Article
Automation & Control Systems
Kai Li, Hesheng Wang, Xinwu Liang, Yanzi Miao
Summary: This article addresses the visual servoing and vibration suppression for spatial flexible-link manipulators with a fixed camera setup. Using the singular perturbation method to decouple the dynamic equations, image-based controllers and observers are designed to converge image errors and estimate fast states, respectively. The closed-loop stabilities of the subsystems are proven by Lyapunov theory, and numerical simulations demonstrate the effectiveness of the proposed controller in reducing image errors and suppressing vibration.
IEEE TRANSACTIONS ON CYBERNETICS
(2022)
Article
Robotics
Limin Xie, Xiaoyan Yu, Li Chen
Summary: This paper studies the dynamics modeling, joint trajectory tracking control, and vibration suppression of a free-floating flexible-link and flexible-joints space manipulator system with external interference and uncertain parameter. A hybrid control method is proposed and simulation experiments show its effectiveness.
Article
Chemistry, Multidisciplinary
Xiaohua Wei, Jiangang Ye, Jianliang Xu, Zhiguo Tang
Summary: The proposed method in this paper is suitable for application in robotic arm systems. It focuses on adaptive dynamic programming-based tracking control of the hydraulic-driven flexible robotic manipulator system (HDFRMS) with varying payloads and uncertainties via singular perturbation theory (SPT). The dynamics of the manipulator system is derived using a driven Jacobian matrix, and the whole dynamic model is decoupled into three subsystems. An adaptive dynamic programming trajectory tracking control law, a robust optimal control, and an adaptive sliding mode control are designed using Lyapunov stability theory. Numerical simulations are carried out to validate the singular perturbation decomposition and proposed control algorithm.
APPLIED SCIENCES-BASEL
(2023)
Article
Computer Science, Information Systems
Yiming Xu, Xiao Wang, Li Wang, Kai Wang, Lei Ma
Summary: This paper focuses on learning-based motion control for flexible manipulators with varying loads using the singularly perturbed technique. By decomposing the system dynamics into fast and slow subsystems and designing corresponding sub-controllers with robust adaptive dynamic programming and robust sliding mode control methods, trajectory tracking, parametric uncertainty alleviation, and vibration suppression are achieved.
Article
Chemistry, Multidisciplinary
Limin Xie, Xiaoyan Yu
Summary: This paper studies the dynamic modeling of free-floating flexible-joint space manipulators and proposes a robust backstepping fault-tolerant control method based on a state observer to deal with joint actuator failure. The system's rigid-flexible coupled-dynamic equations are established based on the flexible-joint simplified model, and the system is decoupled using the singular perturbation method. A robust backstepping fault-tolerant controller is designed for the slow subsystem to eliminate angle error, compensate for uncertain parameters and external disturbances, and achieve joint trajectory tracking. A velocity differential-feedback control is adopted for the fast subsystem to suppress system vibrations caused by flexible joints and ensure system stability. Simulations demonstrate the feasibility and effectiveness of the model and control method, showing accurate and steady trajectory tracking regardless of actuator failure.
APPLIED SCIENCES-BASEL
(2023)
Article
Engineering, Aerospace
Shiyuan Jia, Jinjun Shan
Summary: This article studies the trajectory tracking and active vibration control of a flexible space manipulator using variable-speed control moment gyros (VSCMGs) as actuators. By decoupling the dynamics model of the manipulator system using the singular perturbation method, neural networks and an extended state observer (ESO) are used to estimate unknown variables. An adaptive feedback controller and weighted robust pseudoinverse steering laws are proposed for flexible motion control. The stability of the controllers is proven using Lyapunov theory, and the effectiveness is verified through numerical simulations.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2022)
Article
Engineering, Mechanical
Lewei Tang, Marc Gouttefarde, Haining Sun, Lairong Yin, Changjiang Zhou
Summary: This paper introduces the dynamic modeling of a single-link flexible manipulator with two cables and proposes a calculation method to determine its natural frequency. Simulation experiments are performed to validate the method and three non-dimensional parameters are introduced to investigate the effects on the natural frequency of the flexible system. An experimental verification is implemented to show the potential of utilizing cables in lightweight flexible systems for various applications.
MECHANISM AND MACHINE THEORY
(2021)
Article
Acoustics
Jiahao Zhu, Jian Zhang, Xiaobin Tang, Yangjun Pi
Summary: In this article, the trajectory tracking and vibration suppression of a flexible-link flexible-joint manipulator under uncertainties and external disturbances are investigated. The system's dynamics are decomposed using singular perturbation theory, and appropriate controllers are designed to ensure trajectory tracking and reduce vibration.
