A5056556018- Soft Robotics and Applications
- Robotic Locomotion and Control
- Robot Manipulation and Learning
- Modular Robots and Swarm Intelligence
- Robotic Mechanisms and Dynamics
- Superconducting Materials and Applications
- Magnetic confinement fusion research
- Particle accelerators and beam dynamics
- Adaptive Control of Nonlinear Systems
- Robotics and Sensor-Based Localization
- Advanced Surface Polishing Techniques
- Robotic Path Planning Algorithms
- Advanced machining processes and optimization
- Prosthetics and Rehabilitation Robotics
- HVDC Systems and Fault Protection
- Manufacturing Process and Optimization
- Biometric Identification and Security
- Hydraulic and Pneumatic Systems
- Advanced Manufacturing and Logistics Optimization
- Electrical Fault Detection and Protection
- Metaheuristic Optimization Algorithms Research
- Topology Optimization in Engineering
- Advanced Multi-Objective Optimization Algorithms
- Surface Roughness and Optical Measurements
- Industrial Vision Systems and Defect Detection
Guangzhou University
2016-2025
Beijing Sport University
2024
North China Electric Power University
2021-2022
Robotics Research (United States)
2022
Nanchang Hangkong University
2021
Yantai University
2016
Institute of Plasma Physics
2002-2014
Guangdong University of Technology
2014
South China University of Technology
2011-2013
Beijing University of Technology
2013
High-rise tasks such as cleaning, painting, inspection, and maintenance on walls of large buildings or other structures require robots with climbing manipulating skills. Motivated by these potential applications inspired the motion inchworms, we have developed a biped wall-climbing robot-W-Climbot. Built modular approach, robot consists five joint modules connected in series two suction mounted at ends. With this configuration mode, W-Climbot not only has superior mobility smooth walls, but...
Agriculture, forestry, and building industry would be prospective fields of robotic applications. High-rise tasks in these require robots with climbing skills. Motivated by potential applications inspired animal motion, we have developed a biped robot—Climbot. Built modular approach, the robot consists five joint modules connected series two special grippers mounted at ends, scalability changing degrees-of-freedom (DoFs). With this configuration, Climbot not only has superior mobility on...
Vacuum adsorption is a simple but effective attaching method widely used in many fields including robotic wall climbing. It required that the sucker aligned well with target surface to form airtight chamber for vacuum generation. For applications biped wall-climbing robots, automatically aligning beneficial and important enhance efficiency effectiveness of adsorption. Especially, such function essential autonomous intelligent To this end, we propose novel low-cost approach perform alignment...
With the integration of large-scale wind farms, conventional pilot protection is facing new challenges. It suffers from performance degradation can even refuse operation for some extreme fault scenarios. To address this problem, article continues research novel based on cosine similarity. The pickup setting and industrial application testing investigated. functional structure described logic similarity evaluated under different Compared with differential protection, proposed greatly improve...
High-rise tasks in agriculture, forestry and building industry requires robots possessing climbing function. Motivated by these potential applications inspired the motion of animals such as inchworms, we have developed a novel biped robot - Climbot. Built with modular approach, consists five 1-DoF joint modules connected series two special grippers mounted at ends. With this configuration, Climbot is able not only to climb variety media, but also grasp manipulate objects, hence ¿mobile¿...
The ITER Correction Coils (CC) include three sets of six coils each, distributed symmetrically around the tokamak to correct error fields. Each pair coils, located on opposite sides tokamak, is series connected with polarity produce asymmetric manufacturing these superconducting undergoing qualification main fabrication processes: winding into multiple pancakes, welding helium inlet/outlet conductor jacket, turn and ground insulation, vacuum pressure impregnation, inserting an austenitic...
This paper introduces a multi-indicator heuristic evaluation-based rapidly exploring random tree (MIHE-RRT) algorithm to address the key challenges of robot path planning in complex environments. The core innovation lies novel dual optimization framework that combines Hammersley sequence sampling with comprehensive evaluation mechanism. ensures uniform coverage configuration space, while mechanism intelligently guides expansion through three-dimensional system incorporating diversity,...
High-rise tasks in agriculture, forestry and building industry requires robots possessing climbing function. Motivated by these potential applications inspired the motion of animals such as inchworms, we have developed a novel biped robot - Climbot. Built with modular approach, consists five 1-DoF joint modules connected series two special grippers mounted at ends. With this configuration, Climbot is able not only to climb variety media, but also grasp manipulate objects, hence ¿mobile¿...
