A5102838807- Advanced Control Systems Optimization
- Fault Detection and Control Systems
- Adaptive Control of Nonlinear Systems
- Control Systems and Identification
- Robotics and Sensor-Based Localization
- Rock Mechanics and Modeling
- Iterative Learning Control Systems
- Stability and Control of Uncertain Systems
- Robotic Path Planning Algorithms
- Tunneling and Rock Mechanics
- Drilling and Well Engineering
- Endodontics and Root Canal Treatments
- Advanced Sensor and Control Systems
- Underwater Vehicles and Communication Systems
- Image and Object Detection Techniques
- Geotechnical Engineering and Underground Structures
- Indoor and Outdoor Localization Technologies
- Advanced Algorithms and Applications
- Inertial Sensor and Navigation
- Welding Techniques and Residual Stresses
- Model Reduction and Neural Networks
- Frequency Control in Power Systems
- Tailings Management and Properties
- Control and Stability of Dynamical Systems
- Geotechnical Engineering and Analysis
Shaoxing University
2021-2023
University of Illinois Urbana-Champaign
2022
National University of Singapore
2018-2020
Jilin University
2017-2020
China Aerodynamics Research and Development Center
2019
State Key Laboratory of Aerodynamics
2019
Shenyang Institute of Automation
2016
Chinese Academy of Sciences
2016
In this article, we present a comprehensive design and implementation for micro aerial vehicle (MAV) that is able to perform 3-D autonomous navigation obstacle avoidance in cluttered realistic unknown environments without the aid of global positioning system other external sensors or markers. To achieve these missions, modularized components are developed MAV, including visual-inertial odometry, occupancy mapping, motion planning. The proposed implemented run on small embedded computer real...
Abstract A dynamic backstepping control method is proposed for non-linear systems in the pure-feedback form, which traditional suffers from solving implicit algebraic equation. This treats equation directly via a way, by augmenting (virtual) controls as states during each recursive step. Compared with method, one more Lyapunov design executed As new dynamics are included design, resulting law feedback form. Under appropriate assumptions, scheme achieves uniformly asymptotic stability and...
Cats protract claws while hunting or pawing on the ground and retract to muscles when relaxing. Inspired by this behavior, in order solve problem of short service life low comprehensive drilling efficiency polycrystalline diamond compact bits which results from its poor adaptability soft-hard interbedded strata, a self-adaptive bionic bit was designed, can use elastic element adjust back-rake angle according formation hardness improve bits. Theoretical analysis test show that has strong rock...
In 2015 International UAV Innovation Grand Prix the competition, cargo transport task is assumed as: there are 4 buckets placed in four circles on one moving platform. Firstly, unmanned aerial vehicle (UAV) required to identify circle targets and black white id marker near platform, then chosen a target bucket, tracked transported it other until all from platform other. order accomplish task, method of real-time vision-based GPS-denied multiple object tracking for developed. The Pixhawk...
Firstly, the flat property of three-tank systems is verified and a feedforward controller designed accordingly so as to track ideal trajectories. Secondly, in order eliminate tracking errors introduced by model uncertainties or unknown disturbances, nonlinear predictive which terminal equality constraint added for ensuring asymptotic convergence. Finally, control performance confirmed both simulation experiment results.
In this paper, disturbance observer based model predictive control of linear systems which satisfies a matching condition is proposed, where the bounded and varying slowly. A conventional nominal problem with tightened constraints solved online predicts trajectory. Two ancillary laws are determined off-line: one drives trajectories real system to system, other tries cancel out effect input. Both recursive feasibility involved optimization robust stability under guaranteed if feasible at...
In order to develop a nano UAV in GPS-denied environment, visual-inertial system (VINS) consisting of monocular camera and low-cost inertial measurement unit (IMU) should be integrated, as they make minimum, ultra lightweight sensor suite that enables both autonomous flight sufficient environment awareness. Although there are numerous potential applications, getting understand the structure platform can cumbersome confusing. Packages resources provided on Qualcomm developer network (QCN)...
In this study, a novel decentralized exact tracking control approach for 2-DOF planar robot manipulators with disturbances and uncertainties has been proposed. The main idea of the proposed method is to partition whole manipulator into single joint lumped disturbance. A well designed extended high gain observer (EHGO) adopted observe disturbance each joint, which includes coupling, load uncertainty, etc. Rather than coping as whole, locally compensate estimated coupling stabilize internal...
The arc furnace is a common load in smelting industry. Due to special structure, it often generates great impact on the grid. It has become recognized technical means use dynamic reactive compensation device SVC eliminate adverse impacts grid power quality during production. However, electrical system of some containing sites complex. Limited by site condition which sound commissioning environment cannot be provided for SVC, relevant control parameters can only configured basis experience,...
This paper proposes a new static var compensator control system with SIMATIC-TDC as the master controller and DSP auxiliary controller. Siemens TDC is high-end excellent data processing capacity, which can satisfy current reactive compensation algorithm to finish open loop close control. Meanwhile, programming configuration software also fully featured, widely applied in smelting, chemical power industries. However, consisting of CPLD quickly precise signals (such high-frequency sampling...
This paper presents an approach to measure the ability of a shared control system track user input while simultaneously ensuring safety. These CPI metrics, based on reachability theory, are used Conservativeness (C), Permissiveness (P) and amount Intervention (I) applied nominal control. The metrics apply arbitrary dynamic systems, state constraints, unlike other existing they non-differentiable controllers including implemented in procedural code. Moreover, we propose parallel algorithm...
Polycrystalline diamond compact (PDC) drill bits used in the Deep Borehole Placement (DBP) approach for nuclear waste disposal are subjected to highly competent, low-porosity, and low-permeability rock mass that cause severe wear damage. To augment penetration rate minimize wear-induced cost, a novel interaction cutting model with breakable granite unbreakable cutter was established using two-dimensional discrete element method (2D-DEM). The particle simulate sample, micro parameters of...