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Design and Validation of Substrate Integrated Waveguide-based Blood Glucose Measurement Sensor

IEEE Sensors Journal 2025年第11期25卷 20362-20373页

作者： Alsultani, Ameer B. Chase, J. Geoffrey Benyo, Balazs Budapest University of Technology and Economics Faculty of Electrical Engineering and Information Technology Department of Control Engineering and information Technology Budapest Hungary University of Canterbury Department of Mechanical Engineering Christchurch New Zealand

The increasing global prevalence of diabetes necessitates the development of accurate, reliable, and miniaturised glucose sensing technologies. Microwave-based sensors offer a promising alternative to conventional electrochemical methods due to their less invasive nature and real-time monitoring capabilities. However, previous microwave glucose sensors have often lacked comprehensive validation, limiting their practical usability. Many existing studies rely on simplified simulations without detailed parametric studies or fail to establish a strong correlation between theoretical models and experimental results, resulting in discrepancies in sensor performance. This study introduces a Cross-Slot Substrate Integrated Waveguide (CSSIW) sensor that overcomes these limitations by implementing a rigorous multi-level validation approach, including analytical modeling, full-wave electromagnetic simulations, and experimental verification. The sensor’s X-slot structure enhances electric field concentration, significantly improving sensitivity while maintaining a compact form factor (13×9 mm). Through eigenmode analysis and parametric studies, the sensor’s resonant frequency shift is optimised to detect glucose concentration variations with high precision. Experimental validation using glucose solutions at physiological concentrations (20–200 mg/dL) demonstrates a sensitivity of 0.563 MHz/(mg/dL), closely aligning with simulated results (0.415 MHz/(mg/dL)), confirming its accuracy and robustness. Compared to previous works, this study addresses prior shortcomings by providing a detailed investigation of field interactions, quality factor evaluation, and environmental dependencies, ensuring a comprehensive understanding of the CSSIW sensor’s performance. The findings confirm that the proposed sensor achieves low insertion loss (1.13 dB), strong impedance matching (-18.7 dB return loss), and full physiological range coverage, making it a promising candidate for next-generation g

关键词： Substrate integrated waveguides

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Compliant control of Lower Limb Rehabilitation Exoskeleton Robot Based on Flexible Transmission

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Journal of Bionic engineering 2023年第3期20卷 1021-1035页

作者： Keping Liu Li Li Wanting Li Jian Gu Zhongbo Sun Department of Control Science and Engineering Changchun University of TechnologyChangchun130012China Department of Electrical and Information Engineering Jilin Engineering Normal UniversityChangchun130052China

To ensure the safety, comfort, and effectiveness of lower limb rehabilitation exoskeleton robots in the rehabilitation training process, compliance is a prerequisite for human–machine interaction safety. First, under the premise of considering the mechanical structure of the lower limb rehabilitation exoskeleton robot (LLRER), when conducting the dynamic transmission of the exoskeleton knee joint, the soft axis is added to ensure that the rotation motion and torque are flexibly transmitted to any position to achieve flexible force transmission. Second, to realize the active compliance control of LLRER, the sliding mode impedance closed-loop controller is developed based on the kinematics and dynamics model of LLRER, and the stability of the designed control system is verified by Lyapunov method. Then the experiment is designed to track the collected bicycle rehabilitation motion data stably, and the algorithm and dynamic model are verified to satisfy the experimental requirements. Finally, aiming at the transmission efficiency and response performance of the soft shaft in the torque transmission process of the knee joint, the soft shaft transmission performance test is carried out to test the soft shaft transmission performance and realize the compliance of the LLRER, so as to ensure that the rehabilitation training can be carried out in a safe and comfortable interactive environment. Through the design of rehabilitation exercise training, it is verified that the LLRER of flexible transmission under sliding mode impedance control has good adaptability in the actual environment, and can achieve accurate and flexible control. During the experiment, the effectiveness of monitoring rehabilitation training is brought through the respiratory belt.

