A5112121580- Advanced machining processes and optimization
- Robot Manipulation and Learning
- Robotic Mechanisms and Dynamics
- Advanced Measurement and Metrology Techniques
- Iterative Learning Control Systems
- Muscle activation and electromyography studies
- Prosthetics and Rehabilitation Robotics
- Advanced Thermodynamic Systems and Engines
- Industrial Vision Systems and Defect Detection
- Machine Fault Diagnosis Techniques
- Thermodynamic and Exergetic Analyses of Power and Cooling Systems
- Manufacturing Process and Optimization
- Teleoperation and Haptic Systems
- Advanced Machining and Optimization Techniques
- Advanced Surface Polishing Techniques
- Gear and Bearing Dynamics Analysis
- Reliability and Maintenance Optimization
- Refrigeration and Air Conditioning Technologies
- Motor Control and Adaptation
- Industrial Technology and Control Systems
- Robotic Path Planning Algorithms
- Advanced Numerical Analysis Techniques
- Face and Expression Recognition
- Scheduling and Optimization Algorithms
- Optical Systems and Laser Technology
Xi'an Jiaotong University
2012-2025
China National Petroleum Corporation (China)
2021-2025
Tsinghua University
2025
Shanxi Medical University
2024
First Hospital of Shanxi Medical University
2024
China Academy of Space Technology
2023
Zhengzhou University
2022
Universidad del Noreste
2011-2021
Northeastern University
2015-2021
Shantou University
2021
This paper proposes an improved disturbance observer to realize accurate contact force estimation using the joint torque sensor. The sensor separates dynamics of link side from motor robot manipulator. Therefore, only computing partial on can external estimation. considerably reduce modeling workload and error terms that may affect results. Furthermore, this presents observed residual value during free motion be considered as friction dynamics, which is approximated by neural network (NN)...
This letter presents a novel teleoperation interface that enables remote loco-manipulation control of MObile Collaborative robotic Assistant (MOCA). MOCA is new research platform developed at the Istituto Italiano di Tecnologia (IIT), which composed lightweight manipulator arm, Pisa/IIT SoftHand, and mobile driven by four omni-directional wheels. A whole-body impedance controller consequently to ensure accurate tracking position trajectories end-effector considering causal interactions in...
Abstract Avian hepatitis E virus (HEV) has been identified in chickens; however, only 4 complete or near-complete genomic sequences have reported. We found that the sequence of avian HEV chickens from China shared highest identity (98.3%) with Europe and belonged to genotype 3.
Condition monitoring (CM) is the escort of smart manufacturing, which guarantees safety, precision, and efficiency production process. However, traditional CM capacities with limited storage computing resources cannot follow explosive growth manufacturing data. Empowered by emerging Internet Things, cyber-physical system, cloud computing, (CMfg) characterizes a new service-oriented technology, reshaping paradigm into an agile, scalable, interoperable mode. In this article, CMfg-based...
In this brief, impedance adaptation is investigated for robots interacting with unknown environments, subject to environment dynamics and position parameters. A cost function that measures the tracking error interaction force defined, a complete state-space considering desired trajectory, dynamics, parameters presented. The unobservable lead part of system as well states in model. To end, output feedback adaptive dynamic programming (OPFB ADP) method selected realize optimized adaptation....
This paper presents an analytical continuous smoothing method for the five-axis toolpath by simultaneously scheduling tool position and orientation trajectories. In order to ensure high-order continuous, peak-controlled jerk arclength-parameterized property, a novel curve "airthoid" is proposed first time. The biairthoid involved smooth corners of in workpiece coordinate system (WCS) machine (MCS), geometries which are analytically determined user-defined deviation errors. A time...
This work presents a unified approach for hybrid motion control of the Mobile Collaborative Robotic Assistant (MOCA). The objective is to develop loco-manipulation controller, enabling various couplings arm and mobile base movements, particularly their purely decoupled motions. proposed method based on weighted whole-body Cartesian impedance where decoupling motions can be achieved by solving local optimization problem joint torques in first task space its nullspace, respectively. Under this...
In this work, we propose a framework to address the autonomous impedance regulation problem of robots in class constrained manipulation tasks. framework, human arm endpoint stiffness model is used extract task geometry along trajectory, which then encoded offline and reproduced online by Gaussian Mixture Model (GMM) Regression (GMR), respectively. Furthermore, full Cartesian robot formulated through an optimal control problem, i.e., Linear-Quadratic Regulator (LQR), (extracted from...
Surface roughness is considered to be one of the most significant indicators for evaluating machining quality. Manufacturing industries generally aim achieve high product quality while considering reducing production costs and time. Therefore, an accurate reliable surface prediction model plays a key role in process. Recently, broad learning system (BLS) has attracted great attention due its outstanding performance. In order improve accuracy reduce influence uncertain factors, sensors are...
Abstract Under the framework of "dual carbon" strategy (Carbon peaking and Carbon neutrality), integration carbon dioxide (CO2)-enhanced oil recovery (EOR) geological storage offers a promising pathway for achieving green sustainable development. As CO2 emissions rise, they exacerbate greenhouse effect related environmental challenges. Globally, EOR technology is widely utilized, leveraging subsurface to enhance crude rates. However, this process introduces significant risks, particularly...
ABSTRACT This article is concerned with the distributed control for consensus problems in nonlinear multi‐agent systems, a focus on achieving global group behavior through only local interaction. We propose novel sliding mode (DSMC) method heterogeneous systems under directed information exchange topologies. The DSMC constructs topological surface and reaching law via so‐called “topological structured function”. obtained by matching naturally distributed. Under this framework, diversity...
The job shop scheduling problem (JSSP) is a classic NP-hard problem. This article focuses on realistic variant of the JSSP incorporating fuzzy processing times, with objective minimizing maximum completion time. We propose proximal policy optimization graph transformer (GT-PPO) algorithm, which leverages (PPO) as foundational framework, to address this for first First, intricate variability in states and actions often leads suboptimal outcomes. To this, we refine representation improved...