In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data be...In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data benchmark(HIS)has garnered the most attention due to its practicality and effectiveness.However,existing CPM reviews usually focus on the theoretical benchmark,and there is a lack of an in-depth review that thoroughly explores HIS-based methods.In this article,a comprehensive overview of HIS-based CPM is provided.First,we provide a novel static-dynamic perspective on data-level manifestations of control performance underlying typical controller capacities including regulation and servo:static and dynamic properties.The static property portrays time-independent variability in system output,and the dynamic property describes temporal behavior driven by closed-loop feedback.Accordingly,existing HIS-based CPM approaches and their intrinsic motivations are classified and analyzed from these two perspectives.Specifically,two mainstream solutions for CPM methods are summarized,including static analysis and dynamic analysis,which match data-driven techniques with actual controlling behavior.Furthermore,this paper also points out various opportunities and challenges faced in CPM for modern industry and provides promising directions in the context of artificial intelligence for inspiring future research.展开更多
This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only b...This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.展开更多
Chassis-by-wire technology has gained significant attention,with the scope of chassis domain control expanding from traditional two-dimensional plane motion control to encompass three-dimensional space motion control....Chassis-by-wire technology has gained significant attention,with the scope of chassis domain control expanding from traditional two-dimensional plane motion control to encompass three-dimensional space motion control.Modern chassis-by-wire systems manage an increasing number of heterogeneous chassis execution systems,including distributed drive,all-wheel drive(AWD),brake-by-wire(BBW),steer-by-wire(SBW),rear-wheel steering(RWS),active stabilizer bar(ASB)and active suspension system(ASS),greatly enhancing the controllable degrees of freedom compared to conventional chassis configurations.To advance research in chassis domain control,it is essential to understand how these heterogeneous execution systems influence vehicle dynamics.This paper focuses on the modeling and analysis of the lateral,longitudinal,and vertical chassis control and execution systems,-as well as their impact on vehicle lateral motion.Using a vehicle simulation platform,both the vehicle dynamics model and the individual dynamics models of each execution system were developed to analyze the influence of these systems on lateral dynamics.Additionally,a hierarchical control architecture was designed to control the vehicle’s lateral stability.The effectiveness of the proposed control scheme was demonstrated and validated through hardware-in-the-loop(HIL)tests and real-world vehicle testing.展开更多
Feedforward control is one of the most effective control techniques to increase the robot’s tracking accuracy.However,most of the dynamic models used in the feedforward controllers are linearly simplified such that t...Feedforward control is one of the most effective control techniques to increase the robot’s tracking accuracy.However,most of the dynamic models used in the feedforward controllers are linearly simplified such that the nonlinear and time-varying characteristics of dynamics in the workspace are ignored.In this paper,an iterative tuning method for feedforward control of parallel manipulators by taking nonlinear dynamics into account is proposed.Based on the robot rigid-body dynamic model,a feedforward controller considering the dynamic nonlinearity is presented.An iterative tuning method is given to iteratively update the feedforward controller by minimizing the root mean square(RMS)of the joint errors at each cycle.The effectiveness and extrapolation capability of the proposed method are validated through the experiments on a 2-DOF parallel manipulator.This research proposes an iterative tuning method for feedforward control of parallel manipulators considering nonlinear dynamics,which has better extrapolation capability in the whole workspace of manipulators.展开更多
Controlling terahertz(THz)polarization with high stability and tunability is essential for achieving further progress in ultrafast spectroscopy,structured-light manipulation,and quantum information processing.Here,we ...Controlling terahertz(THz)polarization with high stability and tunability is essential for achieving further progress in ultrafast spectroscopy,structured-light manipulation,and quantum information processing.Here,we propose a magnetized plasma platform for dynamic THz polarization control by exploiting the intrinsic birefringence between extraordinary and ordinary modes.We identify a strong-magnetization,zero-group-velocity-mismatch regime where the two modes share matched group velocities while retaining finite phase birefringence,enabling robust,phase-stable spin angular momentum control.By tuning the plasma length and magnetic field,we realize programmable phase retardation and demonstrate universal single-qubit gates through parameterized unitary operations.Full-wave particle-in-cell simulations validate high-fidelity polarization transformations across the Poincarésphere and demonstrate the potential for generating structured vector beams under spatially varying magnetic fields.The platform offers ultrafast response,resilience to extreme THz intensities,and in situ tunability,positioning magnetized plasmas as a versatile and damage-resilient medium for next-generation THz polarization control and structured-wave applications.展开更多
A cable-driven redundant manipulator(CDRM)characterized by redundant degrees of freedom and a lightweight,slender design can perform tasks in confined and restricted spaces efficiently.However,the complex multistage c...A cable-driven redundant manipulator(CDRM)characterized by redundant degrees of freedom and a lightweight,slender design can perform tasks in confined and restricted spaces efficiently.However,the complex multistage coupling between drive cables and passive joints in CDRM leads to a challenging dynamic model with difficult parameter identification,complicating the efforts to achieve accurate modeling and control.To address these challenges,this paper proposes a dynamic modeling and adaptive control approach tailored for CDRM systems.A multilevel kinematic model of the cable-driven redundant manipulator is presented,and a screw theory is employed to represent the cable tension and cable contact forces as spatial wrenches,which are equivalently mapped to joint torque using the principle of virtual work.This approach simplifies the mapping process while maintaining the integrity of the dynamic model.A recursive method is used to compute cable tension section-by-section for enhancing the efficiency of inverse dynamics calculations and meeting the high-frequency demands of the controller,thereby avoiding large matrix operations.An adaptive control method is proposed building on this foundation,which involves the design of a dynamic parameter adaptive controller in the joint space to simplify the linearization process of the dynamic equations along with a closed-loop controller that incorporates motor parameters in the driving space.This approach improves the control accuracy and dynamic performance of the CDRM under dynamic uncertainties.The accuracy and computational efficiency of the dynamic model are validated through simulations,and the effectiveness of the proposed control method is demonstrated through control tests.This paper presents a dynamic modeling and adaptive control approach for CDRM to enhance accuracy and performance under dynamic uncertainties.展开更多
