A5044198396- Robot Manipulation and Learning
- Modular Robots and Swarm Intelligence
- Adaptive Control of Nonlinear Systems
- Robotic Locomotion and Control
- Fault Detection and Control Systems
- Robotic Path Planning Algorithms
- Control Systems and Identification
- Soil Mechanics and Vehicle Dynamics
- Hydraulic and Pneumatic Systems
- Soft Robotics and Applications
- Iterative Learning Control Systems
- Advanced Control Systems Optimization
- Control and Dynamics of Mobile Robots
- Prosthetics and Rehabilitation Robotics
- Distributed Control Multi-Agent Systems
- Muscle activation and electromyography studies
- Dynamics and Control of Mechanical Systems
- Robotic Mechanisms and Dynamics
- Robotics and Sensor-Based Localization
- Planetary Science and Exploration
- Teleoperation and Haptic Systems
- Astro and Planetary Science
- Advanced Photocatalysis Techniques
- Control Systems in Engineering
- Stability and Control of Uncertain Systems
Toronto Metropolitan University
2015-2024
Hanjiang Normal University
2024
Tongji University
2013-2024
Wuchang University of Technology
2022-2024
North Minzu University
2011-2024
Nanjing Forestry University
2024
University of Johannesburg
2024
Lingnan Normal University
2024
Tianjin University
2023
University of Victoria
2023
This technical note addresses identification problems of non-uniformly sampled systems. For the input-output representation non-uniform discrete-time systems, a partially coupled stochastic gradient (C-SG) algorithm is proposed to estimate model parameters with high computational efficiency compared standard (SG) algorithm. The analysis indicates that C-SG can give more accurate parameter estimates than SG obtained using converge their true values as data length approaches infinity.
In this brief, to get a more accurate and robust state of charge (SoC) estimation, the lithium-ion battery model parameters are identified using an adaptive unscented Kalman filtering method, based on updated model, SoC is estimated consequently. An adjustment noise covariances in estimation process implemented technique covariance matching filter (UKF) context. The effectiveness proposed method evaluated through experiments under different power duties laboratory environment. obtained...
This technical note studies identification problems for dual-rate sampled-data linear systems with noises. A hierarchical least squares (HLS) algorithm is presented to estimate the parameters of ARMAX models. The basic idea decompose model a system into several sub-identification models smaller dimensions and fewer parameters. proposed more computationally efficient than recursive (RLS) since RLS requires computing covariance matrix large sizes, while HLS deals small sizes. Compared our...
Major challenges of controlling human-robot collaboration (HRC)-oriented modular robot manipulators (MRMs) include the estimation human motion intention while cooperating with a and performance optimization. This article proposes cooperative game-based approximate optimal control method MRMs for HRC tasks. A harmonic drive compliance model-based is developed using position measurements only, which forms basis MRM dynamic model. Based on differential game strategy, problem HRC-oriented...
A multiinnovation least-squares (MILS) identification algorithm is presented for linear regression models with unknown parameter vectors by expanding the innovation length in traditional recursive (RLS) from viewpoint of modification. Because proposed MILS uses p innovations (not only current but also past innovations) at each iteration (with integer > 1 being an length), accuracy estimation improved, compared that RLS algorithm. Performance analysis and simulation results show consistently...
Contact mechanics plays an important role in the design, performance analysis, simulation, and control of legged robots. The Hunt–Crossley model Coulomb friction are often used as black-box models with limited consideration properties terrain feet. This paper analyzes foot–terrain interaction based on knowledge terramechanics reveals relationship between parameters conventional models. proposed derived three categories: deformable foot hard terrain, terrain. A novel tangential forces...
Joint torque sensory feedback is an effective technique for achieving high-performance robot force and motion control. However, most robots are not equipped with joint sensors, it difficult to add them without changing the joint's mechanical structure. A method estimating that exploits existing structural elasticity of robotic joints harmonic drive transmission proposed in this paper. In presented estimation method, motor-side link-side position measurements along a compliance model, used...
