Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) w...Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.展开更多
Industrial processes are mostly large-scale systems with high order.They use fully centralized control strategy,the parameters of which are difficult to tune.In the design of large-scale systems,the decomposition acco...Industrial processes are mostly large-scale systems with high order.They use fully centralized control strategy,the parameters of which are difficult to tune.In the design of large-scale systems,the decomposition according to the interaction between input and output variables is the first step and the basis for the selection of control structure.In this paper,the decomposition principle of processes in large-scale systems is proposed for the design of control structure.A new variable pairing method is presented,considering the steady-state information and dynamic response of large-scale system.By selecting threshold values,the related matrix can be transformed into the adjoining matrixes,which directly measure the couple among different loops.The optimal number of controllers can be obtained after decomposing the large-scale system.A practical example is used to demonstrate the validity and feasibility of the proposed interaction decomposition principle in process large-scale systems.展开更多
The present work shows the results of a pilot methodology, designed after a series of observations and documented from 2006, on the process of acquisition of Translation Competence （TC） of students of translation. T...The present work shows the results of a pilot methodology, designed after a series of observations and documented from 2006, on the process of acquisition of Translation Competence （TC） of students of translation. This method of analysis, appointed Previous Protocol to Translation or PPT, emerged as an option in search of teaching strategies of translation. This PPT has provided data not only on how novice translators acquire the translation competence, but it has been uncovered some independent variables that directly affect their development. There has been, in the four semesters analyzed in this work, a clear pattern that shows that an appropriate quality control to translate （and to carry out punctual terminology management） determines a better or worse quality of the final product （translations）; therefore, this reflects in a better translation competence in the novice students.展开更多
To overcome the large time-delay in measuring the hardness of mixed rubber, rheological parameters were used to predict the hardness. A novel Q-based model updating strategy was proposed as a universal platform to tra...To overcome the large time-delay in measuring the hardness of mixed rubber, rheological parameters were used to predict the hardness. A novel Q-based model updating strategy was proposed as a universal platform to track time-varying properties. Using a few selected support samples to update the model, the strategy could dramat- ically save the storage cost and overcome the adverse influence of low signal-to-noise ratio samples. Moreover, it could be applied to any statistical process monitoring system without drastic changes to them, which is practical for industrial practices. As examples, the Q-based strategy was integrated with three popular algorithms （partial least squares （PIE）, recursive PIE （RPLS）, and kernel PIE （KPIE）） to form novel regression ones, QPLS, QRPIE and QKPLS, respectively. The applications for predicting mixed rubber hardness on a large-scale tire plant in east China prove the theoretical considerations.展开更多
Nonlinear model predictive control(NMPC) is an appealing control technique for improving the performance of batch processes, but its implementation in industry is not always possible due to its heavy on-line computati...Nonlinear model predictive control(NMPC) is an appealing control technique for improving the performance of batch processes, but its implementation in industry is not always possible due to its heavy on-line computation. To facilitate the implementation of NMPC in batch processes, we propose a real-time updated model predictive control method based on state estimation. The method includes two strategies: a multiple model building strategy and a real-time model updated strategy. The multiple model building strategy is to produce a series of sim-plified models to reduce the on-line computational complexity of NMPC. The real-time model updated strategy is to update the simplified models to keep the accuracy of the models describing dynamic process behavior. The me-thod is validated with a typical batch reactor. Simulation studies show that the new method is efficient and robust with respect to model mismatch and changes in process parameters.展开更多
基金Project(61175128) supported by the National Natural Science Foundation of ChinaProject(2008AA040203) supported by the National High Technology Research and Development Program of China
文摘Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.
基金Supported by the National Natural Science Foundation of China(21006127)the National Basic Research Program of China(2012CB720500)
文摘Industrial processes are mostly large-scale systems with high order.They use fully centralized control strategy,the parameters of which are difficult to tune.In the design of large-scale systems,the decomposition according to the interaction between input and output variables is the first step and the basis for the selection of control structure.In this paper,the decomposition principle of processes in large-scale systems is proposed for the design of control structure.A new variable pairing method is presented,considering the steady-state information and dynamic response of large-scale system.By selecting threshold values,the related matrix can be transformed into the adjoining matrixes,which directly measure the couple among different loops.The optimal number of controllers can be obtained after decomposing the large-scale system.A practical example is used to demonstrate the validity and feasibility of the proposed interaction decomposition principle in process large-scale systems.
文摘The present work shows the results of a pilot methodology, designed after a series of observations and documented from 2006, on the process of acquisition of Translation Competence （TC） of students of translation. This method of analysis, appointed Previous Protocol to Translation or PPT, emerged as an option in search of teaching strategies of translation. This PPT has provided data not only on how novice translators acquire the translation competence, but it has been uncovered some independent variables that directly affect their development. There has been, in the four semesters analyzed in this work, a clear pattern that shows that an appropriate quality control to translate （and to carry out punctual terminology management） determines a better or worse quality of the final product （translations）; therefore, this reflects in a better translation competence in the novice students.
文摘To overcome the large time-delay in measuring the hardness of mixed rubber, rheological parameters were used to predict the hardness. A novel Q-based model updating strategy was proposed as a universal platform to track time-varying properties. Using a few selected support samples to update the model, the strategy could dramat- ically save the storage cost and overcome the adverse influence of low signal-to-noise ratio samples. Moreover, it could be applied to any statistical process monitoring system without drastic changes to them, which is practical for industrial practices. As examples, the Q-based strategy was integrated with three popular algorithms （partial least squares （PIE）, recursive PIE （RPLS）, and kernel PIE （KPIE）） to form novel regression ones, QPLS, QRPIE and QKPLS, respectively. The applications for predicting mixed rubber hardness on a large-scale tire plant in east China prove the theoretical considerations.
基金Supported by the National Natural Science Foundation of China(21136003,21176089)the National Science&Technology Support Plan(2012BAK13B02)+2 种基金the National Major Basic Research Program(2014CB744306)the Natural Science Foundation Team Project of Guangdong Province(S2011030001366)the Fundamental Research Funds for Central Universities(2013ZP0010)
文摘Nonlinear model predictive control(NMPC) is an appealing control technique for improving the performance of batch processes, but its implementation in industry is not always possible due to its heavy on-line computation. To facilitate the implementation of NMPC in batch processes, we propose a real-time updated model predictive control method based on state estimation. The method includes two strategies: a multiple model building strategy and a real-time model updated strategy. The multiple model building strategy is to produce a series of sim-plified models to reduce the on-line computational complexity of NMPC. The real-time model updated strategy is to update the simplified models to keep the accuracy of the models describing dynamic process behavior. The me-thod is validated with a typical batch reactor. Simulation studies show that the new method is efficient and robust with respect to model mismatch and changes in process parameters.
