wu Qiuxuan

• Doctor of Philosophy
• Research Associate at Hangzhou Dianzi University

Unsupervised domain adaptation (UDA) is a technique for learning from a label-rich source domain and transferring the learned knowledge to an unlabeled target domain. Current researches on feature-based UDA methods usually utilize the pseudo labels to find new feature representations that can minimize the distribution difference between the two dom...

Given the growing complexity of underwater operation tasks, particularly in confined spaces, turbulent environments, and dynamic object manipulation, the limitations of traditional rigid robotic arms are becoming ever more evident. To tackle these challenges, this paper proposes the development of a soft robotic arm modeled after octopus tentacles,...

The optimization of numerical functions with multiple independent variables was a significant challenge with numerous practical applications in process control systems, data fitting, and engineering designs. Although RNA genetic algorithms offer clear benefits in function optimization, including rapid convergence, they have low accuracy and can eas...

Soft robotics is closely related to embodied intelligence in the joint exploration of the means to achieve more natural and effective robotic behaviors via physical forms and intelligent interactions. Embodied intelligence emphasizes that intelligence is affected by the synergy of the brain, body, and environment, focusing on the interaction betwee...

In developing and exploring extreme and harsh underwater environments, underwater robots can effectively replace humans to complete tasks. To meet the requirements of underwater flexible motion and comprehensive subsea operation, a novel octopus-inspired robot with eight soft limbs was designed and developed. This robot possesses the capabilities o...

Biped wheel-legged robot is an important configuration of ground mobile robot. In the existing research, in order to deploy the model on an embedded system with limited computing power, the balance control of the robot is usually decoupled from the body posture and steering, which reduces the control coordination of the robot. In order to solve the...

The field of mobile robotics has seen significant growth regarding the use of indoor laser mapping technology, but most two-dimensional Light Detection and Ranging (2D LiDAR) can only scan a plane of fixed height, and it is difficult to obtain the information of objects below the fixed height, so inaccurate environmental mapping and navigation mis-...

Simultaneous localization and mapping (SLAM) is one of the core technologies of substation inspection robot, and the alignment of point clouds is very important. This paper describes an iterative closest point (ICP) variant named NIMLS-ICP that uses the Implicit Moving Least Squares (IMLS) combined with extra normal constrains to recursively align...

The decrease in CSM matching accuracy is caused by the sparse data of single-line laser point clouds in laser SLAM. This paper proposes an algorithm to construct a rasterized lookup table by fusing multi-frame historical point cloud information and an improved CSM algorithm that integrates grid multi-resolution and angle multi-resolution. Simulatio...

Repeatability is an important attribute of motor unit number index (MUNIX) technology. This paper proposes an optimal contraction force combination for MUNIX calculation in an effort to improve the repeatability of this technology. In this study, the surface electromyography (EMG) signals of the biceps brachii muscle of eight healthy subjects were...

In this paper, a gait classification method based on the deep belief network (DBN) optimized by the sparrow search algorithm (SSA) is proposed. The multiple features obtained based on surface electromyography (sEMG) are fused. These functions are used to train the model. First, the sample features, such as the time domain and frequency domain featu...

Due to the unknown motion model and the complexity of the environment, the problem of target tracking for autonomous underwater vehicles (AUVs) became one of the major difficulties in model-based controllers. Therefore, the target tracking task of AUV is modeled as a Markov decision process (MDP) with unknown state transition probabilities. Based o...

To improve the motion distortion caused by LiDAR data at low and medium frame rates when moving, this paper proposes an improved algorithm for scanning matching of estimated velocity that combines an IMU and odometer. First, the information of the IMU and the odometer is fused, and the pose of the LiDAR is obtained using the linear interpolation me...

The emergence of photovoltaic/thermal (PV/T) technology has effectively solved the problem of high temperature and low electrical efficiency of photovoltaic cells, and significantly improved the utilization rate of solar energy. At present, improving the thermoelectric performance of PV/T systems is a research hotspot. The effects of operating para...

Self-organizing neural network has been widely used to extract the topological structure of image shape because it features topological preservation, dynamic adaptation, clustering and dimensionality reduction. However, it is difficult to automatically extract the topology structure with an appropriate number of neurons from the complex and diverse...