Resistance coefficient (RC) is an important measure when designing wheel-driving mechanisms and accurate dynamic models for real-time mobility control of wheeled mobile robots (WMRs). This typically formulated as a constant that depends on the wheel load, dimensions, soil WMR designed for. article proposes novel variable RC responds to terrain deformation. then applied controllers WMRs estimate driving torques slip ratios deformable terrain. Simple yet are developed from both experimental...
The lunar nearside has been investigated by many uncrewed and crewed missions, but the farside of Moon remains poorly known. Lunar exploration is challenging because maneuvering rovers with efficient locomotion in harsh extraterrestrial environment necessary to explore geological characteristics scientific interest. Chang’E-4 mission successfully targeted Moon’s deployed a teleoperated rover (Yutu-2) inside Von Kármán crater, conveying rich information regarding regolith, craters, rocks....
SUMMARY A major technical challenge in controlling modular and reconfigurable robots is associated with the kinematics dynamic model uncertainties caused by reconfiguration. In parallel, conventional such as uncompensated joint friction still persist. This paper presents a distributed control technique for that can instantly adapt to robot reconfigurations. Under proposed method based on torque sensing, stabilized joint, modules be added or removed without need adjust parameters of other...
Predicting wheel‐terrain interaction with semiempirical models is of substantial importance for developing planetary wheeled mobile robots (rovers). Primarily geared toward the design manned terrestrial vehicles, conventional terramechanics do not provide sufficient fidelity required application on autonomous rovers. To develop a high‐fidelity mechanics model, in this study physical effects wheel lug, slip sinkage, dimension, and load are analyzed based experimental results, including...
In this paper, first-principle calculations based on density functional theory were carried out to explore the interface properties of hybrid graphene/anatase TiO2 (001) nanocomposites (G/AT(001)N). The effect graphene hybridization energy gap, surface chemical bonding, interfacial charge transfer, and visible light response was investigated in detail. Because graphene, band structure G/AT(001)N modified, gap reduced 0.47 eV. Electrons bottom valence (VB) anatase could disperse upper part...
A systematic solution to precision control of modular robot manipulators without using joint torque sensing is presented in this paper for the first time. Using virtual decomposition (VDC) approach with embedded field programmable gate array (FPGA) logic devices, proposed solves a long-standing problem lacking fundamentally associated manipulators. As result, allows possess not only their traditional advantages (such as reconfigurability, flexibility, versatility, and ease use) but...
Aerial manipulator, which is composed of an UAV (Unmanned Vehicle) and a multi-link manipulator can perform aerial manipulation, has shown great potential applications. However, dynamic coupling between the makes it difficult to control with high performance. In this paper, system modeling problem are studied. Firstly, model proposed consideration from attached treated as disturbance for UAV. model, affected by variable inertia parameters system. Then, based on compensation robust...
Intermittent arc faults appear in aircraft power systems unpredictable ways when the degraded wires are wet, vibrating against metal structures, or under mechanical stresses. They could evolve into serious that may cause onboard fires, interruptions, system damage and catastrophic incidents, thus have raised concern. Recent trends solid state controllers (SSPCs) motivated development of nondestructive diagnostic methods for health monitoring wiring. In this paper, ABCD matrix (or...
Nonlinear torsional compliance and hysteresis are associated with harmonic drives, their accurate modeling is crucial for improving performance of the control system drive-based devices such as robot joints. In this paper, a new approach taken to model behavior in drives. The proposed derived by flexspline wave generator instead individual behaviors overall drive transmission. loss captured taking into account. validated through numerical simulations subsequently experimental data.
This paper presents a locomotion control method based on central pattern generator (CPG) for hexapod walking robot to achieve gait generation with smooth transition. By deriving an analytical limit cycle approximation of the Van der Pol oscillator, simple diffusive coupling scheme is proposed construct ring-shape CPG network phase-locked behavior. The stability proved using synchronization analysis guaranteed uniform ultimate boundedness synchronous errors. In contrast conventional numerical...
Abstract Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at material level. An increasing number researchers are interested in designing, manufacturing, modeling, control. However, dynamic simulation soft is difficult infinite degrees freedom nonlinear characteristics that associated materials flexible geometric structures. In this study, a novel multi-flexible body modeling technique...