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Telekinesis, as commonly portrayed in science fiction literature and cinema, is a super power wherein users control and manipulate objects absent in physical interaction. In real world, enhancing human–robot interaction needs the synthesis of human intuitive processes with robotic arm. This paper introduces a robotic teleoperation system achieving the essence of telekinetic operations, combining the profound capabilities of augmented reality (AR) with the robotic arm operations. Utilizing AR, the proposed methodology offers operators with a visual feedback, facilitating a level of control surpassing the capacities of natural interfaces. By using AR-driven visual recognition, this system achieves operations in a virtual environment, subsequently actualized in the real world through the robotic arm. Through multiple experiments, we found that the system has a small margin of error in telekinesis operations, meeting the needs of remote operation. Furthermore, our system can operate on objects in the real world. These experiments underscore the capability of the remote control system to assist humans in accomplishing a wider range of tasks through the integration of AR and robotic arms, providing a natural human–robot interaction approach.

Battery fast charging is one of the most significant and difficult techniques affecting the commercialization of electric vehicles (EVs). In this paper, we propose a fast charge framework based on model predictive control, with the aim of simultaneously reducing the charge duration, which represents the out-of-service time of vehicles, and the increase in temperature, which represents safety and energy efficiency during the charge process. The RC model is employed to predict the future State of Charge (SOC). A single mode lumped-parameter thermal model and a neural network trained by real experimental data are also applied to predict the future temperature in simulations and experiments respectively. A genetic algorithm is then applied to find the best charge sequence under a specified fitness function, which consists of two objectives: minimizing the charging duration and minimizing the increase in temperature. Both simulation and experiment demonstrate that the Pareto front of the proposed method dominates that of the most popular constant current constant voltage (CCCV) charge method.

State of Charge (SoC) estimation is one of the most significant and difficult techniques to promote the commercialization of electric vehicles (EVs). Suffering from various interference in vehicle driving environment and model uncertainties due to the strong time-variant property and inconsistency of batteries, the existing typical SoC estimators such as coulomb counting and extended Kalman filter cannot perform their theoretically optimal efficacy in practical applications. Aiming at enhancing the robustness of SoC estimation and improving accuracy under the real driving conditions with noises and uncertainties, this paper proposes a framework consisting of (1) an adaptive-κ nonlinear diffusion filter to reduce the noise in current measurement, (2) a self-learning strategy to estimate and remove the zero-drift, (3) a coulomb counting algorithm to realize open-loop SoC estimation, (4) an H∞ filter to implement closed-loop robust estimation, and (5) a data fusion unite to achieve the final estimation by integrating the advantages of the two SoC estimators. The availability and efficacy of each component have been demonstrated based on comparative studiesin simulation with the conventional approaches respectively, under the testing conditions of noises with various signal-noise-ratios, varying zero-drifts, and different model errors. The overall framework has also been verified to rationally and efficiently combine these components and achieve robust estimation results in the presence of kinds of noises and uncertainties.

The single wheel, gyroscopically stabilized robot - Gyrover, is a dynamically stable but statically unstable, underactuated system. In this paper, based on the dynamic model of the robot, we investigate two classes of nonholonomic constraints associated with the system. Then, based on the backstepping technology, we propose a control law for balance control of Gyrover. Next, through transferring the systems states from Cartesian coordinate to polar coordinate, control laws for point-to-point control and line tracking in Cartesian space are provided.

With the substantial increase of vehicles on road, driving safety and transportation efficiency have become increasingly concerned focus from drivers, passengers, and governments. Wireless networks constructed by vehicles and infrastructures provide abundant information to share for the sake of both enhanced safety and network efficiency. This paper presents the systematic research to enhance the vehicle safety by wireless communication, in the aspects of information acquisition through vehicle sensing, vehicle-to-vehicle (V2V) routing protocol for the highly dynamic vehicle network, vehicle-to-infrastructure (V2I) routing protocol for a tradeoff in real-time performance and load balance, and hardware implementation of V2V system with on-road test. Simulations and experimental result validate the feasibility of the algorithms and communication system.