The soft organisms in nature have always been a source of inspiration for the design of soft arms and this paper draws inspiration from the octopus’s tentacle, aiming at a soft robot for moving flexibly in three-dimensional space. In the paper, combined with the characteristics of an octopus’s tentacle, a cable-driven soft arm is designed and fabri...

Simultaneous Localization and Mapping (SLAM) is the core technology of intelligent substation inspection robot. Because of lightweight computation, Rao-Blackwellized Particle Filter (RBPF) is widely used in two-dimensional SLAM. However, it suffers from poor positioning accuracy, low robustness and rapid cumulative errors despite recent improvement...

In order to increase the compatibility between underwater robots and the underwater environment and inspired by the coconut octopus’s underwater bipedal walking, a method was proposed for bipedal walking for an underwater soft robot based on a spring-loaded inverted pendulum (SLIP) model. Using the characteristics of octopus tentacles rolling on th...

Compressed air energy storage (CAES) can balance the fluctuation of renewable generation. In this study, the CAES is used as an energy storage system in the distribution network with wind power generation (WPG). Considering the forecasting error of WPG and load, a robust day‐ahead optimal dispatch scheme for the CAES is developed in this study. The...

In this paper, cable-driven method is used as the working principle of the bionic octopus flexible arm, and the piecewise constant curvature method is used to model the kinematics of the flexible arm. Because the geometric method does not consider the deformation and internal force of the elastic material when modeling the flexible arm, the charact...

The cable-driven soft arm is mostly made of soft material; it is difficult to control because of the material characteristics, so the traditional robot arm modeling and control methods cannot be directly applied to the soft robot arm. In this paper, we combine the data-driven modeling method with the reinforcement learning control method to realize...

Haze has a significant impact on photovoltaic (PV) power generation. When the fine particulate matter reaches a certain concentration, it becomes the main factor affecting solar irradiance and seriously reduces PV power generation, but few quantitative studies on the effect caused by haze to PV power generation. This study proposes the use of the i...

A regionalized environmental knowledge model (REKModel) is presented to describe the environment in the paper. The REKModel is a hierarchical structure in which small regions are grouped together to form superordinate regions. The REKModel is intrinsically hierarchical iterative and nested. Thus an extended nested-graph(ENG) is proposed to construc...

In this paper, we design an event-triggered distributed continuous-time optimization approach. The proposed approach can be implemented independently by each robot and has two main characteristics. One is that each robot can deal with its local cost function such that the minimum of the sum of all the local cost functions can be found. The other is...

The shape changes of soft organisms demonstrate the survival rules in the evolution of self life. It is important for the transform control of soft robots about how to envolve suitable for the shape demands. In this paper, the compositional pattern producing networks (CPPN) algorithm was used to evolve soft robot. By taking simple random functions...

This paper deals with delayed sliding mode H∞ control for an offshore steel jacket platform subject to nonlinear self-excited wave force and external disturbance. By using both current and delayed states, a delayed sliding mode H∞ controller is designed to attenuate vibration of the offshore platform. It is observed through simulation results that...

Human walking is the composite movement of the musculoskeletal system in lower limbs. The interaction mechanism of the different muscle groups in a combination action is of great importance. To this end, under the stand-squat and squat-stand tasks, the problems of the motion model decomposition and the muscle synergy were studied in this paper. Fir...

Motivated by achieving precise positioning of the throttle plate, an extended state observer–based intelligent double integral sliding mode control strategy is proposed for the electronic throttle control system. Specifically, an extended state observer is first designed to observe the opening angle change of the electronic throttle and compensate...

To support doubly fed wind turbine (DFWT) groups in offshore wind farms, this paper proposes a distributed coordinated control based on the Hamiltonian energy theory. This strategy provides global stability to closed-loop systems and facilitates output synchronization. First, a model of a DFWT is realized as a port-controlled Hamiltonian system wit...

The consensus problem of discrete time multi-agent systems with linear dynamic models is investigated. To reduce the controller update times and communication among agents, an event-based dynamic feedback scheme is proposed. For each agent, the controller update instants are determined by a state-dependent threshold. It is shown that the controller...

During the operation of the satellite, the rapid adjustment of the satellite attitude is needed to monitor the hot spots. The rapid adjustment of the satellite attitude requires the rapid change of the speed of the flywheel, which demands a large instantaneous power from satellite power system. The traditional satellite power supply system is unabl...

