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基于贝叶斯优化算法的柔性外骨骼助力参数自适应优化 被引量:1
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作者 丁常松 郭士杰 +2 位作者 孙磊 赵朝勇 尹孟可 《制造业自动化》 北大核心 2023年第2期78-84,共7页
针对外骨骼助力函数无法自动调参,存在自适应能力不强的问题。提出一种基于贝叶斯优化的柔性外骨骼参数优化方法。通过计算人体运动的步行比,利用贝叶斯优化,找到最适合人体行走的参数值。该方法能使外骨骼具有更好的自适应性,并能降低... 针对外骨骼助力函数无法自动调参,存在自适应能力不强的问题。提出一种基于贝叶斯优化的柔性外骨骼参数优化方法。通过计算人体运动的步行比,利用贝叶斯优化,找到最适合人体行走的参数值。该方法能使外骨骼具有更好的自适应性,并能降低运动下的人体代谢量。根据上述优化方法建立Adams-Simulink联合仿真模型,进行人体模型行走仿真,验证该方法有效性。最后,搭建一台前拉式柔性外骨骼样机以及对应的实验平台,进行行走实验,观测人体运动下的髋关节力矩变化,发现髋关节力矩较优化之前有一定程度下降。进行耗氧量测试,发现在参数优化情况下人体运动耗氧量有一定程度减少,以上仿真和实验验证该方法可以提高外骨骼的自适应性并有效降低运动下人体代谢量。 展开更多
关键词 柔性外骨骼 自适应性能力 贝叶斯优化 联合仿真 降低代谢量
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D*算法在柔性输送系统路径规划中的应用研究 被引量:6
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作者 陈乐 胡国清 杨光永 《科学技术与工程》 北大核心 2014年第3期200-203,共4页
针对柔性传输系统(FTS)对于最短路径规划问题的要求,提出将D*算法移植并嵌入到柔性传输机器人模型的控制系统中。简要介绍并分析了D*算法的基本原理,以位置已知、环境相对确定和最低路径代价为约束条件,建立FTS的最优路径规划模型,并进... 针对柔性传输系统(FTS)对于最短路径规划问题的要求,提出将D*算法移植并嵌入到柔性传输机器人模型的控制系统中。简要介绍并分析了D*算法的基本原理,以位置已知、环境相对确定和最低路径代价为约束条件,建立FTS的最优路径规划模型,并进行仿真实验。实验结果表明,D*算法具有较好的避障自适应性能力、较高的柔性和动态响应特性,较之Bug算法、概率路标算法(PRM)和Bellman-Ford算法等,D*算法具有较快的收敛速度和较少的计算量,适合环境相对确定、多品种小批量柔性传输系统。 展开更多
关键词 柔性传输系统 D*算法 最低路径代价 最优路径规划 避障自适应性能力
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Comparing dynamical systems concepts and techniques for biomechanical analysis 被引量:3
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作者 Richard E.A.van Emmerik Scott W.Ducharme +1 位作者 Avelino C.Amado Joseph Hamill 《Journal of Sport and Health Science》 SCIE 2016年第1期3-13,共11页
Traditional biomechanical analyses of human movement are generally derived from linear mathematics.While these methods can be useful in many situations,they do not describe behaviors in human systems that are predomin... Traditional biomechanical analyses of human movement are generally derived from linear mathematics.While these methods can be useful in many situations,they do not describe behaviors in human systems that are predominately nonlinear.For this reason,nonlinear analysis methods based on a dynamical systems approach have become more prevalent in recent literature.These analysis techniques have provided new insights into how systems(1) maintain pattern stability,(2) transition into new states,and(3) are governed by short-and long-term(fractal) correlational processes at different spatio-temporal scales.These different aspects of system dynamics are typically investigated using concepts related to variability,stability,complexity,and adaptability.The purpose of this paper is to compare and contrast these different concepts and demonstrate that,although related,these terms represent fundamentally different aspects of system dynamics.In particular,we argue that variability should not uniformly be equated with stability or complexity of movement.In addition,current dynamic stability measures based on nonlinear analysis methods(such as the finite maximal Lyapunov exponent) can reveal local instabilities in movement dynamics,but the degree to which these local instabilities relate to global postural and gait stability and the ability to resist external perturbations remains to be explored.Finally,systematic studies are needed to relate observed reductions in complexity with aging and disease to the adaptive capabilities of the movement system and how complexity changes as a function of different task constraints. 展开更多
关键词 Adaptability Complexity Dynamical systems Nonlinear dynamics Stability Variability
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