JOURNAL OF VIBRATION AND CONTROL
(2023)
Article
Engineering, Marine
Dongyang Shang, Xiaopeng Li, Meng Yin, Fanjie Li
Summary: Achieving stable and high-precision control of underwater manipulators in complex ocean environments is a major challenge in marine robotics. This paper proposes a control strategy combining an adaptive proportional-integral (PI) controller and a nonlinear disturbance observer to indirectly suppress vibration by improving speed control accuracy. Simulation and control experiments demonstrate that the proposed controller can achieve stable speed tracking and has a better vibration suppression effect.
Article
Automation & Control Systems
Raja Fawad Afsar Khan, Kamal Rsetam, Zhenwei Cao, Zhihong Man
Summary: This article proposes an adaptive integral sliding mode controller (AISMC) based on a singular perturbation method and two state observers for the flexible joint robot (FJR) to achieve high performance. The proposed controller effectively reduces noise amplification and achieves the desired tracking performance without requiring velocity and acceleration measurements. Additionally, adaptive laws for switching gains are proposed to remove the requirements of knowing the up-bound of the disturbances and uncertainties in the FJR system. The simulation and experimental results demonstrate the superiority of the proposed control in terms of less tracking error, significant noise suppression, and strong robustness in comparison with existing controllers.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Tian Hao, Hesheng Wang, Fan Xu, Jingchuan Wang, Yanzi Miao
Summary: In this article, a novel uncalibrated visual servoing control is proposed to solve trajectory tracing problem and vibration suppression for a planar two-link rigid-flexible manipulator subject to joint-velocity measurement noise. The control method includes adaptive camera calibration, nonlinear sliding observer, and linear quadratic regulator (LQR) approach, and the performance is demonstrated through realistic simulation experiments.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2022)
Article
Computer Science, Information Systems
Hui Huang, Guoyuan Tang, Hongxuan Chen, Lijun Han, De Xie
Summary: This paper proposes a composite controller to improve the accuracy of trajectory tracking and suppress the vibration of underwater flexible manipulators. The dynamic model of the manipulators considering hydrodynamic force is established, and a decomposed dynamic control strategy is presented. An adaptive fuzzy sliding mode control scheme is designed to track the trajectory and suppress vibration. The proposed composite controller is more effective in restraining vibration and resisting hydrodynamic force disturbance.
Article
Automation & Control Systems
Wenhui Zhang, Jinmiao Shen, Xiaoping Ye, Shuhua Zhou
Summary: This paper proposes a robust control method based on adaptive neural network to address uncertain factors in engineering practice. By designing a compensation controller and a neural network compensator, the error model is approximated and eliminated to improve control accuracy and robustness. Experimental results demonstrate that this method can effectively suppress elastic vibration and achieve good compensation performance.
ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE
(2022)
Article
Engineering, Mechanical
Chenlu Feng, Weidong Chen, Minqiang Shao, Shihao Ni
Summary: This paper investigates the problem of modeling and controlling a space manipulator system with flexible joints and links. The dynamic model of the flexible manipulator system is derived using the Lagrange equation and the floating frame of reference formulation. The system is underactuated, and a compound control strategy is presented to improve trajectory tracking and suppress elastic vibrations.
Article
Engineering, Marine
Hui Huang, Guoyuan Tang, Hongxuan Chen, Jianjun Wang, Lijun Han, De Xie
Summary: Expanding the functions of submarines by carrying underwater manipulators with a large working space is of great importance. To suppress the flexible vibration of underwater manipulators, an improved sparrow search algorithm (ISSA) combining an elite strategy and a sine algorithm is proposed. Simulation results show that ISSA algorithm outperforms other algorithms in terms of optimization performance. However, due to the complexity of the dynamics model, ISSA is difficult to apply directly in practice.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Chemistry, Multidisciplinary
Xiaoyan Yu, Fangyuan Cheng, Kui Xie
Summary: Porous single crystals exhibit unique physical and chemical properties compared to irregular polycrystals, such as excellent electrical conductivity, large specific surface area, and low interfacial resistance, providing well-defined active sites for improved catalytic performance. This study demonstrates that well-shaped porous single-crystalline vanadium nitride octahedra have superior hydrogen evolution reaction performance compared to irregular porous polycrystalline vanadium nitride, inspiring the construction of long-range ordered porous single-crystalline materials for enhanced electrocatalytic performance.
