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IEEE/CAA Journal of Automatica Sinica 2024年第10期11卷 2059-2067页

作者： Zeqiang Li Yujuan Wang Yongduan Song the international joint laboratory on Safety and Control of autonomous Unmanned systems School of Automation Chongqing University IEEE

It is interesting yet nontrivial to achieve given control precision within user-assignable time for uncertain nonlinear systems. The underlying problem becomes even more challenging if the transient behavior also needs to be accommodated and only system output is available for feedback. Several key design innovations are proposed to circumvent the aforementioned technical difficulties, including the employment of state estimation filters with event-triggered mechanism, the construction of a novel performance scaling function and an error transformation. In contrast to most existing performance based works where the stability is contingent on initial conditions and the maximum allowable steady-state tracking precision can only be guaranteed at some unknown(theoretically infinite) time, in this work the output of the system is ensured to synchronize with the desired trajectory with arbitrarily pre-assignable convergence rate and arbitrarily pre-specified precision within prescribed time, using output only with lower cost of sensing and communication. In addition, all the closed-loop signals are ensured to be globally uniformly bounded under the proposed control method. The merits of the designed control scheme are confirmed by numerical simulation on a ship model.

关键词： Adaptive control nonlinear systems output feedback prescribed performance

An Underwater Biomimetic Robot that can Swim,Bipedal Walk and Grasp

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Journal of Bionic Engineering 2024年第3期21卷 1223-1237页

作者： Qiuxuan Wu Liwei Pan FuLin Du ZhaoSheng Wu XiaoNi Chi FaRong Gao Jian Wang Anton A.Zhilenkov School of Automation Hangzhou Dianzi UniversityHangzhou310018China international joint research laboratory for autonomous robotic systems Hangzhou310018China GEELY Automotive Institute Hangzhou Vocational and Technical CollegeHangzhou310018China Institute of Hydrodynamics and Control Processes Sankt-Petersburg Saint Petersburg State Marine Technical UniversitySankt-PetersburgRussia

In developing and exploring extreme and harsh underwater environments,underwater robots can effectively replace humans to complete *** meet the requirements of underwater flexible motion and comprehensive subsea operation,a novel octopus-inspired robot with eight soft limbs was designed and *** robot possesses the capabilities of underwater bipedal walking,multi-arm swimming,and grasping *** closely interact with the underwater seabed environment and minimize disturbance,the robot employs a cable-driven flexible arm for its walking in underwater floor through a bipedal walking *** multi-arm swimming offers a means of three-dimensional spatial movement,allowing the robot to swiftly explore and navigate over large areas,thereby enhancing its ***,the robot’s walking arm enables it to grasp and transport objects underwater,thereby enhancing its practicality in underwater environments.A simplified motion models and gait generation strategies were proposed for two modes of robot locomotion:swimming and walking,inspired by the movement characteristics of octopus-inspired multi-arm swimming and bipedal *** experimental verification,the robot’s average speed of underwater bipedal walking reaches 7.26 cm/s,while the horizontal movement speed for multi-arm swimming is 8.6 cm/s.

关键词： Underwater soft robots Underwater bipedal walking Multi-arm swimming Cable drive

Highly adaptive and broadband triboelectric energy harvester with stretching silicone rubber strip for variable harmonic frequency vibration

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Nano research 2024年第5期17卷 4089-4099页

作者： Taili Du Dianlong Shen Ziyue Xi Hongyong Yu Fangyang Dong Cong Zhao Meixian Zhu Yongjiu Zou Peiting Sun Minyi Xu Dalian Key laboratory of Marine Micro/Nano Energy and Self-powered systems Marine Engineering CollegeDalian Maritime UniversityDalian 116026China Collaborative Innovation research Institute of autonomous Ship Dalian Maritime UniversityDalian 116026China

An enormous number of wireless sensing nodes(WSNs)are of great significance for the Internet of Things(IoT).It is tremendously prospective to realize the in-situ power supply of WSNs by harvesting unutilized mechanical vibration energy.A harmonic silicone rubber triboelectric nanogenerator(HSR-TENG)is developed focusing on ubiquitous constant working frequency *** unique design of the strip serving as a flexible resonator realizes both soft contact and high and broadband *** significant factors influencing the 1^(st)-order vibration mode of the strip are developed for realizing the harmonic frequency adaptation to external *** surface treatment of the strip improves the output performance of HSR-TENG by 49.1%as well as eliminates the adhesion *** HSR-TENG is able to achieve a voltage output bandwidth of 19 Hz under a vibration strength of 3.0,showing its broadband *** peak power density of 153.9 W/m^(3)is achieved and 12×0.5 W light-emitting diodes(LEDs)are successfully illuminated by the *** can continuously power a temperature sensor by harvesting the actual compressor vibration *** brief,the HSR-TENG provides a promising way for constant frequency vibration energy harvesting,so as to achieve in-situ power supply for the WSNs in the vicinity.