In this article,a finite-time adaptive dynamic surface synchronization tracking controller with guaranteed transient performance is proposed for bilateral teleoperation manipulators.To achieve this objective,we establ...In this article,a finite-time adaptive dynamic surface synchronization tracking controller with guaranteed transient performance is proposed for bilateral teleoperation manipulators.To achieve this objective,we establish a comprehensive model of the teleoperation system incorporating asymmetric timevarying delays,external disturbances,joint frictions,and additive uncertainties.Subsequently,the dynamic surface control approach is introduced to reduce computational complexity by avoiding repeated differentiation of virtual signals in traditional backstepping algorithms.Moreover,this law address the passivity issue associated with time-delayed channels by substituting joint frictions and environmental parameter uncertainties with non-power approximate signals generated using fuzzy logic algorithms.Additionally,through the utilization of the finite-time performance function,assurance is provided for the transient performance of the system.The synchronization errors can converge to a small neighborhood around zero in a finite time which can be arbitrarily set.Theoretically,the Semi-Global Practical Finite-Time Stability(SGPFTS)of the closed-loop signals is derived from the Lyapunov function.The simulation and practical experiment are both performed,and the results verify the effectiveness of the proposed control approach.In the future,the work will consider the teleoperation system where the initial error is not within the constraints of the finite-time performance function,and simplify the adaptive updating law.展开更多
Three-dimensional(3D)nanoprinting via two-photon polymerization offers unparalleled design flexibility and precision,thereby enabling rapid prototyping of advanced micro-optical elements and systems that have found im...Three-dimensional(3D)nanoprinting via two-photon polymerization offers unparalleled design flexibility and precision,thereby enabling rapid prototyping of advanced micro-optical elements and systems that have found important applications in endomicroscopy and biomedical imaging.The potential of this versatile tool for monolithic manufacturing of dynamic micro-opto-electro-mechanical systems(MOEMSs),however,has not yet been sufficiently explored.This work introduces a 3D-nanoprinted lens actuator with a large optical aperture,optimized for remote focusing in miniaturized imaging systems.The device integrates orthoplanar linear motion springs,a self-aligned sintered micro-magnet,and a monolithic lens,actuated by dual microcoils for uniaxial motion.The use of 3D nanoprinting allows complete design freedom for the integrated optical lens,whereas the monolithic fabrication ensures inherent alignment of the lens with the mechanical elements.With a lens diameter of 1.4 mm and a compact footprint of 5.74 mm,it achieves high mechanical robustness at resonant frequencies exceeding 300 Hz while still providing a large displacement range of 200μm(±100μm).A comprehensive analysis of optical and mechanical performance,including the effects of coil temperature and polymer viscoelasticity,demonstrates its advantages over conventional micro-electro-mechanical system actuators,showcasing its potential for next-generation imaging applications.展开更多
With a three-dimensional semiclassical ensemble method, we theoretically investigated the nonsequential double ionization of Ar driven by the spatially inhomogeneous few-cycle negatively chirped laser pulses. Our resu...With a three-dimensional semiclassical ensemble method, we theoretically investigated the nonsequential double ionization of Ar driven by the spatially inhomogeneous few-cycle negatively chirped laser pulses. Our results show that the recollision time window can be precisely controlled within an isolated time interval of several hundred attoseconds, which is useful for understanding the subcycle correlated electron dynamics. More interestingly, the correlated electron momentum distribution (CEMD) exhibits a strong dependence on laser intensity. That is, at lower laser intensity, CEMD is located in the first quadrant. As the laser intensity increases,CEMD shifts almost completely to the second and fourth quadrants, and then gradually to the third quadrant.The underlying physics governing the CEMD's dependence on laser intensity is explained.展开更多
1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki ...1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.展开更多
Rockbursts, which mainly affect mining roadways, are dynamic disasters arising from the surrounding rock under high stress. Understanding the interaction between supports and the surrounding rock is necessary for effe...Rockbursts, which mainly affect mining roadways, are dynamic disasters arising from the surrounding rock under high stress. Understanding the interaction between supports and the surrounding rock is necessary for effective rockburst control. In this study, the squeezing behavior of the surrounding rock is analyzed in rockburst roadways, and a mechanical model of rockbursts is established considering the dynamic support stress, thus deriving formulas and providing characteristic curves for describing the interaction between the support and surrounding rock. Design principles and parameters of supports for rockburst control are proposed. The results show that only when the geostress magnitude exceeds a critical value can it drive the formation of rockburst conditions. The main factors influencing the convergence response and rockburst occurrence around roadways are geostress, rock brittleness, uniaxial compressive strength, and roadway excavation size. Roadway support devices can play a role in controlling rockburst by suppressing the squeezing evolution of the surrounding rock towards instability points of rockburst. Further, the higher the strength and the longer the impact stroke of support devices with constant resistance, the more easily multiple balance points can be formed with the surrounding rock to control rockburst occurrence. Supports with long impact stroke allow adaptation to varying geostress levels around the roadway, aiding in rockburst control. The results offer a quantitative method for designing support systems for rockburst-prone roadways. The design criterion of supports is determined by the intersection between the convergence curve of the surrounding rock and the squeezing deformation curve of the support devices.展开更多
Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and ...Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, respectively.Then, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation significantly.Finally, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.展开更多
In this paper,a novel adaptive Fault-Tolerant Control(FTC)strategy is proposed for non-minimum phase Hypersonic Vehicles(HSVs)that are affected by actuator faults and parameter uncertainties.The strategy is based on t...In this paper,a novel adaptive Fault-Tolerant Control(FTC)strategy is proposed for non-minimum phase Hypersonic Vehicles(HSVs)that are affected by actuator faults and parameter uncertainties.The strategy is based on the output redefinition method and Adaptive Dynamic Programming(ADP).The intelligent FTC scheme consists of two main parts:a basic fault-tolerant and stable controller and an ADP-based supplementary controller.In the basic FTC part,an output redefinition approach is designed to make zero-dynamics stable with respect to the new output.Then,Ideal Internal Dynamic(IID)is obtained using an optimal bounded inversion approach,and a tracking controller is designed for the new output to realize output tracking of the nonminimum phase HSV system.For the ADP-based compensation control part,an ActionDependent Heuristic Dynamic Programming(ADHDP)adopting an actor-critic learning structure is utilized to further optimize the tracking performance of the HSV control system.Finally,simulation results are provided to verify the effectiveness and efficiency of the proposed FTC algorithm.展开更多
Metal Additive Manufacturing(MAM) technology has become an important means of rapid prototyping precision manufacturing of special high dynamic heterogeneous complex parts. In response to the micromechanical defects s...Metal Additive Manufacturing(MAM) technology has become an important means of rapid prototyping precision manufacturing of special high dynamic heterogeneous complex parts. In response to the micromechanical defects such as porosity issues, significant deformation, surface cracks, and challenging control of surface morphology encountered during the selective laser melting(SLM) additive manufacturing(AM) process of specialized Micro Electromechanical System(MEMS) components, multiparameter optimization and micro powder melt pool/macro-scale mechanical properties control simulation of specialized components are conducted. The optimal parameters obtained through highprecision preparation and machining of components and static/high dynamic verification are: laser power of 110 W, laser speed of 600 mm/s, laser diameter of 75 μm, and scanning spacing of 50 μm. The density of the subordinate components under this reference can reach 99.15%, the surface hardness can reach 51.9 HRA, the yield strength can reach 550 MPa, the maximum machining error of the components is 4.73%, and the average surface roughness is 0.45 μm. Through dynamic hammering and high dynamic firing verification, SLM components meet the requirements for overload resistance. The results have proven that MEM technology can provide a new means for the processing of MEMS components applied in high dynamic environments. The parameters obtained in the conclusion can provide a design basis for the additive preparation of MEMS components.展开更多
Metal mineral resources play an indispensable role in the development of the national economy.Dynamic disasters in underground metal mines seriously threaten mining safety,which are major scientific and technological ...Metal mineral resources play an indispensable role in the development of the national economy.Dynamic disasters in underground metal mines seriously threaten mining safety,which are major scientific and technological problems to be solved urgently.In this article,the occurrence status and grand challenges of some typical dynamic disasters involving roof falling,spalling,collapse,large deformation,rockburst,surface subsidence,and water inrush in metal mines in China are systematically presented,the characteristics of mining-induced dynamic disasters are analyzed,the examples of dynamic disasters occurring in some metal mines in China are summarized,the occurrence mechanism,monitoring and early warning methods,and prevention and control techniques of these disasters are highlighted,and some new opinions,suggestions,and solutions are proposed simultaneously.Moreover,some shortcomings in current disaster research are pointed out,and the direction of efforts to improve the prevention and control level of dynamic disasters in China’s metal mines in the future is prospected.The integration of forward-looking key innovative theories and technologies in the abovementioned aspects will greatly enhance the cognitive level of disaster prevention and mitigation in China’s metal mining industry and achieve a significant shift from passive disaster relief to active disaster prevention.展开更多
This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative ...This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic variable.The addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI set.With the designed controller,the involved fuzzy system is ensured to be asymptotically stable.Two examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.展开更多
Emotion and executive control are often conceptualized as two distinct modes of human brain functioning.Little,however,is known about how the dynamic organization of large-scale functional brain networks that support ...Emotion and executive control are often conceptualized as two distinct modes of human brain functioning.Little,however,is known about how the dynamic organization of large-scale functional brain networks that support flexible emotion processing and executive control,especially their interactions.The amygdala and prefrontal systems have long been thought to play crucial roles in these processes.Recent advances in human neuroimaging studies have begun to delineate functional organization principles among the large-scale brain networks underlying emotion,executive control,and their interactions.Here,we propose a dynamic brain network model to account for interactive competition between emotion and executive control by reviewing recent resting-state and task-related neuroimaging studies using network-based approaches.In this model,dynamic interactions among the executive control network,the salience network,the default mode network,and sensorimotor networks enable dynamic processes of emotion and support flexible executive control of multiple processes;neural oscillations across multiple frequency bands and the locus coeruleus−norepinephrine pathway serve as communicational mechanisms underlying dynamic synergy among large-scale functional brain networks.This model has important implications for understanding how the dynamic organization of complex brain systems and networks empowers flexible cognitive and affective functions.展开更多
