Reinforcement learning based adaptive control for uncertain mechanical systems with asymptotic tracking

This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.

Prediction and Output Estimation of Pattern Moving in Non-Newtonian Mechanical Systems Based on Probability Density Evolution

A prediction framework based on the evolution of pattern motion probability density is proposed for the output prediction and estimation problem of non-Newtonian mechanical systems,assuming that the system satisfies the generalized Lipschitz condition.As a complex nonlinear system primarily governed by statistical laws rather than Newtonian mechanics,the output of non-Newtonian mechanics systems is difficult to describe through deterministic variables such as state variables,which poses difficulties in predicting and estimating the system’s output.In this article,the temporal variation of the system is described by constructing pattern category variables,which are non-deterministic variables.Since pattern category variables have statistical attributes but not operational attributes,operational attributes are assigned to them by posterior probability density,and a method for analyzing their motion laws using probability density evolution is proposed.Furthermore,a data-driven form of pattern motion probabilistic density evolution prediction method is designed by combining pseudo partial derivative(PPD),achieving prediction of the probability density satisfying the system’s output uncertainty.Based on this,the final prediction estimation of the system’s output value is realized by minimum variance unbiased estimation.Finally,a corresponding PPD estimation algorithm is designed using an extended state observer(ESO)to estimate the parameters to be estimated in the proposed prediction method.The effectiveness of the parameter estimation algorithm and prediction method is demonstrated through theoretical analysis,and the accuracy of the algorithm is verified by two numerical simulation examples.

Lie-form invariance of nonholonomic mechanical systems

The Lie-form invariance of a nonholonomic mechanaical system is studied. The definition and criterion of the Lie-form invariance of the nonholonomic mechaaical system are given. The Hojman conserved quantity and a new type of conserved quantity are obtained from the Lie-form invariance. An example is givea to illustrate the application of the results.

A Novel Method for Vibration Mitigation of Complex Mechanical Systems

Taking the complex mechanical systems as the research project,a theoretical multi-degree-of-freedom(MDOF)model was established.Based on the vibration characteristics analysis of this system,a novel method of vibration mitigation was proposed,which can be applied to most of the complex mechanical systems.Through this method,limited grounding stiffness was made use of and added to certain degree of freedom(DOF)discretely.Thus,the root-meansquare(RMS)of the systems amplitude can be reduced to ideal level.The MATLAB code based on this method was attached,which was tested on the theoretical model.Consider that complex mechanical systems are nonlinear and uncertain,theoretically the optimal solution of vibration mitigation is inaccessible.However,this method can always provide a relatively effective solution.

Multi-rate sensor fusion-based adaptive discrete finite-time synergetic control for flexible-joint mechanical systems

This paper proposes an adaptive discrete finite-time synergetic control （ADFTSC） scheme based on a multi-rate sensor fusion estimator for flexible-joint mechanical systems in the presence of unmeasured states and dynamic uncertainties. Multi-rate sensors are employed to observe the system states which cannot be directly obtained by encoders due to the existence of joint flexibilities. By using an extended Kalman filter （EKF）, the finite-time synergetic controller is designed based on a sensor fusion estimator which estimates states and parameters of the mechanical system with multi-rate measurements. The proposed controller can guarantee the finite-time convergence of tracking errors by the theoretical derivation. Simulation and experimental studies are included to validate the effectiveness of the proposed approach.

Finslerian Mechanical Systems on Manifolds

The goal of this paper is to present Finslerian mechanical systems on manifolds.In conclusion,some differential geometrical and physical results on the related mechanic systems have been given.

Periodic event-triggered secure consensus for networked mechanical systems under Denial-of-Service attacks

This paper concentrates on the secure consensus problem of networked mechanical/Euler–Lagrange systems.First,a new periodic event-triggered(PET)secure distributed observer is proposed to estimate the leader information.The proposed distributed observer only relies on the PET data from its neighbors,which can significantly reduce the communication and computational burden.More importantly,it is secure in the sense that it can work normally regardless of the Denial-of-Service(DoS)attacks.Second,based on the proposed distributed observer,an adaptive fuzzy control law is proposed for each Euler–Lagrange system.A PET mechanism is integrated into the controller,which can reduce the control update.This is helpful for both energy saving and fault tolerance of actuators.Moreover,the PET mechanism naturally makes the controller easy to be implemented in digital platform.The property of fuzzy logic systems and Gronwall inequality are skillfully utilized to show the stability of the closed-loop system.Finally,the proposed control scheme is verified on real Euler–Lagrange systems,which contain a robot manipulator and several servo motors.

