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| 1 | Control techniques of tilt rotor unmanned aerial vehicle systems: A review显示文摘The tilt rotor unmanned aerial vehicle(TRUAV) exhibits special application value due to its unique rotor structure. However, varying dynamics and aerodynamic interference caused by tiltable rotors are great technical challenges and key issues for TRUAV's high-powered flight controls, which have attracted the attention of many researchers. This paper outlines the concept of TRUAV and some typical TRUAV platforms while focusing on control techniques. TRUAV structural features, dynamics modeling, and flight control methods are discussed, and major challenges and corresponding developmental tendencies associated with TRUAV flight control are summarized. | Liu Zhong He Yuqing Yang Liying Han Jianda | 2017 | Chinese Journal of Aeronautics2017，30，1： | 17 |
| 2 | STUDY ON SENSOR-BASED CONTROL METHOD FOR HARMONIC DRIVE SYSTEM显示文摘A new type of robust traje ctory tracking control for harmonic using joint torque sensor and joint acceleration sensor information is concerned with.Joint torque sensor information is used to compensate the uncertainty of link and load parameters. Joint acceleration feedback control will enhace the robustness of the driving system, resist the dynamic uncertainties and disturbing torque acted on the joint axis within definite bandwidth, improve the joint tracking performance, and resist the vibration of the load side of the harmonic drive system. Experimental studies are carried out and comparison of several controllers , such as PD and sensor- based control, the experimental results clearly illustrate the effectiveness of the proposed methods. | Tan Dalong, Qiu Zhicheng, Han Jianda (Shenyang Institute of Automation, Chinese Academy of Sciences) | 2000 | Chinese Journal of Mechanical Engineering2000，13，3： | 12 |
| 3 | Simple PID Parameter Tuning Method Based on Outputs of the Closed Loop System显示文摘Most of the existing PID parameters tuning methods are only effective with pre-known accurate system models, which often require some strict identification experiments and thus infeasible for many complicated systems. Actually, in most practical engineering applications, it is desirable for the PID tuning scheme to be directly based on the input-output response of the closed-loop system. Thus, a new parameter tuning scheme for PID controllers without explicit mathematical model is developed in this paper. The paper begins with a new frequency domain properties analysis of the PID controller. After that, the definition of characteristic frequency for the PID controller is given in order to study the mathematical relationship between the PID parameters and the open-loop frequency properties of the controlled system. Then, the concepts of M-field and θ-field are introduced, which are then used to explain how the PID control parameters influence the closed-loop frequency-magnitude property and its time responses. Subsequently, the new PID parameter tuning scheme, i.e., a group of tuning rules, is proposed based on the preceding analysis. Finally, both simulations and experiments are conducted, and the results verify the feasibility and validity of the proposed methods. This research proposes a PID parameter tuning method based on outputs of the closed loop system. | HAN Jianda ZHU Zhiqiang JIANG Ziya HE Yuqing | 2016 | Chinese Journal of Mechanical Engineering2016，29，3： | 12 |
| 4 | NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP显示文摘以便完成追踪的车辆的精确、柔韧的自治指导和控制,一个运动学的模型与纵、侧面滑倒被建立。四个不同非线性的过滤器被用来估计两个联合说向量和创造模型的变化时间的参数向量。第一个过滤器是著名扩大 Kalman 过滤器。第二个过滤器是 Kalman 过滤器的一个 unscented 版本。第三个是用 unscentedKalman 过滤器的一个粒子过滤器产生重要性建议分发。最后一个是使用一个线性集合会员评估者的一个新奇、保证的过滤器并且能给真状态躺在的一个椭圆体集合。四条不同途径有被调查并且比较的不同复杂性,行为和优点。 | ZHOU Bo HAN Jianda | 2007 | Chinese Journal of Mechanical Engineering2007，20，4： | 8 |
| 5 | Backstepping Based Global Exponential Stabilization of a Tracked Mobile Robot with Slipping Perturbation显示文摘 | Bo Zhou Jianda Han Xianzhong Dai | 2011 | Journal of Bionic Engineering2011，8，1： | 4 |