This work proposes an event-triggered adaptive control approach for a class of uncertain nonlinear systems under irregular constraints.Unlike the constraints considered in most existing papers,here the external irregu...This work proposes an event-triggered adaptive control approach for a class of uncertain nonlinear systems under irregular constraints.Unlike the constraints considered in most existing papers,here the external irregular constraints are considered and a constraints switching mechanism(CSM)is introduced to circumvent the difficulties arising from irregular output constraints.Based on the CSM,a new class of generalized barrier functions are constructed,which allows the control results to be independent of the maximum and minimum values(MMVs)of constraints and thus extends the existing results.Finally,we proposed a novel dynamic constraint-driven event-triggered strategy(DCDETS),under which the stress on signal transmission is reduced greatly and no constraints are violated by making a dynamic trade-off among system state,external constraints,and inter-execution intervals.It is proved that the system output is driven to close to the reference trajectory and the semi-global stability is guaranteed under the proposed control scheme,regardless of the external irregular output constraints.Simulation also verifies the effectiveness and benefits of the proposed method.展开更多
Microbial infection is a principal etiological factor in pulp and periapical diseases,necessitating effective root canal therapy(RCT)for thorough decontamination of the root canal system.However,conventional mechanica...Microbial infection is a principal etiological factor in pulp and periapical diseases,necessitating effective root canal therapy(RCT)for thorough decontamination of the root canal system.However,conventional mechanical and chemical preparation methods remain inadequate,often leaving significant portions of the canal uncleaned and contributing to persistent infection.The advent of erbium laser-assisted chemical preparation has demonstrated significant potential in enhancing root canal disinfection through advanced fluid dynamics mechanisms,particularly cavitation and photoacoustic streaming.This review explores the fundamental principles governing fluid dynamics in erbium laser-assisted irrigation,with a focus on primary and secondary cavitation effects.The interaction between erbium laser energy and water generates vapor bubbles that induce dynamic fluid movement,enhancing the penetration and distribution of irrigants deep within the root canal system.Key factors influencing fluid dynamics intensity,including laser parameters,working tip design,and water medium confinement,are critically analyzed.Furthermore,recent advancements such as Photon-Initiated Photoacoustic Streaming(PIPS),Photoacoustic Synchronized Transients(PHAST),and Shock Wave Enhanced Emission Photoacoustic Streaming(SWEEPS)are reviewed in the context of their ability to improve fluid motion and irrigation efficacy.While these laser-assisted techniques offer promising improvements over traditional methods,challenges remain in optimizing energy parameters and mitigating the constraints imposed by confined root canal environments.Future research should focus on refining fluid dynamics models and conducting clinical studies to validate the efficacy of these innovations.This review aims to provide a comprehensive overview of current developments in fluid dynamics research related to erbium laser-assisted chemical preparation,offering insights into its potential as an advanced modality for root canal disinfection.展开更多
The successful application of perimeter control of urban traffic system strongly depends on the macroscopic fundamental diagram of the targeted region.Despite intensive studies on the partitioning of urban road networ...The successful application of perimeter control of urban traffic system strongly depends on the macroscopic fundamental diagram of the targeted region.Despite intensive studies on the partitioning of urban road networks,the dynamic partitioning of urban regions reflecting the propagation of congestion remains an open question.This paper proposes to partition the network into homogeneous sub-regions based on random walk algorithm.Starting from selected random walkers,the road network is partitioned from the early morning when congestion emerges.A modified Akaike information criterion is defined to find the optimal number of partitions.Region boundary adjustment algorithms are adopted to optimize the partitioning results to further ensure the correlation of partitions.The traffic data of Melbourne city are used to verify the effectiveness of the proposed partitioning method.展开更多
基金supported in part by the National Natural Science Foundation of China(62125306)Zhejiang Key Research and Development Project(2024C01163)the State Key Laboratory of Industrial Control Technology,China(ICT2024A06)
文摘In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data benchmark(HIS)has garnered the most attention due to its practicality and effectiveness.However,existing CPM reviews usually focus on the theoretical benchmark,and there is a lack of an in-depth review that thoroughly explores HIS-based methods.In this article,a comprehensive overview of HIS-based CPM is provided.First,we provide a novel static-dynamic perspective on data-level manifestations of control performance underlying typical controller capacities including regulation and servo:static and dynamic properties.The static property portrays time-independent variability in system output,and the dynamic property describes temporal behavior driven by closed-loop feedback.Accordingly,existing HIS-based CPM approaches and their intrinsic motivations are classified and analyzed from these two perspectives.Specifically,two mainstream solutions for CPM methods are summarized,including static analysis and dynamic analysis,which match data-driven techniques with actual controlling behavior.Furthermore,this paper also points out various opportunities and challenges faced in CPM for modern industry and provides promising directions in the context of artificial intelligence for inspiring future research.
