Aim: To evaluate the effects of retrospective quality control on pressure-flow data with computer-based urodynamic systems from men with benign prostatic hyperplasia (BPH). Methods: A total of 582 traces of pressu...Aim: To evaluate the effects of retrospective quality control on pressure-flow data with computer-based urodynamic systems from men with benign prostatic hyperplasia (BPH). Methods: A total of 582 traces of pressure-flow study from 181 men with BPH was included in the study. For each trace, maximum urinary flow rate (Qmax) and detrusor pressure at Qmax (pdet.Qmax) were, respectively, read from manually smoothed and corrected uroflow and detrusor pressure curves from the computer print-outs. Obstruction coefficient, International Continence Society (ICS) and Schaefer nomograms were used to detect urethral resistance and to diagnose obstruction. The results obtained by manual reading were compared with those from computer-based systems. Results: After manual correction, Qmax underwent a consistently significant decrease by 1.2 mL/s on average (P 〈 0.001), and had a change range of 0.5-10.4 mL/s. However, pdet.Qmax underwent inconsistently intra-individual changes after correction. The obstruction coefficient increased significantly, by an average of 0.07 (P 〈 0.05). Using the ICS nomogram, the percentage of obstruction increased from 69.8% to 73.9%, and of the non-obstruction decreased from 8.8% to 5.3% (P 〈 0.05). There were 11% of traces that changed the classifications using the ICS nomogram, and 28.9% that changed the grades for the Schaefer nomogram. Conclusion: Systematically significant differences in parameters from pres- sure-flow study between manual readings and computer recordings were demonstrated. Manual correction resulted in a consistently lower Q a higher urethral resistance, and an aggravating obstruction. Manual readings can correct considerable false diagnoses for obstruction. Retrospective quality control of pressure-flow data with com- puter-based systems is necessary.展开更多
A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on ...A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on dynamic response and open-loop gain are analyzed including the supply pressure, the initial pressure and the volume of pneumatic muscle. A sliding-mode controller with a nonlinear switching function is applied to control posture, which adopts the combination of a main method that separates control of each muscle and an auxiliary method that postures error evaluation of multiple muscles, especially adopting the segmented and intelligent adjustments of sliding-mode parameters to fit different expected postures and initial states. Experimental results show that this control strategy not only amounts to the steady-state error of 0. 1° without overshoot, but also achieves good trajectory tracking.展开更多
Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical...Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical structure and neglect feedback action of joint controller. In order to study the effects of joint controller on the modal analysis of rotational flexible manipulator, a closed-loop analytical modal analysis method is proposed. Firstly, two exact boundary constraints, namely servo feedback constraint and bending moment constraint, are derived to solve the vibration partial differential equation. It is found that the stiffness and damping gains of joint controller are both included in the boundary conditions, which lead to an unconventional secular term. Secondly, analytical algorithm based on Ritz approach is developed by using Laplace transform and complex modal approach to obtain the natural frequencies and mode shapes. And then, the numerical simulations are performed and the computational results show that joint controller has pronounced influence on the modal parameters: joint controller stiffness reduces the natural frequency, while joint controller damping makes the shape phase non-zero. Furthermore, the validity of the presented conclusion is confirmed through experimental studies. These findings are expected to improve the performance of dynamics simulation systems and model-based controllers.展开更多
Components of mechanical product are assembled by structural joints,such as bolting,riveting,welding,etc.Structural joints introduce nonlinearity to some engineering structures,and the nonlinearity need to be modeled ...Components of mechanical product are assembled by structural joints,such as bolting,riveting,welding,etc.Structural joints introduce nonlinearity to some engineering structures,and the nonlinearity need to be modeled precisely.To meet serious quality requirements,it is necessary to detect and identify nonlinearity of mechanical products for structural optimization.Modal test to acquire a dynamic response has been applied for decades,which provides reliable results for finite element(FE)model updating.Here response control vibration test for identification of nonlinearity is presented.A nonlinear system can be regarded as linearity for particular steady state response,and classical linear analysis tool is applicable to extract modal data for particular response.First,its applicability is illustrated by some numerical simulations.Subsequently,it is implemented on experimental setup with structural joints by shaking table.The stiffness and damping function dependent of relative displacement are fitted to describe its inherent nonlinearity.The spring and damping forces are identified by harmonic balance method(HBM)to predict output response.Based on the identified results,the procedure is recommended that it allows a reliable measurement of nonlinearity with a certain accuracy.展开更多
