Article
Automation & Control Systems
Xin Gong, Lixiao Wang, Yuanyuan Mou, Haili Wang, Xiaoqian Wei, Wenfeng Zheng, Lirong Yin
Summary: Bilateral teleoperation robots with force feedback allow humans to complete tasks without exposure to hazardous environments, but communication time delay can cause instability in the system.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2022)
Article
Automation & Control Systems
Seyed Ali Mohamad Dehghan, Hamid Reza Koofigar, Hamid Sadeghian, Mohsen Ekramian
Summary: A novel observer-based force control scheme is proposed for position and force tracking in nonlinear teleoperation systems subject to constant communication time delay. The stability of the teleoperation system is analytically proved using Lyapunov stability theorem, with derived conditions for asymptotic convergence of force and position. Improved transparency is achieved through the force tracking capability, validated through experimental and simulation results in dealing with time delay.
CONTROL ENGINEERING PRACTICE
(2021)
Article
Engineering, Multidisciplinary
Ali Mehrjouyan, Mohammad B. Menhaj, Mohammad A. Khosravi
Summary: This study introduces a new robust adaptive control law for nonlinear bilateral teleoperation systems, which can handle time-varying delays, external disturbances, and uncertain dynamics in a unified framework, and mitigate the impact of force sensors on the system by developing a novel adaptive torque observer. The key point of the algorithm is to enhance the robust behavior of the system in the presence of various uncertainties by adding an auxiliary term in the control loop.
Article
Automation & Control Systems
Yassine Bouteraa, Khalid A. Alattas, Tongrui Peng, Afef Fekih, Reza Rahmani, Saleh Mobayen
Summary: We developed a novel method for nonlinear teleoperation systems based on a robust adaptive fuzzy control approach. Our method aims to ensure system stability and mitigate uncertainties caused by external disturbances and un-modelled dynamics. Instead of directly transmitting environmental torque signals, we transmit approximated environmental parameters to the master side, successfully solving the passivity problem in the teleoperation system. Theoretical analysis and simulation results demonstrate the efficiency of our approach in achieving stability and tracking objectives for uncertain nonlinear teleoperation systems.
IET CONTROL THEORY AND APPLICATIONS
(2023)
Article
Automation & Control Systems
Zhengqiang Zhang, Bin Xu, Cheng Tan, Shuzhi Sam Ge
Summary: This article addresses the adaptive state feedback stabilization for delayed uncertain systems with external disturbance. A new Lyapunov-Krasovskii functional is introduced to present a memoryless control strategy for stabilizing nonlinear time-delay systems through a newly defined control gain function. The main contribution lies in the construction of control gain function, which ensures the asymptotic stability of the closed delayed nonlinear system. Simulation examples are provided to demonstrate the effectiveness of the proposed method.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2022)
Article
Chemistry, Analytical
Kesong Chen, Haochen Zhang
Summary: This paper proposes a new adaptive control architecture for stable and effective position synchronization control in a teleoperation system. The use of a velocity feedback filter and radial basis function neural network allows for only the transmission of position signals during communication. Additionally, a new auxiliary variable and compensation method are employed to reduce steady-state error in position tracking under nonzero external environmental forces. Using the Lyapunov-Krasovskii method, the stability of the closed-loop remote operating systems is demonstrated.
Article
Automation & Control Systems
Behnam Yazdankhoo, Mohammad Reza Ha'iri Yazdi, Farshid Najafi, Borhan Beigzadeh
Summary: This article proposes an impedance control scheme using optimal L-1 theory for teleoperation systems, aiming to restrict the transient peaks of contact force. Simulation results demonstrate that the proposed controller is able to effectively control the impedance error and improve the system's transient response.
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
(2022)
Article
Engineering, Multidisciplinary
Mehdi Pourseifi, Sara Rezaei
Summary: This paper presents a new bounded force feedback control law to improve transparency in nonlinear bilateral teleoperation systems and solve three problems in practical applications. The experimental results demonstrate that the controller has asymptotic stability and position-force tracking performance under specific conditions.
INTERNATIONAL JOURNAL OF NONLINEAR SCIENCES AND NUMERICAL SIMULATION
(2022)
Article
Chemistry, Analytical
Yaxiang Wang, Jiawei Tian, Yan Liu, Bo Yang, Shan Liu, Lirong Yin, Wenfeng Zheng
Summary: A bilateral neural network adaptive controller has been designed for teleoperation systems with constant time delay, external disturbance, and internal friction. The controller guarantees the stability of the teleoperation force feedback system with constant communication channel delay and handles nonlinear uncertainties by estimating and adapting to unknown internal friction and external disturbance. This approach improves the tracking performance of the system.
