Automobile power windows are mechanisms that can be opened and shut with the press of a button.Although these windows can comfort the effort of occupancy to move the window,failure to recognize the person’s body part...Automobile power windows are mechanisms that can be opened and shut with the press of a button.Although these windows can comfort the effort of occupancy to move the window,failure to recognize the person’s body part at the right time will result in damage and in some cases,loss of that part.An anti-pinch mechanism is an excellent choice to solve this problem,which detects the obstacle in the glass path immediately and moves it down.In this paper,an optimal solution H_/H_(∞)is presented for fault detection of the anti-pinch window system.The anti-pinch makes it possible to detect an obstacle and prevent damages through sampling parameters such as current consumption,the speed and the position of DC motors.In this research,a speed-based method is used to detect the obstacles.In order to secure the anti-pinch window,an optimal algorithm based on a fault detection observer is suggested.In the residual design,the proposed fault detection algorithm uses theDCmotor angular velocity rate.Robustness against disturbances and sensitivity to the faults are considered as an optimization problem based on Multi-Objective Particle Swarm Optimization algorithm.Finally,an optimal filter for solving the fault problem is designed using the H_/H_(∞)method.The results show that the simulated anti-pinch window is pretty sensitive to the fault,in the sense that it can detect the obstacle in 50 ms after the fault occurrence.展开更多
In order to effectively solve the problem of installation cost of automobile electric windows and the safety of passengers,the window regulator of the car must have an intelligent control function.For example,most aut...In order to effectively solve the problem of installation cost of automobile electric windows and the safety of passengers,the window regulator of the car must have an intelligent control function.For example,most automobile windows now have an anti-pinch function.In this paper,the model of dc brushed motor is analyzed,an intelligent control scheme for automotive power windows is proposed,and the relationship between current ripple and window travel,motor current,and extemal resistance are verified.In the hardware design,S9S 12G128 is the main control chip,and the motor current acquisition method is designed.In the software design,intelligent control methods such as current integration method,adaptive and self-learning algorithm,and intelligent speed regulation method are proposed to realize functions such as automatic w indow opening and closing,intelligent anti-pinch,and intelligent speed regulation.After many experiments,the results prove the feasibility of the above methods and the stability of the system.展开更多
背景急性缺血性卒中(AIS)高发,及时恢复脑血流是治疗的关键,超时间窗就诊患者无更多促进脑血流恢复的治疗手段。研究远隔缺血后适应(RIPostC)治疗对AIS超时间窗就诊患者的临床疗效、并发症和预后,具有重要的临床意义。目的探究RIPostC...背景急性缺血性卒中(AIS)高发,及时恢复脑血流是治疗的关键,超时间窗就诊患者无更多促进脑血流恢复的治疗手段。研究远隔缺血后适应(RIPostC)治疗对AIS超时间窗就诊患者的临床疗效、并发症和预后,具有重要的临床意义。目的探究RIPostC治疗对AIS超时间窗患者干预的影响,为超时间窗就诊的AIS患者寻求安全、有效的脑血流恢复治疗方式。方法本研究采用随机、分组、安慰剂对照法进行试验。选取2021-09-02—2022-08-31于北京航天总医院神经内科病房住院治疗的超溶栓时间窗(发病时间>6 h)的AIS患者为研究对象。依据随机数字表法将患者分为对照组和试验组。试验期+随访期共90 d,均使用同等的一般治疗、脑血管病常规治疗,试验组在此基础上给予RIPostC治疗14 d(28次),对照组给予模拟的RIPostC治疗14 d(28次)。在干预前和干预后30 d、干预后90 d,采用改良Rankin量表(mRS)、美国国立卫生研究院卒中量表(NIHSS)评估两组患者神经功能,简易精神状态检查量表(MMSE)、蒙特利尔认知评估量表(MoCA)评估患者认知功能,工具性日常生活能力量表(IADL)评估日常生活能力,焦虑自评量表(SAS)、抑郁自评量表(SDS)评估精神状态,经颅多普勒超声(TCD)评估脑血流速度,以白介素(IL)-6反映炎症情况。结果122例患者中,最终完成试验及随访99例,其中试验组49例,对照组50例。