关键词： vibration energy harvesting triboelectric nanogenerator flexible silicone rubber strip harmonic vibration broadband

An adaptive large neighborhood search for the multi-point dynamic aggregation problem

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Control Theory and Technology 2024年第3期22卷 360-378页

作者： Shengyu Lu Bin Xin Jie Chen Miao Guo School of Automation Beijing Institute of TechnologyBeijing 100081China National Key Lab of autonomous Intelligent Unmanned systems Beijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

The multi-point dynamic aggregation(MPDA)problem is a challenging real-world *** the MPDA problem,the demands of tasks keep changing with their inherent incremental rates,while a heterogeneous robot fleet is required to travel between these tasks to change the time-varying state of each *** robots are allowed to collaborate on the same task or work separately until all tasks are *** is challenging to generate an effective task execution plan due to the tight coupling between robots abilities and tasks'incremental rates,and the complexity of robot *** effectiveness consideration,we use the variable length encoding to avoid redundancy in the solution *** creatively use the adaptive large neighborhood search(ALNS)framework to solve the MPDA *** the proposed algorithm,high-quality initial solutions are generated through multiple problem-specific solution construction *** heuristics are also used to fix the broken solution in the novel integrated decoding-construction repair process of the ALNS *** results of statistical analysis by the Wilcoxon rank-sum test demonstrate that the proposed ALNS can obtain better task execution plans than some state-of-the-art algorithms in most MPDA instances.

关键词： Adaptive large neighborhood search(ALNS) Multi-point dynamic aggregation(MPDA) Heuristic solution construction Multi-robot collaboration

An integrated portable bio-monitoring system based on tough hydrogels for comprehensive detection of physiological activities

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Nano research 2024年第1期17卷 321-332页

作者： Congcong Yang Chenchen Ji Fengjiao Guo Chunjiang Jin Hongyu Mi Zhongchang Wang State Key laboratory of Chemistry and Utilization of Carbon Based Energy Resources School of Chemical Engineering and TechnologyXinjiang UniversityUrumqi 830017China international Iberian Nanotechnology laboratory(INL) Avenide Mestre Jose VeigaBraga 4715-330Portugal

Advanced soft ion-conducting hydrogels have been developed rapidly in the integrated portable health monitoring equipment due to their higher sensitivity,sensory traits,tunable conductivity,and stretchability for physiological activities and personal healthcare ***,traditional hydrogel conductors are normally susceptible to large deformation and strong mechanical stress,which leads to inferior electro-mechanical stability for real application ***,a strong ionically conductive hydrogel(poly(vinyl alcohol)-boric acid-glycerol/sodium alginate-calcium chloride/electrolyte ions(PBG/SC/EI))was designed by engineering the covalently and ionically crosslinked networks followed by the salting-out effect to further enhance the mechanical strength and ionic conductivity of the *** to the collective effects of the energy-dissipation mechanism and salting-out effect,the designed PBG/SC/EI with excellent structural integrity and robustness exhibits exceptional mechanical properties(elongation at break for 559.1%and tensile strength of 869.4 kPa)and high ionic conductivity(1.618 S·m^(-1)).As such,the PBG/SC/EI strain sensor features high sensitivity(gauge factor=2.29),which can effectively monitor various kinds of human motions(joint motions,facial micro-expression,faint respiration,and voice recognition).Meanwhile,the hydrogel-based Zn||MnO_(2)battery delivers a high capacity of 267.2 mAh·g^(-1)and a maximal energy density of 356.8 Wh·kg^(-1)associated with good cycle performance of 71.8%capacity retention after 8000 ***,an integrated bio-monitoring system with the sensor and Zn||MnO_(2)battery can accurately identify diverse physiological activities in a real-time and non-invasive *** work presents a feasible strategy for designing high-performance conductive hydrogels for highly-reliable integrated bio-monitoring systems with excellent practicability.

关键词： Ionically conductive hydrogel strain sensor Zn-based battery integrated bio-monitoring system human motion monitoring

Reliability Analysis of a Switched Reluctance Starter/Generator

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Protection and Control of Modern Power systems 2024年第1期9卷 112-121页