| 6 | ONLINE MODEL AND ACTUATOR FAULT TOLERANT CONTROL FOR AUTONOMOUS MOBILE ROBOT显示文摘A novel fault-tolerant adaptive control methodology against the actuator faults is proposed. The actuator effectiveness factors (AEFs) are introduced to denote the healthy of actuator, and the unscented Kalman filter (UKF) is employed for online estimation of both the motion states and the AEFs of mobile robot. A square root version of the UKF is introduced to improve efficiency and numerical stability. Using the information from the UKF, the reconfigurable controller is designed automatically based on an enhancement inverse dynamic control (IDC) methodology. The experiment on a 3-DOF omni-directional mobile robot is performed, and the effectiveness of the proposed method is demonstrated. | SONG Qi JIANG Zhe HAN Jianda | 2007 | Chinese Journal of Mechanical Engineering2007，20，3： | 4 |
| 7 | Detection of collapsed buildings with the aerial images captured from UAV显示文摘In this paper, we present a method of detecting the collapsed buildings with the aerial images which are captured by an unmanned aerial vehicle(UAV) for the postseismic evaluation. Different from the conventional methods that apply the satellite images or the high-altitude UAV for the coarse disaster evaluation over large area, the purpose of this work is to achieve the accurate detection of collapsed buildings in small area from low altitude. By combining the motion and appearance features of collapsed buildings extracted from successive aerial images, each pixel in the input image will be measured by a statistical method where the background pixels will be penalized and the ones of collapsed buildings will be assigned with high value.The candidates of collapsed buildings will be established by integrating the extracted feature points into local groups with the online clustering algorithm. To reduce the false alarm caused by the complex background noise,each predicted candidate will be further verified by the temporal tracking framework where both the trajectory and the appearance of a candidate will be measured. The candidate of collapsed buildings that can survive through long time will be considered as true positive, otherwise rejected as a false alarm. Through extensive experiments, the efficiency and the effectiveness of proposed algorithm have been proved. | Chunsheng HUA Juntong QI Hong SHANG Weijian HU Jianda HAN | 2016 | Science China(Information Sciences)2016，59，3： | 3 |
| 8 | sEMG based quantitative assessment of acupuncture on Bell's palsy:an experimental study显示文摘Acupuncture is a traditional Chinese therapeutic method, recognized by western medicine as an important complementary therapy. However, the efficacy assessment of this traditional intervention has been mainly empirical rather than scientific. In this paper, we propose a surface electromyography(s EMG) based approach for quantitative assessment of acupuncture on Bell's palsy. The assessment is made by comparing the muscle activities of healthy with diseased ones. A feature-vector of four individual s EMG features is introduced for more comprehensive representation of muscle activity. A clustering technique is then proposed to calculate quantitative differences between the muscle activities of the healthy and diseased sides. A regressive model is also proposed to predict the recovery trend of a patient based on the quantitative assessments during his/her clinical acupuncture history. As reported in the paper, a total of 20 selected Bell's palsy patients have participated in the extensive experiments that were conducted to verify the performance of the proposed method. | HAN JianDa XIONG AnBin ZHAO XinGang DING QiChuan CHEN YiGuo LIU GuangJun | 2015 | Science China(Information Sciences)2015，58，8： | 3 |
| 9 | A new modeling scheme for powered parafoil unmanned aerial vehicle platforms: Theory and experiments显示文摘A novel framework is established for accurate modeling of Powered Parafoil Unmanned Aerial Vehicle(PPUAV). The model is developed in the following three steps: obtaining a linear dynamic model, simplifying the model structure, and estimating the model mismatch due to model variance and external disturbance factors. First, a six degree-of-freedom linear model, or the structured model, is obtained through dynamic establishment and linearization. Second, the data correlation analysis is adopted to determine the criterion for proper model complexity and to simplify the structured model. Next, an active model is established, combining the simplified model with the model mismatch estimator. An adapted Kalman filter is utilized for the real-time estimation of states and model mismatch. We finally derive a linear system model while taking into account of model variance and external disturbance. Actual flight tests verify the effectiveness of our active model in different flight scenarios. | Bingbing LI Yuqing HE Jianda HAN Jizhong XIAO | 2019 | Chinese Journal of Aeronautics2019，32，11： | 2 |
