A5076861802- Stroke Rehabilitation and Recovery
- Adaptive Control of Nonlinear Systems
- Prosthetics and Rehabilitation Robotics
- Muscle activation and electromyography studies
- Electric Vehicles and Infrastructure
- Teleoperation and Haptic Systems
- Control and Dynamics of Mobile Robots
- Advanced Battery Technologies Research
- Robotic Path Planning Algorithms
- Distributed Control Multi-Agent Systems
- Bone fractures and treatments
- Microgrid Control and Optimization
- Robot Manipulation and Learning
- Power Systems and Renewable Energy
- Robotics and Sensor-Based Localization
- Soft Robotics and Applications
- Energy Load and Power Forecasting
- Smart Grid and Power Systems
- Plant Stress Responses and Tolerance
- Smart Grid Energy Management
- Plant Gene Expression Analysis
- Foot and Ankle Surgery
- Robotic Mechanisms and Dynamics
- Plant-Microbe Interactions and Immunity
- Urban Heat Island Mitigation
State Grid Corporation of China (China)
2013-2025
Huaqiao University
2023-2025
Guangzhou Municipal Engineering Design and Research Institute
2025
Shanghai Jiao Tong University
2025
Beijing University of Technology
2021-2024
University of Science and Technology Beijing
2024
Ministry of Public Security of the People's Republic of China
2024
Institute of Forensic Science
2024
University of Twente
2020-2023
Electric Power Research Institute
2015-2022
This work addresses the interaction control problem of a fully actuated aerial vehicle considered as flying end-effector. We tackle using geometrically consistent variable-stiffness impedance for safe wrench regulation concept energy tanks, where both modeling and are carried out in port Hamiltonian framework. exploit previous well-known results literature ground manipulators extend them to be applied novel challenging physical with focus on quasi-static applications. The energy-awareness...
In this article, an asymmetric integral barrier Lyapunov function (AIBLF)-based control scheme is proposed for human–robot interaction (HRI), with which robot-aided human-compliant space-constrained muscle strength training can be achieved. First, admittance model exploited to generate compliant desired trajectory the input of torque. Then, on basis super-twisting algorithm, a nonlinear observer built estimate and further compensate lumped disturbance applied robotic driving joint, including...
This study examines the efficacy of biochar in improving water quality urban artificial landscape bodies. Three types—wood biochar, coconut shell and apricot kernel biochar—were systematically evaluated, along with purification effects varying dosages on water. Water parameters were quantified using a multiparameter meter, while enhancement visual aesthetics was validated through online questionnaires distributed to citizens. The findings include following: All types significantly reduced...
Senescence-associated secretory phenotype (SASP) mediates the biological effects of senescent cells on tissue microenvironment and contributes to ageing-associated disease progression. ACSS2 produces acetyl-CoA from acetate epigenetically controls gene expression through histone acetylation under various circumstances. However, whether how regulates cellular senescence remains unclear. Here, we show that pharmacological inhibition deletion Acss2 in mice blunts SASP abrogates pro-tumorigenic...
Zoos play dual roles in wildlife conservation and providing recreational experiences for visitors urban green spaces. However, the impacts of thermal environments on both visitor comfort captive animal welfare remain unexplored, which is an important aspect to address improving overall zoo management. This study investigated conditions at Jinan Zoo, China, over 20 summer days. Questionnaires were used collect viewing satisfaction, while mitigation behaviors 70 blue peafowls recorded under...
This paper presents an intuitional end-to-end interaction system between a human and hexacopter Unmanned Aerial Vehicle (UAV) for field exploration in which UAV could be commanded by natural poses. Moreover, Some LEDs equipped on are used to communicate the state intents from as feedback throughout interaction. A real time multi-human pose estimation is built can performed with low latency maintaining competitive performance. robotic arm whose kinematic dynamic attitude models provided...
