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263 results on '"Zhao, Jiangbo"'

1. Robust Coordinated Compliant Control for Dual-Arm Robots with Position Uncertainty of End-Effector

Author

Zhao, Jiangbo, Chen, Chengyuan, Wang, Junzheng, Yan, Tong, Zhao, Jianxin, Jiang, Yunfeng, 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, Qu, Yi, editor, Gu, Mancang, editor, Niu, Yifeng, editor, and Fu, Wenxing, editor

Published
2024
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4. Adaptive Robust Command Filtered Control in Separate Meter-In and Separate Meter-Out Control System

Author

Niu, Shanshuai, Wang, Junzheng, Zhao, Jiangbo, Shen, Wei, 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, Hirche, Sandra, 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, Möller, Sebastian, 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, You, Peng, editor, Li, Heng, editor, and Chen, Zhenxiang, editor

Published
2023
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12. Adaptive Impedance Control for Teleoperation with Event-Triggered Controller.

Author

Zhao, Jiangbo, Duan, Bowen, and Wang, Junzheng

Abstract

Uncertainty in the master–slave model is one of the primary factors affecting the transparency of teleoperation systems, and congestion in the master–slave communication network also greatly influences the performance of the teleoperation system. This paper proposes a combined framework of adaptive and impedance control to address the uncertainty in the master–slave model and achieve smooth operation at the slave end. Building upon this linear model, an event-triggered mechanism is designed using Lyapunov functions, with dynamic online adjustment of the triggering threshold parameters. Following the completion of the aforementioned research, control objectives are established to validate the performance of the teleoperation control system proposed in this paper. Finally, simulation verification is conducted in the Matlab/Simulink environment. [ABSTRACT FROM AUTHOR]

Published
2024
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23. Path planning for a tracked robot traversing uneven terrains based on tip‐over stability.

Author

Zhao, Jiangbo, Zhang, Jiaquan, Liu, Hanze, Wang, Junzheng, and Chen, Zhihua

Subjects
ROBOTIC path planning, BIOLOGICAL evolution, MOBILE robots, COVARIANCE matrices, HOUGH transforms
Abstract

In the real‐world environment, the path planning method of tracked robot is widely studied when driving on uneven terrain. How to solve the problem that the traditional path planning algorithm cannot adapt to uneven terrain because of the constraints of obstacle avoidance and path length is a challenge for tracked robots. In this paper, a stability‐based path planning framework for tracked robot is proposed to reduce the risk of rollover when the tracked robot passes through uneven terrain. First, a virtual plane method is proposed to estimate the attitude of tracked robot. Second, on this basis, a dynamic high‐stability path evaluation algorithm for tracked robot based on force angle stability margin (FASM) is proposed, which transforms the stability‐based path planning problem into a hypergraph problem. Moreover, considering that the optimization problem is strongly nonlinear and nonconvex, a hybrid algorithm of covariance matrix adaptive evolution strategy (CMAES) and Levenberg–Marquardt (LM) is designed under the framework of generalized graph optimization (G2O) to improve the solution efficiency. Finally, simulation and experiments show that the stability‐based path planning framework can effectively plan the high‐quality path, and the maximum stability of the tracked robot is 0.9156 when the robot crosses uneven terrain using optimal path 2. [ABSTRACT FROM AUTHOR]

Published
2023
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33. Exploring unique optical properties of upconversion nanocrystals towards a new library of molecular probes

Author

Zhao, Jiangbo

Subjects
Other education not elsewhere classified
Abstract

This thesis explore the next-generation inorganic luminescent nanomaterial - upconversion nanocrystals, for advanced cell imaging and molecular sensing. Unlike traditional fluorochromes, e.g. fluorescent proteins and organic dyes, lanthanide-doped upconversion nanocrystals are able to efficiently convert the near-infrared excitation light to shorter wavelength emissions, e.g., the visible light. Upconversion nanocrystals are non-blinking, non-bleaching and immune to the autofluorescence interference, ideal for long-term background-free detecting trace amounts of target biomolecules or rareevent cells. The investigation of this thesis falls into two categories to advance upconversion nanocrystals to address needs of frontiers of bioimaging, biosensing, and biomedical diagnostics. The first part presents the explorartion towards lifetime-encoded multuplexed upconversion nanocrystals. We studied the impact of different nanocrystal sizes on optical properties of NaYF4:Er/Yb nanocrystals in both the spectral and temporal domains. We discovered the upconversion lifetime can be precisely tuned by controlling sizes of nanocrystals since the effect of surface quenching becomes increasingly dominating as the nanocrystals size shrinks. Combining with the fact that the lifetime can be engineered through varying dopants concentrations and tuning the fluorescence resonance energy transfer efficiency, respectively, we have established three independent mechanisms to produce non-crosstalking lifetimes and succeeded in demonstrating the lifetime multiplexing concept in the upconversion luminescence. In the second part, for the first time we discovered that the brightness of highly doped upconversion nanocrystals can be leveraged by a large dynamic range of excitation irradiance. We found that under the intense irradiance (unexplored regime previously), the concentration of Tm³⁺ emitters could be significantly increased from 0.5 mol% to 8 mol% in NaYF₄ nanocrystals without quenching the upconversion luminescence. This finding realized the remote tracking a single nanocrystal within the microstructured fibre dip sensor, which represents three orders of magnitude improvement than that of quantum dots. We also described that a combination of low-/high-Tm³⁺ doped upconversion nanocrystals holds the promise of being desirable luminescent nanomaterials for sensing, imaging, and security printing applications.

Published
2022
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