Ting Wang's research while affiliated with Nanjing Tech University and other places

Publications (26)

Article
The uncertainty of environmental parameters and time-varied characteristics usually generate contact force errors resulting the inaccuracy or even task failed in many tele-operation systems. In order to solve the problem, a novel composite bilateral tele-operation controller is proposed in this paper combining adaptive impedance control with nonlin...
Article
Aiming at achieving high flexibility and safety, telerehabilitation systems and telesurgery systems often use flexible manipulators in the telerehabilitation systems. However, due to the structure of the flexible manipulator, it has strong model uncertainties and nonlinearity in its dynamic model which causes the difficulty of the accurate control....
Article
Full-text available
This paper proposes an adaptive formation tracking control algorithm optimized by Q-learning scheme for multiple mobile robots. In order to handle the model uncertainties and external disturbances, a desired linear extended state observer is designed to develop an adaptive formation tracking control strategy. Then an adaptive method of sliding mode...
Article
Aging is a key problem in our daily life which demands more technology such as the terrain classification recognition for the detailed path planning. In this article, a six-axis accelerometer was placed on the base of a walking stick to capture walking gait vibration information. The signal features in the collected information were used to reflect...
Article
In the complex underwater environment, it is difficult to complete teleoperation tasks due to dynamic environments. Through cooperation among manipulators, a multilateral teleoperation system has the potential to achieve better performance than conventional bilateral teleoperation systems. In this paper, we propose a multilateral teleoperation cont...
Article
With the development of the Internet of Things (IoT) technology, intrusion detection has become a key technology that provides solid protection for IoT devices from network intrusion. At present, artificial intelligence technologies have been widely used in the intrusion detection task in previous methods. However, unknown attacks may also occur wi...
Article
For the purpose of avoiding injury and realizing precise operations, the multilateral teleoperation system is the most efficient way to transport trace toxic or radioactive substances, to perform minimally invasive surgery, etc. It is essential to enhance the transparency of a multilateral teleoperation system including multiple masters and the sin...
Article
In the security e-Health brain neurosurgery, one of the important process is to move the electrocoagulation to the appropriate position so as to excavate the diseased tissue. However, surgeons cannot freely operate the electrocoagulation since the work space is too much narrow in the brain. Due to the precision, the vulnerability and the important...
Article
Full-text available
The small (18S) and large (28S) nuclear ribosomal DNA (rDNA) introns have been researched and sequenced in a variety of ectomycorrhizal fungal taxa in this study, it is found that both 18S and 28S rDNA would contain introns and display some degree variation in size, nucleotide sequences and insertion positions within the same fungi species ( Melini...
Article
During the upper limb rehabilitation training exercise, the stroke patients always suffers from the myospasm. The myospasm may last from several seconds to tens of seconds, causing the vibration of the flexible rehabilitation manipulators as well as exerting a sudden force on the end of the rehabilitation manipulator. It is harmful to both of patie...
Article
Owing to characteristics of the flow and the variability, it is extremely difficult to achieve the stability and the transparency of the underwater tele-operation system. In practice, the accurate force may not easily be acquired due to model uncertainties, the time delay and external disturbances. In order to enhance the stability and the transpar...
Chapter
In this paper, a new RBPF-SLAM based on randomly weighted PSO (Particle Swarm Optimization) is proposed in order to solve some problems in the Rao-Blackwellised particle filter (RBPF), including the depletion of particles and loss of diversity in the process of resampling. PSO optimization strategy is introduced in the modified algorithm, inertia w...
Chapter
The paper studied the reaching movements of redundant human upper extremity muscles by a sliding mode control based on fuzzy adaptive scale adjustment. A two-link planar human musculoskeletal arm model is adopted on the basis of the Hill type with six redundant muscles. The study focused on the gravity compensation for the muscle input during the r...
Article
Stroke contributes to hemiplegia, which severely reduces people's ability to perform activities of daily living. Due to the insufficiency of medical resources, there is an urgent need for home-based rehabilitation robot. In this paper, we design a home-based upper limb rehabilitation robot, based on the principle that three axes intersect at one po...
Article
Pneumatic artificial muscle is widely used since it has the advantage including simple structure, lightweight, force controllable, compliance and so on. In this paper, a two-link anthropomorphic arm is constructed by pneumatic artificial muscles for the upper-limb rehabilitation training. In order to assist impaired upper-limb patients to achieve v...
Article
Traditional disturbance observer techniques have limitations for multi-input-multi-output coupled systems, time-varying systems with large parameters and complex systems which are difficult to obtain accurate model, such as the human musculoskeletal arm system. The neural network has advantages of generalized approximation ability, learning ability...
Article
In this paper, a new Rao-Blackwellised particle filter simultaneous localization and mapping method based on randomly weighted particle swarm optimization is proposed in order to solve some problems in the Rao-Blackwellised particle filter, including the depletion of particles and the loss of the diversity in the process of resampling. The particle...
Article
The paper proposes a novel adaptive control of the human musculoskeletal arm model in order to simulate reaching movements of the human upper extremity. The controller is based on a normalized radial basis function neural network, which takes the Actor-Critic structure. The normalized radial basis function neural network simultaneously approximates...
Chapter
An adaptive reinforcement learning method designed to facilitate the on-line lifting motion of the human forearm is here proposed. Its purpose is to use the control based on the proposed learning method to perform the lifting motion. The learning algorithm is an actor-critic learning based on the neural network that used the normalized radial basis...
Article
A great number of abandoned satellites and satellite constellations that cannot maintain their precise positions by orbital control are wandering in geostationary Earth orbits, and these represent significant collision risk with functioning satellites. Collision avoidance for a Coulomb satellite formation (CSF) is a major problem that remains to be...
Article
Full-text available
Network localization is a fundamental problem in wireless sensor networks, mainly in location dependent applications. A common family of solutions to this problem is the range-based network localization. The resulting localization algorithms are noise sensitive and thus lacking in terms of robustness. Our contribution provides an algorithm which is...
Article
Full-text available
This paper introduces a new control strategy for heterogeneous multi-robots systems dedicated to industrial logistic setups. This control strategy is based on both distributed intelligence and machine learning and involves three parts: the rigid formation controller, the perception system and the path planner. Our controller is event-based and thus...