A robust controller method for flexible joint robot considering the effect caused by nonlinear friction was presented.The nonlinear friction was denoted as inverse additive output uncertainty relative to the nominal m...A robust controller method for flexible joint robot considering the effect caused by nonlinear friction was presented.The nonlinear friction was denoted as inverse additive output uncertainty relative to the nominal model in our work,based on which the describing function was analyzed in frequency domain,and the weighting function of nonlinear friction was further calculated as well. By combining the friction uncertainty,the mixed sensitivity H∞optimization was proposed as the benchmark for controller design, which also leaded to good performance of robustness. Furthermore,unstructured perturbation to the system was analyzed so that the stability was guaranteed. Simulation results show that the proposed controller can provide excellent tracking and regulation performance.展开更多
A linear flexible joint system using fractional order linear active disturbance rejection control is studied in this paper.With this control scheme,the performance against disturbances,uncertainties,and attenuation is...A linear flexible joint system using fractional order linear active disturbance rejection control is studied in this paper.With this control scheme,the performance against disturbances,uncertainties,and attenuation is enhanced.Linear active disturbance rejection control(LADRC)is mainly based on an extended state observer(ESO)technology.A fractional integral(FOI)action is combined with the LADRC technique which proposes a hybrid control scheme like FO-LADRC.Incorporating this FOI action improves the robustness of the standard LADRC.The set-point tracking of the proposed FO-LADRC scheme is designed by Bode’s ideal transfer function(BITF)based robust closed-loop concept,an appropriate pole placement method.The effectiveness of the proposed FO-LADRC scheme is illustrated through experimental results on the linear flexible joint system(LFJS).The results show the enhancement of the robustness with disturbance rejection.Furthermore,a comparative analysis is presented with the results obtained using the integer-order LADRC and FO-LADRC scheme.展开更多
Combined with the characteristics of the distributed-drive electric vehicle and direct yaw moment control,a double-layer structure direct yaw moment controller is designed.The upper additional yaw moment controller is...Combined with the characteristics of the distributed-drive electric vehicle and direct yaw moment control,a double-layer structure direct yaw moment controller is designed.The upper additional yaw moment controller is constructed based on model predictive control.Aiming at minimizing the utilization rate of tire adhesion and constrained by the working characteristics of motor system and brake system,a quadratic programming active set was designed to optimize the distribution of additional yaw moments.The road surface adhesion coefficient has a great impact on the reliability of direct yaw moment control,for which joint observer of vehicle state parameters and road surface parameters is designed by using unscented Kalman filter algorithm,which correlates vehicle state observer and road surface parameter observer to form closed-loop feedback correction.The results show that compared to the“feedforward+feedback”control,the vehicle’s error of yaw rate and sideslip angle by the model predictive control is smaller,which can improve the vehicle stability effectively.In addition,according to the results of the docking road simulation test,the joint observer of vehicle state and road surface parameters can improve the adaptability of the vehicle stability controller to the road conditions with variable adhesion coefficients.展开更多
A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented.Compari...A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented.Comparing with the traditional backstepping method that has "explosion of terms" problem,the new proposed control system is a combination of the dynamic surface control technique and the backstepping.The dynamic surface control(DSC) technique can resolve the "explosion of terms" problem that is caused by differential coefficient calculation in the model,and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application,especially to the multi-joint robot.Finally,the validity of the method was proved in the laboratory environment that was set up on the 5-DOF(degree of freedom) flexible joint robot.Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X,Y in free space,respectively.And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully as depicted theoretically.展开更多
Controlled blasting techniques are used to control overbreak and to aid in the stability of the remaining rock formation. Presplitting is one of the most common methods which is used in many open pit mining and surfac...Controlled blasting techniques are used to control overbreak and to aid in the stability of the remaining rock formation. Presplitting is one of the most common methods which is used in many open pit mining and surface blast design. The purpose of presplitting is to form a fracture plane across which the radial cracks from the production blast cannot travel. The purpose of this study is to investigate of effect of presplitting on the generation of a smooth wall in continuum and jointed rock mass. The 2D distinct element code was used to simulate the presplitting in a rock slope. The blast load history as a function of time was applied to the inner wall of each blasthole. Important parameters that were considered in the analysis were stress tensor and fracturing pattern. The blast loading magnitude and blasthole spacing and jointing pattern were found to be very significant in the final results.展开更多
