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Recent advances in ocular lubrication

Friction 2024年第9期12卷 1929-1954页

作者： Jianhua ZHANG Yunjuan SU Jian WU Hongdong WANG School of Mechatronic Engineering and Automation and Key Laboratory of Advanced Display and System Application Ministry of EducationShanghai UniversityShanghai 200444China

The ocular lubrication,where the eyelid constantly slides on the curved corneal surface,is considered as one of primary lubrication systems in *** reliable lubrication conditions,sensitive ocular tissues remain intact from fatigue damage during spontaneous blink *** tear film,evenly filled between cornea and conjunctiva,is a biological fluid with dynamic adjustment ability,which provides superior lubrication with the friction coefficient of below ***,the lubrication failure may result in a variety of uncomfortable symptoms such as inflammatory reactions,tissue damage and neurological ***,it is essential to clarify the fundamental mechanism of ocular lubrication,which helps to alleviate and even recover from various ocular *** review firstly demonstrates that the ocular components,containing lipids and mucins,contribute to maintaining the lubrication stability of tear ***,the ocular lubrication state in various physiological environments and the physical effect on tear film dynamics are further *** typical applications,the therapeutic agents of dry eye syndrome and contact lens with superior lubrication effects are introduced and their lubrication mechanisms are ***,this review summarizes a series of the latest research inspired by ocular ***,this work will provide a valuable guidance on the theoretical research and extensive applications in the field of biological lubrication.

关键词： bio-tribology ocular lubrication tear film dry eye syndrome tear film dynamics

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A Bio-inspired Mutual-hook Strategy for the Soft Finger to Improve Load-bearing Capacity and Grasping Stability

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Journal of Bionic Engineering 2024年第3期21卷 1290-1304页

作者： Jie Huang Lingjie Gai Xiaofeng Zong Yunquan Li School of Automation China University of GeosciencesWuhan430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074China The Shien-Ming Wu School of Intelligent Engineering South China University of TechnologyGuangzhou510641China

Soft grippers have great potential applications in daily life,since they can compliantly grasp soft and delicate ***,the highly elastic fingers of most soft grippers are prone to separate from each other while grasping objects due to their low stiffness,thus reducing the grasping stability and load-bearing *** tackle this problem,inspired from the venus flytrap plant,this work proposes a mutual-hook mechanism to restrain the separation and improve the grasping performance of soft *** novel soft gripper design consists of three modules,a soft finger-cot,two Soft Hook Actuators(SHAs)and two sliding ***,the soft finger-cot covers on the soft finger,increasing the contact area with the target object,two SHAs are fixed to the left and right sides of the finger-cot,and the sliding mechanisms are designed to make SHAs stretch *** demonstrate that the proposed design can restrain the separation of soft fingers substantially,and the soft fingers with the finger-cots can grasp objects three times heavier than the soft fingers without the proposed *** proposed design can provide invaluable insights for soft fingers to restrain the separation while grasping,thus improving the grasping stability and the load-bearing capacity.

关键词： Soft robotics Soft bionic finger-cot Soft hook actuator Grasping stability Load-bearing capacity

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Simple and effective:Superlubricity behaviour of the G-quadruplex hydrogel with high selectivity for K^(+) ions based on the ocular environment

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Friction 2024年第11期12卷 2548-2562页

作者： Hongdong WANG Jian WU Kunpeng WANG Yunjuan SU Xiacong ZHANG Yuhong LIU Jianhua ZHANG School of Mechatronic Engineering and Automation and Key Laboratory of Advanced Display and System Application Ministry of EducationShanghai UniversityShanghai 200444China State Key Laboratory of Tribology in Advanced Equipment Tsinghua UniversityBeijing 100084China Department of Polymer Materials School of Materials Science and EngineeringShanghai UniversityShanghai 200444China

Hydrogels have been the subject of significant research in the field of friction due to their exceptional lubricating *** this study,the G-quadruplex hydrogel with high selectivity for K^(+) ions was formed by introducing a mixture of G,2-formylphenylboronic acid,and polyethylene glycol diamine into simulated artificial tears solution with high transparency,and an ultra-low coefficient of friction(COF)of about 0.004 was obtained based on the simulated ocular environment,thus achieving macroscopic *** friction pairs simulating the ocular environment,to assess the frictional performance of the G-quadruplex hydrogel as both a lubricant and a friction pair based on the simulated ocular environment,we conducted experiments considering various factors such as concentration,sliding speed,and *** these experiments,it was found that superlubricity was achieved when the G-quadruplex hydrogel was applied as lubricant or friction *** effect was attributed to the three-dimensional network structure and hydrophilicity of the hydrogel,which facilitated the formation of a highly bearing and flowing hydration layer,promoting macroscopic *** to the G-quadruplex hydrogel with low concentration,the high concentration hydrogel(75 mM)exhibited increased mechanical strength and robustness in *** with biocompatibility experiments,our synthesized G-quadruplex hydrogel has excellent biocompatibility and offers a novel approach to achieve superlubricity in ocular drug delivery.

