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学者姓名：李东方
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Abstract ：
针对群体机器人在执行任务过程中可能出现的数据泄露等安全问题，提出了一种基于群体机器人多目标的区块链安全控制架构方案，并设计了用于数据安全防护的安全流程控制算法。首先，构建的架构基于区块链，从任务层和执行层角度避免了任务数据的丢失和泄露，确保群机器人的内部数据可以安全稳定地传输。其次，设计安全控制算法，实现群体机器人在多目标情况下的安全控制。最后仿真结果表明，所设计的架构及算法提高了机器人数据传输的隐私性和安全性，引入所提出的安全控制架构及算法后，群机器人在协同跟踪目标点运动的过程中探测误差减小了40.7%。同时，通过实验验证了所提架构在实际系统中的有效性。
Keyword ：
共识算法 共识算法 区块链 区块链 安全性 安全性 安全流程 安全流程 控制架构 控制架构 控制算法 控制算法 群机器人 群机器人
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| GB/T 7714 | 黄捷 , 李帮银 , 李东方 . 基于群体机器人多目标的区块链安全控制架构及算法 [J]. | 无人系统技术 , 2024 , 7 (01) : 59-68 . |
| MLA | 黄捷 等. "基于群体机器人多目标的区块链安全控制架构及算法" . | 无人系统技术 7 . 01 (2024) : 59-68 . |
| APA | 黄捷 , 李帮银 , 李东方 . 基于群体机器人多目标的区块链安全控制架构及算法 . | 无人系统技术 , 2024 , 7 (01) , 59-68 . |
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In ultra-precision machining (UPM), linear axis tracking affects contour accuracy and final machining quality. Traditional error modeling is complicated by the identification of numerous unknown parameters linked to nonlinear characteristics in the linear feed axes. To fill this gap, this study proposed a digital-twin-driven framework integrating the developed G-code interpreter and the deep learning model to achieve real-time tracking error compensation for UPM. To enhance the prediction accuracy of the tracking error of each axis of UPM machines, Bayesian hyperparameter optimization and feature importance analysis were conducted in the proposed TCN-BiLSTM model using high-quality training datasets from well-designed experiments. Ultimately, validation of the proposed system on a three-axis ultra-precision milling machine demonstrated its excellent performance. The experimental results showed that the optimized TCN-BiLSTM model exhibited an excellent capacity to predict the tracking error of the X-axis and Y-axis with minimal mean absolute error values of 0.000009 and 0.000023, respectively. Implementing the customized application reduced X-axis and Y-axis tracking errors by approximately 45-75% and 40-70%, respectively. This study first validates the feasibility of deep learning to improve accuracy in the UPM field, which will provide significant insight into speeding up the digitalization and intellectualization of the UPM scenario.
Keyword ：
Digital twin framework Digital twin framework Intelligent tracking error compensation Intelligent tracking error compensation TCN-BiLSTM model TCN-BiLSTM model Ultra -precision machining Ultra -precision machining
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| GB/T 7714 | Xu, Zhicheng , Zhang, Baolong , Li, Dongfang et al. Digital-twin-driven intelligent tracking error compensation of ultra-precision machining [J]. | MECHANICAL SYSTEMS AND SIGNAL PROCESSING , 2024 , 219 . |
| MLA | Xu, Zhicheng et al. "Digital-twin-driven intelligent tracking error compensation of ultra-precision machining" . | MECHANICAL SYSTEMS AND SIGNAL PROCESSING 219 (2024) . |
| APA | Xu, Zhicheng , Zhang, Baolong , Li, Dongfang , Yip, Wai Sze , To, Suet . Digital-twin-driven intelligent tracking error compensation of ultra-precision machining . | MECHANICAL SYSTEMS AND SIGNAL PROCESSING , 2024 , 219 . |
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This work presents a butterfly spiral propulsion mode of snake robots to realize the tracking control on the objective trajectory in multiple scenarios. This method investigates the force mechanism of each body element in the yaw and pitch directions. The butterfly spiral gait mechanic and friction models are constructed to offset the lateral torque force caused by joint rotation. In addition, this work combines an integral part of improving the line of sight guidance scheme, which eliminates the robot's sideslip when tracking the curve track and enhances the body's adaptability to different scenarios. Lyapunov's theory proves the stability of the designed guidance strategy. Simulation and experimental results illustrate that the designed butterfly spiral gait and guidance scheme can provide the snake robot faster tracking results and more stable error performance than the cylindrical and conical spiral gait.
