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| 1 | Impedance control of multi-arm space robot for the capture of non-cooperative targets显示文摘Robotic systems are expected to play an increasingly important role in future space activities. The robotic on-orbital service, whose key is the capturing technology, becomes a research hot spot in recent years. This paper studies the dynamics modeling and impedance control of a multi-arm free-flying space robotic system capturing a non-cooperative target. Firstly, a control-oriented dynamics model is essential in control algorithm design and code realization. Unlike a numerical algorithm, an analytical approach is suggested. Using a general and a quasi-coordinate Lagrangian formulation, the kinematics and dynamics equations are derived.Then, an impedance control algorithm is developed which allows coordinated control of the multiple manipulators to capture a target.Through enforcing a reference impedance, end-effectors behave like a mass-damper-spring system fixed in inertial space in reaction to any contact force between the capture hands and the target. Meanwhile, the position and the attitude of the base are maintained stably by using gas jet thrusters to work against the manipulators' reaction. Finally, a simulation by using a space robot with two manipulators and a free-floating non-cooperative target is illustrated to verify the effectiveness of the proposed method. | GE Dongming SUN Guanghui ZOU Yuanjie SHI Jixin | 2020 | Journal of Systems Engineering and Electronics2020，31，5： | 3 |
| 2 | Induced12 norm control for LPV system with specified class ofdisturbance inputs 显示文摘 | Sun Guanghui Ge Dongming Wang Shujuan | 2013 | Journal of the FranklinInstitute2013，350，2： | 1 |
| 3 | Characterizing the influence of gut microbiota on host tryptophan metabolism with germ-free pigs显示文摘Intestinal microbes are closely associated with host health,depending on metabolic crosstalk between the microbiota and host.Tryptophan metabolism is one of the best examples of metabolic crosstalk between intestinal microbiota and host;however,our understanding about the influence of intestinal microbiota on host tryptophan metabolism is limited.Thus,we established germ-free(GF)pig models to systemically explore the influence of intestinal microbiota on tryptophan metabolism.Five GF pigs were kept in GF conditions throughout the experiment(GF group).Six GF pigs were transplanted with fecal microbiota from donor sows to act as control pigs.Compared with control pigs,the GF pigs had remarkable alterations in tryptophan metabolism.The differential metabolites(P<0.05)were mainly found in the liver,circulation system and large intestine.Notably,the alteration of metabolites in tryptophan metabolism varied among organs,especially for the serotonin pathway.In GF pigs,tryptophan and kynurenine in the large intestine and 5-hydroxytryptophan in most organs were increased(P<0.05),while metabolites in the indole pathway in most organs were decreased(P<0.05).Collectively,our study reveals changes in tryptophan metabolism in GF pigs,highlighting the critical role of gut microbes in shaping host tryptophan metabolism. | Bingnan Liu Dongming Yu Jing Sun Xiaoyan Wu Zhongquan Xin Baichuan Deng Lijuan Fan Jian Fu Liangpeng Ge Wenkai Ren | 2022 | Animal Nutrition2022，，4： | 1 |
| 4 | Multiloop gain-scheduling control of flexible air-breathing hypersonic vehicle显示文摘 | Ge Dongming Huang Xianlin Gao Huijun | 2011 | Int J of Innovative Computing Information and Control2011，，： | 1 |
| 5 | Rapid Evaluation of Rock Mass Integrity of Engineering Slopes Using Three-Dimensional Laser Scanning显示文摘0 INTRODUCTION.The classification of the rock mass quality is an important research topic within geological engineering and rock mechanics,because it is a powerful tool to perform rock mass stability analysis in rock engineering practices(Babacan et al.,2014;Singh et al.,1992). | Liang Chen Yunfeng Ge Xuming Zeng Haiyan Wang Changdong Li Shan Dong Yang Ye Dongming Gu | 2023 | Journal of Earth Science2023，34，6： | 0 |
| 6 | Detection of UAV Target Based on Continuous Radon Transform and Matched Filtering Process for Passive Bistatic Radar显示文摘Long-time integration technique is an effective way of improving target detection performance for unmanned aerial vehicle(UAV)in the passive bistatic radar(PBR),while range migration(RM)and Doppler frequency migration(DFM)may have a major effect due to the target maneuverability.This paper proposed an innovative long-time coherent integration approach,regarded as Continuous Radon-matched filtering process(CRMFP),for low-observable UAV target in passive bistatic radar.It not only mitigates the RM by collaborative research in range and velocity dimensions but also compensates the DFM and ensures the coherent integration through the matched filtering process(MFP).Numerical and real-life data following detailed analysis verify that the proposed method can overcome the Doppler mismatch influence and acquire comparable detection performance. | Luo Zuo Yuefei Yan Jun Wang Xin Sang Yan Wang Dongming Ge Lihao Ping Zhihai Wang Congsi Wang | 2024 | Journal of Beijing Institute of Technology2024，33，1： | 0 |
| 7 | A Three-Dimensional DEM Method for Trajectory Simulations of Rockfall under Irregular-Shaped Slope Surface and Rock Blocks显示文摘0 INTRODUCTION.Rockfall is a common geological hazard that poses a serious threat to residents and infrastructures(Gao et al.,2022;Ye et al.,2022).The precise prediction of rockfall trajectories is essential to the design of protection engineering structures of rockfall(Ma et al.,2021).The discrete element modelling(DEM)is increasingly used to analyse rockfall movement paths.Ma et al.(2022)used Rockyfor3D software to obtain the possible trajectory of falling rock blocks. | Liang Chen Weiqian Zeng Xianbiao Wang Yang Ye Yunfeng Ge Dongming Gu Shan Dong | 2024 | Journal of Earth Science2024，35，1： | 0 |
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