Zheng Tian

Safe motion planning of underactuated rope-suspended payload systems: A safety preview-based approach

Zheng Tian, Jun Yang, Xinming Wang, Shihua Li

cn, hk, gb (code pays fourni par la source)

Data-Physics Hybrid MPC for Disturbed Underactuated Crane: Design and Experiments

Linxuan Mao, Jia Chen, Haitao Zhang, Zheng Tian et autres

cn (code pays fourni par la source)

Safety-Critical Steering Control for Rubber-Tired Container Gantry Cranes: A State-Interlocked CBF Approach

Cong Li, Qin Rao, Zheng Tian, Jun Yang

The rubber-tired container gantry crane (RTG) is a type of heavy-duty lifting equipment commonly used in container yards, which is driven by two-side rubber tires and steered via differential drive. While moving along the desired path, the RTG must remain centered of …

cn, gb (code pays fourni par la source)

Safety-Critical Trajectory Re-Planning with Angle Constraint and Obstacle Avoidance for Overhead Cranes

Yikai Yang, Zheng Tian, Zhongding Zhang, Rao Qin et autres

This paper introduces an approach for re-planning safety-critical trajectory with angle constraint and obstacle avoidance for under-actuated overhead crane systems. In industrial productions, it is crucial to limit the payload swing angle of overhead crane systems within an acceptable range for safety …

cn (code pays fourni par la source)

Load Shape-agnostic Adaptive Control for 4-DOF Overhead Crane Robots Considering Time-varying Rope

Zheng Tian, Huimin Ouyang, Xiaodong Miao

cn (code pays fourni par la source)

Multi-Sensor Object Anomaly Detection: Unifying Appearance, Geometry, and Internal Properties

Wenqiao Li, Bozhong Zheng, Xiaohao Xu, Lu Fang et autres

Object anomaly detection is essential for industrial quality inspection, yet traditional single-sensor methods face critical limitations. They fail to capture the wide range of anomaly types, as single sensors are often constrained to either external appearance, geometric structure, or internal properties. To …

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Event-Triggered Safety-Critical Model Predictive Control for Underactuated Overhead Cranes

Jiangtong Wang, Zheng Tian, Jiankun Sun, Jun Tao Yang et autres

In overhead cranes, the inclination angle of the payload must be limited within an acceptable range to ensure safety, and the trolley reaches a desired position simultaneously. However, the payload can be disturbed by strong winds, which poses a certain threat to …

us, cn, gb (code pays fourni par la source)

Multi-Sensor Object Anomaly Detection: Unifying Appearance, Geometry, and Internal Properties

Wenqiao Li, Bozhong Zheng, Xiaohao Xu, Lu Fang et autres

Object anomaly detection is essential for industrial quality inspection, yet traditional single-sensor methods face critical limitations. They fail to capture the wide range of anomaly types, as single sensors are often constrained to either external appearance, geometric structure, or internal properties. To …

Design of an Extended State Cubature Kalman Filter

Chen Ying Tang, Zheng Tian, Dongqing Liu, Zuo Wang

This paper explores the filtering problem of a nonlinear system characterized by linear measurement equations and subjected to unknown disturbances and measurement noise. Inspired by the extended-state observer (ESO), an extended-state cubature Kalman filter (ESCKF) is proposed to simultaneously estimate disturbances, uncertainties, …

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Design and Analysis of a Cross-Frame Wall-Climbing Robot

Naigong Yu, Zheng Tian

This paper analyzes the operating environment and actual use requirements of the photovoltaic glass curtain wall cavity in high-rise buildings, designs a cross-frame motion mechanism that combines the obstacle-crossing lifting and adsorption modules into an obstacle-crossing adsorption device and integrates the motion …

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Optimal Trajectory Planning and Safety-Critical Control for Underactuated Overhead Cranes

Weihong Chen, Zheng Tian, Jun Tao Yang, Shihua Li

As a kind of heavy cargo lifting equipment, it is very important to improve transportation efficiency, save energy and strictly ensure safety for overhead cranes. However, many traditional control strategies can not meet these needs simultaneously. To this end, a composite control …

cn (code pays fourni par la source)

Safety-Critical Disturbance Rejection Control of Overhead Crane Systems: Methods and Experimental Validation

Zheng Tian, Xinming Wang, Jun Tao Yang, Shihua Li et autres

Crane systems generally operate in challenging environments (e.g., harsh weather conditions and high-altitude work), which heightens the requirements of control systems for the safety and disturbances rejection. However, underactuated nature poses difficulties in achieving the efficient positioning and swing elimination under these …

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