The energy of a space station is a precious resource, and the minimization of energy consumption of a space manipulator is crucial to maintain its normal functionalities. This paper first presents novel gaits for space manipulators by equipping a new gripping mechanism. With the use of wheels locomotion, lower energy demand gaits can be achieved. With the use of the proposed gaits, we further develop a global path planning algorithm for space manipulators which can plan a moving path on a space station with a minimum total energy demand. Different from existing approaches, we emphasize both the use of the proposed low energy demand gaits and the gaits composition during the path planning process. To evaluate the performance of the proposed gaits and path planning algorithm, numerous simulations are performed. Results show that the energy demand of both the proposed gaits and the resultant moving path is also minimum.

We present an intelligent driver identification system to handle vehicle theft based on modeling dynamic human behaviors. We propose to recognize illegitimate drivers through their driving behaviors. Since human driving behaviors belong to a dynamic biometrical feature which is complex and difficult to imitate compared with static features such as passwords and fingerprints, we find that this novel idea of utilizing human dynamic features for enhanced security application is more effective. In this paper, we first describe our experimental platform for collecting and modeling human driving behaviors. Then we compare fast Fourier transform (FFT), principal component analysis (PCA), and independent component analysis (ICA) for data preprocessing. Using machine learning method of support vector machine (SVM), we derive the individual driving behavior model and we then demonstrate the procedure for recognizing different drivers by analyzing the corresponding models. The experimental results of learning algorithms and evaluation are described.

On-orbit rescuing uncontrolled spinning satellite (USS) using space robot is a great challenge for future space service. This paper mainly present a trajectory planning method of space manipulator that can track, approach and catch the USS in free-floating situation. According to the motion characteristics of USS, we plan a spiral ascending trajectory for space manipulator to approach towards USS in Cartesian space. However, it is difficult to map this trajectory into the joint space and realize feasible motion in joint space because of dynamics singularities and dynamics couple of space robot system. Therefore, we utilize interval algorithm to handle these difficulties. The simulation study verifies that the spiral ascending trajectory can been realized. Moreover, the motion of manipulator is smooth and stable, the disturbance to the base is so limited that the attitude control can compensate it.

The Cartesian path planning of free-floating space robot is much more complex than that of fixed-based manipulators, since the end-effector pose (position and orientation) is path dependent, and the position-level kinematic equations can not be used to determine the joint angles. In this paper, a method based on particle swarm optimization (PSO) is proposed to solve this problem. Firstly, we parameterize the joint trajectory using polynomial functions, and then normalize the parameterized trajectory. Secondly, the Cartesian path planning is transformed to an optimization problem by integrating the differential kinematic equations. The object function is defined according to the accuracy requirement, and it is the function of the parameters to be defined. Finally, we use the Particle Swarm Optimization (PSO) algorithm to search the unknown parameters. The approach has the following traits: 1) The limits on joint angles, rates and accelerations are included in the planning algorithm; 2) There exist not any kinematic and dynamic singularities, since only the direct kinematic equations are used; 3) The attitude singularities do not exist, for the orientation is represented by quaternion; 4) The optimization algorithm is not affected by the initial parameters. Simulation results verify the proposed method.

Dynamic singularities make it difficult to plan the Cartesian path of freefloating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position, rate and acceleration are bounded. Firstly, the joint trajectories are parameterized by polynomial or sinusoidal functions. And the two parametric functions are compared in details. It is the first contribution of the paper that polynomial functions can be used when the joint angles are limited(In the similar work of other researchers, only sinusoidla functions could be used). Secondly, the joint functions are normalized and the system of equations about the parameters is established by integrating the differential kinematics equations. Normalization is another contribution of the paper. After normalization, the boundary of the parameters is determined beforehand, and the general criterion to assign the initial guess of the unknown parameters is supplied. The criterion is independent on the planning conditions such as the total time tf. Finally, the parametes are solved by the iterative Newtonian method. Modification of tf may not result in the recalculation of the parameters. Simulation results verify the path planning method.

