Sheng Xu

Sheng Xu
Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences · Center for Intelligent and Biomimetic Systems

PhD

About

39
Publications
4,462
Reads
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527
Citations
Citations since 2017
29 Research Items
485 Citations
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2017201820192020202120222023050100150
2017201820192020202120222023050100150
2017201820192020202120222023050100150
Education
February 2014 - August 2017
University of South Australia
Field of study
  • Signal Processing; Target Tracking
September 2011 - January 2014
Beihang University (BUAA)
Field of study
  • Automatic Control
September 2007 - June 2011
Shandong University
Field of study
  • Automatic control

Publications

Publications (39)
Chapter
Large wingspan birds inspire the studies about the bionic fold-able flapping-wing robot. To explore the influencing factors of the bionic ornithopter’s aerodynamic characteristics, two bionic fold-able flapping-wing flapping mechanisms were established to simulate the flight motion of birds. We present two fold-able flapping-wing structural design...
Article
Full-text available
Population growth, climate change, and the worldwide COVID-19 pandemic are imposing increasing pressure on global agricultural production. The challenge of increasing crop yield while ensuring sustainable development of environmentally friendly agriculture is a common issue throughout the world. Autonomous systems, sensing technologies, and artific...
Article
Full-text available
With the development of precision agriculture (PA), low-altitude and low-volume spraying based on unmanned aerial vehicles (UAVs) is playing an increasingly important role in the control of crop diseases, pests, and weeds. However, the aerial spraying quality and droplet drift are affected by many factors, some of which are controllable (e.g., flig...
Article
Full-text available
In this article, we address the trajectory tracking problem using the learning from demonstration (LFD) method. By using the LFD method, the parameter adjusting problem in the tracking controller is avoided. Consequently, a strategy can be provided to users with limited parameter adjusting experience. The kinematic tracking problem is formulated as...
Article
This paper focuses on optimal time-of-arrival (TOA) sensor placement for multiple target localization simultaneously. In previous work, different solutions only using non-shared sensors to localize multiple targets have been developed. Those methods localize different targets one-by-one or use a large number of mobile sensors with many limitations,...
Article
This paper considers angle-of-arrival (AOA) target tracking in the two-dimensional plane with non-Gaussian noise. Practical situations arise where sensor measurement noise is non-Gaussian and the standard extended Kalman filter (EKF) based tracker may not be robust, resulting in large tracking error or even lack of convergence. This motivated devel...
Article
This paper focuses on addressing the visual tracking problem using learning-based methods for object tracking tasks. This problem contains a major difficulty, i.e., how to acquire a satisfactory generalization ability of the developed system? In this paper, firstly, the object state tracking system, including a camera-in-hand, a 3D camera and a Ret...
Article
As the controller parameter adjustment process is simplified significantly by using learning algorithms, the studies about learning-based control attract a lot of interest in recent years. This article focuses on the intelligent servo control problem using learning from desired demonstrations. Compared with the previous studies about the learning-b...
Article
Full-text available
This letter analyses the optimal placement of sensors for the simultaneous localization of two targets on the 2-dimensional (2-D) plane. Multiple sensors measure circular time-of-arrival (TOA) signals with a high signal to noise ratio (SNR). The case considered is where there are $n$ shared sensors measuring both targets and $m$ sensors for eac...
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Full-text available
This letter investigates the optimal sensor placement strategy for single static target localization using the hybrid received-signal-strength (RSS), angle-of-arrival (AOA) and time-of-arrival (TOA) measurements on the 2-dimensional (2D) plane. Firstly, the problem formulation is introduced. Secondly, the theoretical smallest trace of the Cram´er-R...
Article
This paper focuses on finding the optimal sensor placement strategies for circular time-of-arrival (TOA) localization in the three-dimensional (3D) space. The A-optimality criterion, minimizing the trace of the inverse Fisher information matrix (FIM), is applied to determine optimal sensor placements under the Gaussian measurement noise. A comprehe...
