robot’s feet and installed them on the actual robot and achieved a better cushioning effect than the original foot in experiments.

关键词： LNZN model-GRF simulation Humanoid foot structure Foot parameters

State estimation for delayed switched positive systems: delayed radius approach

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Science China(Information Sciences) 2024年第8期67卷 190-205页

作者： Weizhong CHEN Zhongyang FEI Xudong ZHAO Zheng-Guang WU school of Electronics and Information Xi'an Polytechnic University Research institute of intelligent Control and systems Harbin Institute of Technology Key Laboratory of intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology school of Control Science and engineering Dalian University of Technology State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University

In this paper, an interval estimation scheme is developed for delayed switched positive systems（DSPS） with mode-dependent average dwell time switching. A lossless zonotopic estimation approach is proposed for the delayed intersection zonotope with the positive generator matrix. First, considering the existence of asynchronism between the system mode and the correction matrix mode, the mismatched intersection zonotope is constructed for DSPS to verify the consistency between the system model and ***, by utilizing the introduced radius definitions, the ?∞performance is addressed to optimize the size of delayed intersection zonotopes. Subsequently, we present a joint-design approach of switching signals and the mode-dependent correction matrix by constructing positive generator matrix-based delayed radius functions. Furthermore, guaranteed nonnegative state bounds are derived for the considered DSPS based on the proposed lossless zonotopic estimation criteria. Finally, detailed simulations are conducted to validate the feasibility and superiority of the developed methods.

关键词： delayed switched positive systems interval estimation asynchronous correction matrix zonotopes mode-dependent average dwell time

A LESO Based Backstepping Controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

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Journal of systems Science & Complexity 2024年第5期37卷 1789-1808页

作者： CHEN Luefeng LIU Xiao WU Min LU Chengda PEDRYCZ Witold HIROTA Kaoru school of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and intelligent Automation for Complex systems engineering Research Center of intelligent Technology for Geo-Exploration Ministry of Education Department of Electrical and Computer engineering University of Alberta The Tokyo institute of Technology

In the process of coal mine drilling, controlling the rotary speed is important as it determines the efficiency and safety of drilling. In this paper, a linear extended state observer(LESO) based backstepping controller for rotary speed is proposed, which can overcome the impact of changes in coal seam hardness on rotary speed. Firstly, the influence of coal seam hardness on the drilling rig's rotary system is considered for the first time, which is reflected in the numerical variation of load torque, and a dynamic model for the design of rotary speed controller is established. Then an LESO is designed to observe the load torque, and feedforward compensation is carried out to overcome the influence of coal seam hardness. Based on the model of the compensated system, a backstepping method is used to design a controller to achieve tracking control of the rotary speed. Finally, the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments, the steady-state error of the rotary speed in field is 1 r/min, and the overshoot is reduced to 5.8%. This greatly improves the stability and security, which is exactly what the drilling process requires.

关键词： Backstepping extended state observer hydraulic tunnel drilling machine rotary speed

Learning Scalable Task Assignment with Imperative-Priori Conflict Resolution in Multi-UAV Adversarial Swarm Defense Problem

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Journal of systems Science & Complexity 2024年第1期37卷 369-388页

作者： ZHAO Zhixin CHEN Jie XIN Bin LI Li JIAO Keming ZHENG Yifan school of Electronics and Information engineering Tongji UniversityShanghai 201804China Shanghai institute of intelligent Science and Technology Tongji UniversityShanghai 201804China school of Automation Beijing Institute of TechnologyBeijing 100081China National Key Laboratory of Autonomous intelligent Unmanned systems Beijing 100081China Shanghai institute of intelligent Science and Technology Tongji UniversityShanghai 201804China.

The multi-UAV adversary swarm defense(MUASD)problem is to defend a static base against an adversary UAV swarm by a defensive UAV *** the problem into task assignment and low-level interception strategies is a widely used ***-based approaches for task assignment are a promising *** studies on learning-based methods generally assume decentralized decision-making architecture,which is not beneficial for conflict *** contrast,centralized decision-making architecture is beneficial for conflict resolution while it is often detrimental to *** achieve scalability and conflict resolution simultaneously,inspired by a self-attention-based task assignment method for sensor target coverage problem,a scalable centralized assignment method based on self-attention mechanism together with a defender-attacker pairwise observation preprocessing(DAP-SelfAtt)is ***,an imperative-priori conflict resolution(IPCR)mechanism is proposed to achieve conflict-free ***,the IPCR mechanism is parallelized to enable efficient *** validate the algorithm,a variant of proximal policy optimization algorithm(PPO)is employed for training in scenarios of various *** experimental results show that the proposed algorithm not only achieves conflict-free task assignment but also maintains scalability,and significantly improve the success rate of defense.