In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion....In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion.To meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase.Unlike operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot dynamics.As for each joint actuator,high performance force control is of great importance for compliance design.Therefore,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control.Besides,an outer position loop(compliance loop)is closed for each joint.Experiments are carried out to verify the force controller and compliance of the hydraulic actuator.The robot leg compliance is assessed by a virtual prototyping simulation.展开更多
This paper presented a joint resource allocation(RA) and admission control(AC) mechanism in software defined mobile networks(SDMNs). In this mechanism, the joint RA and AC problem can be formulated as an optimization ...This paper presented a joint resource allocation(RA) and admission control(AC) mechanism in software defined mobile networks(SDMNs). In this mechanism, the joint RA and AC problem can be formulated as an optimization problem with the aim of maximizing the number of admitted users while simultaneously minimizing the number of allocated channels. Since the primal problem is modeled to be a mixed integer nonlinear problem(MINLP), we attain the suboptimal solutions to the primal MINLP by convex relaxation. Additionally, with the global information collected by the SDMNs controller, a centralized joint RA and AC(CJRA)algorithm is proposed by the Lagrange dual decomposition technique to obtain the global optimum. Meanwhile, we propose an OpenFlow rules placement strategy to realize CJRA in an efficient way. Moreover, a distributed algorithm is also developed to find the local optimum, showing a performance benchmark for the centralized one. Finally, simulation results show that the proposed centralized algorithm admits more users compared with the distributed.展开更多
Gas dynamic control in welding with consumable electrode in conditions of two-jet gas shielding and its impact on the processes in the welding area and properties of the welded joints from high strength alloyed steel ...Gas dynamic control in welding with consumable electrode in conditions of two-jet gas shielding and its impact on the processes in the welding area and properties of the welded joints from high strength alloyed steel 30HGSA is considered in the paper. The results of a comparative experimental study of controlling the properties of welded joints by changing the gas dynamics of the active shielding gas are given. The impact force of a shielding gas jet on the drop of the electrode metal is 12 times higher in conditions of two-jet gas shielding than in those of single jet shielding. It is found that gas dynamics of the active shielding gas jet determines the formation of the welded joints, their chemical properties and the properties of the welded joints from high strength alloyed steels. The consumable electrode welding method with two-jet gas shielding provides controlled dynamics in the welding area and allows controlling the transfer of the electrode metal, chemical composition of the weld, stabilizing the welding process, it ensures higher mechanical properties of the welded joints.展开更多
Pneumatic artificial muscles(PAMs) have properties similar to biological muscles,which are widely used in robotics as actuators.It is difficult to achieve high-precision position control for robotics system driven by ...Pneumatic artificial muscles(PAMs) have properties similar to biological muscles,which are widely used in robotics as actuators.It is difficult to achieve high-precision position control for robotics system driven by PAMs.A 3-DOF musculoskeletal bionic leg mechanism is presented,which is driven by PAMs for quadruped robots.PAM is used to simulate the compliance of biological muscle.The kinematics of the leg swing is derived,and the foot desired trajectory is planned as the sinusoidal functions.The swing experiments of the musculoskeletal leg mechanism are conducted to analyse the extension and flexion of joints.A proportional integral derivative(PID) algorithm is presented for controlling the flexion/extension of the joint.The trajectory tracking results of joints and the PAM gas pressure are obtained.Experimental results show that the developed leg mechanism exhibits good biological properties.展开更多
Background: Sacroiliac joint (SIJ) pain presents as a deep and somatic pain, predominantly affecting the lower back and buttock and referring down the leg, sometimes as far as the foot. Given that the features of SIJ ...Background: Sacroiliac joint (SIJ) pain presents as a deep and somatic pain, predominantly affecting the lower back and buttock and referring down the leg, sometimes as far as the foot. Given that the features of SIJ pain are non-specific and that this referred pain is similar to lumbar facet joint and lumbar disc pain, diagnostic local anesthetic injections (diagnostic blocks) into the SIJ are used to identify the source of pain. Despite wide use, little is known about the false positive rate of a single diagnostic sacroiliac (SI) block and the requirement for a control block. Objective: To determine whether a control SI block is necessary and to monitor the false positive rate for a single injection. Study Design: A prospective and observational study was conducted as part of a practice audit, with data collected over 3.5 years at the authors’ private practice. Patients & Methods: Under fluoroscopic guidance, 1408 consecutive patients presenting with prominent deep somatic pain over the SIJ region were sterilely injected with anesthetic into the SIJ and/or the deep interosseous ligament (DIL). Pain was measured on the 11-point Numerical Rating Scale (NRS) prior to injection and incrementally over the following 1- 2 weeks. Fully completed and unequivocal data