Citations

... In [1], for a redundant manipulator, an adaptive PID fast terminal sliding mode was proposed. A sliding mode and a state observer-based controller were designed to make flexible robotic manipulators perform remote rehabilitation missions in [2]. ere are also some other approaches dealing with the robotic manipulators such as sliding mode control [1][2][3][4][5][6], robust control [3,7], adaptive fuzzy [8][9][10][11][12], PID controller [13][14][15]. ...
... In [15], a terminal sliding mode control law was proposed to deal with model uncertainties at the dynamic level and external disturbances. In [16], a Q-learning-based adaptive sliding mode controller was proposed for the formation control of multiple mobile robots. However, the chattering of the sliding mode control in [15][16][17] causes serious wear to the mobile robots. ...
... Robot modeling uncertainties are the main factor that affects impedance control stability and robustness. To improve control robustness, categories of impedance control strategies were proposed based on adaptive control [8][9][10][11], neural networks [12][13][14][15][16], sliding mode technique [17,18], and iterative learning [19,20]. However, these impedance controllers obtain infinite-time control stability and the desired impedance dynamics in these results were achieved in infinite time. ...
... The performance of the proposed system was analyzed by conducting extensive experiments using the NSL-KDD dataset in both binary and multiclass classifications. Huimin et al. (2021) designed a novel DL-based intrusion detection technique, the Cognitive Memory-guided Auto Encoder (CMAE). This approach utilized a memory module to increase the capacity for storing common feature patterns while retaining the benefits of AE. ...
... Numerous studies (Chen et al., 2021;DePriest, 1993;DePriest and Been, 1992;Garrido-Jurado et al., 2011;Gonz alez, 2013;Perotto et al., 2000;Simon et al., 2005;Wang et al., 2003) have shown that Group I introns have inserted into copies of the DD of SSU and LSU among fungal species. They are autocatalytic ribozymes that can insert themselves into rRNA, tRNA and protein-coding genes in nuclear and organellar genomes of various organisms including bacteria, protists, plants, fungi and even viruses, but very rare in animals (Haugen et al., 2005;Saldanha et al., 1993). ...
... For example, in retail selling, a phone usually brings more profit than selling a bottle of milk, while the quantity of phones sold is much lower than that of milk [9], and the decision-maker tends to emphasize the sequences consisting of high-profit commodities, instead of those frequent commodity sequences. This issue leads to the emergence of high-utility sequential pattern mining (HUSPM) [8,[12][13][14][15]. To represent the relative importance of patterns, each item in the database is associated with a value called external utility (e.g., indicating the unit profit of the item purchased by a customer). ...
... For guaranteeing the safety and compliance of the exoskeleton assisted rehabilitation, several impedance control-based rehabilitation strategies have been developed [14][15][16]. However, the conventional fixed impedance controller cannot fully meet the needs of patients with different disability level. ...
... Accurate force control is also required, e.g., load simulators [3,4]. Both velocity and force control are required in robot manipulators [5][6][7][8], underwater manipulators [9,10] and tunnel boring machines [11,12]. It is necessary to keep an expected dynamic balance between the motion of the actuator and the contact force with the environment or workpieces. ...
... These upper limb rehabilitation robots carry out compound control of the robot through signals received by various sensors such as force and angle in the training process. For example, Bai et al. (2019) proposed a home upper limb rehabilitation robot using a three-dimensional space forces sensor and a back-stepping adaptive fuzzy impedance control method; Furukawa Atsuya of Osaka University developed an upper limb rehabilitation system that used a small mobile robot to detect the force applied by the patient and added assistance from a computer to assist the patient during training (Furukawa et al., 2021). However, the current assist mode of upper limb rehabilitation robots compares the force detected by the sensor with an invariable threshold value to judge the assist force. ...
... This kind of system has been implemented to emulate the behaviour of biological systems [30][31][32]. It must be pointed out that this kind of mechanism is highly valuable when some kinds of transmission mechanisms are applied, such as a driven cable [33,34], or when a special class of smart actuator is implemented such as the shape memory alloys [27,35,36], pneumatic actuators [37,38], and electro-chemical actuators [39,40]. ...