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Design and Verification of Parallel Hip Exoskeleton Considering Output Torque Anisotropy

Journal of Bionic engineering 2024年第3期21卷 1305-1320页

作者： Jilong Xu Yunzhan Niu Fucai Liu Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment Yanshan UniversityQinhuangdao066004China Key Laboratory of Industrial Computer Control Engineering of Heibei Province Yanshan UniversityQinhuangdao066004China College of Mechanical Engineering Yanshan UniversityQinhuangdao066004China

In rehabilitation training,it is crucial to consider the compatibility between exoskeletons and human legs in ***,most exoskeletons today adopt an anthropomorphic serial structure,which results in rotational centers that are not precisely aligned with the center of the hip *** address this issue,we introduce a novel exoskeleton called the Parallel Hip Exoskeleton(PH-Exo)in this ***-Exo is meticulously designed based on the anisotropic law of output *** the friction of the drive components,a dynamic model of the human-machine complex is *** analysis demonstrates that PH-Exo not only exhibits outstanding torque performance but also achieves high controllability in both flexion/extension and adduction/abduction ***,a robust controller is designed to address model uncertainty,friction,and external *** experiments indicate that under the control of the robust controller,each motor achieves excellent tracking performance.

关键词： Hip exoskeleton Parallel mechanism Misalignment Anisotropy Output torque

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Exponential Stability of Impulsive system via Saturated Sliding Mode control

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 469-471页

作者： Miaomiao Yu Xiaodi Li the Shandong Provincial Engineering Research Center of System Control and Intelligent Technology Shandong Normal University School of Mathematics and Statistics Shandong Normal University IEEE

Dear Editor,This letter presents a class of saturated sliding mode control (SMC)strategy for linear systems subject to impulsive disturbance and input saturation. To ensure the feasibility of proposed SMC under saturation, a relationship is established among attraction domain, saturation structure and control gain.

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Analysis and Optimization of Transient Mode Switching Behavior for Power Split Hybrid Electric Vehicle with Clutch Collaboration

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Automotive Innovation 2024年第1期7卷 150-165页

作者： Dehua Shi Sheng Liu Yujie Shen Shaohua Wang Chaochun Yuan Long Chen Automotive Engineering Research Institute Jiangsu UniversityZhenjiang 212013China Jiangsu Province Engineering Research Center of Electric Drive System and Intelligent Control for Alternative Vehicles Zhenjiang 212013China

The power split hybrid electric vehicle(HEV)adopts a power coupling configuration featuring dual planetary gearsets and multiple clutches,enabling diverse operational modes through clutch engagement and *** multi-clutch configuration usually involves the collaboration of two clutches during the transient mode switching process,thereby substantially elevating control *** study focuses on power split HEVs that integrate multi-clutch mechanisms and investigates how different clutch collaboration manners impact the characteristics of transient mode *** powertrain model for the power-split HEV is established utilizing matrix-based *** the formulation of clutch torque curves and clutch collaboration models,this research systematically explores the effects of clutch engagement timing and the duration of clutch slipping state on transient mode switching *** upon this analysis,an optimization problem for control parameters pertaining to the two collaborative clutches is *** simulated annealing algorithm is employed to optimize these control *** results demonstrate that the clutch collaboration manners have a great influence on the transient mode switching *** with the pre-calibrated benchmark and the optimal solution derived by the genetic algorithm,the maximal longitudinal jerk and clutch slipping work during the transient mode switching process is reduced obviously with the optimal control parameters derived by the simulated annealing *** study provides valuable insights for the dynamic coordinated control of the power-split HEVs featuring complex clutch collaboration mechanisms.

关键词： Power split hybrid electric vehicle Transient mode switching Clutch collaboration Simulated annealing Powertrain model

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Vibration-Based Fault Diagnosis for Railway Point Machines Using VMD and Multiscale Fluctuation-Based Dispersion Entropy

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Chinese Journal of Electronics 2024年第3期33卷 803-813页

作者： Yongkui SUN Yuan CAO Peng LI Guo XIE Tao WEN Shuai SU National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University School of Electronic and Information Engineering Beijing Jiaotong University Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Frontiers Science Center for Smart High-speed Railway System Beijing Jiaotong University

As one of the most important railway signaling equipment,railway point machines undertake the major task of ensuring train operation *** fault diagnosis for railway point machines becomes a hot *** the advantage of the anti-interference characteristics of vibration signals,this paper proposes an novel intelligent fault diagnosis method for railway point machines based on vibration signals.A feature extraction method combining variational mode decomposition(VMD) and multiscale fluctuation-based dispersion entropy is developed,which is verified a more effective tool for feature ***,a two-stage feature selection method based on Fisher discrimination and ReliefF is proposed,which is validated more powerful than single feature selection ***,support vector machine is utilized for fault *** comparisons show that the proposed method performs *** diagnosis accuracies of normal-reverse and reverse-normal switching processes reach 100% and 96.57% ***,it is a try to use new means for fault diagnosis on railway point machines,which can also provide references for similar fields.

