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Bio-inspired Design and Inverse Kinematics Solution of an Omnidirectional Humanoid Robotic Arm with Geometric and Load Capacity Constraints

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Journal of Bionic Engineering 2024年第2期21卷 778-802页

作者： Zhichao Zhu Zirong Luo Yiming Zhu Tao Jiang Minghai Xia Shanjun Chen Boyu Jin College of Intelligence science and technology National University of Defense TechnologyChangshaChina

Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar *** four-bar mechanism design reduces the inertia of the elbow-driving unit and the torque by 76.65%and 57.81%,*** the human pose regulation strategy that the human arm picks up a heavy object by adjusting its posture naturally without complicated control,the robotic arm features an integrated position-level closed-form inverse solution method considering both geometric and load capacity *** method consists of a geometric constraint model incorporating the arm angle(φ)and the Global Configuration(GC)to avoid joint limits and singularities,and a load capacity model to constrain the feasible domain of the arm ***,trajectory tracking simulations and experiments are conducted to validate the feasibility of the proposed inverse solution *** simulated maximum output torque,maximum output power and total energy consumption of the robotic arm are reduced by up to 2.0%,13.3%,and 33.3%,*** experimental results demonstrate that the robotic arm can bear heavy loads in a human-like posture,effectively reducing the maximum output torque and energy consumption of the robotic arm by 1.83%and 5.03%,respectively,while avoiding joints beyond geometric and load capacity *** proposed design provides a high payload–weight ratio and an efficient pose control solution for robotic arms,which can potentially broaden the application spectrum of humanoid robots.

关键词： Humanoid robotic arm Bio-inspired design Inverse kinematics solution Load capacity constraint Geometric constraint

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Topological magnetoelectric response in ferromagnetic axion insulators

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National science Review 2024年第2期11卷 8-14页

作者： Yuhao Wan Jiayu Li Qihang Liu Department of Physics and Shenzhen Institute for Quantum science and Engineering(SIQSE) Southern University of Science and Technology Shenzhen Key Laboratory of Advanced Quantum Functional Materials and Devices Southern University of Science and Technology Guangdong Provincial Key Laboratory for Computational science and Material Design Southern University of Science and Technology

The topological magnetoelectric effect （TME） is a hallmark response of the topological field theory,which provides a paradigm shift in the study of emergent topological ***,its direct observation is yet to be realized due to the demanding magnetic configuration required to gap all surface ***,we theoretically propose that axion insulators with a simple ferromagnetic configuration,such as the MnBi2Te4/（Bi2Te3）nfamily,provide an ideal playground to realize the *** the designed triangular prism geometry,all the surface states are magnetically *** a vertical electric field,the surface Hall currents give rise to a nearly half-quantized orbital moment,accompanied by a gapless chiral hinge mode circulating in ***,the orbital magnetization from the two topological origins can be easily distinguished by reversing the electric *** work paves the way for direct observation of the TME in realistic axion-insulator materials.

关键词： topological magnetoelectric effect axion insulator magnetic topological materials

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Dynamical localization in a non-Hermitian Floquet synthetic system

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Chinese Physics B 2024年第5期33卷 147-151页

作者：可汗张嘉明霍良赵文垒 School of science Jiangxi University of Science and TechnologyGanzhou 341000China School of Information Engineering Jiangxi University of Science and TechnologyGanzhou 341000China

We investigate the non-Hermitian effects on quantum diffusion in a kicked rotor model where the complex kicking potential is quasi-periodically modulated in the time *** synthetic space with arbitrary dimension can be created by incorporating incommensurate frequencies in the quasi-periodical *** the Hermitian case,strong kicking induces the chaotic diffusion in the four-dimension momentum space characterized by linear growth of mean *** find that the quantum coherence in deep non-Hermitian regime can effectively suppress the chaotic diffusion and hence result in the emergence of dynamical ***,the extent of dynamical localization is dramatically enhanced by increasing the non-Hermitian ***,the quasi-energies become complex when the non-Hermitian parameter exceeds a certain threshold *** quantum state will finally evolve to a quasi-eigenstate for which the imaginary part of its quasi-energy is large *** exponential localization length decreases with the increase of the non-Hermitian parameter,unveiling the underlying mechanism of the enhancement of the dynamical localization by nonHermiticity.

