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学者姓名：于潇雁
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Abstract ：
Actuator failure and joint flexibility will dramatically impact space robot system control. In this paper, free-floating flexible-joint space-manipulator dynamic-modeling is studied and a state-observer-based robust backstepping fault-tolerant control is proposed for the system joint actuator failure. Based on the flexible-joint simplified model, the system's rigid-flexible coupled-dynamic equations are established according to momentum conservation, angular momentum conservation, and the Lagrange equation. Then the system is decoupled based on the singular perturbation method. For the slow subsystem, a robust backstepping fault-tolerant controller base on a state observer is designed to eliminate the angle error, compensate for the uncertain parameter and the external disturbance, and achieve the joint-trajectory asymptotic-tracking. The use of a speed filter makes it inappropriate to measure and provide feedback about the system's velocity signals, so the controller is simpler and more precise. For the fast subsystem, a velocity differential-feedback control is adopted to suppress the system vibration caused by the flexible joint, to ensure the stability of the system. Finally, the feasibility and effectiveness of the model and control method are proved by some simulations. The simulation results indicate that the proposed fault-tolerant control method can make the free-floating flexible-joint space manipulator system track the desired trajectory accurately and steadily, regardless of whether the actuator fails or not.
Keyword ：
backstepping backstepping flexible joint flexible joint free-floating space manipulator free-floating space manipulator robust robust singular perturbation singular perturbation
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| GB/T 7714 | Xie, Limin , Yu, Xiaoyan . State Observer Based Robust Backstepping Fault-Tolerant Control of the Free-Floating Flexible-Joint Space Manipulator [J]. | APPLIED SCIENCES-BASEL , 2023 , 13 (4) . |
| MLA | Xie, Limin 等. "State Observer Based Robust Backstepping Fault-Tolerant Control of the Free-Floating Flexible-Joint Space Manipulator" . | APPLIED SCIENCES-BASEL 13 . 4 (2023) . |
| APA | Xie, Limin , Yu, Xiaoyan . State Observer Based Robust Backstepping Fault-Tolerant Control of the Free-Floating Flexible-Joint Space Manipulator . | APPLIED SCIENCES-BASEL , 2023 , 13 (4) . |
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Laboratory safety education is fundamental to the smooth conduct of scientific research. Traditional educational models are often limited in interactivity and real-time feedback and they struggle to satisfy the increasing needs of laboratory safety management. This study aims to enhance the interactivity and efficacy of laboratory safety education by adopting machine learning-enhanced image processing technologies. To cope with the noise issue in hazardous behavior data within laboratories, wavelet threshold denoising is applied to significantly improve data usability. To deal with the imbalance in data samples of laboratory hazard behaviors, an adaptive boundary data augmentation algorithm is introduced to balance the dataset and strengthen the model's generalization capability. A breakthrough in extracting spatio-temporal features of hazardous behaviors in laboratories is achieved through an improved Spatio-Temporal Graph Convolutional Network (STGCN) model, enabling effective recognition and classification of hazardous behaviors. The outcome attained in this study has important implications for enhancing the interactivity and practicality of laboratory safety education and it can expand new research directions for the application of machine learning in the field of image processing.
Keyword ：
data augmentation data augmentation hazardous behavior recognition hazardous behavior recognition laboratory safety education laboratory safety education machine learning, image processing machine learning, image processing Spatio-Temporal Graph Convolutional Network (ST-GCN) Spatio-Temporal Graph Convolutional Network (ST-GCN) wavelet threshold denoising wavelet threshold denoising
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| GB/T 7714 | Zhang, Lijiao , Wu, Jianzhen , Wei, Jinxin et al. Enhanced Laboratory Safety Education Through Interactive Applications of Machine Learning-Boosted Image Processing Technologies [J]. | TRAITEMENT DU SIGNAL , 2023 , 40 (6) : 2623-2633 . |
| MLA | Zhang, Lijiao et al. "Enhanced Laboratory Safety Education Through Interactive Applications of Machine Learning-Boosted Image Processing Technologies" . | TRAITEMENT DU SIGNAL 40 . 6 (2023) : 2623-2633 . |
| APA | Zhang, Lijiao , Wu, Jianzhen , Wei, Jinxin , Yu, Xiaoyan , Yu, Jie , Yuan, Bo . Enhanced Laboratory Safety Education Through Interactive Applications of Machine Learning-Boosted Image Processing Technologies . | TRAITEMENT DU SIGNAL , 2023 , 40 (6) , 2623-2633 . |
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空间机器人在实际运作中往往会遇到控制系统输入受限的情况,这将严重影响系统的控制品质.考虑输入受限的情况,对漂浮基多柔性空间机器人系统进行研究.通过对系统进行运动学和动力学分析,构建系统的动力学方程.采用奇异摄动方法,将刚柔耦合系统分为慢变子系统和快变子系统,并为各个子系统设计控制方法.最终提出由改进的鲁棒滑模模糊控制方法、速度差值反馈控制法和线性二次最优控制方法组成的混合控制方法.该控制方法能够主动减小空间机器人完成期望运动所需的力矩,使系统适应输入受限的工作条件;同时能够补偿系统的不确定参数和外部干扰,最终实现系统运动的精确控制和振动的主动抑制.仿真对比实验证明了在输入受限的情况下,所提出的混合控制方法的有效性和强适应性.