sets were available for 1060 patients. Decreases in pain scores (of >80%) at >2 hours of post-injection were indicative of SIJ pain and recorded as a positive SIJ block. Results: Of 1060 patients receiving a first SIJ diagnostic block, 680 (64.1%) recorded a positive result. Subsequently, 271 positive patients and 22 who were negative for SIJ pain opted to receive a second control block. SIJ pain diagnosis was confirmed in 237/271 (87.5%) of those with an initial positive response, while 18/22 patients (81%) had their initial negative result confirmed. The false positive rate of a single block is therefore calculated at 12.5%, and on a contingency table analysis, a single anesthetic SIJ injection has diagnostic accuracy of 87.03%, with high sensitivity (98.3%), when compared with a second control diagnostic block. Limitations: All injections were performed at one clinical centre. A proportion (348/1408) of initial patients did not return fully completed pain records or had equivocal responses (≥80% pain relief, but transiently, for ≤30 min) and were excluded from further analysis. Conclusion: Given the observed high rates of accuracy in this study, it is reasonable to suggest the use of one diagnostic block as the criterion standard for assessing the SIJ as the source of a patient’s pain.展开更多
A multi joint robot control system was designed based on the universal processor PC+DSP in order to overcome the short- comings of the control system in terms of flexibility, cost performance, and software transplanta...A multi joint robot control system was designed based on the universal processor PC+DSP in order to overcome the short- comings of the control system in terms of flexibility, cost performance, and software transplantation, which use Industrial Personal Computer for the upper monitor and MAC Motion control card for the lower computer. The design of multi joint robot control system is accomplished through hardware circuit design, VC++ programming and so on. Finally, six joint robot platform is used to test the control performance,The results show that the designed control system has the advantages of flexible fimction,easy expansion and easy porting of software.展开更多
To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction ...To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.展开更多
A system of automatic control(SAC)of the electric drive of rotary link of manipulator robot(MR)is considered.The variables of mechanical load of drive,depending of changes of a spatial configuration of MR in the cours...A system of automatic control(SAC)of the electric drive of rotary link of manipulator robot(MR)is considered.The variables of mechanical load of drive,depending of changes of a spatial configuration of MR in the course of motion,mass and dimensions of the moved payloads,etc.,are received from the motion equation of rotary link of MR.Changes of mechanical load can be unknown and cause the essential deterioration in dynamical properties(speed,damping,etc.)of the SAC of drive.With the aim to stabilize the desired dynamical properties of SAC the algorithm of drive control is proposed which is adaptive to changes of mechanical load.The unknown parameters of drive load,necessary to form the adaptive control algorithm,are identified via observing device(OD).The work algorithm of OD to identify the unknown parameters of drive load is proposed.For the proposed control and work of OD algorithms the block diagram of drive control is construction.The simulation results on computer proved that in considered SAC of drive the stabilization of desired dynamical properties ensured.展开更多
Based on the survey research of poverty controlling model of "Three Drives, Four Joints" in Zhen'an County, its forming motives, implementing mechanism, and constraint factors have been explored to testi...Based on the survey research of poverty controlling model of "Three Drives, Four Joints" in Zhen'an County, its forming motives, implementing mechanism, and constraint factors have been explored to testify its enlightenment and applicability, establishing a promotable, applicable, and effective poverty alleviation model. "Three Drives, Four Joints" model is linked to the poor who lacks ability of self-development. Relying on the drives from key leading companies, the capable and the rich, a community with shared interests by the poor and the subjects of the "three drives" could be formed through "Joint Production, Joint Resources, Joint Community of Stock, and Joint Operation". The linked poverty alleviation development model of "the influential and the rich bring along the poor" and "A rich household would help the others" come into being. It is found out that the model of "Three Drives, Four Joints" is in essence a poverty alleviation method focusing on the increase of the income and diversified ways of increasing the earnings. Problems of poverty alleviation carrier and joint mechanism have been solved in the poverty alleviation process. The model is innovative in activating the resource elements, helping to move the poor out of poverty. A referential, copyable, and applicable model is offered to advance the poverty alleviation in mountainous areas in China.展开更多
The three important historical development stages of China from"standing up","getting rich"to"becoming strong"were analyzed deeply.Regional coordinated development policies and strategies...The three important historical development stages of China from"standing up","getting rich"to"becoming strong"were analyzed deeply.Regional coordinated development policies and strategies have also gone through the"enlightenment stage","development stage"and"mature stage".On this basis,the problems of the coordination of China s regional coordinated development and joint prevention and control for environmental protection in the new era,as well as suggestions for the next step were further analyzed.展开更多