Article
Robotic compliant manipulation not only contains robot motion but also embodies interaction with the environment. Frequently endowing the compliant manipulation skills to the robot by manual programming or off-line training is complicated and time-consuming. In this paper, we propose a sequential learning framework to take both kinematic profile an...
Article
This letter investigates how to place the received-signal-strength (RSS) sensors to improve the static target localization accuracy in the 3-dimensional (3D) space. By using the A-optimality criterion, i.e. minimizing the trace of the inverse Fisher information matrix (FIM), a new optimal RSS sensor placement strategy is developed when sensors can...
Article
This paper addresses robot trajectory tracking problem by using the learning from demonstration (LFD) method. Firstly, the trajectory tracking problem is formulated and the related previous works are introduced. Secondly, a trajectory tracking control policy using a three-layer neural network method, i.e., extreme learning machines (ELM), is propos...
Conference Paper
Full-text available
Robots work around human beings not only on manufacturing production lines, but also in work scenes such as kitchen, operating table and other unstructured environments. Preprogramming stiff position control is not enough. To exploit how to perform compliant manipulations around human beings without having to preprogram them is meaningful. In this...
Article
This paper investigates the problem of angle-of-arrival (AOA) target tracking in the three-dimensional (3D) space using multiple distributed sensors. Some sensors cannot share information directly because of the communication distance constraint arising from the broadcast power limitation of communication equipment. This can lead to reduced estimat...
Article
We address the problem of angle-of-arrival (AOA) target tracking using multiple unmanned aerial vehicles (UAVs) in three-dimensional (3D) space. A distributed 3D AOA target tracking method is proposed consisting of a distributed estimator and path optimization algorithm for multiple UAVs. First a novel 3D distributed pseudolinear Kalman filter (DPL...
Conference Paper
Full-text available
This paper investigates the problem of distributed angle-of-arrival (AOA) target tracking in 3D space using unmanned aerial vehicles (UAVs). Because of communication constraints arising from distance and bandwidth constraints in a distributed UAV system, some UAVs may not be able to share their information with all other UAVs. This will lead to red...
Article
Full-text available
A robust controller for the magnetic bearing system of magnetically suspended control moment gyroscope (MSCMG) is presented in this paper. The controller mainly deals with the problems such as the strong nonlinearity, parameter perturbation and modeling uncertainties in MSCMG. The axial dynamics as well as the linearized electromagnetic-force model...
Article
Full-text available
To achieve the high-precision control for the hybrid magnetic bearing system in the magnetically suspended control moment gyro under voltage-controlled mode, this paper proposes a composite control approach combining robust control and a state-space disturbance observer. To handle the multiple disturbances, the hierarchical idea is used. The extern...
Article
In this paper, the design and development of a novel magnetic bearing (MB) system which consists of a passive magnetic bearing (PMB) with two pairs of passive permanent magnet rings and hybrid magnetic radial bearing (HMRB) used in magnetic bearing flywheel (MBFW) of control moment gyroscope (CMG) for agile satellite application are presented. The...
Conference Paper
Full-text available
Since magnetically suspended control moment gyroscope (MSCMG) is an important actuator for attitude positioning of the spacecraft control, the precise control for the MSCMG with the high stability is crucial. Aiming at the non-linearity and parameter perturbation in the MSCMG axial active magnetic bearings (AMB) system under multiple disturbances,...
Conference Paper
In order to achieve the rapid mobility and accurate attitude positioning of the spacecraft, the precise control of the double gimbal magnetically suspended control moment gyroscope (DGMSCMG) with good robust performance is of the great necessity. Meanwhile, DGMSCMG is a multivariable and strongly nonlinear dynamic system, which presents the challen...

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Projects

Projects (3)
Project
To develop optimal sensor placement strategies for 3D static target localization.
Project
Research about home robot applications