Bingtuan Gao

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A miniature robot with continuous jumping ability is presented in this paper. The robot has a dimension about 6cm×8cm×2cm and weighs 20 grams. To achieve continuous jumping, various mechanisms are needed including the jumping mechanism, energy store and release mechanism, self-righting mechanism, and jumping direction changing mechanism. The(More)
We present the design and implementation of a new jumping robot for mobile sensor network. Unlike other jumping robots, the robot is based on a simple two-mass-spring model. After we throw it on ground, it can stabilize itself and then jump once. The detailed mechanism design including the load holding and self-stabilization are presented. Jumping heights(More)
The plug-in electric vehicle (PEV) has attracted more and more attention because of the energy crisis and environmental pollution, which is also the main shiftable load of the residential users' demand side management (DSM) system in the future smart grid (SG). In this paper, we employ game theory to provide an autonomous energy management system among(More)
Mobile sensors with jumping ability provide several advantages compared with the traditional wheeled sensors such as ability to move in rugged terrain. A controllable jumping robot for this purpose is described in this paper. The robot has dimension about 9.5cm×9cm×3cm and weighs 54.1 grams. It can perform the jumping process continuously.(More)
Based on Lagrange equations, a 3D crane system dynamic model is derived which describes the simultaneous travelling, traversing, and hoisting motions of the crane, and the resulting load swing. With this dynamic model, this paper presents a nonlinear controller design scheme for the 3D crane payload based on partial feedback linearization technique. By(More)
Taking advantage of two-way communication infrastructure and bidirectional energy trading between utility companies and customers in the future smart grid (SG), autonomous energy management programs become crucial to the demand-side management (DSM). Most of the existing autonomous energy management schemes are for the scenario with a single utility company(More)
The translational oscillation with a rotational actuator (TORA) system has been used as a benchmark for motivating the study of nonlinear control techniques. In this paper, modeling and control of a novel 2-dimensional TORA (2DTORA) are presented. The 2DTORA is an underactuated mechanical system which has one actuated rotor and two unactuated translational(More)
This paper presents a nonlinear controller design scheme for a gantry crane system based on partial feedback linearization. In the underactuated gantry crane system, the active degrees corresponding to the freedom are linearized based on I/O linearization techniques, while the passive degree is taken as the internal dynamics of the system. The trajectory(More)
This paper presents our recently developed humanoid neck system that can effectively mimic motion of human neck with very low motion noises. The feature of low motion noises allows our system to work like a real human head/neck. Thus the level of acoustic noises from wearable equipments, such as donning respirators or chemical-resistant jackets, induced by(More)