文摘This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.
基金Supported by National Nature Science Foundation of China(Grant Nos.52325212,52372394)National Key Research and Development Program of China(Grant Nos.2022YFE0117100,2021YFB2501201)+1 种基金Industry-University-Research Innovation Fund for Chinese Universities(Grand No.2024HT010)Fundamental Research Funds for the Central Universities.
文摘Chassis-by-wire technology has gained significant attention,with the scope of chassis domain control expanding from traditional two-dimensional plane motion control to encompass three-dimensional space motion control.Modern chassis-by-wire systems manage an increasing number of heterogeneous chassis execution systems,including distributed drive,all-wheel drive(AWD),brake-by-wire(BBW),steer-by-wire(SBW),rear-wheel steering(RWS),active stabilizer bar(ASB)and active suspension system(ASS),greatly enhancing the controllable degrees of freedom compared to conventional chassis configurations.To advance research in chassis domain control,it is essential to understand how these heterogeneous execution systems influence vehicle dynamics.This paper focuses on the modeling and analysis of the lateral,longitudinal,and vertical chassis control and execution systems,-as well as their impact on vehicle lateral motion.Using a vehicle simulation platform,both the vehicle dynamics model and the individual dynamics models of each execution system were developed to analyze the influence of these systems on lateral dynamics.Additionally,a hierarchical control architecture was designed to control the vehicle’s lateral stability.The effectiveness of the proposed control scheme was demonstrated and validated through hardware-in-the-loop(HIL)tests and real-world vehicle testing.
基金Supported by National Natural Science Foundation of China(Grant No.52375502)EU H2020 MSCA R&I Programme(Grant No.101022696).
文摘Feedforward control is one of the most effective control techniques to increase the robot’s tracking accuracy.However,most of the dynamic models used in the feedforward controllers are linearly simplified such that the nonlinear and time-varying characteristics of dynamics in the workspace are ignored.In this paper,an iterative tuning method for feedforward control of parallel manipulators by taking nonlinear dynamics into account is proposed.Based on the robot rigid-body dynamic model,a feedforward controller considering the dynamic nonlinearity is presented.An iterative tuning method is given to iteratively update the feedforward controller by minimizing the root mean square(RMS)of the joint errors at each cycle.The effectiveness and extrapolation capability of the proposed method are validated through the experiments on a 2-DOF parallel manipulator.This research proposes an iterative tuning method for feedforward control of parallel manipulators considering nonlinear dynamics,which has better extrapolation capability in the whole workspace of manipulators.
基金supported by the National Natural Science Foundation of China (Grant Nos. 12175058 and 11921006)the National Grand Instrument Project (No. 2019YFF01014402)the Beijing Distinguished Young Scientist Program and National Grand Instrument Project No. SQ2019YFF01014400
文摘Controlling terahertz(THz)polarization with high stability and tunability is essential for achieving further progress in ultrafast spectroscopy,structured-light manipulation,and quantum information processing.Here,we propose a magnetized plasma platform for dynamic THz polarization control by exploiting the intrinsic birefringence between extraordinary and ordinary modes.We identify a strong-magnetization,zero-group-velocity-mismatch regime where the two modes share matched group velocities while retaining finite phase birefringence,enabling robust,phase-stable spin angular momentum control.By tuning the plasma length and magnetic field,we realize programmable phase retardation and demonstrate universal single-qubit gates through parameterized unitary operations.Full-wave particle-in-cell simulations validate high-fidelity polarization transformations across the Poincarésphere and demonstrate the potential for generating structured vector beams under spatially varying magnetic fields.The platform offers ultrafast response,resilience to extreme THz intensities,and in situ tunability,positioning magnetized plasmas as a versatile and damage-resilient medium for next-generation THz polarization control and structured-wave applications.
基金Supported by National Natural Science Foundation of China(Grant No.52405040)Research Project of State Key Laboratory of Mechanical System and Vibration(Grant No.MSV202514)。
文摘A cable-driven redundant manipulator(CDRM)characterized by redundant degrees of freedom and a lightweight,slender design can perform tasks in confined and restricted spaces efficiently.However,the complex multistage coupling between drive cables and passive joints in CDRM leads to a challenging dynamic model with difficult parameter identification,complicating the efforts to achieve accurate modeling and control.To address these challenges,this paper proposes a dynamic modeling and adaptive control approach tailored for CDRM systems.A multilevel kinematic model of the cable-driven redundant manipulator is presented,and a screw theory is employed to represent the cable tension and cable contact forces as spatial wrenches,which are equivalently mapped to joint torque using the principle of virtual work.This approach simplifies the mapping process while maintaining the integrity of the dynamic model.A recursive method is used to compute cable tension section-by-section for enhancing the efficiency of inverse dynamics calculations and meeting the high-frequency demands of the controller,thereby avoiding large matrix operations.An adaptive control method is proposed building on this foundation,which involves the design of a dynamic parameter adaptive controller in the joint space to simplify the linearization process of the dynamic equations along with a closed-loop controller that incorporates motor parameters in the driving space.This approach improves the control accuracy and dynamic performance of the CDRM under dynamic uncertainties.The accuracy and computational efficiency of the dynamic model are validated through simulations,and the effectiveness of the proposed control method is demonstrated through control tests.This paper presents a dynamic modeling and adaptive control approach for CDRM to enhance accuracy and performance under dynamic uncertainties.