作者： Hao Chen Fan Yang Lijun Xu Qiwei Lu Xiqiang Chang Xing Wang Lijiang Dong Yi Wen Jiang Chen Gang Miao Jianmin Hu Guanjun Wang Wei Li Xiaohua Bao School of Electrical Engineering China University of Mining and TechnologyXuzhou 221116China Xinjiang Institute of Engineering Urumqi 830000China international joint research Center of Central and Eastern European Countries on New Energy Electric Vehicle Technology and Equipment Xuzhou 221008China international Cooperation joint laboratory of New Energy Power Generation and Electric Vehicles of Jiangsu Province Colleges and Universities Xuzhou 221008China School of Information and Electrical Engineering China University of Mining and TechnologyXuzhouChina China University of Mining and Technology(Beijing) BeijingChina State Grid Xingjiang Electric Power Co. Ltd.UrumqiXinjiangChina China University of Mining and Technology XuzhouChina State Grid Xinjiang Company Limited Electric Power research Institute UrumqiXinjiangChina Xinjiang Fukang Pumped Storage Power Company Limited UrumqiXinjiangChina State Grid Urumqi Electric Power Supply Company UrumqiXinjiangChina Wuxi Inspection and Testing Certification research Institute WuxiJiangsuChina Anhui Wannan Electric Machine Co. Ltd.WannanAnhuiChina Hefei University of Technology in Electrical and Automation Engineering

In this paper,the combined k-out-of-n:G model and reliability block diagram model is used to analyze the reliability of a switched reluctance starter/generator ***,the different operational modes of a switched reluctance motor starter/generator are analyzed,and the fault states of the system are briefly *** the fault criteria of the system in different operational states are put ***,a relia-bility block diagram model is established to calculate the system-level reliability,and the k-out-of-n:G model is adopted to analyze the reliability of each part of the switched reluctance starter/generator *** verify effectiveness,the first-order Markov model is also used to analyze the reliability of each part of the switched reluc-tance starter/generator *** the compu-tational complexity and accuracy of the system,the k-out-of-n:G model is more suitable for system component level reliability ***,a 6/4 switched reluctance motor is used as the simulated and experimental platform *** final results verify the effectiveness of the reliability analysis model.

关键词： system switched generator

Robot trajectory planning for autonomous 3D reconstruction of cockpit in aircraft final assembly testing

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Chinese Journal of Aeronautics 2024年第3期37卷 332-350页

作者： Yanzhe WANG Zemin PAN Qian YANG Changxi DENG Yanding WEI The State Key laboratory of Fluid Power and Mechatronic systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China School of Information Science and Engineering NingboTech UniversityNingbo 315100China AVIC Xi’an Aircraft Industry(Group)Company Ltd. Xi’an 710089China Key laboratory of Advanced Manufacturing Technology of Zhejiang Province School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

The trend towards automation and intelligence in aircraft final assembly testing has led to a new demand for autonomous perception of unknown cockpit operation scenes in robotic collaborative airborne system *** address this demand,a robotic automated 3D reconstruction cell which enables to autonomously plan the robot end-camera’s trajectory is developed for image acquisition and 3D modeling of the cockpit operation scene.A continuous viewpoint path planning algorithm is proposed that incorporates both 3D reconstruction quality and robot path quality into optimization *** metrics for viewpoint position paths and orientation paths are introduced together for the first time in 3D *** ensure safe and effective movement,two spatial constraints,Domain of View Admissible Position(DVAP)and Domain of View Admissible Orientation(DVAO),are implemented to account for robot reachability and collision *** using diffeomorphism mapping,the orientation path is transformed into 3D,consistent with the position *** orientation and position paths can be optimized in a unified framework to maximize the gain of reconstruction quality and path smoothness within DVAP and *** reconstruction cell is capable of automatic data acquisition and fine scene modeling,using the generated robot C-space *** and physical scene experiments have confirmed the effectiveness of the proposed method to achieve highprecision 3D reconstruction while optimizing robot motion quality.

关键词： Aircraft assembly testing Aircraft cockpit 3D modeling Camera viewpoint Robot trajectory planning

The evolution of robotics:research and application progress of dental implant robotic systems

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international Journal of Oral Science 2024年第2期16卷 173-185页

作者： Chen Liu Yuchen Liu Rui Xie Zhiwen Li Shizhu Bai Yimin Zhao State Key laboratory of Oral&Maxillofacial Reconstruction and Regeneration Xi’anChina National Clinical research Center for Oral Diseases Xi’anChina Shaanxi Key laboratory of Stomatology Xi’anChina Digital Center School of StomatologyThe Fourth Military Medical UniversityXi’anChina

The use of robots to augment human capabilities and assist in work has long been an *** has been developing since the 1960s when the first industrial robot was *** technology has advanced,robotic-assisted surgery has shown numerous advantages,including more precision,efficiency,minimal invasiveness,and safety than is possible with conventional techniques,which are research hotspots and cutting-edge *** article reviewed the history of medical robot development and seminal research papers about current research *** the autonomous dental implant robotic system as an example,the advantages and prospects of medical robotic systems would be discussed which would provide a reference for future research.

