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51. TacMMs: Tactile Mobile Manipulators for Warehouse Automation

Author

He, Zhuochao, Zhang, Xuyang, Jones, Simon, Hauert, Sabine, Zhang, Dandan, and Lepora, Nathan F.

Subjects
Computer Science - Robotics
Abstract

Multi-robot platforms are playing an increasingly important role in warehouse automation for efficient goods transport. This paper proposes a novel customization of a multi-robot system, called Tactile Mobile Manipulators (TacMMs). Each TacMM integrates a soft optical tactile sensor and a mobile robot with a load-lifting mechanism, enabling cooperative transportation in tasks requiring coordinated physical interaction. More specifically, we mount the TacTip (biomimetic optical tactile sensor) on the Distributed Organisation and Transport System (DOTS) mobile robot. The tactile information then helps the mobile robots adjust the relative robot-object pose, thereby increasing the efficiency of load-lifting tasks. This study compares the performance of using two TacMMs with tactile perception with traditional vision-based pose adjustment for load-lifting. The results show that the average success rate of the TacMMs (66%) is improved over a purely visual-based method (34%), with a larger improvement when the mass of the load was non-uniformly distributed. Although this initial study considers two TacMMs, we expect the benefits of tactile perception to extend to multiple mobile robots. Website: https://sites.google.com/view/tacmms, Comment: 8 pages, accepted in IEEE Robotics and Automation Letters, 19 June 2023

Published
2023
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52. Anti-γ-aminobutyric acid-B receptor autoimmune encephalitis with syncope as the initial symptom: Case report and literature review

Author

Zhang Dandan, Xu Zhigang, Wu Jing, Wei Wei, Li Xuezhong, and Chen Xiaopeng

Subjects
autoimmune encephalitis, anti-gababr antibody-related encephalitis, syncope, case report, Biology (General), QH301-705.5
Abstract

Autoimmune encephalitis (AE) associated with autoantibodies against γ-aminobutyric acid-B receptor (GABABR-AE) is frequently identified in middle-aged and elderly males. The disease is characterized by seizures, mental, and behavioral abnormalities, as well as recent memory decline. Anti-GABABR antibody-associated encephalitis, presenting with syncope as the first symptom is rare. Here we report a case of AE with syncope as the first symptom. A 55-year-old male presented to the emergency department with transient loss of consciousness, initially diagnosed as syncope. As the disease progressed, the patient exhibited seizures, abnormal mental behavior, and cognitive impairment. Ultimately, the patient was diagnosed with right lung small cell lung cancer. The initial atypical symptoms and the lack of clear imaging features of GABABR encephalitis hinder early diagnosis. This case highlights the importance of screening for the underlying etiology of syncope in middle-aged and elderly patients.

Published
2024
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53. Analysis on the cooperation between nurses and caregivers of elderly inpatients and its influencing factors (老年住院患者照顾者与护士协作水平及影响因素分析)

Author

ZHOU Jiao (周娇), ZHANG Jie (张洁), SUN Yutong (孙雨彤), WANG Haiyan (王海妍), ZHANG Dandan (张丹丹), and WANG Yu (王宇)

Subjects
elderly patients, caregivers, nurse, collaboration, family collaboration scale, 老年患者, 照顾者, 护士, 协作, 家庭协作量表, Nursing, RT1-120
Abstract

(目的 调查老年住院患者照顾者与护理人员协作关系的总体状况, 分析两者之间协作关系的影响因素, 从而为进一步采取措施促进双方有效协作提供指导和依据。方法 采用随机抽样方法, 于2022年4月—2023年4月选取北京市5家三甲医院的老年患者的照顾者230例作为研究对象, 采用患者及照顾者的一般情况调查表及跨文化调适后的家庭协作量表(FCS)进行调查。结果 老年住院患者的照顾者与护士的协作得分为(91. 1±10. 04)分, 其中照顾者的文化程度、是否与患者同住等因素影响照顾者与护士的协作水平(P＜0. 05)。结论 住院老年患者的照顾者与护士的协作水平处于中等偏上水平。护理人员应关注照顾者的文化水平、是否与患者同住等方面, 根据情况给予个体化指导, 并不断提高护理人员自身水平, 及时识别照顾者需要, 为提高护理质量及满足老年人对日常延续照料的需求提供依据。)

Published
2024
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56. Robotic vectorial field alignment for spin-based quantum sensors

Author

Smith, Joe A., Zhang, Dandan, and Balram, Krishna C.