NEW JOURNAL OF CHEMISTRY
(2022)
Article
Chemistry, Multidisciplinary
Qian Zhang, Minjie Wu, Jian Li, Kimiyoshi Naito, Xiaoyan Yu, Qingxin Zhang
Summary: This study improved the properties of polyvinyl alcohol by using nanodiamond particles, which increased the thermal conductivity and tensile strength of the composite films.
NEW JOURNAL OF CHEMISTRY
(2022)
Article
Physics, Condensed Matter
Yuqian Dong, Qiang Liu, Jianhua Wang, Qingshi Li, Xiaoyan Yu, Wen Zheng, Yong Li, Dong Lan, Xinsheng Tan, Yang Yu
Summary: An experimental simulation of a two-qubit system was conducted using a four-level superconducting circuit, with implementation of designed microwave pulses for some two-qubit gates. The Shannon entropy of the simulated system was measured, confirming the log 2 uncertainty relation and the existence of hidden quantum correlations in the noncomposite single-qudit system.
PHYSICA STATUS SOLIDI B-BASIC SOLID STATE PHYSICS
(2022)
Article
Plant Sciences
Ying Su, Ting Wu, Xiao-Yan Yu, Wen-Bo Huo, Shao-Hua Wang, Chen Huan, Yu-Meng Liu, Jin-Ming Liu, Min-Na Cui, Xin-Hua Li, Jing-Hua Yu
Summary: This study investigated the anti-EV68 ability of various natural compounds related to DDR. The results showed that tanshinone IIA, resveratrol, and silibinin inhibited EV68 proliferation through inhibiting ATM and/or DNA-PK activation, and they were effective anti-EV68 candidates.
Article
Materials Science, Multidisciplinary
Xiaoyan Yu, Jiaxiang Xue, Qingkai Shen, Zehong Zheng, Ning Ou, Wei Wu
Summary: In this research, dual-wire plasma arc welding was used to fabricate SS 316L-Inconel 625 FGM with a composition gradient. The microstructure, composition, and mechanical properties of different composition regions were analyzed. The results showed good bonding in the bi-metallic interface region and a defect-free microstructure. The microhardness value decreased first and then increased along the deposition direction, while the ultimate tensile strength, yield strength, and elongation were determined.
JOURNAL OF MATERIALS ENGINEERING AND PERFORMANCE
(2023)
Article
Polymer Science
Minjie Wu, Kaixiong Yang, Yuanyuan Li, Jianxin Rong, Dianqiu Jia, Zhiyi Jia, Kimiyoshi Naito, Xiaoyan Yu, Qingxin Zhang
Summary: A novel phthalonitrile monomer containing a pyridazine ring was synthesized and utilized to develop poly(BCPD) resin with excellent high-temperature performance and flame-retardant properties. The resin also exhibited superior storage modulus, making it suitable for high-temperature structural materials.
Article
Food Science & Technology
Xiaoyan Yu, Haoxin Li, Aida Wan Mustapha Wan, Tingyuan Ren, Zunguo Lei, Jia Liu
Summary: This study prepared curcumin-loaded octenylsuccinate fish scale gelatin (OFSG) and found that the loading of curcumin into OFSG was influenced by the exposure of interior hydrophobic groups in FSG and increased intermolecular hydrophobic area. The interaction between OFSG and curcumin resulted in decreased absorption and increased crystallinity. Additionally, OFSG exhibited smaller particle size, lower PDI, and lower zeta-potential compared to FSG, as well as higher stability and lower curcumin release.
Article
Nanoscience & Nanotechnology
Ruijie Wang, Fan Jin, Yufen Li, Xiaoyan Yu, Hua Lai, Yuyan Liu, Zhongjun Cheng
Summary: This research proposes a design principle for droplet transportation control using a shape memory polymer tube and a slippery surface. The combination of these materials allows for smart transportation of different liquids, as well as batch inspection and step-by-step control.
ACS APPLIED MATERIALS & INTERFACES
(2022)
Article
Engineering, Environmental
Xiaoyan Yu, Sibo Kang, Xiaoyu Jiao, Hua Lai, Ruijie Wang, Zhongjun Cheng
Summary: Recently, a TiO2 nanostructures coated mesh membrane with smart underoil water permeation controllability has been reported. The surface wettability of the membrane can be reversibly switched between uniformly underoil superhydrophobicity and Janus underoil hydrophobicity/hydrophilicity as unilateral UV irradiation and heating are alternately carried out. This membrane allows for on/off control of water permeation between blocking state and unidirectional penetrating state, and also enables the design of penetrating channels with controlled size. With excellent controllability, various applications such as oil purification, droplet manipulation, and microfluidic devices can be realized.