Keyword ：
振动抑制 振动抑制 柔性 柔性 漂浮基空间机器人 漂浮基空间机器人 输入受限 输入受限 运动控制 运动控制
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| GB/T 7714 | 谢立敏 , 于潇雁 . 输入受限的漂浮基多柔性空间机器人轨迹跟踪的混合控制及振动主动抑制 [J]. | 空间科学学报 , 2023 , 43 (2) : 369-380 . |
| MLA | 谢立敏 et al. "输入受限的漂浮基多柔性空间机器人轨迹跟踪的混合控制及振动主动抑制" . | 空间科学学报 43 . 2 (2023) : 369-380 . |
| APA | 谢立敏 , 于潇雁 . 输入受限的漂浮基多柔性空间机器人轨迹跟踪的混合控制及振动主动抑制 . | 空间科学学报 , 2023 , 43 (2) , 369-380 . |
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The end-effector of the manipulator needs to maintain contact with external environments in course of its on-orbit wiping operation. To protect the manipulator and the object to be cleaned, as well as to ensure the surface to be cleaned effectively, the contact surface pressure and friction need to be maintained their expectations. However, friction has been ignored in course of the previous dynamic modeling, which may affect the surface contact forces' tracking accuracy. Meanwhile, the complex and variable environments make it more difficult to track the desired surface contact forces. Therefore, dynamic modeling and an adaptive impedance control of a free-floating space manipulator's wiping a surface are studied. First, the Lagrange dynamic model of a free-floating space manipulator's wiping operation was derived, in which the contact surface forces were involved. Second, the impedance control model was established based on position constraints and contact forces constraints between the end-effector and the surface. Then, a time-delay estimation based adaptive impedance control was proposed, in which the estimators of the dynamic uncertainties and the damping parameters were adjusted adaptively. Finally, numerical simulations were conducted, in which the desired contact forces were followed perfectly while the expected trajectories were asymptotically tracked. Copyright © 2023 by Mr. Tao Lin. Published by the IAF, with permission and released to the IAF to publish in all forms.
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| GB/T 7714 | Lin, Tao , Zheng, Jiawei , Chen, Qingzhen et al. TIME-DELAY ESTIMATION BASED ADAPTIVE IMPEDANCE CONTROL OF A FREE-FLOATING SPACE MANIPULATOR'S WIPING A SURFACE [C] . 2023 . |
| MLA | Lin, Tao et al. "TIME-DELAY ESTIMATION BASED ADAPTIVE IMPEDANCE CONTROL OF A FREE-FLOATING SPACE MANIPULATOR'S WIPING A SURFACE" . (2023) . |
| APA | Lin, Tao , Zheng, Jiawei , Chen, Qingzhen , Yu, Xiaoyan . TIME-DELAY ESTIMATION BASED ADAPTIVE IMPEDANCE CONTROL OF A FREE-FLOATING SPACE MANIPULATOR'S WIPING A SURFACE . (2023) . |
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为了实现脚踝康复运动,设计开发2UPS/RR脚踝康复机器人;通过螺旋理论对并联机构自由度进行计算,使用闭环矢量法求得机构的逆解方程,应用点集搜索法求得机构得工作空间;调整并研究机构杆件空间位置布局对工作空间及面积的影响,结果表明,优化后的机构的工作空间能够满足脚踝康复所需的运动角度.最后以MATLAB及ADAMS软件通过实例验证逆解正确性,并仿真得到机构确定点在空间中运动轨迹.