The EAST is an Experimental Advanced Superconducting Tokamak. mission of the Project to bring out scientific issues on continuous nonburning plasma scenario steady-state operation and engineering establishing basis technology for superconducting tokamak. magnets were chosen all poloidal field (PF) toroidal (TF) systems since establish full Tokamak future fusion reactors. consist sixteen TF coils fourteen PF (seven coil-pairs). To obtain good performance magnets, most have been tested before...
ITER Magnet System includes 18 Correction Coils (CC), made with NbTi cable-in-conduit 10 kA conductor, wound into multiple pancakes. The turn and ground insulation were electrically insulated a glass tape/polyimide interleaved multilayer composite, which should be impregnated epoxy resin. Some technical issues remaining have to addressed in the manufacturing process of these coils. One is impregnation curing system, achieve good mechanical properties sufficient high voltage (5 kV). authors...
To achieve precise trajectory tracking of robotic manipulators in complex environment, the dynamic model, parameters identification, nonlinear characteristics, and disturbances are factors that should be solved. Although identification adaptive estimate method were proposed for control many literature studies, essential factors, such as coupling friction, rarely mentioned it is difficult to build model manipulator. An backstepping sliding mode solve under external with response...
Extensive research and analysis has illustrated that there are field errors existed on ITER magnet system due to the misalignment of coils winding deviations from nominal shape. To compensate errors, correction (CCs) developed employed ITER. The CCs consist 6 top (TCC), bottom (BCC) side (SCC), arranged toroidally around machine inside PF mounted TF coils. CC case provides structural reinforcement packs. It is made 316LN stainless steel a thickness 20 mm. main characteristics small section...
Building structures occasionally suffer from unpredictable earthquakes, which can cause severe damage and threaten human lives. Thus, effective control methods are needed to protect against structural vibration in buildings, rapid finite‐time convergence is a key performance indicator for systems. Rapid be ensured by applying sliding‐mode method. However, this method would result chattering issue, weaken the feasibility of physical implementation. To address problem, neural terminal...
For biped climbing robots to climb poles, trusses or trees with dual grippers, it is required that the grippers are aligned target objects before they grasp for manipulating. However, this requirement difficult meet in practice programming control, teaching-and-playback, remote control a joystick, due mobility of base gripper, manufacturing and errors robot, other uncertainty. It hence necessary significant be autonomously under utilization sensors. In paper, we develop sensing system by...
Hip replacement femoral implants are made of substantial materials that all have stiffness considerably higher than bone, which can cause significant bone resorption secondary to stress shielding and lead severe complications. The topology optimization design method based on the uniform distribution material micro-structure density form a continuous mechanical transmission route, better solve problem reducing effect. A multi-scale parallel is proposed in this paper topological structure type...
The issue of adaptive tracking control for nonlinear uncertain system with self-triggered input and immeasurable states is investigated. Radial Basis Function Neural Networks (RBFNNs) introduced to approximate unknown functions. Based on this, an observer constructed estimate the states. Considering that may cause poor performance, prescribed performance bound method combined into co-designing. Furthermore, a scheme presented guarantee close-loop signals are bounded. Compared event-triggered...
For the convenience of complex trajectory programming robot and in order to enrich robotic off-line (OLP) types, this paper presents an efficient OLP method based on DXF files 3D modeling software. By decoding files, position information object graphic elements such as points, lines, arcs splines are first extracted, all then converted into point elements. A planning algorithm is proposed make these points linked trajectories according drawing CAD Except for trajectory, orientation also...
W-Climbot is an inchworm-like biped wall-climbing robot we developed with a modular approach. Consisting of five joint modules and two suction modules, the actually mobile 5-DoF manipulator dual sucking end-effectors at ends. With this kinematic structure climbing mode, has superior function (great ability to omni-directional locomotion, negotiate obstacles on walls transit between walls) manipulation function. In paper, system first introduced, force in one critical case analyzed for...
A joystick-based control method is studied for Climbot, which a novel 5-DoF (degree of freedom) biomimetic biped climbing robot.The kinematics and the available grasping area robot are analyzed firstly.And then, according to characteristics by switching its fixed-gripper, an intuitional operating mode proposed, in different coordinates defined corresponding gaits, matrix transform algorithm presented keep coordinate system unchanging after fixed-gripper.Finally, road-pole experiments with...