Aerial operation with unmanned aerial vehicle (UAV) manipulator is a promising field for future applications. However, the quadrotor UAV usually suffers from several disturbances, such as external wind and model uncertainties, when conducting tasks, which will seriously influence stability of whole system. In this paper, we address problem high-precision attitude control equipped 2-degree-of-freedom (DOF) robotic arm under disturbances. We propose new sliding-mode extended state observer...
The control of quadrotor equipped with a robotic arm has received growing challenges. This article proposes new adaptive strategy 2-degree-of-freedom arm. To consider the positional variety center gravity caused by motion arm, kinematic and dynamic models are built. Based on presented models, backstepping sliding mode controller terminal manifold is first applied to cope condition in which motionless relative quadrotor. As evolvement controller, novel then designed for vehicle wavering....
The integration of computer vision techniques for the accomplishment autonomous interaction tasks represents a challenging research direction in context aerial robotics. In this paper, we consider problem contact-based inspection textured target unknown geometry and pose. Exploiting state art graphics, tuned improved task at hand, designed framework projection desired trajectory robot end-effector on generically-shaped surface to be inspected. Combining these results with previous work...
Abstract A robust fault‐tolerant motion/force controller is vital for a fully‐actuated unmanned aerial vehicle performing contact‐based manipulation tasks (e.g., window cleaning, infrastructure inspection and so on) in the presence of lumped disturbances (including external disturbances, model uncertainties, actuator faults) with unknown boundaries. To address this problem, disturbance‐observer‐based adaptive sliding mode impedance proposed article. Using as reference model, constructed...
Foot and ankle deformity is a common complaint in orthopedic surgery, among which the multisegment concurrent types are even more severe. As key medical device for correction, composite parallel external fixator (PEF) design has profound impact on correction outcomes. However, existing PEFs share single configuration have inadequate adaptation to various types, leading problems, such as complex structural composition, excessive adjustment parameters, uncomfortable wearing experience. To...
Muscle strength training is to reduce muscle atrophy and increase strength. For ankle joint, we developed six robot-assisted modes, namely, continuous passive motion (CPM), isotonic, isometric, isokinetic, centripetal centrifugal exercise. The paper aims evaluate the performance of different modes based on angle/torque surface electromyography (sEMG) characteristics. sEMG characteristics were used extract features degree activation, while information calculate endurance ratio (ER), peak...
During the flight of quadrotor unmanned aerial vehicle manipulator, external wind and model uncertainties will significantly affect accuracy stability controller. This study investigates problem high-precision attitude control for manipulator that is equipped with a 2-DOF robotic arm in presence several disturbances based on new sliding mode observer corresponding As proposed observer, to reduce its estimation chattering phenomenon, sigmoid function exploited replace discontinuous signum...
Abstract When the under-actuated hand pinches object on worktable, trajectory of end finger is not a straight line, which makes it difficult for to grasp from its both sides. In order overcome this shortcoming, paper proposes new configuration linear-parallel and self-adaptive uses four-link sliding base mechanism compensate vertical displacement finger. Based configuration, mechanical structure designed, has five degrees freedom (DOFs), mainly composed two fingers, base, four link...
To investigate, in patients with gastric carcinoma undergoing laparoscopic radical gastrectomy, the effects of ultrasound-guided quadratus lumborum block (UG-QLB) combined general anaesthesia (GA) on postoperative recovery compared GA alone. The retrospective study enrolled 231 including 119 who received UG-QLB (Group QG), and 112 alone GA). primary endpoint was 3-year recurrence-free survival (RFS). secondary endpoints were average visual analogue scale (VAS) scores within 48 h after...
The duration of the rice growth phase has always been an important target trait. identification mutations in that alter these processes and result a shorter could have potential benefits for crop production. In this study, we isolated early aging mutant, pe-1, with light green leaves, using γ-mutated indica cultivar subsequent screening methods, which is known as phytochrome synthesis factor Se5 controls flowering. pe-1 plant accompanied by decreased chlorophyll content, enhanced...