A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brnshless DC m...A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brnshless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.展开更多
文摘Aim: To evaluate the effects of retrospective quality control on pressure-flow data with computer-based urodynamic systems from men with benign prostatic hyperplasia (BPH). Methods: A total of 582 traces of pressure-flow study from 181 men with BPH was included in the study. For each trace, maximum urinary flow rate (Qmax) and detrusor pressure at Qmax (pdet.Qmax) were, respectively, read from manually smoothed and corrected uroflow and detrusor pressure curves from the computer print-outs. Obstruction coefficient, International Continence Society (ICS) and Schaefer nomograms were used to detect urethral resistance and to diagnose obstruction. The results obtained by manual reading were compared with those from computer-based systems. Results: After manual correction, Qmax underwent a consistently significant decrease by 1.2 mL/s on average (P 〈 0.001), and had a change range of 0.5-10.4 mL/s. However, pdet.Qmax underwent inconsistently intra-individual changes after correction. The obstruction coefficient increased significantly, by an average of 0.07 (P 〈 0.05). Using the ICS nomogram, the percentage of obstruction increased from 69.8% to 73.9%, and of the non-obstruction decreased from 8.8% to 5.3% (P 〈 0.05). There were 11% of traces that changed the classifications using the ICS nomogram, and 28.9% that changed the grades for the Schaefer nomogram. Conclusion: Systematically significant differences in parameters from pres- sure-flow study between manual readings and computer recordings were demonstrated. Manual correction resulted in a consistently lower Q a higher urethral resistance, and an aggravating obstruction. Manual readings can correct considerable false diagnoses for obstruction. Retrospective quality control of pressure-flow data with com- puter-based systems is necessary.
基金This project is supported by International Cooperation with Festo.
文摘A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on dynamic response and open-loop gain are analyzed including the supply pressure, the initial pressure and the volume of pneumatic muscle. A sliding-mode controller with a nonlinear switching function is applied to control posture, which adopts the combination of a main method that separates control of each muscle and an auxiliary method that postures error evaluation of multiple muscles, especially adopting the segmented and intelligent adjustments of sliding-mode parameters to fit different expected postures and initial states. Experimental results show that this control strategy not only amounts to the steady-state error of 0. 1° without overshoot, but also achieves good trajectory tracking.
基金Supported by National Natural Science Foundation of China(Grant No.51305039)Specialized Research Fund for the Doctoral Program of Higher Education,China(Grant No.20110005120004)+1 种基金Fundamental Research Funds for the Central Universities,China(Grant No.2014PTB-00-01)National Basic Research Program of China(973 Program,Grant No.2013CB733000)
文摘Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical structure and neglect feedback action of joint controller. In order to study the effects of joint controller on the modal analysis of rotational flexible manipulator, a closed-loop analytical modal analysis method is proposed. Firstly, two exact boundary constraints, namely servo feedback constraint and bending moment constraint, are derived to solve the vibration partial differential equation. It is found that the stiffness and damping gains of joint controller are both included in the boundary conditions, which lead to an unconventional secular term. Secondly, analytical algorithm based on Ritz approach is developed by using Laplace transform and complex modal approach to obtain the natural frequencies and mode shapes. And then, the numerical simulations are performed and the computational results show that joint controller has pronounced influence on the modal parameters: joint controller stiffness reduces the natural frequency, while joint controller damping makes the shape phase non-zero. Furthermore, the validity of the presented conclusion is confirmed through experimental studies. These findings are expected to improve the performance of dynamics simulation systems and model-based controllers.
文摘Components of mechanical product are assembled by structural joints,such as bolting,riveting,welding,etc.Structural joints introduce nonlinearity to some engineering structures,and the nonlinearity need to be modeled precisely.To meet serious quality requirements,it is necessary to detect and identify nonlinearity of mechanical products for structural optimization.Modal test to acquire a dynamic response has been applied for decades,which provides reliable results for finite element(FE)model updating.Here response control vibration test for identification of nonlinearity is presented.A nonlinear system can be regarded as linearity for particular steady state response,and classical linear analysis tool is applicable to extract modal data for particular response.First,its applicability is illustrated by some numerical simulations.Subsequently,it is implemented on experimental setup with structural joints by shaking table.The stiffness and damping function dependent of relative displacement are fitted to describe its inherent nonlinearity.The spring and damping forces are identified by harmonic balance method(HBM)to predict output response.Based on the identified results,the procedure is recommended that it allows a reliable measurement of nonlinearity with a certain accuracy.