两组患者性别、年龄、基础疾病(高血压、糖尿病、冠心病)及基线NIHSS评分比较,差异无统计学意义(P>0.05)。重复测量方差分析结果示,时间与组别对MMSE、MoCA、mRS、NIHSS、脑血流速度、IL-6存在交互作用(P<0.05),时间和组别对MMSE、MoCA、NIHSS、脑血流速度、IL-6主效应显著(P<0.05),时间对mRS、SAS、SDS、IADL主效应显著(P<0.05)。试验组干预后30、90 d MMSE、MoCA评分及脑血流速度均高于对照组,mRS、NIHSS评分均低于对照组(P<0.05);试验组干预后30、90 d SDS、IADL评分低于对照组(P<0.05);试验组干预后30 d SAS评分高于对照组,IL-6低于对照组(P<0.05)。99例患者中共有23例患者发生不良反应,其中试验组17例,对照组6例,两组皮肤瘀点、头晕、心慌、胸闷发生率比较,差异无统计学意义(P>0.05);对照组患者皮肤瘀斑发生率[4.00%(2/50)与12.24%(6/49)]、总不良反应发生率[12.00%(6/50)与34.69%(17/49)]低于试验组(P<0.05)。结论RIPostC治疗可降低AIS患者的炎症反应,对神经功能、认知功能抑郁情绪及颅内血流速度可起到积极的改善效果。展开更多
目前主流工业机器人为封闭式控制结构,存在不开源、二次开发难的问题,因此设计一种基于TwinCAT3(the windows control and automation technology)的跨平台、可移植性好的机器人控制系统架构。该架构包含视觉、运动控制和算法集成与仿...目前主流工业机器人为封闭式控制结构,存在不开源、二次开发难的问题,因此设计一种基于TwinCAT3(the windows control and automation technology)的跨平台、可移植性好的机器人控制系统架构。该架构包含视觉、运动控制和算法集成与仿真控制模块,采用倍福自动化设备规范(automation device specification,ADS)通信技术和实时工业以太网总线技术(ethernet for control automation technology,EtherCAT),建立以计算机(personal computer,PC)和倍福控制器为EtherCAT主站,控制多组从站执行器的一主多从工作模式。该模式结合离线与在线控制、集成数字孪生技术,完成虚拟样机与物理样机的联动;采用开源可扩展架构,便于视觉算法、智能算法等算法集成。经实验验证,此架构具有拓展性好、实时性强的特点。展开更多
基金supported by DP-FTSM-2021,Dana Lonjakan Penerbitan FTSM,UKM.
文摘Automobile power windows are mechanisms that can be opened and shut with the press of a button.Although these windows can comfort the effort of occupancy to move the window,failure to recognize the person’s body part at the right time will result in damage and in some cases,loss of that part.An anti-pinch mechanism is an excellent choice to solve this problem,which detects the obstacle in the glass path immediately and moves it down.In this paper,an optimal solution H_/H_(∞)is presented for fault detection of the anti-pinch window system.The anti-pinch makes it possible to detect an obstacle and prevent damages through sampling parameters such as current consumption,the speed and the position of DC motors.In this research,a speed-based method is used to detect the obstacles.In order to secure the anti-pinch window,an optimal algorithm based on a fault detection observer is suggested.In the residual design,the proposed fault detection algorithm uses theDCmotor angular velocity rate.Robustness against disturbances and sensitivity to the faults are considered as an optimization problem based on Multi-Objective Particle Swarm Optimization algorithm.Finally,an optimal filter for solving the fault problem is designed using the H_/H_(∞)method.The results show that the simulated anti-pinch window is pretty sensitive to the fault,in the sense that it can detect the obstacle in 50 ms after the fault occurrence.
文摘In order to effectively solve the problem of installation cost of automobile electric windows and the safety of passengers,the window regulator of the car must have an intelligent control function.For example,most automobile windows now have an anti-pinch function.In this paper,the model of dc brushed motor is analyzed,an intelligent control scheme for automotive power windows is proposed,and the relationship between current ripple and window travel,motor current,and extemal resistance are verified.In the hardware design,S9S 12G128 is the main control chip,and the motor current acquisition method is designed.In the software design,intelligent control methods such as current integration method,adaptive and self-learning algorithm,and intelligent speed regulation method are proposed to realize functions such as automatic w indow opening and closing,intelligent anti-pinch,and intelligent speed regulation.After many experiments,the results prove the feasibility of the above methods and the stability of the system.