Subjects
Quantum Physics, Physics - Applied Physics
Abstract

Developing practical quantum technologies will require the exquisite manipulation of fragile systems in a robust and repeatable way. As quantum technologies move towards real world applications, from biological sensing to communication in space, increasing experimental complexity introduces constraints that can be alleviated by the introduction of new technologies. Robotics has shown tremendous progress in realising increasingly smart, autonomous and highly dexterous machines. Here, we demonstrate that a robotic arm equipped with a magnet can sensitise an NV centre quantum magnetometer in challenging conditions unachievable with standard techniques. We generate vector magnetic field with $1^\circ$ angular and 0.1 mT amplitude accuracy and determine the orientation of a single stochastically-aligned spin-based sensor in a constrained physical environment. Our work opens up the prospect of integrating robotics across many quantum degrees of freedom in constrained settings, allowing for increased prototyping speed, control, and robustness in quantum technology applications., Comment: 11 pages, 4 figures. Small correction in first paragraph

Published
2023
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57. Enhancing Faraday and Kerr rotations based on toroidal dipole mode in an all-dielectric magneto-optical metasurface

Author

Tang, Qin, Zhang, Dandan, Liu, Tingting, Liu, Wenxing, Liao, Qinghua, He, Jizhou, Xiao, Shuyuan, and Yu, Tianbao

Subjects
Physics - Optics
Abstract

The magneto-optical Faraday and Kerr effects are widely used in modern optical devices. In this letter, we propose an all-dielectric metasurface composed of perforated magneto-optical thin films, which can support the highly confined toroidal dipole resonance and provide full overlap between the localized electromagnetic field and the thin film, and consequently enhance the magneto-optical effects to an unprecedented degree. The numerical results based on finite element method show that the Faraday and Kerr rotations can reach -13.59${\deg}$ and 8.19${\deg}$ in the vicinity of toroidal dipole resonance, which are 21.2 and 32.8 times stronger than those in the equivalent thickness of thin films, respectively. In addition, we design an environment refractive index sensor based on the resonantly enhanced Faraday and Kerr rotations, with sensitivities of 62.96 nm/RIU and 73.16 nm/RIU, and the corresponding maximum figures of merit 132.22${\deg}$/RIU and 429.45${\deg}$/RIU, respectively. This work provides a new strategy for enhancing the magneto-optical effects at nanoscale, and paves the way for the research and development of magneto-optical metadevices such as sensors, memories, and circuits.

Published
2023
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58. TIMS: A Tactile Internet-Based Micromanipulation System with Haptic Guidance for Surgical Training

Author

Lin, Jialin, Guo, Xiaoqing, Fan, Wen, Li, Wei, Wang, Yuanyi, Liang, Jiaming, Liu, Weiru, Wei, Lei, and Zhang, Dandan

Subjects
Computer Science - Robotics
Abstract

Microsurgery involves the dexterous manipulation of delicate tissue or fragile structures such as small blood vessels, nerves, etc., under a microscope. To address the limitation of imprecise manipulation of human hands, robotic systems have been developed to assist surgeons in performing complex microsurgical tasks with greater precision and safety. However, the steep learning curve for robot-assisted microsurgery (RAMS) and the shortage of well-trained surgeons pose significant challenges to the widespread adoption of RAMS. Therefore, the development of a versatile training system for RAMS is necessary, which can bring tangible benefits to both surgeons and patients. In this paper, we present a Tactile Internet-Based Micromanipulation System (TIMS) based on a ROS-Django web-based architecture for microsurgical training. This system can provide tactile feedback to operators via a wearable tactile display (WTD), while real-time data is transmitted through the internet via a ROS-Django framework. In addition, TIMS integrates haptic guidance to `guide' the trainees to follow a desired trajectory provided by expert surgeons. Learning from demonstration based on Gaussian Process Regression (GPR) was used to generate the desired trajectory. User studies were also conducted to verify the effectiveness of our proposed TIMS, comparing users' performance with and without tactile feedback and/or haptic guidance., Comment: 8 pages, 7 figures. For more details of this project, please view our website: https://sites.google.com/view/viewtims/home