基金National Natural Science Foundation of China(No.61273339)
文摘A robust controller method for flexible joint robot considering the effect caused by nonlinear friction was presented.The nonlinear friction was denoted as inverse additive output uncertainty relative to the nominal model in our work,based on which the describing function was analyzed in frequency domain,and the weighting function of nonlinear friction was further calculated as well. By combining the friction uncertainty,the mixed sensitivity H∞optimization was proposed as the benchmark for controller design, which also leaded to good performance of robustness. Furthermore,unstructured perturbation to the system was analyzed so that the stability was guaranteed. Simulation results show that the proposed controller can provide excellent tracking and regulation performance.
基金This research work was funded by Institutional Fund Projects under Grant No.(IFPRC-027-135-2020).
文摘A linear flexible joint system using fractional order linear active disturbance rejection control is studied in this paper.With this control scheme,the performance against disturbances,uncertainties,and attenuation is enhanced.Linear active disturbance rejection control(LADRC)is mainly based on an extended state observer(ESO)technology.A fractional integral(FOI)action is combined with the LADRC technique which proposes a hybrid control scheme like FO-LADRC.Incorporating this FOI action improves the robustness of the standard LADRC.The set-point tracking of the proposed FO-LADRC scheme is designed by Bode’s ideal transfer function(BITF)based robust closed-loop concept,an appropriate pole placement method.The effectiveness of the proposed FO-LADRC scheme is illustrated through experimental results on the linear flexible joint system(LFJS).The results show the enhancement of the robustness with disturbance rejection.Furthermore,a comparative analysis is presented with the results obtained using the integer-order LADRC and FO-LADRC scheme.
基金funded by Youth Program of National Natural Science Foundation of China(52002034)National Key R&D Program of China(2018YFB1600701)+2 种基金Key Research and Development Program of Shaanxi(2020ZDLGY16-01,2019ZDLGY15-02)Natural Science Basic Research Program of Shaanxi(2020JQ-381)Fundamental Research Funds for the Central Universities,CHD(300102220113).
文摘Combined with the characteristics of the distributed-drive electric vehicle and direct yaw moment control,a double-layer structure direct yaw moment controller is designed.The upper additional yaw moment controller is constructed based on model predictive control.Aiming at minimizing the utilization rate of tire adhesion and constrained by the working characteristics of motor system and brake system,a quadratic programming active set was designed to optimize the distribution of additional yaw moments.The road surface adhesion coefficient has a great impact on the reliability of direct yaw moment control,for which joint observer of vehicle state parameters and road surface parameters is designed by using unscented Kalman filter algorithm,which correlates vehicle state observer and road surface parameter observer to form closed-loop feedback correction.The results show that compared to the“feedforward+feedback”control,the vehicle’s error of yaw rate and sideslip angle by the model predictive control is smaller,which can improve the vehicle stability effectively.In addition,according to the results of the docking road simulation test,the joint observer of vehicle state and road surface parameters can improve the adaptability of the vehicle stability controller to the road conditions with variable adhesion coefficients.
基金Project(2006AA04Z228) supported by the National High-Tech Research and Development Program of ChinaProject(PCSIRT) supported by Program for Changjiang Scholars and Innovative Research Team in University
文摘A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented.Comparing with the traditional backstepping method that has "explosion of terms" problem,the new proposed control system is a combination of the dynamic surface control technique and the backstepping.The dynamic surface control(DSC) technique can resolve the "explosion of terms" problem that is caused by differential coefficient calculation in the model,and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application,especially to the multi-joint robot.Finally,the validity of the method was proved in the laboratory environment that was set up on the 5-DOF(degree of freedom) flexible joint robot.Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X,Y in free space,respectively.And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully as depicted theoretically.
文摘Controlled blasting techniques are used to control overbreak and to aid in the stability of the remaining rock formation. Presplitting is one of the most common methods which is used in many open pit mining and surface blast design. The purpose of presplitting is to form a fracture plane across which the radial cracks from the production blast cannot travel. The purpose of this study is to investigate of effect of presplitting on the generation of a smooth wall in continuum and jointed rock mass. The 2D distinct element code was used to simulate the presplitting in a rock slope. The blast load history as a function of time was applied to the inner wall of each blasthole. Important parameters that were considered in the analysis were stress tensor and fracturing pattern. The blast loading magnitude and blasthole spacing and jointing pattern were found to be very significant in the final results.
基金Supported by the National High Technology Research and Development Program of China(863 Program)(2011AA041002)
文摘In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion.To meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase.Unlike operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot dynamics.As for each joint actuator,high performance force control is of great importance for compliance design.Therefore,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control.Besides,an outer position loop(compliance loop)is closed for each joint.Experiments are carried out to verify the force controller and compliance of the hydraulic actuator.The robot leg compliance is assessed by a virtual prototyping simulation.