Article
Computer Science, Information Systems
Cheongjun Kim, Doo Yong Lee
Summary: This paper introduces a model-mediated teleoperation (MMT) method employing an adaptive model to improve system stability in the presence of model mismatches. Experimental results show significant improvements in performance compared to previous MMT methods in two tasks.
Article
Engineering, Electrical & Electronic
Yutao Chen, Yahao Wang, Xuming Tang, Kai Wu, Shaolei Wu, Rui Guo, Yuliang Zhao, Erbao Dong
Summary: This paper proposes a 6-DOF bilateral hybrid teleoperation control strategy that can map the workspace of the manipulators without changing the operation accuracy. The hybrid control includes admittance and force control based on feedback from a force sensor. The control strategies switch autonomously through the positioning of the Sigma.7 handle in the workspace. Extensive experiments are conducted to evaluate the changes in displacement and velocity before and after the switching process and under different control parameters.
Article
Automation & Control Systems
Dapeng Tian, Shiquan Ni
Summary: This study proposes an alternative method for achieving transparency in teleoperation systems without force sensors, with a designed control law to improve system performance. Experimental results demonstrate the effectiveness of the proposed approach.
IET CONTROL THEORY AND APPLICATIONS
(2021)
Article
Automation & Control Systems
Huanqing Wang, Jialei Bao, Peter Xiaoping Liu, Tieshan Li, Ke Xu
Summary: This paper investigates the quantisation synchronisation control problem of bilateral teleoperation systems with communication delays. The inaccurate modelling problem is compensated by using radial basis function networks (RBFN) to handle system uncertainties and unknown disturbances. The control signals are quantised using a hysteretic quantiser to ease the accuracy requirement for physical systems and communication rate. Position synchronisation of joint variables is achieved through the designed control signals and adaptive parameters. Simulation results demonstrate that the synchronisation tracking errors gradually converge to a small neighbourhood around zero.
INTERNATIONAL JOURNAL OF CONTROL
(2023)
Article
Mathematics
Jigang Bao, Liyue Fu, Haochen Zhang, Ancai Zhang, Wenhui Guo, Tiansheng Chen
Summary: In this paper, a new adaptive proportional damping controller is proposed to improve the stability and performance of telerobotic systems in various scenarios. By combining neural network and adaptive control strategy to compensate for unknown torque, the proposed method enhances the system's stability and robustness.
Article
Automation & Control Systems
Shaobo Shen, Aiguo Song, Tao Li
Summary: This paper investigates bilateral controller design for teleoperation system using a motion prediction approach, presenting novel predictors and a bilateral predictive controller. By applying predicted results, errors in both position tracking and prediction can converge within bounded regions, showing the effectiveness of the proposed method through comparative simulations.
Article
Chemistry, Multidisciplinary
Lirong Yin, Lei Wang, Jiawei Tian, Zhengtong Yin, Mingzhe Liu, Wenfeng Zheng
Summary: We used the Swarm-C accelerometer data to invert the orbital atmospheric density in this study. First, we obtained the Swarm-C satellite mission data from ESA's public data platform and performed preliminary data error correction. This study refers to the calibration method of GRACE-A satellite accelerometer data and adds linear temperature correction. Moreover, the accelerometer data correction results were compared with the data correction results published by ESA. In order to investigate the influence of light radiation on the accelerometer, a geometric model of Swarm-C was established to simulate the physical shape of the satellite surface. The study analyzed the state transition during the transition process from the umbra area to the penumbra area and then to the shadowless area by studying the change in light radiation acceleration and establishing a light radiation pressure model and a shadow area judgment model. Finally, atmospheric density inversion calculations were performed based on the Sentman model and the effectiveness of the approach was demonstrated by comparing the results with existing research data during geomagnetic storms.
APPLIED SCIENCES-BASEL
(2023)
Article
Chemistry, Multidisciplinary
Mingzhe Liu, Qiuxiang Gu, Bo Yang, Zhengtong Yin, Shan Liu, Lirong Yin, Wenfeng Zheng
Summary: The kinematics model of the six-degree-of-freedom parallel platform was established, and the kinematics forward solution algorithm based on Newton-Raphson iteration was studied. In order to improve the real-time performance of the parallel platform control system, a multivariate polynomial regression kinematics forward solution algorithm is proposed in this paper. The effectiveness of the proposed method was verified by simulation tests and physical tests.