Keyword ：
工作空间 工作空间 并联机构 并联机构 螺旋理论 螺旋理论 踝关节康复机器人 踝关节康复机器人 闭环矢量法 闭环矢量法
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| GB/T 7714 | 吴广进 , 卢宗兴 , 于潇雁 . 2UPS/RR脚踝康复机构设计与工作空间优化 [J]. | 机械科学与技术 , 2023 , 42 (1) : 83-91 . |
| MLA | 吴广进 et al. "2UPS/RR脚踝康复机构设计与工作空间优化" . | 机械科学与技术 42 . 1 (2023) : 83-91 . |
| APA | 吴广进 , 卢宗兴 , 于潇雁 . 2UPS/RR脚踝康复机构设计与工作空间优化 . | 机械科学与技术 , 2023 , 42 (1) , 83-91 . |
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The flexibility of the free-floating flexible space manipulator system's link and joint may affect the control accuracy and cause vibrations. We studied the dynamics modeling, joint trajectory tracking control, and vibration suppressing problem of free-floating flexible-link and flexible-joints space manipulator system with external interference and uncertain parameter. The system's dynamic equations are established using linear momentum conservation, angular momentum conservation, assumed mode method, and Lagrange equation. Then, the system's singular perturbation model is established, and a hybrid control is presented. For the slow subsystem, a robust fuzzy sliding mode control is proposed to realize the joint desired trajectory tracking. For the fast subsystem, a speed difference feedback control and a linear-quadratic optimal control are designed to suppress the vibration caused by the flexible joints and the flexible link separately. The simulation comparison experiments under different conditions are taken. The simulate results demonstrate the proposed hybrid control's validity.
Keyword ：
free-floating flexible-link and flexible-joints space manipulator free-floating flexible-link and flexible-joints space manipulator fuzzy fuzzy robust robust singular perturbation singular perturbation vibration suppression vibration suppression
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| GB/T 7714 | Xie, Limin , Yu, Xiaoyan , Chen, Li . Robust fuzzy sliding mode control and vibration suppression of free-floating flexible-link and flexible-joints space manipulator with external interference and uncertain parameter [J]. | ROBOTICA , 2022 , 40 (4) : 997-1019 . |
| MLA | Xie, Limin et al. "Robust fuzzy sliding mode control and vibration suppression of free-floating flexible-link and flexible-joints space manipulator with external interference and uncertain parameter" . | ROBOTICA 40 . 4 (2022) : 997-1019 . |
| APA | Xie, Limin , Yu, Xiaoyan , Chen, Li . Robust fuzzy sliding mode control and vibration suppression of free-floating flexible-link and flexible-joints space manipulator with external interference and uncertain parameter . | ROBOTICA , 2022 , 40 (4) , 997-1019 . |
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Reaction null space (RNS) planning and control of a planar three-link space manipulator's pregrasping a spinning target are studied. First, the Lagrange dynamic model of the manipulator was established. Second, the RNS motion planning algorithm was derived, and the vector norm constraint algorithm of RNS planning was addressed to ensure certain joint angular acceleration constraints were satisfied. Furthermore, an augmented adaptive sliding mode controller based on time delay estimation (TDE) was proposed. This controller estimated the unknowns of the system by TDE technology, in which accurate and complete dynamics were not required, and an adaptive TDE was introduced to decrease the estimation errors and avoid serious chattering. Finally, numerical simulations were carried out to verify the effectiveness of the proposed RNS planning and control algorithm.
Keyword ：
augmented adaptive sliding mode control augmented adaptive sliding mode control free-floating manipulator free-floating manipulator motion planning motion planning reaction null space reaction null space time delay estimation time delay estimation
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| GB/T 7714 | Yu, Xiaoyan , Guo, Jianqiao , Zhang, Jianyu . Time delay estimation-based reactionless augmented adaptive sliding mode control of a space manipulator's pregrasping a target [J]. | ROBOTICA , 2022 . |
| MLA | Yu, Xiaoyan et al. "Time delay estimation-based reactionless augmented adaptive sliding mode control of a space manipulator's pregrasping a target" . | ROBOTICA (2022) . |
| APA | Yu, Xiaoyan , Guo, Jianqiao , Zhang, Jianyu . Time delay estimation-based reactionless augmented adaptive sliding mode control of a space manipulator's pregrasping a target . | ROBOTICA , 2022 . |
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As the present reaction null space planning for the incomplete kinematic properties of the space manipulator during the general operation involvesn either the impact of joint dead-zones on the system nor the relationship between the manipulator and the target to be grasped, it can not ensure the effectiveness of the tracking control in the presence of joint dead-zone. In this paper, the study of reaction null space planning and control in the final period before intercepting a target of a free-floating three-link space manipulator with joint dead-zone is focused. First, the dynamic model of a free-floating three-link space manipulator with joint dead-zone is established by the second Lagrange equation, in which the position and attitude of the carrier are uncontrolled. Then, the reaction null space mathematical model of the free-floating three-link space manipulator with joint dead-zone is derived, and the vector norm constraint algorithm of the reaction null space is studied. Furthermore, a nonsingular fast terminal sliding mode control algorithm with anti-interference and high convergence is proposed, in which it combines the double power reaching rate of variable coefficient with the nonsingular fast terminal sliding mode surface to improve the convergence speed and interference immunity. The dead-zone of the joint may reduce the control accuracy of the space robot system. In order to eliminate the influence of the free-floating three-link space manipulator's joint dead-zone, an adaptive dead-zone compensator is designed. This compensator can approach the upper bound of dead-zone characteristics by self-adaptive control to eliminate the effect of the joint dead-zone on the system and to ensure the effectiveness of the tracking control. Finally, based on the Lyapunov function method the stability of the system is proved, and numerical simulation is carried out. The simulation results show the desired reactionless trajectories are tracked with the base's attitude reactionless and the effectiveness of the proposed planning and control algorithm is demonstrated. Copyright © 2022 Chinese Journal of Theoretical and Applied Mechanics. All rights reserved.