Published
2023

59. IoHRT: An Open-Source Unified Framework Towards the Internet of Humans and Robotic Things with Cloud Computing for Home-Care Applications

Author

Zhang, Dandan, Zheng, Jin, and Lin, Jialin

Subjects
Computer Science - Robotics
Abstract

The accelerating aging population has led to an increasing demand for domestic robotics to ease caregivers' burden. The integration of Internet of Things (IoT), robotics, and human-robot interaction (HRI) technologies is essential for home-care applications. Although the concept of the Internet of Robotic Things (IoRT) has been utilized in various fields, most existing IoRT frameworks lack ergonomic HRI interfaces and are limited to specific tasks. This paper presents an open-source unified Internet of Humans and Robotic Things (IoHRT) framework with cloud computing, which combines personalized HRI interfaces with intelligent robotics and IoT techniques. This proposed open-source framework demonstrates characteristics of high security, compatibility, and modularity, allowing unlimited user access. Two case studies were conducted to evaluate the proposed framework's functionalities, evaluating its effectiveness in home-care scenarios. Users' feedback was collected via questionnaires, which indicates the IoHRT framework's high potential for home-care applications.

Published
2023

60. Tac-VGNN: A Voronoi Graph Neural Network for Pose-Based Tactile Servoing

Author

Fan, Wen, Yang, Max, Xing, Yifan, Lepora, Nathan F., and Zhang, Dandan

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

Tactile pose estimation and tactile servoing are fundamental capabilities of robot touch. Reliable and precise pose estimation can be provided by applying deep learning models to high-resolution optical tactile sensors. Given the recent successes of Graph Neural Network (GNN) and the effectiveness of Voronoi features, we developed a Tactile Voronoi Graph Neural Network (Tac-VGNN) to achieve reliable pose-based tactile servoing relying on a biomimetic optical tactile sensor (TacTip). The GNN is well suited to modeling the distribution relationship between shear motions of the tactile markers, while the Voronoi diagram supplements this with area-based tactile features related to contact depth. The experiment results showed that the Tac-VGNN model can help enhance data interpretability during graph generation and model training efficiency significantly than CNN-based methods. It also improved pose estimation accuracy along vertical depth by 28.57% over vanilla GNN without Voronoi features and achieved better performance on the real surface following tasks with smoother robot control trajectories. For more project details, please view our website: https://sites.google.com/view/tac-vgnn/home, Comment: 7 pages, 10 figures, accepted by 2023 IEEE International Conference on Robotics and Automation (ICRA)

Published
2023

62. The Verticillium dahliae Small Cysteine-Rich Protein VdSCP23 Manipulates Host Immunity.

Author

Wang, Jie, Wang, Dan, Ji, Xiaobin, Wang, Jun, Klosterman, Steven J, Dai, Xiaofeng, Chen, Jieyin, Subbarao, Krishna V, Hao, Xiaojuan, and Zhang, Dandan

Subjects
Ascomycota, Verticillium, Gossypium, Cysteine, Plant Diseases, Gene Expression Regulation, Plant, Disease Resistance, Verticillium dahlia, inhibiting plant immunity, small cysteine-rich proteins, subcellular localization, virulence, Infectious Diseases, Other Chemical Sciences, Genetics, Other Biological Sciences, Chemical Physics
Abstract