基金supported by the National Key Research and Development Program of China(No.2019YFB1310802).
文摘In this article,a finite-time adaptive dynamic surface synchronization tracking controller with guaranteed transient performance is proposed for bilateral teleoperation manipulators.To achieve this objective,we establish a comprehensive model of the teleoperation system incorporating asymmetric timevarying delays,external disturbances,joint frictions,and additive uncertainties.Subsequently,the dynamic surface control approach is introduced to reduce computational complexity by avoiding repeated differentiation of virtual signals in traditional backstepping algorithms.Moreover,this law address the passivity issue associated with time-delayed channels by substituting joint frictions and environmental parameter uncertainties with non-power approximate signals generated using fuzzy logic algorithms.Additionally,through the utilization of the finite-time performance function,assurance is provided for the transient performance of the system.The synchronization errors can converge to a small neighborhood around zero in a finite time which can be arbitrarily set.Theoretically,the Semi-Global Practical Finite-Time Stability(SGPFTS)of the closed-loop signals is derived from the Lyapunov function.The simulation and practical experiment are both performed,and the results verify the effectiveness of the proposed control approach.In the future,the work will consider the teleoperation system where the initial error is not within the constraints of the finite-time performance function,and simplify the adaptive updating law.
文摘Three-dimensional(3D)nanoprinting via two-photon polymerization offers unparalleled design flexibility and precision,thereby enabling rapid prototyping of advanced micro-optical elements and systems that have found important applications in endomicroscopy and biomedical imaging.The potential of this versatile tool for monolithic manufacturing of dynamic micro-opto-electro-mechanical systems(MOEMSs),however,has not yet been sufficiently explored.This work introduces a 3D-nanoprinted lens actuator with a large optical aperture,optimized for remote focusing in miniaturized imaging systems.The device integrates orthoplanar linear motion springs,a self-aligned sintered micro-magnet,and a monolithic lens,actuated by dual microcoils for uniaxial motion.The use of 3D nanoprinting allows complete design freedom for the integrated optical lens,whereas the monolithic fabrication ensures inherent alignment of the lens with the mechanical elements.With a lens diameter of 1.4 mm and a compact footprint of 5.74 mm,it achieves high mechanical robustness at resonant frequencies exceeding 300 Hz while still providing a large displacement range of 200μm(±100μm).A comprehensive analysis of optical and mechanical performance,including the effects of coil temperature and polymer viscoelasticity,demonstrates its advantages over conventional micro-electro-mechanical system actuators,showcasing its potential for next-generation imaging applications.
基金supported by the National Natural Science Foundation of China (Grant No. 12074329)Nanhu Scholars Program for Young Scholars of Xinyang Normal University。
文摘With a three-dimensional semiclassical ensemble method, we theoretically investigated the nonsequential double ionization of Ar driven by the spatially inhomogeneous few-cycle negatively chirped laser pulses. Our results show that the recollision time window can be precisely controlled within an isolated time interval of several hundred attoseconds, which is useful for understanding the subcycle correlated electron dynamics. More interestingly, the correlated electron momentum distribution (CEMD) exhibits a strong dependence on laser intensity. That is, at lower laser intensity, CEMD is located in the first quadrant. As the laser intensity increases,CEMD shifts almost completely to the second and fourth quadrants, and then gradually to the third quadrant.The underlying physics governing the CEMD's dependence on laser intensity is explained.
基金supported by the National Natural Science Foundation of China(No.12332023)the Zhejiang Provincial Natural Science Foundation of China(No.LY23E050010).
文摘1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.
基金funded by the National Natural Science Foundation of China (No. 52304133)the National Key R&D Program of China (No. 2022YFC3004605)the Department of Science and Technology of Liaoning Province (No. 2023-BS-083)。
文摘Rockbursts, which mainly affect mining roadways, are dynamic disasters arising from the surrounding rock under high stress. Understanding the interaction between supports and the surrounding rock is necessary for effective rockburst control. In this study, the squeezing behavior of the surrounding rock is analyzed in rockburst roadways, and a mechanical model of rockbursts is established considering the dynamic support stress, thus deriving formulas and providing characteristic curves for describing the interaction between the support and surrounding rock. Design principles and parameters of supports for rockburst control are proposed. The results show that only when the geostress magnitude exceeds a critical value can it drive the formation of rockburst conditions. The main factors influencing the convergence response and rockburst occurrence around roadways are geostress, rock brittleness, uniaxial compressive strength, and roadway excavation size. Roadway support devices can play a role in controlling rockburst by suppressing the squeezing evolution of the surrounding rock towards instability points of rockburst. Further, the higher the strength and the longer the impact stroke of support devices with constant resistance, the more easily multiple balance points can be formed with the surrounding rock to control rockburst occurrence. Supports with long impact stroke allow adaptation to varying geostress levels around the roadway, aiding in rockburst control. The results offer a quantitative method for designing support systems for rockburst-prone roadways. The design criterion of supports is determined by the intersection between the convergence curve of the surrounding rock and the squeezing deformation curve of the support devices.