关键词： Conflict resolution reinforcement learning scalability task assignment.

Automation 5.0: The Key to systems Intelligence and Industry 5.0

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IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1723-1727页

作者： Ljubo Vlacic Hailong Huang Mariagrazia Dotoli Yutong Wang Petros A.Ioannou Lili Fan Xingxia Wang Raffaele Carli Chen Lv Lingxi Li Xiaoxiang Na Qing-Long Han Fei-Yue Wang institute of intelligent and integrated systems and the school of engineering and built environment Griffith UniversityNathanQLD 4111Australia Department of Aeronautical and Aviation engineering The Hong Kong Polytechnic UniversityHong KongChina Department of Electrical and Information engineering Polytechnic of Bari70126 BariItaly State Key Laboratory of Multimodal Artificial Intelligence systems Institute of AutomationChinese Academy of SciencesBeijing 100190and also with the Qingdao Academy of Intelligent IndustriesQingdao 266114China Department of Electrical engineering-systems University of Southern CaliforniaLos AngelesCA 90007 USA school of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Multimodal Artificial Intelligence systems Institute of AutomationChinese Academy of SciencesBeijing 100190 school of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049 Beijing Huairou Academy of Parallel Sensing Beijing 101499China school of Mechanical and Aerospace engineering Nanyang Technological UniversitySingapore 639798Singapore Department of Electrical and Computer engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University IndianapolisIndianapolisIN 46202 USA Department of engineering University of CambridgeCB21TN CambridgeU.K. school of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia State Key Laboratory for Management and Control of Complex systems Chinese Academy of SciencesBeijing 100190 school of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Dazhou Artificial Intelligence institute Dazhouand the Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China

AUTOMATION has come a long way since the early days of mechanization,i.e.,the process of working exclusively by hand or using animals to work with *** rise of steam engines and water wheels represented the first generation of industry,which is now called Industry Citation:***,***,***,***,***,***,***,***,***,***,***,Q.-***,and F.-***,“Automation 5.0:The key to systems intelligence and Industry 5.0,”IEEE/CAA ***,vol.11,no.8,pp.1723-1727,Aug.2024.

关键词： Automation machinery intelligence

Multiple-stage spatial-temporal cooperative guidance without time-to-go estimation

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Chinese Journal of Aeronautics 2024年第9期37卷 399-416页

作者： Chunyan WANG Weilin WANG Wei DONG Jianan WANG Fang DENG school of Aerospace engineering Beijing Institute of TechnologyBeijing 100081China National Key Lab of Autonomous intelligent Unmanned systems Beiing Institute of TechnologyBeijing 100081China Beijing institute of Technology Chongqing Innovation Center Chongqing 401120China

This paper investigates the spatial-temporal cooperative guidance problem for multiple flight vehicles without relying on time-to-go ***,a two-stage cooperative guidance strategy,namely the cooperative guidance and the Proportional Navigation Guidance(PNG)stage strategy,is developed to realize the spatial-temporal constraints in two *** the former stage,two controllers are designed and superimposed to satisfy both impact time consensus and impact angle *** the convergent conditions are satisfied,the flight vehicles will switch to the PNG stage to ensure zero miss *** further extend the results to three dimensions,a planar pursuit guidance stage is additionally imposed at the beginning of *** to the inde-pendence of time-to-go estimation,the proposed guidance strategy possesses great performance in satisfying complex spatial-temporal constraints even under flight speed ***,several numerical simulations are implemented to verify the effectiveness and advantages of the proposed results under different scenarios.