Verticillium wilt caused by Verticillium dahliae is a notorious soil-borne fungal disease and seriously threatens the yield of economic crops worldwide. During host infection, V. dahliae secretes many effectors that manipulate host immunity, among which small cysteine-rich proteins (SCPs) play an important role. However, the exact roles of many SCPs from V. dahliae are unknown and varied. In this study, we show that the small cysteine-rich protein VdSCP23 inhibits cell necrosis in Nicotiana benthamiana leaves, as well as the reactive oxygen species (ROS) burst, electrolyte leakage and the expression of defense-related genes. VdSCP23 is mainly localized in the plant cell plasma membrane and nucleus, but its inhibition of immune responses was independent of its nuclear localization. Site-directed mutagenesis and peptide truncation showed that the inhibition function of VdSCP23 was independent of cysteine residues but was dependent on the N-glycosylation sites and the integrity of VdSCP23 protein structure. Deletion of VdSCP23 did not affect the growth and development of mycelia or conidial production in V. dahliae. Unexpectedly, VdSCP23 deletion strains still maintained their virulence for N. benthamiana, Gossypium hirsutum and Arabidopsis thaliana seedlings. This study demonstrates an important role for VdSCP23 in the inhibition of plant immune responses; however, it is not required for normal growth or virulence in V. dahliae.

Published
2023

63. Development and Nurture System: Development and Its Application

Author

Zhou, Qunfang, Wei, Gaoxia, Zhang, Dandan, Li, Kan, Editor-in-Chief, Li, Qingyong, Associate Editor, Fournier-Viger, Philippe, Series Editor, Hong, Wei-Chiang, Series Editor, Liang, Xun, Series Editor, Wang, Long, Series Editor, Xu, Xuesong, Series Editor, Kuang, Yunshan, editor, Zhu, Lixin, editor, Zhang, Xiangyang, editor, and Khan, Intakhab Alam, editor

Published
2024
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64. Coformer: Collaborative Transformer for Medical Image Segmentation

Author

Gao, Yufei, Zhang, Shichao, Zhang, Dandan, Shi, Yucheng, Zhao, Guohua, Shi, Lei, Goos, Gerhard, Series Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Huang, De-Shuang, editor, Si, Zhanjun, editor, and Pan, Yijie, editor

Published
2024
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65. Research of VCO Phase-Locked Frequency Source Flickering Clutters Caused by Changes in Temperature

Author

Li, Fu, Cao, Yingpeng, Zhang, Wei, Zhang, Dandan, Wang, Yu, Hu, Xige, Zhang, Jing, Jia, Hongli, Qin, Shuyi, Zhou, Yuyang, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Tan, Kay Chen, Series Editor, Wang, Yue, editor, Zou, Jiaqi, editor, Xu, Lexi, editor, Ling, Zhilei, editor, and Cheng, Xinzhou, editor

Published
2024
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66. Research on Direct Carbon Emissions of Bisphenol a Epoxy Resin in Substation Equipment

Author

Ke, Hu, He, Jiahui, Zhang, Dandan, Hou, Guobin, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Tan, Kay Chen, Series Editor, Yang, Qingxin, editor, Li, Zewen, editor, and Luo, An, editor

Published
2024
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67. Correlation Analysis of Altitude and Lightning Trip Rate Based on R Language

Author

Cheng, Luqing, Zhang, Dandan, Wan, Zhiyu, Hou, Guobin, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Tan, Kay Chen, Series Editor, Yang, Qingxin, editor, Li, Zewen, editor, and Luo, An, editor

Published
2024
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68. Study of Direct Carbon Emissions During Operation of Oil-Immersed Equipment in Substations

Author

He, Jiahui, Wu, Tong, Zhang, Dandan, Hou, Guobin, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Tan, Kay Chen, Series Editor, Yang, Qingxin, editor, Li, Zewen, editor, and Luo, An, editor

Published
2024
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69. Study on Different Calculation Methods of Direct Carbon Emissions from Oil-Immersed Equipment on Substations

Author

He, Jiahui, Zou, Jingyi, Zhang, Dandan, Hou, Guobin, Hu, Ke, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Tan, Kay Chen, Series Editor, Yang, Qingxin, editor, Li, Zewen, editor, and Luo, An, editor

Published
2024
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70. Study on Acid Thermal Aging Characteristics of Composite Insulator Core Rod Material Based on TGA and SEM

Author

Zhang, Dandan, You, Yuwei, Pan, Wenwu, Lu, Ming, Gao, Chao, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Tan, Kay Chen, Series Editor, Yang, Qingxin, editor, Li, Zewen, editor, and Luo, An, editor