基金supported in part by the National Natural Science Foundation of China(62222301, 62073085, 62073158, 61890930-5, 62021003)the National Key Research and Development Program of China (2021ZD0112302, 2021ZD0112301, 2018YFC1900800-5)Beijing Natural Science Foundation (JQ19013)。
文摘Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, respectively.Then, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation significantly.Finally, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.
基金supported in part by the Science Center Program of National Natural Science Foundation of China(62373189,62188101,62020106003)the Research Fund of State Key Laboratory of Mechanics and Control for Aerospace Structures,China。
文摘In this paper,a novel adaptive Fault-Tolerant Control(FTC)strategy is proposed for non-minimum phase Hypersonic Vehicles(HSVs)that are affected by actuator faults and parameter uncertainties.The strategy is based on the output redefinition method and Adaptive Dynamic Programming(ADP).The intelligent FTC scheme consists of two main parts:a basic fault-tolerant and stable controller and an ADP-based supplementary controller.In the basic FTC part,an output redefinition approach is designed to make zero-dynamics stable with respect to the new output.Then,Ideal Internal Dynamic(IID)is obtained using an optimal bounded inversion approach,and a tracking controller is designed for the new output to realize output tracking of the nonminimum phase HSV system.For the ADP-based compensation control part,an ActionDependent Heuristic Dynamic Programming(ADHDP)adopting an actor-critic learning structure is utilized to further optimize the tracking performance of the HSV control system.Finally,simulation results are provided to verify the effectiveness and efficiency of the proposed FTC algorithm.
基金funded by the National Natural Science Foundation of China Youth Fund(Grant No.62304022)Science and Technology on Electromechanical Dynamic Control Laboratory(China,Grant No.6142601012304)the 2022e2024 China Association for Science and Technology Innovation Integration Association Youth Talent Support Project(Grant No.2022QNRC001).
文摘Metal Additive Manufacturing(MAM) technology has become an important means of rapid prototyping precision manufacturing of special high dynamic heterogeneous complex parts. In response to the micromechanical defects such as porosity issues, significant deformation, surface cracks, and challenging control of surface morphology encountered during the selective laser melting(SLM) additive manufacturing(AM) process of specialized Micro Electromechanical System(MEMS) components, multiparameter optimization and micro powder melt pool/macro-scale mechanical properties control simulation of specialized components are conducted. The optimal parameters obtained through highprecision preparation and machining of components and static/high dynamic verification are: laser power of 110 W, laser speed of 600 mm/s, laser diameter of 75 μm, and scanning spacing of 50 μm. The density of the subordinate components under this reference can reach 99.15%, the surface hardness can reach 51.9 HRA, the yield strength can reach 550 MPa, the maximum machining error of the components is 4.73%, and the average surface roughness is 0.45 μm. Through dynamic hammering and high dynamic firing verification, SLM components meet the requirements for overload resistance. The results have proven that MEM technology can provide a new means for the processing of MEMS components applied in high dynamic environments. The parameters obtained in the conclusion can provide a design basis for the additive preparation of MEMS components.
基金Project(52204084)supported by the National Natural Science Foundation of ChinaProject(FRF-IDRY-GD22-002)supported by the Interdisciplinary Research Project for Young Teachers of USTB(Fundamental Research Funds for the Central Universities),China+2 种基金Project(QNXM20220009)supported by the Fundamental Research Funds for the Central Universities and the Youth Teacher International Exchange and Growth Program,ChinaProjects(2022YFC2905600,2022YFC3004601)supported by the National Key R&D Program of ChinaProject(2023XAGG0061)supported by the Science,Technology&Innovation Project of Xiongan New Area,China。
文摘Metal mineral resources play an indispensable role in the development of the national economy.Dynamic disasters in underground metal mines seriously threaten mining safety,which are major scientific and technological problems to be solved urgently.In this article,the occurrence status and grand challenges of some typical dynamic disasters involving roof falling,spalling,collapse,large deformation,rockburst,surface subsidence,and water inrush in metal mines in China are systematically presented,the characteristics of mining-induced dynamic disasters are analyzed,the examples of dynamic disasters occurring in some metal mines in China are summarized,the occurrence mechanism,monitoring and early warning methods,and prevention and control techniques of these disasters are highlighted,and some new opinions,suggestions,and solutions are proposed simultaneously.Moreover,some shortcomings in current disaster research are pointed out,and the direction of efforts to improve the prevention and control level of dynamic disasters in China’s metal mines in the future is prospected.The integration of forward-looking key innovative theories and technologies in the abovementioned aspects will greatly enhance the cognitive level of disaster prevention and mitigation in China’s metal mining industry and achieve a significant shift from passive disaster relief to active disaster prevention.