关键词： superlubricity ocular environment G-quadruplex hydrogel bio-compatibility

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Design of GPR Transmitting Pulse Signal Based on FPGA 41

Design of GPR Transmitting Pulse Signal Based on FPGA

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第41届中国控制会议

作者： Guangjun Wang Yangzheng Zhang Yi Zhao Zhi Wang School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex System

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Aiming at the non-contact detection scene of GPR,it is necessary to adjust the repetition frequency of transmitting pulse waveform flexibly,and a GPR pulse signal design based on FPGA is *** scheme uses FPGA to control the generation of adjustable pulse signals,which are amplified by high-frequency power amplifier circuit,and the signal repetition frequency can be adjusted by *** theory of transmitting pulse waveform design is analyzed,the FPGA logic circuit is designed to generate pulse signal,and the high frequency power amplifier circuit is designed to solve the problem of low power of FPGA *** effectiveness of the scheme is verified by *** results show that the pulse signal generated by the scheme has stable frequency amplitude and the output power meets the requirements of non-contact *** with the traditional pulse signal generation device using switching devices,the structure is simple and the pulse signal can be set flexibly.

关键词： Ground Penetrating Radar FPGA Pulse Signal Power Amplifier

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PCE: Multi-Agent Path Finding via Priority-Aware Communication & Experience Learning

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Gao, Jianqi Li, Yanjie Ye, Zhaohui Wu, Xinyu Department of Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics and School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

Multi-agent path finding (MAPF) is an essential issue for warehouse automation, where multiple agents plan collision-free paths from the start to goal positions. Reinforcement learning (RL) has been employed to develop partially observable distributed MAPF methods that can be scaled to any number of agents. However, existing RL-based MAPF methods still have some limitations in handling redundant information and avoiding deadlock, resulting in a low success rate or longer makespan. This paper proposes a Priority-aware Communication & Experience learning method (PCE), which combines RL with a novel priority-aware multi-agent communication and a new priority-aware deadlock experience replay to tackle this challenge. To be specific, our innovation encompasses two-fold. Our proposed communication mechanism aims to handle redundant information, which establishes a dynamic communication topology based on agents' priorities and proposes a two-head priority-aware graph attention network to aggregate information. In order to help the agent avoid deadlock, we prioritize the expert experience that solves the deadlock when performing experience replay. We conduct multiple simulation experiments on warehouse-like structured grid maps. Compared with the state-of-the-art RL-based MAPF methods, PCE performs significantly better with a higher success rate and lower makespan in small and large MAPF and higher average throughput in the lifelong MAPF, which can further improve the efficiency of warehouse automation. Finally, we validate PCE using three Turtlebot3-Burger robots, which shows that PCE can be applied in real warehouse automation scenarios. IEEE

关键词： Aggregates

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Kinematics analysis of lower limb rehabilitation robot based on D-H method 41

Kinematics analysis of lower limb rehabilitation robot based...

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第41届中国控制会议

作者： Kui Jie Wangyong He Renjie Gui School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length and proportion of Chinese human lower limbs,as well as the range of extreme motion and comfortable motion of each joint of human lower *** on the error transfer matrix of rigid body connecting rod,the three-DOF lower limb rehabilitation robot human lower limb static pose error model and human/machine integration model are *** D-H method was used to solve the kinematic function between the angle of each joint and the position of the end of human lower *** analysis of the kinematics of human lower limbs is to calculate its inverse kinematics *** the motion control of rehabilitation robots,the inverse kinematics is more important than the forward kinematics,which is the basis for rehabilitation robot to realize trajectory planning under the training mode of passive trajectory traction,as well as the basis for compliant ***,a simulation model is established with Matlab software,and the simulation results show the feasibility and safety of the rehabilitation training process.

关键词： Lower limb rehabilitation robot Range of motion Human kinematics

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An Indoor Positioning Algorithm Against NLOS Error Based on UWB 41

An Indoor Positioning Algorithm Against NLOS Error Based on ...

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第41届中国控制会议

作者： Mingxiang Liao Yongbo Li Guangyao Wang Zhenyu Lei Zihao Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Ultra-wideband（UWB） positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the error caused by non-line-of-sight（NLOS） and multi-path *** present,the Chan-Taylor（C-T） combination algorithm proposed by scholars can achieve a good positioning effect in the line-of-sight（LOS） environment,but in the NLOS environment,positioning deviation of this algorithm is large .Aiming at the problem of low localization accuracy in NLOS environment,this paper presents a Chan-Taylor-Kalman（CTK） joint positioning algorithm based on UWB and adapted to NLOS *** basic idea of CTK joint positioning algorithm is to introduce weight coefficients on the basis of C-T combination algorithm to reduce the situation of non-convergence of positioning results;then combined with the improved Kalman filter to eliminate outliers and eliminate the influence of the non-line-of-sight *** show that under the same NLOS environment,the probability of the positioning error of the C-T combination positioning algorithm greater than 20 cm is about 60%,while the probability of the positioning error of the CTK joint positioning algorithm greater than 10 cm is only about 10%.