Controller design for 2-DOF underactuated mechanical systems based on controlled Lagrangians and application to Acrobot control

On the basis of controlled Lagrangians,a controller design is proposed for underactuated mechanical systems with two degrees of freedom.A new kinetic energy equation(K-equation)independent of the gyroscopic forces is found due to the use of their property.As a result,the necessary and sufficient matching condition comprises the new K-equation and the potential energy equation(P-equation)cascaded,the regular condition,and the explicit gyroscopic forces.Further,for two classes of input decoupled systems that cover the main benchmark examples,the new K-equation,respectively,degenerates from a quasilinear partial differential equation(PDE)into an ordinary differential equation(ODE)under some choice and into a homogeneous linear PDE with two kinds of explicit general solutions.Benefiting from one of the general solutions,the obtained smooth state feedback controller for the Acrobots is of a more general form.Specifically,a constant fixed in a related paper by the system parameters is converted into a controller parameter ranging over an open interval along with some new nonlinear terms involved.Unlike what is mentioned in the related paper,some categories of the Acrobots cannot be stabilized with the existing interconnection and damping assignment passivity based control(IDA-PBC)method.As a contribution,the system can be locally asymptotically stabilized by the selection of the new controller parameter except for only one special case.

滚-跳多运动模式球形机器人的动力学仿真研究

复杂的探索环境对探测机器人的通行能力提出了更高要求,具有多种运动模式的球形机器人是探测机器人领域的研究热点之一。通过对球形机器人内部构件质量分布的调节,设计了一种基于单摆驱动式的滚-跳多运动模式球形机器人,其具有滚动、转向、爬坡与跳跃4种基本运动能力;随后,又根据球形机器人的设计方案建立了球形机器人4种基本运动动力学方程。利用Automatic Dynamics Analysis of Mechanical Systems(ADAMS)软件构建该球形机器人虚拟样机并对其进行了滚动、转向、爬坡与跳跃的动力学仿真,最后以此为依据计算滚动、转向、爬坡与跳跃运动性能的仿真值,并制作实验室样机验证了动力学仿真的正确性。

Hamiltonian Mechanics Systems on Three-Dimensional Almost Kenmotsu Manifolds

In this study,we concluded the Hamiltonian equations on(M3,φ,ξ,η,g𝑔),being a model.Finally introduce,some geometrical and physical results on the related mechanic systems have been discussed.

Actively-controlled Beds for Ambulances

During transportation by ambulance, a patient is exposed to inertial acceleration when an ambulance decelerates or turns a corner. Such acceleration often gives a patient physical stress such as blood pressure variation or body sway, which causes strong pain, feeling of discomfort or sometimes critical damage for seriously injured persons. To reduce this undesirable effect of the acceleration, the authors developed the actively-controlled bed （ACB） which controls the posture of a stretcher in real time to reduce foot-to-head and lateral acceleration acting on a supine person. This paper describes development of the ACB, including control system design and performance evaluation. The control system is designed by Zakian＇s framework, which comprises the principle of matching and the method of inequalities, so that the design specifications on the tracking error and the motor torque are satisfied. From the results of driving experiments and simulation, it is estimated that the ACB can reduce the acceleration acting on a patient by 65% in the foot-to-head direction and by 75% in the lateral direction.

Automatic Virtual Entity Simulation of Conceptual Design Results—Part Ⅱ:Symbolic Scheme Simulation

The development of new products of high quality, low unit cost, and short lead time to market are the key elements required for any enterprise to obtain a competitive advantage. This part of the paper presents a methodology to automatically simulate the conceptual design results in the virtual entity form. To the identified basic mechanisms, their kinematic analysis is carried out by matching basic Barranov trusses, and their virtual entities are modeled based on feature-based technique and encapsulated as one design object. Based on the structures of the basic mechanisms and their connections, a space layout to the mechanical system corresponding to the symbolic scheme is then fulfilled. With the preset-assembly approach, all parts in the mechanical system are put onto proper positions where the constraint equations are met according to the space layout results. In this way, the virtual entity assembly model of the mechanical system relative to the symbolic scheme is set up. The approach presented in this paper can not only obtain innovative conceptual conceptual design results, but also can evaluate their performances under 3-D enviroment efficently.

