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CASIA OpenIR
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Bionic Underwater Vehicle: A Data-Driven Disturbance Rejection Control Framework 期刊论文
IEEE ROBOTICS & AUTOMATION MAGAZINE, 2023, 卷号: 31, 期号: 1, 页码: 18-28
作者:  Wang, Kaihui;  Zou, Wei;  Ma, Ruichen;  Lv, Jiaqi;  Su, Hu;  Wang, Yu;  Ma, Hongxuan
Adobe PDF(2970Kb)  |  收藏  |  浏览/下载：41/0  |  提交时间：2024/02/22
Vehicle dynamics  Robots  Propulsion  Predictive models  Biological system modeling  Robustness  Disturbance observers  
Residual Reinforcement Learning for Motion Control of a Bionic Exploration Robot-RoboDact 期刊论文
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2023, 卷号: 72, 页码: 13
作者:  Zhang, Tiandong;  Wang, Rui;  Wang, Shuo;  Wang, Yu;  Zheng, Gang;  Tan, Min
收藏  |  浏览/下载：80/0  |  提交时间：2023/11/17
Active disturbance rejection control (ADRC)  bionic exploration robot  motion control  residual reinforcement learning (RRL)  soft actor-critic (SAC)  
Enhancement and Optimization of Underwater Images and Videos Mapping 期刊论文
SENSORS, 2023, 卷号: 23, 期号: 12, 页码: 16
作者:  Li, Chengda;  Dong, Xiang;  Wang, Yu;  Wang, Shuo
收藏  |  浏览/下载：48/0  |  提交时间：2023/11/17
underwater image and video restoration  transmission map optimizer  saturation map  color correction  
Stepwise Cooperative Trajectory Planning for Multiple BUVs Based on Temporal-Spatial Bezier Curves 期刊论文
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2023, 卷号: 72, 页码: 14
作者:  Wang, Rui;  Jiang, Tianyu;  Bai, Ge;  Wang, Yu;  Wang, Shuo;  Tan, Min
收藏  |  浏览/下载：99/0  |  提交时间：2023/11/17
Trajectory planning  Trajectory  Planning  Vehicle dynamics  Robots  Underwater vehicles  Real-time systems  Bezier curve  biomimetic underwater vehicle (BUV)  cooperative trajectory planning  dynamic obstacle avoidance  
GelStereo 2.0: An Improved GelStereo Sensor With Multimedium Refractive Stereo Calibration 期刊论文
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2023, 页码: 11
作者:  Zhang, Chaofan;  Cui, Shaowei;  Wang, Shuo;  Hu, Jingyi;  Cai, Yinghao;  Wang, Rui;  Wang, Yu
收藏  |  浏览/下载：44/0  |  提交时间：2023/11/16
Index Terms-3-D geometry sensing  ray tracing  refrac-tive calibration  robotic manipulation  tactile sensors  
Model Predictive Trajectory Tracking Control of an Underactuated Bionic Underwater Vehicle 期刊论文
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2023, 页码: 12
作者:  Wang, Kaihui;  Zou, Wei;  Ma, Ruichen;  Wang, Yu;  Su, Hu
Adobe PDF(4065Kb)  |  收藏  |  浏览/下载：89/1  |  提交时间：2023/11/16
Bionic underwater vehicle (BUV)  model predictive control (MPC)  trajectory tracking  undulatory propulsion  
Autonomous Manipulation of an Underwater Vehicle-Manipulator System by a Composite Control Scheme With Disturbance Estimation 期刊论文
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2023, 页码: 11
作者:  Cai, Mingxue;  Wang, Yu;  Wang, Shuo;  Wang, Rui;  Tan, Min
收藏  |  浏览/下载：110/0  |  提交时间：2023/03/20
Predictive models  Vehicle dynamics  Optimal control  Load modeling  Uncertainty  Solid modeling  Predictive control  Underwater vehicle-manipulator system (UVMS)  disturbance observer (DOB)  nonlinear model predictive control (NMPC)  autonomous underwater manipulation  
A Collision-Free Planning and Control Framework for a Biomimetic Underwater Vehicle in Dynamic Environments 期刊论文
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2023, 卷号: 28, 期号: 3, 页码: 1415 - 1424
作者:  Lv, Jiaqi;  Wang, Yu;  Wang, Shuo;  Bai, Xuejian;  Wang, Rui;  Tan, Min
Adobe PDF(3810Kb)  |  收藏  |  浏览/下载：340/69  |  提交时间：2023/02/22
Arctangent nonsingularity terminal sliding mode (ANTSM) control  biomimetic underwater vehicle (BUV)  collision-free in dynamic environments  fuzzy artificial potential field (FAPF) planning  robots  
Design and Locomotion Control of a Dactylopteridae-Inspired Biomimetic Underwater Vehicle With Hybrid Propulsion 期刊论文
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2021, 页码: 13
作者:  Zhang, Tiandong;  Wang, Rui;  Wang, Yu;  Cheng, Long;  Wang, Shuo;  Tan, Min
Adobe PDF(4770Kb)  |  收藏  |  浏览/下载：260/45  |  提交时间：2022/01/27
Propulsion  DC motors  Robots  Control systems  Servomotors  Underwater vehicles  Sports  Biomimetic underwater vehicle (BUV)  body andor caudal fin (BCF)  median and or paired fin (MPF) hybrid propulsion  central pattern generators (CPGs)  fuzzy proportion integral differential (PID)