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基于BP神经网络补偿的下肢外骨骼位置控制 被引量:2
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作者 陈靓 黄玉平 +1 位作者 郑继贵 陶云飞 《计算机仿真》 北大核心 2020年第2期349-354,共6页
坐卧式康复外骨骼机器人可以帮助下肢功能障碍患者进行康复训练,为实现康复训练的位置控制目标,通过深入分析人机耦合关系,建立包括穿戴者、外骨骼在内的耦合运动学/动力学模型,提出了基于人机混合系统动力学模型的带前馈补偿项的PD控... 坐卧式康复外骨骼机器人可以帮助下肢功能障碍患者进行康复训练,为实现康复训练的位置控制目标,通过深入分析人机耦合关系,建立包括穿戴者、外骨骼在内的耦合运动学/动力学模型,提出了基于人机混合系统动力学模型的带前馈补偿项的PD控制算法,然而为了实现良好的运动轨迹跟踪性能,必须在位置控制算法中加入对不确定项的补偿,因此提出一种基于BP神经网络补偿的位置控制算法并通过仿真验证算法的高效性。 展开更多
关键词 下肢康复机器人 耦合系统建模 带前馈的比例微分控制 神经网络补偿
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Numerical Simulation of Typhoon Muifa(2011) Using a Coupled Ocean-Atmosphere-Wave-Sediment Transport(COAWST) Modeling System 被引量:11
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作者 LIU Na LING Tiejun +3 位作者 WANG Hui ZHANG Yunfei GAO Zhiyi WANG Yi 《Journal of Ocean University of China》 SCIE CAS 2015年第2期199-209,共11页
The newly developed Coupled Ocean-Atmosphere-Wave-Sediment Transport(COAWST) Modeling System is applied to investigate typhoon-ocean interactions in this study. The COAWST modeling system represents the state-of-the-a... The newly developed Coupled Ocean-Atmosphere-Wave-Sediment Transport(COAWST) Modeling System is applied to investigate typhoon-ocean interactions in this study. The COAWST modeling system represents the state-of-the-art numerical simulation technique comprising several coupled models to study coastal and environmental processes. The modeling system is applied to simulate Typhoon Muifa(2011), which strengthened from a tropical storm to a super typhoon in the Northwestern Pacific, to explore the heat fluxes exchanged among the processes simulated using the atmosphere model WRF, ocean model ROMS and wave model SWAN. These three models adopted the same horizontal grid. Three numerical experiments with different coupling configurations are performed in order to investigate the impact of typhoon-ocean interaction on the intensity and ocean response to typhoon. The simulated typhoon tracks and intensities agree with observations. Comparisons of the simulated variables with available atmospheric and oceanic observations show the good performance of using the coupled modeling system for simulating the ocean and atmosphere processes during a typhoon event. The fully coupled simulation that includes a ocean model identifies a decreased SST as a result of the typhoon-forced entrainment. Typhoon intensity and wind speed are reduced due to the decrease of the sea surface temperature when using a coupled ocean model. The experiments with ocean coupled to atmosphere also results in decreased sea surface heat flux and air temperature. The heat flux decreases by about 29% compared to the WRF only case. The reduction of the energy induced by SST decreases, resulting in weakening of the typhoon. Coupling of the waves to the atmosphere and ocean model induces a slight increase of SST in the typhoon center area with the ocean-atmosphere interaction increased as a result of wave feedback to atmosphere. 展开更多
关键词 COAWST modeling system typhoon Muifa WRF ROMS SWAN
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Numerical Simulation of Seawater Intrusion from Estuary into River Using a Coupled Modeling System 被引量:1
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作者 ZOU Huazhi LI Hualun 《Journal of Ocean University of China》 SCIE CAS 2010年第3期219-228,共10页
One of the most important causes of the freshwater shortage in estuarine area is the increasing seawater intrusion into the river.To simulate seawater intrusion properly,two important factors should be considered.One ... One of the most important causes of the freshwater shortage in estuarine area is the increasing seawater intrusion into the river.To simulate seawater intrusion properly,two important factors should be considered.One is the bidirectional and time-dependent coupling effects between river discharges and tidal forces.The other is the three-dimensional and stratified structure of dynamic processes involved.However,these two factors have rarely been investigated simultaneously,or they were often simplified in previous researches,especially for the estuary connected with an upstream river network through multiple outlets such as the Pearl River Estuary(PRE).In order to consider these two factors,a numerical modeling system,which couples a one-dimensional river network model with a three-dimensional unstructured-grid Finite-Volume Coastal Ocean Model(FVCOM),has been developed and successfully applied to the simulation of seawater intrusion into rivers emptying into the PRE.By treating the river network with a one-dimensional model,computational efficiency has been improved.With coupling 1D and 3D models,the specification of upstream boundary conditions becomes more convenient.Simulated results are compared with field measured data.Good agreement indicates that the modeling system may correctly capture the physical processes of seawater intrusion into rivers. 展开更多
关键词 numerical model ESTUARY seawater intrusion
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Rigid-Flex Coupling Modeling and Simulation on Multistage Gear Transmission System
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作者 周杰 贾云献 +2 位作者 刘鑫 方彬 侠文强 《Journal of Shanghai Jiaotong university(Science)》 EI 2016年第4期457-461,共5页
As multistage gear transmission systems are complex and precise, the flexibility of shaft can influence the dynamic response of system. In order to study dynamic response of the system, we build the rigid model of gea... As multistage gear transmission systems are complex and precise, the flexibility of shaft can influence the dynamic response of system. In order to study dynamic response of the system, we build the rigid model of gear system and the finite element model of the gear shaft. virtual prototype technology, and a contrast between rigid The rigid-flex coupling model is established with the model and rigid-flex coupling model is constructed. With these methods, the dynamic responses with different rotation speeds and different loading magnitudes are examined. We also analyze the influence of shaft flexibility, rotation speeds and loading magnitudes on the vibration characteristics of gear transmission systems. 展开更多
关键词 gear transmission system virtual prototype flexible body
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