Keyword ：
Butterfly spiral gait Butterfly spiral gait Friction Friction integral line of sight (LOS) integral line of sight (LOS) Propulsion Propulsion Robots Robots snake robot snake robot Snake robots Snake robots Spirals Spirals Torque Torque Tracking Tracking tracking control tracking control
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| GB/T 7714 | Li, Dongfang , Zhang, Binxin , Wu, Chushuo et al. Tracking Control of Snake Robots With Butterfly Spiral Propulsion for Multiscenario Applications [J]. | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS , 2024 . |
| MLA | Li, Dongfang et al. "Tracking Control of Snake Robots With Butterfly Spiral Propulsion for Multiscenario Applications" . | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS (2024) . |
| APA | Li, Dongfang , Zhang, Binxin , Wu, Chushuo , Xu, Yuanqing , Huang, Jie , Wu, Edmond Q. et al. Tracking Control of Snake Robots With Butterfly Spiral Propulsion for Multiscenario Applications . | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS , 2024 . |
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The radial artery pulse signal contains rich information about human health status and diseases. Currently, most acquisition systems take the form of fixed acquisition positions that cannot automatically locate and collect the pulse and require manual assistance. However, due to variations in human wrist anatomy, these systems face challenges in ensuring consistent and repeatable positioning for each pulse collection, which may affect the quality of pulse signals. To overcome these limitations, this paper develops an automatic pulse signal acquisition system based on a combined visual and tactile pulse-finding algorithm. It can identify the strongest pulse position through a lightweight pulse localization network (LPLN) and automatically acquire pulse signals. Additionally, the system can further refine the identification of the strongest pulse position through a tactile pulse-finding method based on time domain and frequency domain characteristics. The adjusted position can serve as training data for LPLN self-learning. The experimental results show that the average error of LPLN visual and tactile pulse-finding algorithm localization is 4.07 mm and 1.36 mm, respectively. The proposed prototype may serve as a valuable tool for intelligent pulse signal acquisition, guaranteeing accurate location and signal quality. IEEE
Keyword ：
Arteries Arteries Automatic acquisition Automatic acquisition interest point detection interest point detection Location awareness Location awareness Manuals Manuals Pressure sensors Pressure sensors pulse-finding algorithm pulse-finding algorithm pulse signal pulse signal Sensor arrays Sensor arrays Sensors Sensors Wrist Wrist
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| GB/T 7714 | Chen, P. , Li, X. , Guo, W. et al. An Automatic Radial Pulse Signal Acquisition System Based on Visual and Tactile Pulse-Finding Algorithm [J]. | IEEE Sensors Journal , 2024 , 24 (18) : 1-1 . |
| MLA | Chen, P. et al. "An Automatic Radial Pulse Signal Acquisition System Based on Visual and Tactile Pulse-Finding Algorithm" . | IEEE Sensors Journal 24 . 18 (2024) : 1-1 . |
| APA | Chen, P. , Li, X. , Guo, W. , Chen, J. , Li, D. , Han, F. et al. An Automatic Radial Pulse Signal Acquisition System Based on Visual and Tactile Pulse-Finding Algorithm . | IEEE Sensors Journal , 2024 , 24 (18) , 1-1 . |
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为了解决机器鱼在扰动下跟踪效率低的问题,本工作提出了一种抗扰动和自适应的误差约束控制方案。首先,通过设计虚拟控制输入,并利用积分环节更新了自适应视线制导律,消除了侧滑导致的运动位置偏离,增强了机器人的抗干扰能力。其次,通过构造机器鱼的偏航和浪涌自适应控制器,使神经网络函数拟合模型的不确定项和水流扰动,并用逼近值补偿系统的控制输入。这提升了机体的环境适应性。最后,利用障碍Lyapunov理论,机器鱼跟踪位置和角度的一致最终有界性被证明。通过模拟和实验,与经典制导方案相比,所提方案提高了机器鱼的跟踪效率和稳态性能,使机器鱼的位置误差收敛速率平均提升了14.57%。
Keyword ：
抗扰动 抗扰动 机器鱼 机器鱼 自适应视线制导 自适应视线制导 误差约束 误差约束 路径跟踪 路径跟踪
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| GB/T 7714 | 李东方 , 张滨新 , 曾林林 et al. 基于跟踪误差约束的机器鱼抗扰动路径跟踪控制 [J]. | 仪器仪表学报 , 2024 , 45 (04) : 282-293 . |
| MLA | 李东方 et al. "基于跟踪误差约束的机器鱼抗扰动路径跟踪控制" . | 仪器仪表学报 45 . 04 (2024) : 282-293 . |
| APA | 李东方 , 张滨新 , 曾林林 , 黄捷 , 宋爱国 . 基于跟踪误差约束的机器鱼抗扰动路径跟踪控制 . | 仪器仪表学报 , 2024 , 45 (04) , 282-293 . |
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为了降低外界环境对四旋翼无人机飞行轨迹的扰动性,提高无人机的控制精度,提出1种基于滑模控制的四旋翼无人机参数预测和抗扰动的自适应轨迹跟踪控制器.这种控制器对四旋翼无人机系统的不确定状态参数、气流、风阻和执行器故障等外界扰动进行预测,实现了对系统输入的状态补偿和扰动补偿,提高了无人机的轨迹跟踪效率和抗扰动能力,消除了机体在飞行过程中的抖振现象,提高了无人机系统对环境的适应性和控制器的稳定性.通过仿真实验,分析了四旋翼无人机在不同控制器作用下的轨迹跟踪性能曲线,验证了所提出的控制器的优越性和有效性.