APPLIED SCIENCES-BASEL
(2023)
Article
Computer Science, Information Systems
Qiuxiang Gu, Jiawei Tian, Bo Yang, Mingzhe Liu, Borui Gu, Zhengtong Yin, Lirong Yin, Wenfeng Zheng
Summary: With the rapid development of the manufacturing industry, higher machining accuracy of parts is required for industrial automation equipment, especially computer numerical control (CNC) machine tools. The parallel platform solution, based on the Stewart six degrees of freedom parallel platform, is theoretically more suitable for high-precision machining equipment. This paper focuses on the construction of the parallel platform, including mechanical structure design, motor driver circuit design, and programming for controlling the parallel robotic arms and the platform control center. The closed-loop control effect of the parallel platform workspace pose is achieved.
Article
Environmental Studies
Xuan Liu, Zehao Li, Xinyi Fu, Zhengtong Yin, Mingzhe Liu, Lirong Yin, Wenfeng Zheng
Summary: This study uses NPP-VIIRS NTL data and Landsat 8 OLT images to estimate housing vacancy rates in the Pearl River Delta (PRD) region and tracks their spatial-temporal dynamics. The findings show that despite an overall decrease in housing vacancy rates in the PRD, speculation and irrational real estate investment still exist in cities on the west bank of the Pearl River Estuary and in some isolated districts in other cities. Moreover, increasing proportions of vacant pixels in most cities indicate a rise in real estate development, calling for further supervision.
Article
Humanities, Multidisciplinary
Xuan Liu, Tianyi Shi, Guohui Zhou, Mingzhe Liu, Zhengtong Yin, Lirong Yin, Wenfeng Zheng
Summary: The computational identification and categorization of opinions in text is crucial for providing better understanding and services to online users. However, the current multi-label automatic classification is still inadequate. This study proposes a modified MLkNN classifier that considers both in-sentence and adjacent sentence features, resulting in improved accuracy and speed in emotion classification for short texts on Twitter.
HUMANITIES & SOCIAL SCIENCES COMMUNICATIONS
(2023)
Article
Chemistry, Multidisciplinary
Fupei Guo, Bo Yang, Hao Feng, Wenfeng Zheng, Lirong Yin, Zhengtong Yin, Chao Liu
Summary: This paper proposes a computationally efficient CNN model for sparse-view LDCT reconstruction, achieving comparable performance to sophisticated baseline models at lower sparsity levels and showing some advantages at higher sparsity levels. The proposed model is computationally efficient, easy to train on small datasets, and suitable for clinical real-time reconstruction tasks.
APPLIED SCIENCES-BASEL
(2023)
Article
Engineering, Multidisciplinary
Siyu Lu, Shan Liu, Pengfei Hou, Bo Yang, Mingzhe Liu, Lirong Yin, Wenfeng Zheng
Summary: In this paper, a method of soft tissue surface feature tracking based on a depth matching network is proposed. The method is trained and experimentally validated using a self-made training sample set and the triangular matching algorithm, and the results show high matching accuracy.
CMES-COMPUTER MODELING IN ENGINEERING & SCIENCES
(2023)
Article
Fisheries
Xiaolei Zhu, Ziyi Xu, Zhixin Liu, Mingzhe Liu, Zhengtong Yin, Lirong Yin, Wenfeng Zheng
Summary: This study evaluates the impact of large-scale dam construction on regional precipitation, and finds that dam construction increases the precipitation values.
MARINE AND FRESHWATER RESEARCH
(2023)
Article
Social Sciences, Interdisciplinary
Kailin Shang, Linfeng Xu, Xuan Liu, Zhengtong Yin, Zhixin Liu, Xiaolu Li, Lirong Yin, Wenfeng Zheng
Summary: With the accelerated economic development and urbanization, the global warming has led to the increasingly severe urban heat island effect, posing harm to sustainable urban development. This study used the SW-TES algorithm to analyze the seasonal and interannual surface temperature changes in the Hangzhou metropolitan area and explored the influencing factors of the urban heat island effect. The results showed a negative correlation between surface temperature and normalized vegetation index.
Article
Imaging Science & Photographic Technology
Wei Dang, Longhai Xiang, Shan Liu, Bo Yang, Mingzhe Liu, Zhengtong Yin, Lirong Yin, Wenfeng Zheng
Summary: The article introduces the widely used feature-based 3D reconstruction and tracking technology in the medical field. Due to the poor matching performance of traditional feature matching methods, a matching method based on convolutional neural network is proposed to overcome this limitation. Experimental results show that the proposed method has good performance in feature matching effect, rotation invariance, and scale invariance.
JOURNAL OF IMAGING SCIENCE AND TECHNOLOGY
(2023)