关键词： robot robotic application

Intelligent Fractional-Order Controller for SMES systems in Renewable Energy-Based Microgrid

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Computer Modeling in Engineering & Sciences 2024年第8期140卷 1807-1830页

作者： Aadel M.Alatwi Abualkasim Bakeer Sherif A.Zaid Ibrahem E.Atawi Hani Albalawi Ahmed M.Kassem Electrical Engineering Department Faculty of EngineeringUniversity of TabukTabuk47913Saudi Arabia Industrial Innovation and robotic Center(IIRC) University of TabukTabuk47731Saudi Arabia Department of Electrical Engineering Faculty of EngineeringAswan UniversityAswan81542Egypt Renewable Energy and Environmental Technology Centre University of TabukTabuk47913Saudi Arabia Electrical Engineering Department Faculty of EngineeringSohag UniversitySohag82524Egypt

An autonomous microgrid that runs on renewable energy sources is presented in this *** has a supercon-ducting magnetic energy storage(SMES)device,wind energy-producing devices,and an energy storage ***,because such microgrids are nonlinear and the energy they create varies with time,controlling and managing the energy inside them is a difficult ***-order proportional integral(FOPI)controller is recommended for the current research to enhance a standalone microgrid’s energy management and *** suggested dedicated control for the SMES comprises two loops:the outer loop,which uses the FOPI to regulate the DC-link voltage,and the inner loop,responsible for regulating the SMES current,is constructed using the intelligent FOPI(iFOPI).The FOPI+iFOPI parameters are best developed using the dandelion optimizer(DO)approach to achieve the optimum *** suggested FOPI+iFOPI controller’s performance is contrasted with a conventional PI controller for variations in wind speed and microgrid *** optimal FOPI+iFOPI controller manages the voltage and frequency of the *** behavior of the microgrid as a reaction to step changes in load and wind speed was measured using the proposed *** simulations were used to evaluate the recommended system’s *** results of the simulations showed that throughout all interruptions,the recommended microgrid provided the load with AC power with a constant amplitude and *** addition,the required load demand was accurately ***,the microgrid functioned incredibly well despite SMES and varying wind *** obtained under identical conditions were compared with and without the best FOPI+iFOPI *** utilizing the optimal FOPI+iFOPI controller with SMES,it was found that the microgrid performed better than the microgrid without SMES.

关键词： Fractional-order proportional integral(FOPI) intelligent controller renewable energy resources superconducting magnetic energy storage optimization

Recent Developments in Authentication Schemes Used in Machine-Type Communication Devices in Machine-to-Machine Communication: Issues and Challenges

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Computers, Materials & Continua 2024年第4期79卷 93-115页

作者： Shafi Ullah Sibghat Ullah Bazai Mohammad Imran Qazi Mudassar Ilyas Abid Mehmood Muhammad Asim Saleem Muhmmad Aasim Rafique Arsalan Haider Ilyas Khan Sajid Iqbal Yonis Gulzar Kauser Hameed Department of Computer Engineering Balochistan University of Information TechnologyEngineering and Management SciencesQuetta87300Pakistan Department of Information Technology Balochistan University of Information TechnologyEngineeringand Management SciencesQuetta87300Pakistan Department of Information systems College of Computer Sciences and Information TechnologyKing Faisal UniversityHofuf in Al-Ahsa31982Saudi Arabia Department of Management Information systems College of Business AdministrationKing Faisal UniversityHofuf in Al-Ahsa31982Saudi Arabia Department of Software Engineering College of ComputingRiphah International UniversityFaisalabad44000Pakistan Department of Electrical Engineering Balochistan University of Information Technology Engineeringand Management SciencesQuetta87300Pakistan Department of Mathematics College of Science Al-ZulfiMajmaah UniversityAl-Majmaah11952Saudi Arabia

Machine-to-machine (M2M) communication plays a fundamental role in autonomous IoT (Internet of Things)-based infrastructure, a vital part of the fourth industrial revolution. Machine-type communication devices(MTCDs) regularly share extensive data without human intervention while making all types of decisions. Thesedecisions may involve controlling sensitive ventilation systems maintaining uniform temperature, live heartbeatmonitoring, and several different alert systems. Many of these devices simultaneously share data to form anautomated system. The data shared between machine-type communication devices (MTCDs) is prone to risk dueto limited computational power, internal memory, and energy capacity. Therefore, securing the data and devicesbecomes challenging due to factors such as dynamic operational environments, remoteness, harsh conditions,and areas where human physical access is difficult. One of the crucial parts of securing MTCDs and data isauthentication, where each devicemust be verified before data transmission. SeveralM2Mauthentication schemeshave been proposed in the literature, however, the literature lacks a comprehensive overview of current M2Mauthentication techniques and the challenges associated with them. To utilize a suitable authentication schemefor specific scenarios, it is important to understand the challenges associated with it. Therefore, this article fillsthis gap by reviewing the state-of-the-art research on authentication schemes in MTCDs specifically concerningapplication categories, security provisions, and performance efficiency.

关键词： Authentication cyber security internet of things machine-type communication devices machine-to-machine communication