Automatic Virtual Entity Simulation of Conceptual Design Results—Part Ⅰ:Symbolic Scheme Generation and Identification

The development of new products of high quality, low unit cost, and short lead time to market are the key elements required for any enterprise to obtain a competitive advantage. For shorting the lead time to market and improving the creativity and performances of the product, a rule-based conceptual design approach and a methodology to simulate the conceptual design results generated in conceptual design process in automatical virtual entity form are presented in this paper. This part of paper presents a rule-based conceptual design method for generating creative conceptual design schemes of mechanisms based on Yan＇s kinematic chain regeneration creative design method. The design rules are adopted to describe the design requirements of the functional characteristics, the connection relationships and topological characteristics among mechanisms. Through the graphs-based reasoning process, the conceptual design space is expanded extremely, and the potential creative conceptual design results are then dug out. By refining the design rules, the solution exploration problem is avioded, and the tendentious conceptual design schemes are generated. Since mechanical, electrical and hydraulic subsystems can be transformed into general mechansims, the conceptual design method presented in this paper can also be applied in the conceptual design problem of complex mechatronic systems. And then the method to identify conceptual design schemes is given.

Dynamic Simulation Analysis of the Flexible Swap Device

With the development of space science and technology,the on-orbit servicing technologies of spacecraft get more and more attention.According to the design criterion of existing spacecraft in orbit module replacement technology,the flexible swap device is designed and the dynamics simulation of institutions by the automatic dynamic analysis of mechanical systems(ADAMS)simulation software is analyzed.Throughout the analysis process,this paper studies the effect of collision force of flexible mechanism and provides a basis for the optimization of flexible plug agencies.

Integration of Strain Sensors on Additively Manufactured Implantable Devices

The development of personalized healthcare is rapidly growing thanks to the support of low-power electronics,advanced fabrication processes and secured data transmission protocols.Long-acting drug delivery systems able to sustain the release of therapeutics in a controllable manner can provide several advantages in the treatment of chronic diseases.Various systems under development control drug release from an implantable reservoir via concentration driven diffusion through nanofluidic membranes.Given the high drug concentration in the reservoir,an inward osmotic fluid transport occurs across the membrane,which counters the outward diffusion of drugs.The resulting osmotic pressure buildup may be sufficient to cause the failure of implants with associated risks to patients.Confidently assessing the osmotic pressure buildup requires testing in vivo.Here,using metal and polymer AM(additive manufacturing)processes,we designed and developed implantable drug reservoirs with embedded strain sensors to directly measure the osmotic pressure in drug delivery implants in vitro and in vivo.

Study on Energy Stored in Thin Layers of MEMS Ultrasonic Resonance Separator

The particles suspending in liquid suffer acoustical radiation force from ultrasonic field. The force may cause particles movement and has special advantage to separate particles from liquid in Micro Electro Mechanical Systems （MEMS）. It is important to improve the energy stored in liquid layer so as to increase separation ability for decreasing drive demand in MEMS. Resonance may hugely increase the magnitude and generally be employed in micro separator. The summits of admittance spectrum show the resonance frequencies. It may come from resonance in one layer or multi layers in micro separator. This paper studies the difference of energy stored in layers at each rein frequency. It provides the way to select the most effect separation frequency other than admittance spectrum.

RF MEMS Based Reconfigurable Rectangular Slotted Self Similar Antenna

Wireless communication systems which require flexibility and reconfigurability in antenna systems faces main problems like antenna performance, size, weight and cost. A wide band Frequency Reconfigurable Rectangular Slotted Self Similar Antenna has been proposed in this paper. The rectangular slotted patch is repeated for two iterations at different scales and is separated by means of Radio Frequency Micro Electro Mechanical Systems (RF MEMS) switches in order to provide reconfigurability. The antenna can operate in three frequency bandsi.e. K-band, Ku-band and Ka-band by altering the states of RF MEMS switches. To avoid fringing effects and to improve antenna performance, quarter wavelength (λ/4) spacing is required between the antenna and the ground plane. However, a Reconfigurable Antenna requires different λ/4 spacing which is difficult to achieve using a common ground plane. So the Frequency Reconfigurable antenna is integrated with high impedance surface (HIS) like Electronic Band Gap (EBG) structures to suppress standing waves and surface waves with a unified profile thickness of 1.75 mm. The overall dimension of the proposed antenna along with RF MEMS Switch, feed element and HIS is about 8 mm × 8 mm × 1.75 mm. The simulated results of the proposed antenna reveal enhancement in antennas performance like Voltage Standing Wave Ratio (VSWR), Front to Back Ratio (FBR) and bandwidth when it is placed over HIS EBG. Also the radiation patterns of the proposed antenna when placed over EBG shows the suppression of side lobe and backward radiation.

