Query：
学者姓名：于潇雁
Refining：
Year
Type
Indexed by
Source
Complex
Former Name
Co-
Language
Clean All
Abstract ：
为解决位姿不受控情况下柔性关节空间机器人系统预抓取阶段的关节跟踪控制和振动问题,采用拉格朗日方程并结合动量守恒原理进而建立漂浮基三杆柔性关节空间机器人系统动力学方程.为提高柔性关节的等效刚度,引入关节柔性补偿的方法;即根据奇异摄动理论,将柔性关节空间机器人系统分解为慢变系统和快变系统.在此基础上,针对慢变系统设计以时延估计为主框架的滑模控制方法,同时与低通滤波器相结合消除滑模控制带来的系统抖振问题;针对快变系统设计线性速度差值反馈控制系统,抑制柔性关节给系统带来的柔性振动问题.通过仿真验证空间机械臂能够在有限时间内快速、稳定地跟踪上期望轨迹,证实该控制方案具有较好的鲁棒性和可靠性.
Keyword ：
低通滤波器 低通滤波器 关节柔性补偿 关节柔性补偿 时延估计 时延估计 柔性关节空间机器人 柔性关节空间机器人 滑模变结构控制 滑模变结构控制
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | 徐河振 , 于潇雁 , 张宇涵 et al. 基于低通滤波器的柔性关节空间机器人时延估计跟踪控制 [J]. | 国防科技大学学报 , 2024 , 46 (4) : 142-149 . |
| MLA | 徐河振 et al. "基于低通滤波器的柔性关节空间机器人时延估计跟踪控制" . | 国防科技大学学报 46 . 4 (2024) : 142-149 . |
| APA | 徐河振 , 于潇雁 , 张宇涵 , 陈力 . 基于低通滤波器的柔性关节空间机器人时延估计跟踪控制 . | 国防科技大学学报 , 2024 , 46 (4) , 142-149 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
针对传统蚁群算法在移动机器人路径规划中典型的U型障碍物死锁问题,提出了一种U型障碍物多方向多层填充的改进蚁群算法.首先证明了路径规划的最优解不会进入U型障碍物之中;其次证明了运用此多方向多层填充法在填充U型障碍物解决死锁问题的同时,不会造成原有通路的阻塞,具有原通路保持性,且填充的迭代次数与迭代总时间少;之后对填充图形的迭代次数给出了理论性的判定,此填充方法不仅适用于U型障碍物还适用于其它可填充区域,且其对于可填充区域可实现完全填充;最后将此填充方法与蚁群算法结合.仿真结果表明,改进蚁群算法相比于传统蚁群算法有效率提升.
Keyword ：
U型障碍物 U型障碍物 多方向多层填充法 多方向多层填充法 改进蚁群算法 改进蚁群算法 移动机器人 移动机器人 路径规划 路径规划
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | 陈青桢 , 龚家宝 , 于潇雁 et al. U型障碍物多方向多层填充的移动机器人改进蚁群算法 [J]. | 机械科学与技术 , 2024 , 43 (4) : 721-728 . |
| MLA | 陈青桢 et al. "U型障碍物多方向多层填充的移动机器人改进蚁群算法" . | 机械科学与技术 43 . 4 (2024) : 721-728 . |
| APA | 陈青桢 , 龚家宝 , 于潇雁 , 邵宇飞 . U型障碍物多方向多层填充的移动机器人改进蚁群算法 . | 机械科学与技术 , 2024 , 43 (4) , 721-728 . |
| Export to | NoteExpress RIS BibTex |
Version ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 et al. "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) . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
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.
Cite：
Copy from the list or Export to your reference management。
| 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) . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Export
| Results： |
Selected to |
| Format： |