| 10 | A new real-time algorithm for off-road terrain estimation using laser data显示文摘Gaussian mixture algorithm(GMA) is an effective approach for off-road terrain estimation,but still suffers from some difficulties in practical applications,such as complex calculation and object abstraction. In this paper,GMA is modified to improve its real-time performance and to provide it with a potential ability of obstacle detection. First,a selection window is designed based on the dominant-ellipse-principle to limit the probability distribution area of each measurement point,therefore avoiding the calculation on the cells outside the dominant ellipse. Second,a clustering approach is proposed in order to distinguish objects efficiently and decrease the operation area of one laser scan. Third,a virtual point vector is introduced to further reduce the computational load of the mean square error matrix. The modified GMA is experimented on a tracked mobile robot,and its improved performance is shown in comparison to the original GMA. | QIU Quan YANG TangWen HAN JianDa | 2009 | Science in China(Series F)2009，52，9： | 2 |
| 11 | Identification of tissue types and boundaries with a fiber optic force sensor显示文摘The absence of tactile force information at the tip of a medical instrument makes precise minimally invasive surgery difficult and is prone to resulting in serious outcomes.In this paper,a fiber optic force sensor is fabricated based on Fabry-P′erot interferometry and integrated with a puncture needle.The force sensor is attached to the needle tip,where interactive force arises as it inserts into soft tissue.Needle insertion experiments have been conducted on ex vivo swine liver and belly with the calibrated force sensor.Using wavelet transform method,the acquired force data are analyzed and used to identify layered tissue types and boundaries.We found that the force amplitudes are not always identical,but the patterns of forces are almost the same,which enables us to identify layered tissues and to realize a safe needle insertion procedure under robot control. | YANG TangWen ZHU HaiFeng HAN JianDa ZHAO XinGang XU WeiLiang | 2014 | Science China(Information Sciences)2014，57，12： | 1 |
| 12 | Quantified assessment of deep brain stimulation on Parkinson’s patients with task fNIRS measurements and functional connectivity analysis:a pilot study显示文摘Background:Deep brain stimulation(DBS)has proved effective for Parkinson’s disease(PD),but the identification of stimulation parameters relies on doctors’subjective judgment on patient behavior.Methods:Five PD patients performed 10-meter walking tasks under different brain stimulation frequencies.During walking tests,a wearable functional near-infrared spectroscopy(fNIRS)system was used to measure the concentration change of oxygenated hemoglobin(ΔHbO_(2))in prefrontal cortex,parietal lobe and occipital lobe.Brain functional connectivity and global efficiency were calculated to quantify the brain activities.Results:We discovered that both the global and regional brain efficiency of all patients varied with stimulation parameters,and the DBS pattern enabling the highest brain efficiency was optimal for each patient,in accordance with the clinical assessments and DBS treatment decision made by the doctors.Conclusions:Task fNIRS assessments and brain functional connectivity analysis promise a quantified and objective solution for patient-specific optimization of DBS treatment.Trial registration:Name:Accurate treatment under the multidisciplinary cooperative diagnosis and treatment model of Parkinson’s disease.Registration number is ChiCTR1900022715.Date of registration is April 23,2019. | Ningbo Yu Siquan Liang Jiewei Lu Zhilin Shu Haitao Li Yang Yu Jialing Wu Jianda Han | 2021 | Chinese Neurosurgical Journal2021，7，3： | 1 |