CHEMICAL ENGINEERING JOURNAL
(2023)
Article
Biochemistry & Molecular Biology
Yi Zou, Xiaoyan Yu, Chenqi Zhou, Chunpeng Zhu, Ying Yuan
Summary: This study found that low serum lipoprotein cholesterol has adverse effects on anti-tumor immunity in gastric cancer patients, affecting the density and ratio of immune cells. Patients with different cholesterol levels show different correlations in immune response.
LIPIDS IN HEALTH AND DISEASE
(2022)
Article
Optics
Jin Zhang, Su Zhou, Xin Dai, Mian Huang, Xiaoyan Yu
Summary: Optical image processing based on the photonic spin Hall effect has become a popular method for image edge detection. This study predicts the two-dimensional photonic spin Hall effect in anisotropic metamaterial and finds that the longitudinal and transverse displacements exhibit spin-dependent properties. By controlling the filling factor, optical axis angle, and incident angle, the photonic spin Hall effect can be used to achieve tunable edge imaging.
Article
Materials Science, Multidisciplinary
Wenshuang Han, Minjie Wu, Jianxin Rong, Shuo Zhang, Xinyang Zhang, Tao Zhao, Xiaoyan Yu, Kimiyoshi Naito, Qingxin Zhang
Summary: In this study, maleic anhydride grafted styrene-ethylene/butylene-styrene copolymers (MAH-g-SEBS) functionalized nanodiamond (SEBS-g-ND) was successfully prepared to improve the interfacial adhesion of nanodiamond to the matrix and achieve uniform dispersion of nanoparticles in the matrix. SEBS-g-ND was used as a reinforcing agent for the PLA/MAH-g-SEBS blended films, resulting in significant enhancements of PLA strength and fracture toughness. The thermal degradation temperature and thermal conductivity of the nanocomposite films were also increased.
DIAMOND AND RELATED MATERIALS
(2023)
Article
Polymer Science
Xinyang Zhang, Xinyang Wang, Shuo Zhang, Minjie Wu, Jianxin Rong, Wenshuang Han, Tao Zhao, Xiaoyan Yu, Qingxin Zhang
Summary: Phthalonitrile monomer with alkyl, pyrimidine, and amino is prepared successfully by nucleophilic substitution. The monomer is cured through autocatalysis of active hydrogen in the amino group, resulting in polymers obtained by different temperature procedures. DSC analysis reveals the low melting point (96 degrees C) and curing kinetics of the monomer, indicating a processing window of 163 degrees C. The apparent activation energy (E-a) is calculated to be 59.6 kJ mol(-1), indicating that the monomers are easier to process into polymers. Furthermore, the thermal stability and thermal-mechanical stability are examined, showing preferable thermal properties with a glass transition temperature of up to 400 degrees C.
HIGH PERFORMANCE POLYMERS
(2023)
Article
Polymer Science
Mao-Qin Li, Zi-Xuan Luo, Xiao-Yan Yu, Guo-Qiang Tian, Gang Wu, Si-Chong Chen, Yu-Zhong Wang
Summary: The widespread use and improper disposal of polymer materials have led to significant environmental pollution and resource wastage. Therefore, the design of chemically recyclable, environmentally compatible, and applicable polymers has become a major focus worldwide for a green and circular polymer economy. In this study, a seven-membered ether lactone, 3,4-dihydro-2H-benzo[b][1,4]dioxepin-2-one (BDXO), was efficiently synthesized and its controlled ring-opening polymerization (ROP) was successfully achieved. The resulting PBDXO polymer exhibited excellent thermal properties, mechanical properties, biocompatibility, and hydrolytic degradability. Moreover, the direct chemical recycling of PBDXO to BDXO monomer and the regeneration of PBDXO from recycled BDXO were also achieved, establishing a closed-loop life cycle for polymer-monomer-polymer.
Article
Chemistry, Multidisciplinary
Limin Xie, Xiaoyan Yu
Summary: This paper studies the dynamic modeling of free-floating flexible-joint space manipulators and proposes a robust backstepping fault-tolerant control method based on a state observer to deal with joint actuator failure. The system's rigid-flexible coupled-dynamic equations are established based on the flexible-joint simplified model, and the system is decoupled using the singular perturbation method. A robust backstepping fault-tolerant controller is designed for the slow subsystem to eliminate angle error, compensate for uncertain parameters and external disturbances, and achieve joint trajectory tracking. A velocity differential-feedback control is adopted for the fast subsystem to suppress system vibrations caused by flexible joints and ensure system stability. Simulations demonstrate the feasibility and effectiveness of the model and control method, showing accurate and steady trajectory tracking regardless of actuator failure.
APPLIED SCIENCES-BASEL
(2023)