基金supported by the National Natural Science Foundation of China under Grant No.61701284,61472229,31671588 and 61801270the China Postdoctoral Science Foundation Funded Project under Grant No2017M622233+2 种基金the Application Research Project for Postdoctoral Researchers of Qingdao,the Scientific Research Foundation of Shandong University of Science and Technology for Recruited Talents under Grant No.2016RCJJ010the Sci.&Tech.DevelopmentFund of Shandong Province of China underGrant No.2016ZDJS02A11,ZR2017BF015and ZR2017MF027the Taishan Scholar Climbing Program of Shandong Province,and SDUST Research Fund under Grant No.2015TDJH102
文摘This paper presented a joint resource allocation(RA) and admission control(AC) mechanism in software defined mobile networks(SDMNs). In this mechanism, the joint RA and AC problem can be formulated as an optimization problem with the aim of maximizing the number of admitted users while simultaneously minimizing the number of allocated channels. Since the primal problem is modeled to be a mixed integer nonlinear problem(MINLP), we attain the suboptimal solutions to the primal MINLP by convex relaxation. Additionally, with the global information collected by the SDMNs controller, a centralized joint RA and AC(CJRA)algorithm is proposed by the Lagrange dual decomposition technique to obtain the global optimum. Meanwhile, we propose an OpenFlow rules placement strategy to realize CJRA in an efficient way. Moreover, a distributed algorithm is also developed to find the local optimum, showing a performance benchmark for the centralized one. Finally, simulation results show that the proposed centralized algorithm admits more users compared with the distributed.
文摘Gas dynamic control in welding with consumable electrode in conditions of two-jet gas shielding and its impact on the processes in the welding area and properties of the welded joints from high strength alloyed steel 30HGSA is considered in the paper. The results of a comparative experimental study of controlling the properties of welded joints by changing the gas dynamics of the active shielding gas are given. The impact force of a shielding gas jet on the drop of the electrode metal is 12 times higher in conditions of two-jet gas shielding than in those of single jet shielding. It is found that gas dynamics of the active shielding gas jet determines the formation of the welded joints, their chemical properties and the properties of the welded joints from high strength alloyed steels. The consumable electrode welding method with two-jet gas shielding provides controlled dynamics in the welding area and allows controlling the transfer of the electrode metal, chemical composition of the weld, stabilizing the welding process, it ensures higher mechanical properties of the welded joints.
基金Supported by the National Natural Science Foundation of China(No.51375289)Shanghai Municipal National Natural Science Foundation of China(No.13ZR1415500)Innovation Fund of Shanghai Education Commission(No.13YZ020)
文摘Pneumatic artificial muscles(PAMs) have properties similar to biological muscles,which are widely used in robotics as actuators.It is difficult to achieve high-precision position control for robotics system driven by PAMs.A 3-DOF musculoskeletal bionic leg mechanism is presented,which is driven by PAMs for quadruped robots.PAM is used to simulate the compliance of biological muscle.The kinematics of the leg swing is derived,and the foot desired trajectory is planned as the sinusoidal functions.The swing experiments of the musculoskeletal leg mechanism are conducted to analyse the extension and flexion of joints.A proportional integral derivative(PID) algorithm is presented for controlling the flexion/extension of the joint.The trajectory tracking results of joints and the PAM gas pressure are obtained.Experimental results show that the developed leg mechanism exhibits good biological properties.
文摘Background: Sacroiliac joint (SIJ) pain presents as a deep and somatic pain, predominantly affecting the lower back and buttock and referring down the leg, sometimes as far as the foot. Given that the features of SIJ pain are non-specific and that this referred pain is similar to lumbar facet joint and lumbar disc pain, diagnostic local anesthetic injections (diagnostic blocks) into the SIJ are used to identify the source of pain. Despite wide use, little is known about the false positive rate of a single diagnostic sacroiliac (SI) block and the requirement for a control block. Objective: To determine whether a control SI block is necessary and to monitor the false positive rate for a single injection. Study Design: A prospective and observational study was conducted as part of a practice audit, with data collected over 3.5 years at the authors’ private practice. Patients & Methods: Under fluoroscopic guidance, 1408 consecutive patients presenting with prominent deep somatic pain over the SIJ region were sterilely injected with anesthetic into the SIJ and/or the deep interosseous ligament (DIL). Pain was measured on the 11-point Numerical Rating Scale (NRS) prior to injection and incrementally over the following 1- 2 weeks. Fully completed and unequivocal data sets were available for 1060 patients. Decreases in pain scores (of >80%) at >2 hours of post-injection were indicative of SIJ pain and recorded as a positive SIJ block. Results: Of 1060 patients receiving a first SIJ diagnostic block, 680 (64.1%) recorded a positive result. Subsequently, 271 positive patients and 22 who were negative for SIJ pain opted to receive a second control block. SIJ pain diagnosis was confirmed in 237/271 (87.5%) of those with an initial positive response, while 18/22 patients (81%) had their initial negative result confirmed. The false positive rate of a single block is therefore calculated at 12.5%, and on a contingency table analysis, a single anesthetic SIJ injection has diagnostic accuracy of 87.03%, with high sensitivity (98.3%), when compared with a second control diagnostic block. Limitations: All injections were performed at one clinical centre. A proportion (348/1408) of initial patients did not return fully completed pain records or had equivocal responses (≥80% pain relief, but transiently, for ≤30 min) and were excluded from further analysis. Conclusion: Given the observed high rates of accuracy in this study, it is reasonable to suggest the use of one diagnostic block as the criterion standard for assessing the SIJ as the source of a patient’s pain.
