47 Result(s)
within
Article
**anchun Li
Engineering
English
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Article
Decentralized Position/torque Control of Modular Robot Manipulators via Interaction Torque Estimation-based Human Motion Intention Identification
For the application background of physical human robot interaction (pHRI), a novel decentralized position/torque control scheme of modular robot manipulators (MRMs) is developed based on the human motion inten...
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Article
Experimental and numerical studies on dynamic fracturing behavior of roughly jointed rock
The surface roughness is an important feature of rock joints. Its effect on the mechanical properties of joints is significant in characterizing dynamic failure of natural rock masses. Both laboratory experime...
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Article
Open AccessDecentralized fault-tolerant control of modular robot manipulators with actuator saturation: neural adaptive integral terminal sliding mode-based control approach
A novel neural adaptive integral terminal sliding mode control for decentralized fault-tolerant control strategy, including the integral terminal sliding mode surface, the nonlinear disturbance observer, the r...
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Article
A Novel Decentralized Fixed-time Tracking Control for Modular Robot Manipulators: Theoretical and Experimental Verification
This paper presents a novel decentralized fixed-time tracking control approach, which realizes the advantages of modular robot manipulators (MRMs) with fixed-time convergence, strong robustness, and high track...
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Article
Probabilistic machine learning approach to predict incompetent rock masses in TBM construction
The prediction of incompetent rock masses susceptible to tunnel wall collapse is a common concern in any construction project using a tunnel boring machine (TBM). In China, to identify these weak locations, fi...
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Open AccessDynamic modeling and infinite-dimensional observer-based control for manipulation of flexible beam by a multi-link robot
This paper concerns an infinite-dimensional observer for manipulation of flexible beam by a rigid arm robot. The complex dynamic of the system is described by distributed parameter model in terms of ordinary d...
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Article
Open AccessStudy of stress wave propagation across a non-persistent joint based on a boundary integral equation method
Studies on stress wave propagation across persistent joints have been conducted extensively. Nevertheless, there exists a consensus that non-persistent joints are widely and densely distributed, which have a p...
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Article
Open AccessNumerical investigation of the influence of casting techniques on fiber orientation distribution in ECC
Engineered cementitious composites (ECC), also known as bendable concrete, were developed based on engineering the interactions between fibers and cementitious matrix. The orientation of fibers, in this regard...
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Article
Event-triggered-based Decentralized Optimal Control of Modular Robot Manipulators Using RNN Identifier
In this paper, an event-triggered-based decentralized tracking control method is proposed for modular robot manipulators (MRMs) using a recurrent neural network (RNN) and neuro-dynamic programming (NDP). The j...
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Article
Decentralized Fault Tolerant Control for Modular Robot Manipulators via Integral Terminal Sliding Mode and Disturbance Observer
A novel decentralized fault tolerant approach for modular robot manipulators (MRMs) with external disturbances is proposed via an integral terminal sliding mode and disturbance observer. First, an integral ter...
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Article
Decentralized Fault Tolerant Control of Modular Manipulators System Based on Adaptive Dynamic Programming
This paper presented an original decentralized fault tolerant control approach for modular manipulators which based on adaptive dynamic programming (ADP) algorithm. First, the dynamic model of modular manipula...
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Article
Event-triggered-based cooperative game optimal tracking control for modular robot manipulator with constrained input
In this paper, a cooperative game optimal tracking control method based on event-triggered mechanism for constrained input modular robot manipulators (MRMs) system is introduced. According to the joint torque ...
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Article
Open AccessCompensator-critic structure-based event-triggered decentralized tracking control of modular robot manipulators: theory and experimental verification
This paper presents a novel compensator-critic structure-based event-triggered decentralized tracking control of modular robot manipulators (MRMs). On the basis of subsystem dynamics under joint torque feedbac...
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Article
Open AccessCritic-observer-based decentralized force/position approximate optimal control for modular and reconfigurable manipulators with uncertain environmental constraints
A critic-observer decentralized force/position approximate optimal control method is presented to address the joint trajectory and contacted force tracking problem of modular and reconfigurable manipulators (M...
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Article
Numerical investigation of blast-induced fractures in granite: insights from a hybrid LS-DYNA and UDEC grain-based discrete element method
The micro heterogeneities have a significant effect on the mechanical behaviour and failure mode of brittle rocks. In order to study the influence of microstructure and micro-mechanical properties on rock frac...
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Article
Physical and numerical investigations of bedding adhesion strength on stratified rock roof fracture with longwall coal mining
The weak bedding sandwiched between rock layers is one of the crucial factors influencing the overburden failure with the extraction of coal resources in longwall mining. In this article, the physical model te...
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Article
Adaptive Dynamic Programming-Based Decentralized Guaranteed Cost Control for Reconfigurable Manipulators with Uncertain Environments
In this paper, a novel decentralized guaranteed cost control method is designed for reconfigurable manipulators with uncertain environments based on the adaptive dynamic programming (ADP) approach. Each joint ...
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Article
Decentralized robust zero-sum neuro-optimal control for modular robot manipulators in contact with uncertain environments: theory and experimental verification
This paper presents a decentralized robust zero-sum optimal control approach for modular robot manipulators (MRMs) in contact with uncertain environments based on the adaptive dynamic programming (ADP) algorit...
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Article
Using big data to track marine oil transportation along the 21st-century Maritime Silk Road
China’s designation of the “21st-century Maritime Silk Road” (MSR) region is of extraordinary significance to its maritime rights, transportation security, and socio-economic development. We developed a techni...
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Article
Design and Control of a Superconducting DC Linear Motor for Electromagnetic Launch System
A conventional AC linear machine for the electromagnetic launcher has a problem of low-efficiency. This paper presents a superconducting DC linear motor (SDCLM) to improve the energy-efficient of system for su...