关键词： Floquet system non-Hermitian physics dynamical localization

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Fixed-time stabilization of output-constrained stochastic high-order nonlinear systems

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science China(Information sciences) 2024年第4期67卷 5-20页

作者： Ruiming XIE Shengyuan XU Nanjing University of science and technology School of Automation

In this study, the fixed-time stabilization problem of stochastic high-order nonlinear systems with output constraint and high-order and low-order nonlinearities is addressed. A new coordinate transformation is employed to directly convert output-constrained stochastic systems into an equivalent unconstrained *** fully extracting the characteristics of system nonlinearities and using the stochastic fixed-time stability theorem, a new design and analysis method is constructed to guarantee that the trivial solution of the closed-loop system is stochastically fixed-time stable while fulfilling the output constraint.

关键词： stochastic high-order nonlinear system outputconstraint high-order and low-order nonlinearity fixed-timestabilization finite-time stabilization

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Output feedback stabilization of stochastic high-order planar nonlinear systems with stochastic inverse dynamics and output-constraint

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science China(Information sciences) 2024年第3期67卷 182-196页

作者： Ruiming XIE Shengyuan XU Nanjing University of science and technology School of Automation

In this paper, we solve the output feedback control problem of stochastic high-order planar nonlinear systems with output constraint and stochastic integral input-to-state stability(SiISS) inverse dynamics. By employing a key coordinate transformation, a stochastic nonlinear system with output constraint and SiISS inverse dynamics is converted into an unconstrained system. By skillfully constructing an observer and adopting SiISS small-gain conditions, we develop a new output feedback control design and analysis method, and prove that all the closed-system signals are bounded almost surely, the output constraint is not violated almost surely, and the equilibrium point of the closed-loop system is stochastically asymptotically stable.

关键词： stochastic high-order planar nonlinear system outputconstraint stochastic inverse dynamics output feedbackstabilization stochastic integral input-to-state stability(SiISS)

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Reducing idleness in financial cloud services via multi-objective evolutionary reinforcement learning based load balancer

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science China(Information sciences) 2024年第2期67卷 20-40页

作者： Peng YANG Laoming ZHANG Haifeng LIU Guiying LI Department of Statistics and Data science Southern University of Science and Technology Guangdong Provincial Key Laboratory of Brain-Inspired Intelligent Computation Department of Computer Science and EngineeringSouthern University of Science and Technology Academy for Advanced Interdisciplinary Studies Southern University of Science and Technology Guangdong OPPO Mobile Telecommunications Corp. Ltd Research Institute of Trustworthy Autonomous Systems Southern University of Science and Technology

In recent years, various companies have started to shift their data services from traditional data centers to the cloud. One of the major motivations is to save on operational costs with the aid of cloud elasticity. This paper discusses an emerging need from financial services to reduce the incidence of idle servers retaining very few user connections, without disconnecting them from the server side. This paper considers this need as a bi-objective online load balancing problem. A neural network based scalable policy is designed to route user requests to varied numbers of servers for the required elasticity. An evolutionary multi-objective training framework is proposed to optimize the weights of the policy. Not only is the new objective of idleness reduced by over 130% more than traditional industrial solutions, but the original load balancing objective itself is also slightly improved. Extensive simulations with both synthetic and real-world data help reveal the detailed applicability of the proposed method to the emergent problem of reducing idleness in financial services.