Keyword ：
四旋翼无人机 四旋翼无人机 滑模控制 滑模控制 自适应控制 自适应控制 轨迹跟踪 轨迹跟踪
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| GB/T 7714 | 司勇 , 王兆魁 , 李东方 et al. 四旋翼无人机参数预测和抗扰动自适应轨迹跟踪控制 [J]. | 测控技术 , 2023 , 42 (2) : 99-107 . |
| MLA | 司勇 et al. "四旋翼无人机参数预测和抗扰动自适应轨迹跟踪控制" . | 测控技术 42 . 2 (2023) : 99-107 . |
| APA | 司勇 , 王兆魁 , 李东方 , 吴奇 . 四旋翼无人机参数预测和抗扰动自适应轨迹跟踪控制 . | 测控技术 , 2023 , 42 (2) , 99-107 . |
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This work reports an adaptive path-following controller for a multijoint snake robot (MSR) to improve the adaptability of the robot to the environment. The new strategy estimates the time-varying parameters of the system and the external interference to adjust the motion state of the robot in real time. Estimations are used to compensate for the joint torque of an MSR, thus reducing the fluctuation peak of path-following errors. In addition, this work designs an anti-sideslip line-of-sight (LOS) guidance strategy to avoid the deviation of the direction angle. The method can improve the tracking accuracy of an MSR, and the position errors enable the system to achieve uniformly ultimate boundedness (UUB). The angle errors converge to the origin to achieve stability. Experimental results demonstrate that the novel method can accurately estimate the time-dependent parameters, sideslip, and interference, raise the convergent speed of errors, and reduce the fluctuation peak.
Keyword ：
Anti-sideslip line-of-sight (LOS) Anti-sideslip line-of-sight (LOS) multijoint snake robot (MSR) multijoint snake robot (MSR) parameter estimation parameter estimation path-following errors path-following errors
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| GB/T 7714 | Li, Dongfang , Zhang, Binxin , Li, Ping et al. Parameter Estimation and Anti-Sideslip Line-of-Sight Method-Based Adaptive Path-Following Controller for a Multijoint Snake Robot [J]. | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS , 2023 , 53 (8) : 4776-4788 . |
| MLA | Li, Dongfang et al. "Parameter Estimation and Anti-Sideslip Line-of-Sight Method-Based Adaptive Path-Following Controller for a Multijoint Snake Robot" . | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 53 . 8 (2023) : 4776-4788 . |
| APA | Li, Dongfang , Zhang, Binxin , Li, Ping , Wu, Edmond Q. , Law, Rob , Xu, Xin et al. Parameter Estimation and Anti-Sideslip Line-of-Sight Method-Based Adaptive Path-Following Controller for a Multijoint Snake Robot . | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS , 2023 , 53 (8) , 4776-4788 . |
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To improve the tracking efficiency of the platoon during driving and ensure the spacing safety between vehicles, a platoon tracking control strategy based on the adaptive neural network algorithm is developed. In this method, the nonlinear term in the vehicle model is estimated by the adaptive neural network, and the estimated value is used to compensate for the control input and enhance the tracking performance of the vehicle platoon. In addition, the estimation update law of target trajectory and adjacent vehicle acceleration is designed through the adaptive method, which relaxes the trajectory generation requirements of virtual vehicles, improves the tracking performance of vehicle platoon, reduces the measurement and communication burden in the platoon, and ensures the security and stability of vehicle platoon system. After constructing the vehicle and desired path model, the control objective is formulated, and the adaptive neural network algorithm controller is designed. Meanwhile, the stability of the controller is verified by the Lyapunov method. The feasibility of the proposed method is proved by simulation and experiment. Rigorous theoretical derivation and experiments confirm that the proposed strategy has obvious advantages over other existing strategies.
