A5071500203- Underwater Vehicles and Communication Systems
- Adaptive Control of Nonlinear Systems
- Magnesium Alloys: Properties and Applications
- Aluminum Alloys Composites Properties
- Metal and Thin Film Mechanics
- Control and Dynamics of Mobile Robots
- Dynamics and Control of Mechanical Systems
- Magnetic Bearings and Levitation Dynamics
- Water Quality Monitoring Technologies
- Advanced Control Systems Design
- Vehicle Dynamics and Control Systems
- Metallurgy and Material Forming
- Robotic Path Planning Algorithms
- Mechanical stress and fatigue analysis
- Fluid Dynamics Simulations and Interactions
- Advanced materials and composites
- Stability and Control of Uncertain Systems
- Seismic Waves and Analysis
- Robotics and Sensor-Based Localization
- Vibration and Dynamic Analysis
- Underwater Acoustics Research
- Advanced Algorithms and Applications
- Electrowetting and Microfluidic Technologies
- Embedded Systems and FPGA Design
- Chaos control and synchronization
Huazhong University of Science and Technology
2012-2025
Harbin Institute of Technology
2014-2024
Xiamen University
2024
Shandong Provincial QianFoShan Hospital
2024
Shandong First Medical University
2024
Collaborative Innovation Centre for Advanced Ship and Deep-Sea Exploration
2018-2019
China University of Petroleum, Beijing
2019
Nanjing University of Science and Technology
2017
The age-hardening behavior and mechanical properties of the extruded Mg-2Gd-1.2Y-0.5 Zn (at.%) alloy with Zr or Mn additions were investigated. results show that added exhibits more remarkable response than alloy, which is attributed to fact partitioning into β phases, β′ precipitates long period stacking ordered (LPSO) phases leads decrement in (Gd+Y) concentrations second facilitating precipitation during aging treatment. Both peak-aged alloys bimodal microstructure comprising fine DRXed...
The role of Ca content (0.5, 1.0, 2.0 wt.%) on microstructure, mechanical properties and strain evolution as-rolled Mg-Al-Ca-Zn-Mn alloy was thoroughly investigated in this work. results indicate that the primary second phase transformed from Mg17Al12 to Al2Ca after homogenization, amount increased significantly with increasing content. After hot rolling, alloys exhibited typical bimodal microstructure composed fine dynamic recrystallized (DRXed) grains coarse elongated un-DRXed grains, area...
In this article, a full-order sliding mode controller with echo state network (ESN-FOSMC) disturbance compensation is proposed for the trajectory tracking and vibration suppression of underwater flexible manipulators (UFM). To improve robustness under lumped disturbances reduce computational complexity traditional recurrent neural networks method, ESN, continuous network, used to approximate compensate model uncertainties hydrodynamic disturbances. A FOSMC designed ensure accurate joints...
This paper proposes a composite controller (CC) to improve the accuracy of trajectory tracking and suppress vibration two-link underwater flexible manipulators. A dynamic model manipulators considering hydrodynamic force is established by combining Lagrange equation Morison formula. Then, divided into subsystem rigid subsystem, decomposed control strategy presented for two subsystems. In particular, an adaptive fuzzy sliding mode scheme (AFSMC) with good robustness compensate uncertain...
An adaptive nonsingular fast terminal sliding mode control scheme with extended state observer (ESO) is proposed for the trajectory tracking of an underwater vehicle-manipulator system (UVMS), where subjected to lumped disturbances associating both parameter uncertainties and external disturbances. The inverse kinematics obtained by quaternion-based closed-loop kinematic algorithm. controller consists modified surface (NFTSMS) ESO, law. utilized NFTSMS can ensure convergence errors, together...
Microstructure evolution and mechanical properties of the as-drawn dilute Mg-0.8Al-0.1Ca-0.6Mn (wt. %) alloy wires during annealing peak-aging treatment were investigated in this paper. The results show that high density nano-sized Al–Mn precipitates strongly hindered grain boundary migration to restrict growth under 300 °C 400 °C, while was obvious uniformity recrystallization size increased due partial dissolution at 500 °C. In addition, there a preference grains with (0001) <2 1¯1¯ 0>...
It is of great significance to expand the functions submarines by carrying underwater manipulators with a large working space. To suppress flexible vibration manipulators, an improved sparrow search algorithm (ISSA) combining elite strategy and sine proposed for trajectory planning manipulators. In this method, evaluation function established based on precise dynamic model manipulator considering complex motion constraints. Simulation results show that ISSA requires only 1/3.68 time PSO....
In this paper, the tracking control problem of underwater robot manipulators is investigated under influence lumped disturbances, including unknown ocean current disturbances and parameter uncertainties. The proposed novel continuous nonsingular finite–time (CNFT) method twofold. Firstly, modified adaptive super–twisting algorithm (ASTA) with a fast terminal sliding mode (NFTSM) manifold to guarantee convergence both in phase reaching phase. Secondly, higher–order disturbance observer...
This article studies the trajectory tracking control of underactuated underwater vehicles using moment gyros through a biologically inspired approach based on homeomorphism transformation and Lyapunov functions in horizontal plane. First, series assumptions simplifications need to be made build kinematic dynamic equations vehicle under single-frame pyramid configuration structured with four gyros. Second, error dynamics analysis submarine is derived from equations, algorithm proposed...
This paper focuses on the attitude tracking control of autonomous underwater vehicle (AUV) using moment gyros (CMGs) with lumped nonlinearities including model uncertainty, coupling dynamic property, external disturbance, and input saturation. To describe AUV without singularities, quaternions are used to its translational rotational motion. A finite-time convergent extended state observer (FTCESO) in conjunction sliding mode (SMC) approach is exploited design controller for closed-loop...
Boron carbon nitride BCN films have been deposited by direct current unbalanced magnetron sputtering. The obtained amorphous are annealed in air atmosphere with different temperatures from 200 to 800C. composition, microstructure, mechanical properties and scratch behaviour of were studied. microstructures do not change significantly decrease slightly when the annealing below 400C. oxidised decline rapidly temperature rises 600C. depth highest critical load increases after treated oxidation...