文摘A multi joint robot control system was designed based on the universal processor PC+DSP in order to overcome the short- comings of the control system in terms of flexibility, cost performance, and software transplantation, which use Industrial Personal Computer for the upper monitor and MAC Motion control card for the lower computer. The design of multi joint robot control system is accomplished through hardware circuit design, VC++ programming and so on. Finally, six joint robot platform is used to test the control performance,The results show that the designed control system has the advantages of flexible fimction,easy expansion and easy porting of software.
基金Supported by the National Natural Science Foundation of China(61175090,61703249)Shandong Provincial Natural Science Foundation,China(ZR2017MF045)
文摘To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.
文摘A system of automatic control(SAC)of the electric drive of rotary link of manipulator robot(MR)is considered.The variables of mechanical load of drive,depending of changes of a spatial configuration of MR in the course of motion,mass and dimensions of the moved payloads,etc.,are received from the motion equation of rotary link of MR.Changes of mechanical load can be unknown and cause the essential deterioration in dynamical properties(speed,damping,etc.)of the SAC of drive.With the aim to stabilize the desired dynamical properties of SAC the algorithm of drive control is proposed which is adaptive to changes of mechanical load.The unknown parameters of drive load,necessary to form the adaptive control algorithm,are identified via observing device(OD).The work algorithm of OD to identify the unknown parameters of drive load is proposed.For the proposed control and work of OD algorithms the block diagram of drive control is construction.The simulation results on computer proved that in considered SAC of drive the stabilization of desired dynamical properties ensured.
基金supported by National Natural Science Funds for Distinguished Young Scholar (Grant No. 71503202)the Fundamental Research Funds for the Central Universities (Grant No. 2017RWYB14)
文摘Based on the survey research of poverty controlling model of "Three Drives, Four Joints" in Zhen'an County, its forming motives, implementing mechanism, and constraint factors have been explored to testify its enlightenment and applicability, establishing a promotable, applicable, and effective poverty alleviation model. "Three Drives, Four Joints" model is linked to the poor who lacks ability of self-development. Relying on the drives from key leading companies, the capable and the rich, a community with shared interests by the poor and the subjects of the "three drives" could be formed through "Joint Production, Joint Resources, Joint Community of Stock, and Joint Operation". The linked poverty alleviation development model of "the influential and the rich bring along the poor" and "A rich household would help the others" come into being. It is found out that the model of "Three Drives, Four Joints" is in essence a poverty alleviation method focusing on the increase of the income and diversified ways of increasing the earnings. Problems of poverty alleviation carrier and joint mechanism have been solved in the poverty alleviation process. The model is innovative in activating the resource elements, helping to move the poor out of poverty. A referential, copyable, and applicable model is offered to advance the poverty alleviation in mountainous areas in China.
基金Supported by National Key Research and Development Plan(2016YFC0208102)Special Project for Transformation of Scientific and Technological Achievements in Jiangsu Province(BA2020001)Special Project for Prevention and Control of Air Pollution from Fixed Sources of Ministry of Ecology and Environment,China in 2020(2020A060).
文摘The three important historical development stages of China from"standing up","getting rich"to"becoming strong"were analyzed deeply.Regional coordinated development policies and strategies have also gone through the"enlightenment stage","development stage"and"mature stage".On this basis,the problems of the coordination of China s regional coordinated development and joint prevention and control for environmental protection in the new era,as well as suggestions for the next step were further analyzed.
基金Supported by the National 863 Scheme of China No.863-512-03-02
文摘A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brnshless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.