| 13 | 2.5-dimensional angle potential field algorithm for the real-time autonomous navigation of outdoor mobile robots显示文摘A new real-time algorithm for the autonomous navigation of mobile robots equipped with laser scanners is proposed in this paper.Different from the existing algorithms designed for 2-dimensional navigation problems,the new algorithm introduces the height information of the obstacles into the guidance process and behaves as a 2.5-dimensional angle potential field algorithm (2.5D-APF) to fulfill the navigation requirements under complex outdoor terrain conditions.First,one laser scan is partitioned into two kinds of function sectors: guidance sector and inspecting sector.Then,the guidance sector and the inspecting sectors are reconstructed to form a virtual guidance scan,where the 2.5D information is taken into account.Finally,the conventional APF is improved to analyze the virtual guidance scan and generate the navigation orders.The new algorithm is tested on a tracked mobile robot,and the experimental results validate the proposed algorithm. | QIU Quan 1,3 & HAN JianDa 2 1 Beijing Research Center of Intelligent Equipment for Agriculture,Beijing 100097,China 2 State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China 3 National Research Center for Intelligent Agricultural Equipment,Beijing 100097,China | 2011 | Science China(Information Sciences)2011，54，10： | 1 |
| 14 | Active vibration control of a flexible beam using a non-collocated acceleration sensor and piezoelectric patch actuator 显示文摘 | Qiu Zhicheng Han Jianda Zhang Xianmin | 2009 | Journal of Sound and Vibration2009，326，345： | 1 |
| 15 | Active model-based nonlinear system identification of quad tilt-rotor UAV with flight experiments显示文摘To propose an accurate and less complex model of a special unmanned aerial vehicle(UAV),namely tilt-rotor UAV(TRUAV), this study identifies the active model-based nonlinear system of a quadTRUAV. First, a nominal nonlinear model of the vehicle is formulated. Some unstructured nonlinearities are ignored to reduce the complexity of the model. Then, due to the unstable dynamics of the open-loop system,the format of this nominal model is considered to design an innovative smooth-switch attitude control via interconnection and damping assignment passivity-based control(IDA-PBC). Active model-based nonlinear system identification is studied for the vehicle with the designed control method and flight experiments.The model error vector is defined and estimated by the unscented Kalman filter(UKF) to improve the accuracy of the model. The main contribution of this paper is to identify the nominal nonlinear model and to develop an active model method of the quad-TRUAV. The attitude control method with an innovative smooth-switch structure is another contribution to flight experiments. Numerical results are displayed to present the experimental results and effectiveness of the proposed nonlinear models. | Zhong LIU Didier THEILLIOL Yuqing HE Feng GU Liying YANG Jianda HAN | 2022 | Science China(Information Sciences)2022，65，8： | 1 |
| 16 | Ac-tive vibration control of a flexible beam using a non-collocated acceleration sensor and piezoelectric patchactuator显示文摘 | Qiu Zhicheng Han Jianda Zhang Xiamin | 2009 | Journal of Sound and Vibration2009，326，： | 1 |
| 17 | Ac- tive vibration control of a flexible beam using a non- collocated acceleration sensor and piezoelectric patch actuator显示文摘 | Qiu Zhicheng Han Jianda Zhang Xianmin | 2009 | Journal of Sound and Vibration2009，326，35： | 1 |
| 18 | Acceleration feedback enhancedrobust control for unmanned helicopter显示文摘 | HE Yuqing HAN Jianda | 2010 | AIAA Journalof Guidance Navigation and Control2010，33，4： | 1 |
| 19 | The New Evolution for SIA Rotorcraft UAV Project显示文摘 | Juntong Qi Dalei Song Lei Dai Jianda Han Yuechao Wang Zeng-Guang Hou | 2010 | Journal of Robotics2010，，： | 1 |
| 20 | All-and mixed-dielectric grating for Nd:glass-based high-energy pulse compression显示文摘Maximizing the energy-loading performance of gratings is a universal theme in high-energy pulse compression.However,sporadic grating designs strongly restrict the development of high-power laser engineering.This study proposes an all-and mixed-dielectric grating design paradigm for Nd:glass-based pulse compressors.The solution regions are classified according to the line density.High diffraction efficiency solutions are described in more detail based on the dispersion amount and incident angle.Moreover,an energy scaling factor of 7.09 times larger than that of the National Ignition Facility’s Advanced Radiographic Capability(NIF-ARC)is obtained by taking advantage of the low electric field intensity at transverse magnetic polarization and a small incident angle.These results make a pioneering contribution to facilitate future 20–50-petawatt-class ultrafast laser systems. | Yuxing Han Hongchao Cao Fanyu Kong Yunxia Jin Jianda Shao | 2023 | High Power Laser Science and Engineering2023，11，5： | 0 |
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