关键词： UWB NLOS indoor positioning Chan-Taylor combination algorithm Kalman filter

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Temperature Rising Model of Tubular Permanent Magnet Linear Synchronous Motor Based on Transfer Learning-Deep Neural Network 42

Temperature Rising Model of Tubular Permanent Magnet Linear ...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, YiFei Wu, Tao School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China System Integration and Industrial Robotics Laboratory Wuhan430074 China

ISBN: (纸本)9789887581543

High temperature rise of permanent magnet linear synchronous motor can lead to irreversible demagnetization of the motor permanent magnet, which can negatively affect the motor performance. To address this problem, a thermal modeling analysis method based on Transfer learning-Deep neural network (TL-DNN) was proposed in this paper. Its specific implementation steps include (1) corresponding to different heat source inputs, the equivalent thermal circuit method and the finite element analysis was adopted based on the structure and main parameters of PMLSM including overall average temperature rise, coil temperature rise and permanent magnet temperature rise from the data sets of the motor;(2) TL-DNN was used to fit the functional relationship between the input source features and the output targets based on the characteristics of the sample data sets. In order to verify the accuracy of the prediction model with small sample data sets, this paper divided the proportion of the data set and compared the results with other classic nonparametric models (random forest, support vector machine, and deep neural network). The results show that the TL-DNN model outperforms other machine learning models and has better robustness and generalization ability when the training datasets are insufficient, and achieves an organic combination of physical field path model and data-driven model, which provides a feasible solution for PMLSM modeling in the case of small samples. © 2023 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Finite element method

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Research on the Knowledge Graph Embedding for Rail Fault Text Based on Translation Model

Research on the Knowledge Graph Embedding for Rail Fault Tex...

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2024 China automation Congress, CAC 2024

作者： Cai, Yi Su, Shuai State Key Laboratory of Advanced Rail Autonomous Operation School of Automation and Intelligence Beijing Jiaotong University Frontiers Science Center for Smart High-speed Railway System Beijing China

ISBN: (纸本)9798350368604

To enhance the automation of urban rail scheduling systems in the face of malfunctions, the current prevalent approach involves constructing intelligent retrieval and question-answering systems based on urban rail fault data knowledge graphs to support dispatchers’ decision-making. However, the knowledge graphs within the urban rail sector are currently crafted manually or semi-automatically, potentially neglecting the implicit semantic connections and obscured structural characteristics interlinking various entities. This oversight leads to incomplete rail fault knowledge graphs, adversely affecting the accuracy of intelligent question-answering systems. Consequently, it is essential to train a model to uncover these implicit semantic links and complete the rail fault knowledge graph. This paper proposes a knowledge graph embedding model that integrates relational weight constraints with neighborhood information. The concept of relational hyperplane is incorporated into the model, enabling the embedding vectors of entities and relations to adapt to the complex relational mappings in the urban rail domain. Furthermore, neighborhood information is integrated as supplementary information within the model using a self-attention mechanism, serving to further unearth the implicit semantic connections between rail fault entities, reduce the impact of small sample data on the model’s representation capabilities and enhance the model’s effectiveness in completing the knowledge graph. Finally, the experiments on a real rail fault dataset are conducted with the proposed model, and the result shows that the model proposed in this paper significantly outperforms other baseline models in triplet classification tasks and link prediction tasks. © 2024 IEEE.

关键词： Knowledge graph

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A Weighting Factors Autotuning Strategy for Model Predictive Torque Control of Permanent Magnet Synchronous Motor Based on Adaptive Multi-Objective Black Hole Algorithm 42

A Weighting Factors Autotuning Strategy for Model Predictive...

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42nd Chinese Control Conference, CCC 2023

作者： Zhou, Zixiang Wu, Tao School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China System Integration and Industrial Robotics Laboratory Wuhan430074 China

ISBN: (纸本)9789887581543

The rational design of weighting factors in the cost function for finite control set model predictive torque control (FCS-MPTC) has been a matter of great interest in power electronics and electrical drives. In order to solve this problem, a weighting factors autotuning strategy for FCS-MPTC of permanent magnet synchronous motor (PMSM) based on the adaptive multi-objective black hole algorithm (AMOBH) is proposed. In this paper, the design process of the FCS-MPTC algorithm is first analyzed in detail. Then, an AMOBH algorithm that can take into account both population convergence and population diversity is introduced, and based on this algorithm, the design problem of the weighting factors is successfully transformed into a multi-objective optimization problem by means of reconstructing the cost function and designing the motor operation information collected in real time as the objective functions of the multi-objective optimization algorithm. Simulation results show that the proposed method can find a set of weighting factor combinations suitable for different working condition requirements, and these weighting factors can effectively improve the operation performance of the PMSM system. © 2023 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Cost functions

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