关键词： evolutionary reinforcement learning evolutionary multi-objective optimization load balance cloud computing

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Exceptional points and quantum dynamics in a non-Hermitian two-qubit system

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Chinese Physics B 2024年第6期33卷 212-218页

作者：张益玺张振涛杨震山魏晓志梁宝龙 School of Physics science and Information technology Shandong Key Laboratory of Optical Communication Science and TechnologyLiaocheng UniversityLiaocheng 252059China

We study the exceptional-point(EP) structure and the associated quantum dynamics in a system consisting of a non-Hermitian qubit and a Hermitian qubit. We find that the system possesses two sets of EPs, which divide the systemparameter space into PT-symmetry unbroken, partially broken and fully broken regimes, each with distinct quantumdynamics characteristics. Particularly, in the partially broken regime, while the PT-symmetry is generally broken in the whole four-dimensional Hilbert space, it is preserved in a two-dimensional subspace such that the quantum dynamics in the subspace are similar to those in the PT-symmetry unbroken regime. In addition, we reveal that the competition between the inter-qubit coupling and the intra-qubit driving gives rise to a complex pattern in the EP variation with system parameters.

关键词： non-Hermitian system exceptional point PT-symmetry

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Truly optimal semi-active damping to control free vibration of a single degree of freedom system

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Theoretical & Applied Mechanics Letters 2024年第2期14卷 142-145页

作者： Viet Duc La Ngoc Tuan Nguyen Institute of Mechanics Vietnam Academy of Science and TechnologyHanoi 10000Vietnam Graduate University of science and technology Vietnam Academy of Science and TechnologyHanoi 10000Vietnam

This paper studies a single degree of freedom system under free vibration and controlled by a general semiactive damping.A general integral of squared error is considered as the performance index.A one-time switching damping controller is proposed and *** pontryagin maximum principle is used to prove that no other form of semi-active damping can provide the better performance than the proposed one-time switching damping.

关键词： Analytical optimization Quadratic integral Lyapunov equation Pontryagin maximum principle

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Families of Schmidt-number witnesses for high dimensional quantum states

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Communications in Theoretical Physics 2024年第08期76卷 46-53页

作者： Xian Shi College of Information science and technology Beijing University of Chemical Technology

Higher dimensional entangled states demonstrate significant advantages in quantum information processing tasks. The Schmidt number is a quantity of the entanglement dimension of a bipartite state. Here we build families of k-positive maps from the symmetric information complete positive operator-valued measurements and mutually unbiased bases, and we also present the Schmidt number witnesses, correspondingly. At last, based on the witnesses obtained from mutually unbiased bases, we show the distance between a bipartite state and the set of states with a Schmidt number less than k.

关键词： entanglement witness mutually unbiased bases Schmidt number

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Electricity Theft Detection Method Based on Ensemble Learning and Prototype Learning

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Journal of Modern Power Systems and Clean Energy 2024年第1期12卷 213-224页

作者： Xinwu Sun Jiaxiang Hu Zhenyuan Zhang Di Cao Qi Huang Zhe Chen Weihao Hu the School of Mechanical and Electrical Engineering University of Electronic Science and Technology of ChinaChengduChina Southwest University of Science and TechnologyChengduChina

With the development of advanced metering infrastructure(AMI),large amounts of electricity consumption data can be collected for electricity theft ***,the imbalance of electricity consumption data is violent,which makes the training of detection model *** this case,this paper proposes an electricity theft detection method based on ensemble learning and prototype learning,which has great performance on imbalanced dataset and abnormal data with different abnormal *** this paper,convolutional neural network(CNN)and long short-term memory(LSTM)are employed to obtain abstract feature from electricity consumption *** calculating the means of the abstract feature,the prototype per class is obtained,which is used to predict the labels of unknown *** the meanwhile,through training the network by different balanced subsets of training set,the prototype is *** with some mainstream methods including CNN,random forest(RF)and so on,the proposed method has been proved to effectively deal with the electricity theft detection when abnormal data only account for 2.5%and 1.25%of normal *** results show that the proposed method outperforms other state-of-the-art methods.

关键词： Electricity theft detection ensemble learning prototype learning imbalanced dataset deep learning abnormal level

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