Inspired by the ‘fine-to-coarse’ way-finding strategy that human utilized in the process of navigation, the paper proposed a fast on-line global path planning algorithm based on regionalized roadmap. First, a regionalized roadmap(RRM) that has a multi-layered structure is proposed for representing environments. Then, the RRM based FTC-A* algorithm...

The working power of smart PV combined box need low voltage DC power. Taking power directly from photovoltaic modules, it can reduce costs and shorten the distance. But the high voltage of the PV module string converting to the low voltage of the smart PV combined box has many contradictions between the efficiency and the cost [1]. Therefore, a top...

A wheel-track hybrid mobile robot with multimotion modes is designed. It is composed of a robot central body, four driving mechanisms, four independent track arms, two differential wheels, two guide wheels and so on. According to different environments, it can switch between the pure wheel mode and the pure track mode. A stability pyramid is define...

In this article, a novel spatially constrained clustering approach is proposed for ensemble image registration. We use a spatially constrained Gaussian mixture model, which is based on a joint Gaussian mixture model and Markov random field, to model the joint intensity scatter plot of the unregistered images. The spatially constrained Gaussian mixt...

In this article, a constraint factor is introduced into the hysteretic operator so that the hysteretic operator can pass through the origin in every minor coordinate system. Based on the hysteretic operator, an expanded input space is constructed. And then, it is proved that themapping between the expanded input space and the output space contains...

In order to configure accurately the Optimal allocation of island micro-grid distributed generation system in a Hangzhou university, a method of distributed generation unit capacity optimization with the net present value of life-cycle costing NPC, Unit power costs. Utilization of renewable energy as the objective function which aim at the system w...

For the problem of communication in consensus algorithm based on secondorder neighbors' information, a consensus algorithm using the nearest second-order neighbors' information, in which only partial second-order neighbors' information is used, is proposed and applied to continuous multiple motion bodies with double-integrator kinematics. We conduc...

Comparative studies on several direct torque control (DTC) strategies of interior permanent magnet synchronous motor (IPMSM) for electric vehicles (EVs) are discussed in details, namely basic DTC, DTC combined with space vector modulation (DTC-SVM), and deadbeat DTC (DB-DTC). These DTC strategies are reviewed, meanwhile dynamics and steady-state pe...

This paper briefly introduces the advantages and principle of PVT system. Then PVT collector systems and water heaters, PV photovoltaic panels working under the same environmental conditions, experimental were taken. The results have been showed: the overall efficiency of PVT collector system are 7.5% and 459% high than water heaters and PV photovo...

A mathematical modeling about tendon-driven soft manipulator inspired by the octopus arm has been built, which based on the theory of cosserat beam. Then the angle control of bent arm was obtained by Matlab. On the basis of three-dimensional steady-state octopus manipulator, the deformation was described through differential equations. This model i...

With the application and development of microgrids, taking discrete discontinous generation and load shedding measures to achieve the stability control of the system has become popular. In order to better to provide the basis for the formulation and implementation of control programs, we should study the process of generation and load shedding. In...

Stability of the frequency in the micro-grid system is an important factor to measure the quality of electric energy. For further research of the effects of the frequency and work principle of adjusting process and system, in this paper, based on 10KW wind solar diesel storage microgrid system, off-grid operation were studied by modeling, system si...

In this paper, the dynamic model of self-reconfigurable robots based on cellular automata model is given to describe the self-reconfiguration progress of robots. The control state equation under the action of external stimulus is also included. On the basis of group theory and the environment-based modeling of group robots, the kinetic equation of...

A Sliding Mode Controller of Permanent Magnet Synchronous Motor (PMSM) is analyzed and designed in this paper. Because of non-linearity, strong couple and disturb sensitivity of PMSM, it is difficult for linear control technology to get perfect control performance of PMSM. Sliding Mode Control (SMC) is an efficient robust control method, which can...

This paper introduces the control theory of the permanent magnet synchronous motor (PMSM) and it s mathematic model. Based on this, we design a kind of digital servo system of the permanent magnet synchronous motor based on TMS320F2812.We presented an adaptive fuzzy sliding mode controller of nonlinearity and uncertainty for permanent magnet synchr...

Load balancing technology and Web cache technology have high priory to solve the problem of network congestion and server overload and to ensure the supply of uninterrupted, high quality services. As a rising star of server software, Nginx is famous for its high concurrent processing capability, while its performance and scalability are excellent....