Keyword ：
Equations of motion Equations of motion Lyapunov functions Lyapunov functions Manipulators Manipulators Motion planning Motion planning Navigation Navigation Numerical methods Numerical methods Robotic arms Robotic arms Robot programming Robot programming Sliding mode control Sliding mode control Spacecraft equipment Spacecraft equipment Vector spaces Vector spaces
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| GB/T 7714 | Zhang, Zhihao , Yu, Xiaoyan . Reactionless terminal sliding mode control of space robot with joint dead-zone [J]. | Chinese Journal of Theoretical and Applied Mechanics , 2022 , 54 (3) : 777-785 . |
| MLA | Zhang, Zhihao et al. "Reactionless terminal sliding mode control of space robot with joint dead-zone" . | Chinese Journal of Theoretical and Applied Mechanics 54 . 3 (2022) : 777-785 . |
| APA | Zhang, Zhihao , Yu, Xiaoyan . Reactionless terminal sliding mode control of space robot with joint dead-zone . | Chinese Journal of Theoretical and Applied Mechanics , 2022 , 54 (3) , 777-785 . |
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针对漂浮基空间机器人系统出现的载体姿态及位置不受控问题,提出了一种基于时延估计的跟踪控制方法.该控制方法采取时延估计为主体框架,对不确定参数及动力学特性进行实时估计,获得不确定项的估计误差,并在控制设计方案中对误差进行补偿.首先根据第二类Language方程建立机器人动力学模型,并结合时延估计简化动力学模型;然后结合滑模变结构控制,对估计误差进行修正和补偿,同时进一步引入指数趋近律方法,能有效削弱滑模带来的抖振问题,进一步提高了系统的稳定性;利用Lyapunov函数在设定参数下,保证了闭环系统的渐近稳定性和鲁棒性能,最后通过仿真验证了该方案可靠.
Keyword ：
Lyapunov函数 Lyapunov函数 时延估计 时延估计 滑模变结构控制 滑模变结构控制 漂浮基空间机器人系统 漂浮基空间机器人系统
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| GB/T 7714 | 徐河振 , 于潇雁 , 陈力 . 漂浮基空间机器人关节轨迹跟踪的时延估计控制 [J]. | 重庆理工大学学报（自然科学版） , 2022 , 36 (4) : 299-305 . |
| MLA | 徐河振 et al. "漂浮基空间机器人关节轨迹跟踪的时延估计控制" . | 重庆理工大学学报（自然科学版） 36 . 4 (2022) : 299-305 . |
| APA | 徐河振 , 于潇雁 , 陈力 . 漂浮基空间机器人关节轨迹跟踪的时延估计控制 . | 重庆理工大学学报（自然科学版） , 2022 , 36 (4) , 299-305 . |
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Abstract ：
针对漂浮基空间机器人系统出现的载体姿态及位置不受控问题，提出了一种基于时延估计的跟踪控制方法。该控制方法采取时延估计为主体框架，对不确定参数及动力学特性进行实时估计，获得不确定项的估计误差，并在控制设计方案中对误差进行补偿。首先根据第二类Language方程建立机器人动力学模型，并结合时延估计简化动力学模型；然后结合滑模变结构控制，对估计误差进行修正和补偿，同时进一步引入指数趋近律方法，能有效削弱滑模带来的抖振问题，进一步提高了系统的稳定性；利用Lyapunov函数在设定参数下，保证了闭环系统的渐近稳定性和鲁棒性能，最后通过仿真验证了该方案可靠。
Keyword ：
Lyapunov函数 Lyapunov函数 时延估计 时延估计 滑模变结构控制 滑模变结构控制 漂浮基空间机器人系统 漂浮基空间机器人系统
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| GB/T 7714 | 徐河振 , 于潇雁 , 陈力 . 漂浮基空间机器人关节轨迹跟踪的时延估计控制 [J]. | 重庆理工大学学报(自然科学) , 2022 , 36 (04) : 299-305 . |
| MLA | 徐河振 et al. "漂浮基空间机器人关节轨迹跟踪的时延估计控制" . | 重庆理工大学学报(自然科学) 36 . 04 (2022) : 299-305 . |
| APA | 徐河振 , 于潇雁 , 陈力 . 漂浮基空间机器人关节轨迹跟踪的时延估计控制 . | 重庆理工大学学报(自然科学) , 2022 , 36 (04) , 299-305 . |
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