文摘背景急性缺血性卒中(AIS)高发,及时恢复脑血流是治疗的关键,超时间窗就诊患者无更多促进脑血流恢复的治疗手段。研究远隔缺血后适应(RIPostC)治疗对AIS超时间窗就诊患者的临床疗效、并发症和预后,具有重要的临床意义。目的探究RIPostC治疗对AIS超时间窗患者干预的影响,为超时间窗就诊的AIS患者寻求安全、有效的脑血流恢复治疗方式。方法本研究采用随机、分组、安慰剂对照法进行试验。选取2021-09-02—2022-08-31于北京航天总医院神经内科病房住院治疗的超溶栓时间窗(发病时间>6 h)的AIS患者为研究对象。依据随机数字表法将患者分为对照组和试验组。试验期+随访期共90 d,均使用同等的一般治疗、脑血管病常规治疗,试验组在此基础上给予RIPostC治疗14 d(28次),对照组给予模拟的RIPostC治疗14 d(28次)。在干预前和干预后30 d、干预后90 d,采用改良Rankin量表(mRS)、美国国立卫生研究院卒中量表(NIHSS)评估两组患者神经功能,简易精神状态检查量表(MMSE)、蒙特利尔认知评估量表(MoCA)评估患者认知功能,工具性日常生活能力量表(IADL)评估日常生活能力,焦虑自评量表(SAS)、抑郁自评量表(SDS)评估精神状态,经颅多普勒超声(TCD)评估脑血流速度,以白介素(IL)-6反映炎症情况。结果122例患者中,最终完成试验及随访99例,其中试验组49例,对照组50例。两组患者性别、年龄、基础疾病(高血压、糖尿病、冠心病)及基线NIHSS评分比较,差异无统计学意义(P>0.05)。重复测量方差分析结果示,时间与组别对MMSE、MoCA、mRS、NIHSS、脑血流速度、IL-6存在交互作用(P<0.05),时间和组别对MMSE、MoCA、NIHSS、脑血流速度、IL-6主效应显著(P<0.05),时间对mRS、SAS、SDS、IADL主效应显著(P<0.05)。试验组干预后30、90 d MMSE、MoCA评分及脑血流速度均高于对照组,mRS、NIHSS评分均低于对照组(P<0.05);试验组干预后30、90 d SDS、IADL评分低于对照组(P<0.05);试验组干预后30 d SAS评分高于对照组,IL-6低于对照组(P<0.05)。99例患者中共有23例患者发生不良反应,其中试验组17例,对照组6例,两组皮肤瘀点、头晕、心慌、胸闷发生率比较,差异无统计学意义(P>0.05);对照组患者皮肤瘀斑发生率[4.00%(2/50)与12.24%(6/49)]、总不良反应发生率[12.00%(6/50)与34.69%(17/49)]低于试验组(P<0.05)。结论RIPostC治疗可降低AIS患者的炎症反应,对神经功能、认知功能抑郁情绪及颅内血流速度可起到积极的改善效果。
文摘目前主流工业机器人为封闭式控制结构,存在不开源、二次开发难的问题,因此设计一种基于TwinCAT3(the windows control and automation technology)的跨平台、可移植性好的机器人控制系统架构。该架构包含视觉、运动控制和算法集成与仿真控制模块,采用倍福自动化设备规范(automation device specification,ADS)通信技术和实时工业以太网总线技术(ethernet for control automation technology,EtherCAT),建立以计算机(personal computer,PC)和倍福控制器为EtherCAT主站,控制多组从站执行器的一主多从工作模式。该模式结合离线与在线控制、集成数字孪生技术,完成虚拟样机与物理样机的联动;采用开源可扩展架构,便于视觉算法、智能算法等算法集成。经实验验证,此架构具有拓展性好、实时性强的特点。