Keyword ：
Compensate Compensate neural network neural network tracking control tracking control vehicle platoon vehicle platoon
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| GB/T 7714 | Huang, Jie , Chen, Jianfei , Yang, Hongsheng et al. Vehicle Platoon Tracking Control Based on Adaptive Neural Network Algorithm [J]. | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS , 2023 , 21 (10) : 3405-3418 . |
| MLA | Huang, Jie et al. "Vehicle Platoon Tracking Control Based on Adaptive Neural Network Algorithm" . | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 21 . 10 (2023) : 3405-3418 . |
| APA | Huang, Jie , Chen, Jianfei , Yang, Hongsheng , Li, Dongfang . Vehicle Platoon Tracking Control Based on Adaptive Neural Network Algorithm . | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS , 2023 , 21 (10) , 3405-3418 . |
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This article reports a trajectory tracking control technique for snake robots with sideslip elimination and coefficient approximation. By introducing an integral part and virtual input variables to optimize the line-of-sight guidance law, a closed-loop trajectory tracking system with the functions of canceling disturbance and sideslip is designed. Besides, the method constructs the time-varying predicted values of virtual model variables and viscous friction coefficients to approximate the system's unmeasurable states. The approximation value can compensate for a snake robot's joint offset and torque input. Then, it is proved via the Lyapunov approach that the designed system is stable. The remarkable advantage of this strategy is that the accuracy of a snake robot tracking the ideal trajectory is optimized, which can improve the error's stability and the body's adaptability to the surroundings. The simulation and experimental results confirm the usefulness of the proposed technique.
Keyword ：
Coefficient approximation Coefficient approximation sideslip elimination sideslip elimination snake robot snake robot trajectory tracking trajectory tracking
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| GB/T 7714 | Li, Dongfang , Zeng, Linlin , Xiu, Yang et al. Sideslip Elimination and Coefficient Approximation-Based Trajectory Tracking Control for Snake Robots [J]. | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS , 2023 , 19 (8) : 8754-8764 . |
| MLA | Li, Dongfang et al. "Sideslip Elimination and Coefficient Approximation-Based Trajectory Tracking Control for Snake Robots" . | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 19 . 8 (2023) : 8754-8764 . |
| APA | Li, Dongfang , Zeng, Linlin , Xiu, Yang , Pan, Zhenhua , Zhang, Dali , Deng, Hongbin . Sideslip Elimination and Coefficient Approximation-Based Trajectory Tracking Control for Snake Robots . | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS , 2023 , 19 (8) , 8754-8764 . |
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This paper presents a finite-time sideslip differentiator-based line-of-sight (LOS) guidance method for robust path following of snake robots. Firstly, finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity. The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately. In our method, the designed piecewise auxiliary function guarantees the finite-time stability of position errors. Secondly, for the case of external disturbances and state constraints, a Barrier Lyapunov function-based backstepping adaptive path following controller is presented to improve the robot 's robustness. The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability. Additionally, a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity. At last, the availability and superiority of this work are shown through simulation and experiment results.
Keyword ：
Line-of-sight (LOS) Line-of-sight (LOS) path following path following sideslip sideslip snake robot snake robot
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| GB/T 7714 | Xiu, Yang , Deng, Hongbin , Li, Dongfang et al. Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots [J]. | IEEE-CAA JOURNAL OF AUTOMATICA SINICA , 2023 , 10 (1) : 239-253 . |
| MLA | Xiu, Yang et al. "Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots" . | IEEE-CAA JOURNAL OF AUTOMATICA SINICA 10 . 1 (2023) : 239-253 . |
| APA | Xiu, Yang , Deng, Hongbin , Li, Dongfang , Zhang, Miaomiao , Law, Rob , Huang, Yun et al. Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust Path Following of Snake Robots . | IEEE-CAA JOURNAL OF AUTOMATICA SINICA , 2023 , 10 (1) , 239-253 . |
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