关键词： Cooperative guidance Guided missiles Impact time consensus Impact angle constraint Spatial-temporal cooperative guidance

Distributed collaborative complete coverage path planning based on hybrid strategy

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Journal of systems engineering and Electronics 2024年第2期35卷 463-472页

作者： ZHANG Jia DU Xin DONG Qichen XIN Bin school of Automation Beijing Institute of TechnologyBeijing 100081China National Key Laboratory of Autonomous intelligent Unmanned systems Beijing Institute of TechnologyBeijing 100081China

Collaborative coverage path planning(CCPP) refers to obtaining the shortest paths passing over all places except obstacles in a certain area or space. A multi-unmanned aerial vehicle(UAV) collaborative CCPP algorithm is proposed for the urban rescue search or military search in outdoor *** to flexible control of small UAVs, it can be considered that all UAVs fly at the same altitude, that is, they perform search tasks on a two-dimensional plane. Based on the agents’ motion characteristics and environmental information, a mathematical model of CCPP problem is established. The minimum time for UAVs to complete the CCPP is the objective function, and complete coverage constraint, no-fly constraint, collision avoidance constraint, and communication constraint are considered. Four motion strategies and two communication strategies are designed. Then a distributed CCPP algorithm is designed based on hybrid strategies. Simulation results compared with patternbased genetic algorithm(PBGA) and random search method show that the proposed method has stronger real-time performance and better scalability and can complete the complete CCPP task more efficiently and stably.

关键词： multi-agent cooperation unmanned aerial vehicles(UAV) distributed algorithm complete coverage path planning(CCPP)

Aerial target threat assessment based on gated recurrent unit and self-attention mechanism

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Journal of systems engineering and Electronics 2024年第2期35卷 361-373页

作者： CHEN Chen QUAN Wei SHAO Zhuang school of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of intelligent Control and Decision of Complex systems Beijing 100081China

Aerial threat assessment is a crucial link in modern air combat, whose result counts a great deal for commanders to make decisions. With the consideration that the existing threat assessment methods have difficulties in dealing with high dimensional time series target data, a threat assessment method based on self-attention mechanism and gated recurrent unit(SAGRU) is proposed. Firstly, a threat feature system including air combat situations and capability features is established. Moreover, a data augmentation process based on fractional Fourier transform(FRFT) is applied to extract more valuable information from time series situation features. Furthermore, aiming to capture key characteristics of battlefield evolution, a bidirectional GRU and SA mechanisms are designed for enhanced ***, after the concatenation of the processed air combat situation and capability features, the target threat level will be predicted by fully connected neural layers and the softmax classifier. Finally, in order to validate this model, an air combat dataset generated by a combat simulation system is introduced for model training and testing. The comparison experiments show the proposed model has structural rationality and can perform threat assessment faster and more accurately than the other existing models based on deep learning.

关键词： target threat assessment gated recurrent unit(GRU) self-attention(SA) fractional Fourier transform(FRFT)

Advances in Wireless,Batteryless,Implantable Electronics for Real‑Time,Continuous Physiological Monitoring

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Nano-Micro Letters 2024年第3期16卷 254-302页

作者： Hyeonseok Kim Bruno Rigo Gabriella Wong Yoon Jae Lee Woon‑Hong Yeo IEN Center for Wearable intelligent systems and Healthcare Georgia Institute of TechnologyAtlantaGA 30332USA George W.Woodruff school of Mechanical engineering Georgia Institute of TechnologyAtlantaGA 30332USA school of Electrical and Computer engineering Georgia Institute of TechnologyAtlantaGA 30332USA Wallace H.Coulter Department of Biomedical engineering Georgia Tech and Emory University School of MedicineAtlantaGA 30332USA Parker H.Petit institute for Bioengineering and Biosciences Institute for MaterialsInstitute for Robotics and Intelligent MachinesGeorgia Institute of TechnologyAtlantaGA 30332USA

This review summarizes recent progress in developing wireless,batteryless,fully implantable biomedical devices for real-time continuous physiological signal monitoring,focusing on advancing human health *** considerations,such as biological constraints,energy sourcing,and wireless communication,are discussed in achieving the desired performance of the devices and enhanced interface with human *** addition,we review the recent achievements in materials used for developing implantable systems,emphasizing their importance in achieving multi-functionalities,biocompatibility,and *** wireless,batteryless devices offer minimally invasive device insertion to the body,enabling portable health monitoring and advanced disease ***,we summarize the most recent practical applications of advanced implantable devices for human health care,highlighting their potential for immediate commercialization and clinical uses.

关键词： Implantable electronics Biomedical systems Batteryless devices Wireless electronics Physiological signal monitoring