关键词： Fault diagnosis Railway point machine Vibration signal Variational mode decomposition Two-stage feature selection

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Flexible servo riveting system control strategy based on the RBF network and self-pierce riveting process

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Advances in Manufacturing 2023年第1期11卷 39-55页

作者： Yan Liu Qiu Tang Xin-Cheng Tian Long Cui Center for Robotics School of Control Science and EngineeringShandong UniversityJinan250061People’s Republic of China Engineering Research Center of Intelligent Unmanned System Ministry of EducationJinan250061People’s Republic of China

As more and more composite materials are used in lightweight vehicle white bodies,self-pierce riveting(SPR)technology has attracted great ***,the existing riveting tools still have the disadvantages of low efficiency and *** improve these disadvantages and the riveting qualification rate,this paper improves the control scheme of the existing riveting tools,and proposes a novel controller design approach of the flexible servo riveting system based on the RBF network and SPR ***,this paper briefly introduces the working principle and SPR procedure of the servo riveting *** a moving component force analysis is performed,which lays the foundation for the motion ***,the riveting quality inspection rules of traditional riveting tools are used for reference to plan the force-displacement curve *** control this process,the riveting force is fed back into the closed-loop control of the riveting tool and the riveting speed is computed based on the admittance control ***,this paper adopts the permanent magnet synchronous motor(PMSM)as the power of riveting tool,and proposes an integral sliding mode control approach based on the improved reaching law and the radial basis function(RBF)network friction compensation for the PMSM speed ***,the proposed control approach is simulated by Matlab,and is applied to the servo riveting system designed by our *** simulation and riveting results show the feasibility of the designed controller.

关键词： Lightweight vehicle body connection Self-pierce riveting(SPR)process Flexible servo riveting tool Riveting force planning and control

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A synchronous spatiotemporal graph neural network for short-term traffic flow prediction

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Soft Computing 2025年第6期29卷 2983-2997页

作者： Zhang, Zhao Jiao, Xiaohong Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment Yanshan University Qinhuangdao066004 China School of Electrical Engineering Yanshan University Qinhuangdao066004 China

Traffic flow prediction is a vital part of an intelligent traffic management system. The critical challenge of the traffic flow prediction task is to fully use observable historical information to extract the hidden spatiotemporal dependence. For this reason, a synchronous spatiotemporal grammar graph attention network is proposed based on multi-dimensional edge information (MDEI-SSTGGAT) to achieve short-term traffic flow prediction tasks. In the designed model, the spatial nodes are first clustered. Then, a local spatiotemporal graph is established for each category for extracting synchronous spatiotemporal features. In the feature extraction module, the graph attention network with multi-dimensional edge information captures the spatiotemporal features dynamically, and the grammar graph structure fuses the hidden features of three observable traffic parameters. The model fully uses observable traffic parameter features to improve the prediction accuracy while keeping the computation time short. Simulation results on real data sets show that the prediction performance of this model is better than the existing prediction methods. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2025.

关键词： Traffic control

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Time-Varying Formation Tracking control of Heterogeneous Multi-Agent systems With Intermittent Communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems control theory Autonomous systems Stability

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HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillation

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Chinese Journal of Electronics 2023年第1期32卷 189-198页

作者： GUAN Qi SHENG Zihao XUE Shibei Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

Real-time six degrees-of-freedom(6D)object pose estimation is essential for many real-world applications, such as robotic grasping and augmented reality. To achieve an accurate object pose estimation from RGB images in real-time, we propose an effective and lightweight model, namely high-resolution 6D pose estimation network(HRPose). We adopt the efficient and small HRNetV2-W18 as a feature extractor to reduce computational burdens while generating accurate 6D poses. With only 33% of the model size and lower computational costs, our HRPose achieves comparable performance compared with state-of-the-art models. Moreover, by transferring knowledge from a large model to our proposed HRPose through output and feature-similarity distillations, the performance of our HRPose is improved in effectiveness and efficiency. Numerical experiments on the widely-used benchmark LINEMOD demonstrate the superiority of our proposed HRPose against state-of-the-art methods.

关键词： Knowledge engineering Computational modeling Pose estimation Grasping Benchmark testing Feature extraction Real-time systems

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Cognitive Navigation for intelligent Mobile Robots:A Learning-Based Approach With Topological Memory Configuration

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IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1933-1943页

作者： Qiming Liu Xinru Cui Zhe Liu Hesheng Wang Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China MoE Key Laboratory of Artificial Intelligence AI InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong UniversityShanghai 200240China

Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-based visual navigation pipeline that uses topological maps as memory *** introduce a unique online topology construction approach that fuses odometry pose estimation and perceptual similarity *** tackles the issues of topological node redundancy and incorrect edge connections,which stem from the distribution gap between the spatial and perceptual ***,we propose a differentiable graph extraction structure,the topology multi-factor transformer(TMFT).This structure utilizes graph neural networks to integrate global memory and incorporates a multi-factor attention mechanism to underscore elements closely related to relevant target cues for policy *** from photorealistic simulations on image-goal navigation tasks highlight the superior navigation performance of our proposed pipeline compared to existing memory *** validation through behavior visualization,interpretability tests,and real-world deployment further underscore the adapt-ability and efficacy of our method.

关键词： Graph neural networks(GNNs) spatial memory topological map visual navigation

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Fault Tolerant control for the Vibration Displacement system of a Continuous Casting Mold Based on a Fault Detection Observer 43

Fault Tolerant Control for the Vibration Displacement System...

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43rd Chinese control Conference, CCC 2024

作者： Hao, Wenqi Fang, Yiming Liu, Le Liu, Xiaonan Yanshan University Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Yanshan University Engineering Research Center of the Education Ministry for Intelligent Control System and Intelligent Equipment Qinhuangdao066004 China

ISBN: (纸本)9789887581581

In this paper, a fault detection observer and an adaptive sliding mode fault-tolerant controller are designed for the vibration displacement system of a continuous casting mold with actuator faults and load torque disturbances. Firstly, a mathematical model of a continuous casting mold vibration displacement system driven by a servo motor with actuator faults and load disturbance uncertainties are established. Secondly, a fault detection observer is designed to obtain information on actuator faults, load disturbances, and system state variables. Then, based on the information from the fault detection observer, an adaptive sliding mode fault-tolerant controller is designed, and the stability of the designed system is proved using Lyapunov stability theory. Finally, the effectiveness of the designed adaptive sliding mode fault-tolerant controller based on fault observer is verified through simulation. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Continuous casting

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