Exercise-induced irisin in bone and systemic irisin administration reveal new regulatory mechanisms of bone metabolism

Irisin is a polypeptide hormone derived from the proteolytic cleavage of fibronectin-type III domain- containing 5 （FNDC5） protein. Once released to circulation upon exercise or cold exposure, irisin stimulates browning of white adipose tissue （WAT） and uncoupling protein I （UCP1） expression, leading to an increase in total body energy expenditure by augmented UCPl-mediated thermogenesis. It is currently unknown whether irisin is secreted by bone upon exercise or whether it regulates bone metabolism in vivo. In this study, we found that 2 weeks of voluntary wheel-running exercise induced high levels of FNDC5 messenger RNA as well as FNDC5/irisin protein expression in murine bone tissues. Increased immunoreactivity due to exercise-induced FNDC5/irisin expression was detected in different regions of exercised femoral bones, including growth plate, trabecular bone, cortical bone, articular cartilage, and bone-tendon interface. Exercise also increased expression of osteogenic markers in bone and that of UCP1 in WAT, and led to bodyweight loss. Irisin intraperitoneal （IP） administration resulted in increased trabecular and cortical bone thickness and osteoblasts numbers, and concurrently induced UCP1 expression in subcutaneous WAT. Lentiviral FNDC5 IP administration increased cortical bone thickness. In vitro studies in bone cells revealed irisin increases osteoblastogenesis and mineralization, and inhibits receptor activator of nuclear factor-kB ligand （RANKL）- induced osteoclastogenesis. Taken together, our findings show that voluntary exercise increases irisin production in bone, and that an increase in circulating irisin levels enhances osteogenesis in mice.

Induced Resistance of Tomato against Gray Mold (Botrytis cinerea) by Salicylic Acid (SA)

[ Objective ] The paper was to explore the induced resistance of tomato against gray mold （Botrytis cinerea） by salicylic acid. [ Method ] SA was used as an inducer to treat tomato seedlings, the effects of SA on mycelial diameter and spore germination of B. cinerea were studied, and the changes of 4 defense enzyme activities containing catalase （CAT）, peroxidase （POD）, polyphenol oxidase （PPO） and phenylalanine ammonia lyase （PAL）, as well as malondialdehyde （MDA） content during the production process of induced resistance were also measured. [ Result] SA had no inhibitory effect against spore germination and myce- lial growth of B. cinerea within the concentration range, and the relative induced effect had different degrees of improvement after treatment. The induced effect was the best as B. cinerea was challenged to inoculate at the third day after using 150 mg/L SA in tomato plants, and the duration of resistance was 10 -15 d. After treated by SA, CAT, POD, PPO and PAL first increased and then decreased in systemic induced resistance against B. cinerea, which were significantly higher than control. Meanwhile, MDA content showed ascendant trend in wavy line form. [ Conclusion ] The use of SA within a certain concentration range is safe; CAT, POD, PPO and PAL activities have positive correlation with induced resistance against B. cinerea, the increase of MDA content also has close relationship with the imvrovement of disease resistance.

Preparation of High-Density Nanocrystalline Bulk Selenium by Rapid Compressing of Melt

The melt＇s solidification behavior of elemental selenium is investigated by a series of experiments including rapid compressing to 2.8 and 3.5 GPa within 20ms respectively, slow compressing to 2.8 GPa for 20 min and natural cooling at ambient pressure. Based on the x-ray diffraction, scanning electron microscope and transmission electron microscope results of the recovered samples, it is clearly shown that homogenous nanostructures are formed only by the rapid compression processes, and that the average crystal sizes are about 18.7 and 19.0 nm in the samples recovered from 2.8 and 3.5 GPa, respectively. The relative density of the nanocrystalline bulk reaches 98.17% of the theoretical value. It is suggested that rapid compression could induce pervasive nucleation and restrain grain growth during the solidification, which is related to fast supercooling, higher viscosity of the melt and lower diffusivity of atoms under high pressure.