This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation of space manipulator because of the dynamics coupling between the manipulator and space base. This dynamics coupling is unique characteristics of space robot system. Such a disturbance will produce a serious impact between the manipulator hand and the object. To ensure reliable and precise operation, we propose to develop a space robot system consisting of two arms, with one arm (mission arm) for accomplishing the capture mission, and the other one (balance arm) compensating for the disturbance of the base. We present the coordinated control concept for balance of the attitude of the base using the balance arm. The mission arm can move along the given trajectory to approach and capture the target with no considering the disturbance from the coupling of the base. We establish a relationship between the motion of two arm that can realize the zeros reaction to the base. The simulation studies verified the validity and efficiency of the proposed control method.

The Cartesian path planning of free-floating space robot is much more complex than that of fixed-based manipulators, since the end-effector pose (position and orientation) is path dependent, and the position-level kinematic equations can not be used to determine the joint angles. In this paper, a method based on particle swarm optimization (PSO) is proposed to solve this problem. Firstly, we parameterize the joint trajectory using polynomial functions, and then normalize the parameterized trajectory. Secondly, the Cartesian path planning is transformed to an optimization problem by integrating the differential kinematic equations. The object function is defined according to the accuracy requirement, and it is the function of the parameters to be defined. Finally, we use the Particle Swarm Optimization (PSO) algorithm to search the unknown parameters. The approach has the following traits: 1) The limits on joint angles, rates and accelerations are included in the planning algorithm; 2) There exist not any kinematic and dynamic singularities, since only the direct kinematic equations are used; 3) The attitude singularities do not exist, for the orientation is represented by quaternion; 4) The optimization algorithm is not affected by the initial parameters. Simulation results verify the proposed method.

Dynamic singularities make it difficult to plan the Cartesian path of free-floating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position, rate and acceleration are bounded. Firstly, the joint trajectories are parameterized by polynomial or sinusoidal functions. And the two parametric functions are compared in details. It is the first contribution of the paper that polynomial functions can be used when the joint angles are limited(In the similar work of other researchers, only sinusoidla functions could be used). Secondly, the joint functions are normalized and the system of equations about the parameters is established by integrating the differential kinematics equations. Normalization is another contribution of the paper. After normalization, the boundary of the parameters is determined beforehand, and the general criterion to assign the initial guess of the unknown parameters is supplied. The criterion is independent on the planning conditions such as the total time t f . Finally, the parametes are solved by the iterative Newtonian method. Modification of t f may not result in the recalculation of the parameters. Simulation results verify the path planning method.

On-orbit rescuing uncontrolled spinning satellite (USS) using space robot is a great challenge for future space service. This paper mainly present a trajectory planning method of space manipulator that can track, approach and catch the USS in free-floating situation. According to the motion characteristics of USS, we plan a spiral ascending trajectory for space manipulator to approach towards USS in Cartesian space. However, it is difficult to map this trajectory into the joint space and realize feasible motion in joint space because of dynamics singularities and dynamics couple of space robot system. Therefore, we utilize interval algorithm to handle these difficulties. The simulation study verifies that the spiral ascending trajectory can been realized. Moreover, the motion of manipulator is smooth and stable, the disturbance to the base is so limited that the attitude control can compensate it.

This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation of space manipulator because of the dynamics coupling between the manipulator and space base. This dynamics coupling is unique characteristics of space robot system. Such a disturbance will produce a serious impact between the manipulator hand and the object. To ensure reliable and precise operation, we propose to develop a space robot system consisting of two arms, with one arm (mission arm) for accomplishing the capture mission, and the other one (balance arm) compensating for the disturbance of the base. We present the coordinated control concept for balance of the attitude of the base using the balance arm. The mission arm can move along the given trajectory to approach and capture the target with no considering the disturbance from the coupling of the base. We establish a relationship between the motion of two arm that can realize the zeros reaction to the base. The simulation studies verified the validity and efficiency of the proposed control method.

The single wheel, gyroscopically stabilized robot - Gyrover, is a dynamically stable but statically unstable, underactuated system. In this paper, based on the dynamic model of the robot, we investigate two classes of nonholonomic constraints associated with the system. Then, based on the backstepping technology, we propose a control law for balance control of Gyrover. Next, through transferring the systems states from Cartesian coordinate to polar coordinate, control laws for point-to-point control and line tracking in Cartesian space are provided.