Published
2024
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71. Study on the Deterioration Characteristics of ECR Glass Fiber in Composite Insulators Under Acid-Heat Conditions

Author

Huang, Ziheng, Zhang, Dandan, Lu, Ming, Gao, Chao, Li, Zhenbiao, Wan, Zhiyu, You, Yuwei, Wang, Zehong, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Tan, Kay Chen, Series Editor, Yang, Qingxin, editor, Li, Zewen, editor, and Luo, An, editor

Published
2024
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72. Design and Vibration Control of Secondary Suspension for Maglev Train Based on Magnetorheological Fluid Damper

Author

Sun, Yougang, Zhang, Dandan, Ou, Hongyu, Lin, Guobin, Qiang, Haiyan, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Tan, Kay Chen, Series Editor, Jing, Xingjian, editor, Ding, Hu, editor, Ji, Jinchen, editor, and Yurchenko, Daniil, editor

Published
2024
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73. Application of Lattice-Based Unique Ring Signature in Blockchain Transactions

Author

Li, Fengyin, Wang, Junhui, Zhang, Dandan, Li, Guoping, Yu, Xilong, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Vaidya, Jaideep, editor, Gabbouj, Moncef, editor, and Li, Jin, editor

Published
2024
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90. A perspective on Attitude Control Issues and Techniques

Author

Zhang, Dandan, Jin, Xin, and Su, Hongye

Subjects
Electrical Engineering and Systems Science - Systems and Control, 70E50, J.2.1, J.2.7, A.1
Abstract

This paper reviews the attitude control problems for rigid-body systems, starting from the attitude representation for rigid body kinematics. Highly redundant rotation matrix defines the attitude orientation globally and uniquely by 9 parameters, which is the most fundamental one, without any singularities; minimum 3-parameter Euler angles or (modified) Rodrigues parameters define the attitude orientation neither globally nor uniquely, but the former exhibits kinematical singularity and Gimbal lock, while the latter two exhibit geometrical singularity; once-redundant axis-angle or unit quaternion globally define the attitude rotation but not uniquely using 4 parameters, but the former is not appropriate to define very small or very large rotations, while the latter shows unwinding phenomenon despite of the reduced computation burden. In addition, we explore the relationships among those attitude representations, including the connections among Gimbal lock, unwinding phenomenon and a nowhere dense set of zero Lebesgue measure. Based on attitude representations, we analyze different attitude control laws, almost global control and global attitude control, nominal and general robustness, as well as the technique tools., Comment: 13 pages, 6 figures, 2 tables

Published
2022

91. Stability Analysis for Stochastic Hybrid Inclusions

Author

Zhang, Dandan and Su, Hongye

Subjects
Electrical Engineering and Systems Science - Systems and Control, 93C30, J.2.7, A.1
Abstract

Stochastic hybrid inclusions (SHIs) address situations with the stochastic continuous evolution in a stochastic differential inclusions and random jumps in the difference inclusions due to the forced (the state reaching a boundary in the state space) and/or spontaneous (the state vector may occur spontaneously) transitions. An obvious characteristic of SHIs is the non-uniqueness of random solutions, which can be ensured by the mild regularity conditions, as well as nominal robustness. Basic sufficient conditions for stability/recurrence in probability are usually expressed based on different types of Lyapunov functions, including Lagrange/Lyapunov/Lyapunov-Forster functions respectively for Lagrange/Lyapunov/asymptotical stability in probability and Foster/Lagrange-Forster functions for recurrence, (weaker) relaxed Lyapunov-based sufficient conditions including Matrosov-Foster functions and the stochastic invariance principle, as well as Lyapunov-based necessary and sufficient conditions for asymptotical stability in probability or recurrence (i.e.,converse theorems), etc. The converse theorems involving smooth Lyapunov functions are guaranteed by the sequential compactness and thus robustness. In addition, the uniformity property and causality are analyzed for the stabilities in probability. Hence, serving as a partial roadmap for the theoretical development of SHIs, also serving as inspiration, we anticipate that many of the open questions, including the prediction problem, the filtering problem and the control problem, will be resolved based on the techniques of SHIs., Comment: 15 pages, 3 figures, 1 table

Published
2022

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