基金supported by the National Natural Science Foundation of China (62073303,61673356)Hubei Provincial Natural Science Foundation of China (2015CFA010)the 111 Project(B17040)。
文摘This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic variable.The addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI set.With the designed controller,the involved fuzzy system is ensured to be asymptotically stable.Two examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.
基金supported by the National Natural Science Foundation of China(31920103009,32371104,and 32130045)the Major Project of National Social Science Foundation(20&ZD153)the Shenzhen-Hong Kong Institute of Brain Science-Shenzhen Fundamental Research Institutions(2023SHIBS0003).
文摘Emotion and executive control are often conceptualized as two distinct modes of human brain functioning.Little,however,is known about how the dynamic organization of large-scale functional brain networks that support flexible emotion processing and executive control,especially their interactions.The amygdala and prefrontal systems have long been thought to play crucial roles in these processes.Recent advances in human neuroimaging studies have begun to delineate functional organization principles among the large-scale brain networks underlying emotion,executive control,and their interactions.Here,we propose a dynamic brain network model to account for interactive competition between emotion and executive control by reviewing recent resting-state and task-related neuroimaging studies using network-based approaches.In this model,dynamic interactions among the executive control network,the salience network,the default mode network,and sensorimotor networks enable dynamic processes of emotion and support flexible executive control of multiple processes;neural oscillations across multiple frequency bands and the locus coeruleus−norepinephrine pathway serve as communicational mechanisms underlying dynamic synergy among large-scale functional brain networks.This model has important implications for understanding how the dynamic organization of complex brain systems and networks empowers flexible cognitive and affective functions.
基金supported in part by the National Key Research and Development Program of China(2023YFA1011803)the National Natural Science Foundation of China(62273064,61933012,62250710167,61860206008,62203078)the Central University Project(2021CDJCGJ002,2022CDJKYJH019,2022CDJKYJH051)。
文摘This work proposes an event-triggered adaptive control approach for a class of uncertain nonlinear systems under irregular constraints.Unlike the constraints considered in most existing papers,here the external irregular constraints are considered and a constraints switching mechanism(CSM)is introduced to circumvent the difficulties arising from irregular output constraints.Based on the CSM,a new class of generalized barrier functions are constructed,which allows the control results to be independent of the maximum and minimum values(MMVs)of constraints and thus extends the existing results.Finally,we proposed a novel dynamic constraint-driven event-triggered strategy(DCDETS),under which the stress on signal transmission is reduced greatly and no constraints are violated by making a dynamic trade-off among system state,external constraints,and inter-execution intervals.It is proved that the system output is driven to close to the reference trajectory and the semi-global stability is guaranteed under the proposed control scheme,regardless of the external irregular output constraints.Simulation also verifies the effectiveness and benefits of the proposed method.
文摘Microbial infection is a principal etiological factor in pulp and periapical diseases,necessitating effective root canal therapy(RCT)for thorough decontamination of the root canal system.However,conventional mechanical and chemical preparation methods remain inadequate,often leaving significant portions of the canal uncleaned and contributing to persistent infection.The advent of erbium laser-assisted chemical preparation has demonstrated significant potential in enhancing root canal disinfection through advanced fluid dynamics mechanisms,particularly cavitation and photoacoustic streaming.This review explores the fundamental principles governing fluid dynamics in erbium laser-assisted irrigation,with a focus on primary and secondary cavitation effects.The interaction between erbium laser energy and water generates vapor bubbles that induce dynamic fluid movement,enhancing the penetration and distribution of irrigants deep within the root canal system.Key factors influencing fluid dynamics intensity,including laser parameters,working tip design,and water medium confinement,are critically analyzed.Furthermore,recent advancements such as Photon-Initiated Photoacoustic Streaming(PIPS),Photoacoustic Synchronized Transients(PHAST),and Shock Wave Enhanced Emission Photoacoustic Streaming(SWEEPS)are reviewed in the context of their ability to improve fluid motion and irrigation efficacy.While these laser-assisted techniques offer promising improvements over traditional methods,challenges remain in optimizing energy parameters and mitigating the constraints imposed by confined root canal environments.Future research should focus on refining fluid dynamics models and conducting clinical studies to validate the efficacy of these innovations.This review aims to provide a comprehensive overview of current developments in fluid dynamics research related to erbium laser-assisted chemical preparation,offering insights into its potential as an advanced modality for root canal disinfection.
基金Project supported by the National Natural Science Foundation of China(Grant No.12072340)the Chinese Scholarship Council and the Australia Research Council through a linkage project fund。
文摘The successful application of perimeter control of urban traffic system strongly depends on the macroscopic fundamental diagram of the targeted region.Despite intensive studies on the partitioning of urban road networks,the dynamic partitioning of urban regions reflecting the propagation of congestion remains an open question.This paper proposes to partition the network into homogeneous sub-regions based on random walk algorithm.Starting from selected random walkers,the road network is partitioned from the early morning when congestion emerges.A modified Akaike information criterion is defined to find the optimal number of partitions.Region boundary adjustment algorithms are adopted to optimize the partitioning results to further ensure the correlation of partitions.The traffic data of Melbourne city are used to verify the effectiveness of the proposed partitioning method.
