A5002284599- Adaptive Control of Nonlinear Systems
- Robotic Mechanisms and Dynamics
- Distributed Control Multi-Agent Systems
- Robotic Path Planning Algorithms
- Underwater Vehicles and Communication Systems
- Dynamics and Control of Mechanical Systems
- Control and Stability of Dynamical Systems
- Advanced Neural Network Applications
- Distributed Sensor Networks and Detection Algorithms
- Robot Manipulation and Learning
- Target Tracking and Data Fusion in Sensor Networks
- Water Quality Monitoring Technologies
- Fault Detection and Control Systems
- Image and Object Detection Techniques
- Control and Dynamics of Mobile Robots
- Atomic and Subatomic Physics Research
- Robotic Locomotion and Control
- Industrial Vision Systems and Defect Detection
- Advanced Technologies in Various Fields
- Guidance and Control Systems
Shandong University of Science and Technology
2025
Southeast University
2021-2024
This paper investigates the path following problem of underactuated unmanned surface vehicle systems suffering unknown disturbances. A fixed-time predictor is proposed to approximate sideslip caused by disturbances, which prediction error can converge zero in a fixed time. By selecting appropriate controller parameters, upper bound settling time identified. And it's independent initial conditions, compared with finite-time predictor. In addition, line-of-sight (LOS) guidance law and heading...
Automatic cleaning of carbon blocks based on machine vision is currently an important aspect industrial intelligent applications. The recognition block types and center point localization are the core contents this task, but existing instance segmentation algorithms perform poorly in task. This paper proposes algorithm improved YOLOv8 (YOLOv8-HDSA), which achieves highly accurate edge segmentation. YOLOv8-HDSA designs a Selective Reinforcement Feature Fusion Module (SRFF) that utilizes...
This paper proposes an active fault-tolerant control (AFTC) algorithm for 3D trajectory tracking of dish-shaped autonomous underwater vehicle (DAUV) with multiple propellers complete failure. To address the reduced degrees freedom (DoF) issue resulting from propeller failure, remaining controllable DoF faulty system is divided into essential and non-essential DoF. For DoF, a sliding mode controller based on P-V plane designed to ensure tracking. attitude stabilization generate optimal torque...
The marine aquaculture fishing industry has caused many problems such as low work efficiency and hidden safety hazards due to automation. Research on robots that can replace humans for autonomous operations excellent significance prospects. Aiming at the of uneven lighting, poor visibility, magazines in underwater environment, robot quickly autonomously detect products other targets. This paper implements an image enhancement algorithm be deployed a small AI system object detection based...
Robotic manipulator, as an important robot system, have been widely used in various production and manufacturing tasks, such automated manufacturing, logistics, assembly. The parallel manipulator has a more stable structure, better rigidity, high repetitive positioning accuracy, no cumulative error, faster speed compared to the serial manipulator. In this paper, article mainly derives formulas for inverse kinematics velocity Jacobian, designs closed-loop controller, verified by Matlab...
Aiming at the requirement of DELTA parallel manipulator for performing grasping operations, a method obstacle avoidance based on genetic algorithm is proposed. Firstly, classical analyzed mathematically, and its model simplified. Then, motion space inverse kinematics solutions are solved by using spatial geometry method. Secondly, cylindrical envelope surface added to manipulator’s end distance calculation. This ensures that obstacles do not collide with during avoidance. Thirdly, an...