Field-oriented control of permanent magnet synchronous motor fed by matrix converter is designed. By introducing space vector modulation for inverter, AC-AC matrix converter is equivalent to AC-DC-AC substitution. Then, perfect PWM technology is adopted for virtual rectifier and virtual inverter of substitution whose modulating schedule and model a...

In the process of self-Reconfig urable for modular robot, the module's assembly, connection, transmission, cantilever deformation and joint flexibility would affect the pose error of the execution module in the end, which would cause the adjacent module not to be properly connected, so the position and orientation of the end module must be calibrat...

Vector control of permanent magnet synchronous motor (PMSM) using modified current hysteresis control based on matrix converter (MC) is discussed. In order to improve utilization of input voltage resources, input voltages are divided into 12 sections within one periond. A modified current controller composed of two nested current hysteresis control...

A matrix converter (MC) based vector control of permanent magnet synchronous motor (PMSM) with current hysteresis control is designed. Signals of current hysteresis controller and selection of input voltages are analyzed in detail. How to decide on or off of power switch of matrix converter under current hysteresis control is also deduced in this p...

The modular Self-Reconfigurable Robots were constructed by many each other dependently intelligence entity called "cell" , the tasks have been finished through connection and separation between the cells to form different movement and the shape . The cellular automaton extremely suits to the imitate nature biology evolution process, this paper usin...

A kind of matrix converter based direct torque control of permanent magnet synchronous motor is proposed. Firstly, output phase voltage and input line current space vectors of matrix converter are analyzed in details, which determines 21 switch states of matrix converter practicable for direct torque control. Secondly, theory of direct torque contr...

This paper concerns with the problem of determining stability domain of time-delay T-S fuzzy systems with input saturation. The stability domain may be enlarged by applying a fuzzy anti-windup compensator to the considered system. For T-S fuzzy systems with delayed state and saturating input, delay-independent and delay-dependent, stability conditi...

Air conditionings take major energy consumption in intelligent buildings. And now, with deep research and widely application of building automation technology and air conditioning control technology, indoor air conditioning is going from a single refrigeration system to a multifunctional system such as changes in temperature, low noise, energy savi...

Automatic meter reading system (AMRS) based on power line communication (PLC) of LonWorks is built up. The power line carrier collector receives pulses from measuring meters, and gets the real quantities which are then transmitted to power line router through power line. The power line router connects to LonWorks bus. iLON600 is a gateway between I...

Self-reconfigurable M-Cubes was analyzed from the sides of module and configuration of system. Exterior states of module were described by eigenvector. Meta-module was utilized to relax the constraint of motion and enhanced the ability of motion for unit module; the states of meta-module were described by eigenvector too. Communication network, ene...

Aimed at the mobile manipulator of which with a 6-DOFs manipulator mounted on the platform, the self-restriction as well as the redundant problem of the whole system are analyzed systematically,, and the standard D-H method is used to establish the forward kinematics model of the manipulator. Doing by certain kind of targets, the self-restriction o...

Self-reconflgurable and self-repair robot (SRSR) is a novel multi-functional robot which has widely application market. Based the characteristic of SRSR robot, a novel homogeneous and lattice SRSR robot, M-Cubes was designed. The robot has 12 freedoms and composed of six rotation joints and a cubic link. Mechanism of attach and detach have been des...

Under the characteristics of MSR(modular self-reconfigurable) robots, a novel homogeneous and lattice MSR robot called M-Cubes was designed. Based on distributed control structure of multi-agent, experimental platform of multi-agent MSR robot was constructed and the design strategy of the platform was given including structural design of single age...

Based on the character of the modular self-reconfigurable (MSR) robot, a novel homogeneous and lattice MSR robot, M-Cubes, was designed. Each module unit of the robot has 12 freedoms and is composed of six rotary joints and one cubic link. An attached/detached mechanism was designed on the rotary joints. A novel space transmitting system was placed...

An experimental platform based on multi-agent for modular self-reconfigurable (MSR) robots was structured. On the basis of analyzing the main characteristics of MSR robots, a novel homogeneous and lattice MSR robot called M-Cubes was designed. The control structure of the distributed multi-agent was elaborated and the design strategies of the exper...