关键词： Lower limb rehabilitation exoskeleton Flexible control Impedance control Stability

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Neural Network for Distributed Collaboration of Multiple Manipulators With Switching Topologies: A Game-Theoretic Perspective

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3213-3221页

作者： Liu, Mei Mu, Wenxin Lv, Xin Sun, Zhongbo Jin, Long Lanzhou University School of Information Science and Engineering Lanzhou730000 China Changchun University of Technology Department of Control Engineering Changchun130000 China

Since distributed control strategies can effectively reduce the operating load of the central processor, they have become a prominent research direction in the field of controlling multiple manipulators. However, existing distributed approaches predominantly rely on fixed topologies, overlooking the dynamic nature of task requirements. To address this limitation, this article proposes a distributed collaboration scheme that incorporates switching topologies. The distributed control problem is further formulated as a game-theoretic framework involving multiple manipulators. A dynamic neural network solver is then developed to approximate the optimal Nash equilibrium strategy, with its convergence and stability proven through theoretical analysis. The effectiveness of the proposed scheme and solver is validated through a series of physical experiments. © 2013 IEEE.

关键词： Redundant manipulators

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Multiple unmanned ship coverage and exploration in complex sea areas

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Autonomous Intelligent Systems 2024年第1期4卷 210-223页

作者： Feifei Chen Qingyun Yu Department of Control Science and Engineering College of Electronics and Information EngineeringTongji UniversityShanghai200092China Shanghai Municipal Economic and Information Technology Commission Shanghai200125China

This study addresses the complexities of maritime area information collection,particularly in challenging sea environments,by introducing a multi-agent control model for regional information *** on three key areas—regional coverage,collaborative exploration,and agent obstacle avoidance—we aim to establish a multi-unmanned ship coverage detection *** regional coverage,a multi-objective optimization model considering effective area coverage and time efficiency is proposed,utilizing a heuristic simulated annealing algorithm for optimal allocation and path planning,achieving a 99.67%effective coverage rate in *** exploration is tackled through a comprehensive optimization model,solved using an improved greedy strategy,resulting in a 100%static target detection and correct detection *** obstacle avoidance is enhanced by a collision avoidance model and a distributed underlying collision avoidance algorithm,ensuring autonomous obstacle avoidance without communication or *** confirm zero collaborative *** research offers practical solutions for multi-agent exploration and coverage in unknown sea areas,balancing workload and time efficiency while considering ship dynamics constraints.

关键词： Multi-agent control model Regional coverage Collaborative exploration Agent obstacle avoidance

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An artificial systems,computational experiments and parallel execution-based surface electromyogram-driven anti-disturbance zeroing neurodynamic strategy for upper limb human-robot interaction control

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CAAI Transactions on Intelligence technology 2024年第2期9卷 511-525页

作者： Yongbai Liu Keping Liu Gang Wang Jiliang Zhang Yao Chou Zhongbo Sun Department of Mechanical Engineering Changchun University of TechnologyChangchunChina Department of Control Engineering Changchun University of TechnologyChangchunChina School of Electrical and Information Engineering Jilin Engineering Normal UniversityChangchunChina College of Information Science and Engineering Northeastern UniversityShenyangChina Department of Electrical and Computer Engineering Brigham Young UniversityProvoUtahUSA

In recent years,intelligent robots are extensively applied in the field of the industry and intelligent rehabilitation,wherein the human-robot interaction(HRI)control strategy is a momentous part that needs to be ***,the efficacy and robustness of the HRI control algorithm in the presence of unknown external disturbances deserve to be *** deal with these urgent issues,in this study,artificial systems,computational experiments and a parallel execution intelligent control framework are constructed for the HRI *** upper limb-robotic exoskeleton system is re-modelled as an artificial *** on surface electromyogram-based subject's active motion intention in the practical system,a non-convex function activated anti-disturbance zeroing neurodynamic(NC-ADZND)controller is devised in the artificial system for parallel interaction and HRI control with the practical ***,the linear activation function-based zeroing neurodynamic(LAF-ZND)controller and proportionalderivative(posterior deltoid(PD))controller are presented and *** results substantiate the global convergence and robustness of the proposed controller in the presence of different external *** addition,the simulation results verify that the NC-ADZND controller is better than the LAF-ZND and the PD controllers in respect of convergence order and anti-disturbance characteristics.

关键词： neural network pattern recognition robotics signal processing

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Enhanced Tube-Based Event-Triggered Stochastic Model Predictive control With Additive Uncertainties

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IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 596-605页

作者： Chenxi Gu Xinli Wang Kang Li Xiaohong Yin Shaoyuan Li Lei Wang the School of Control Science and Engineering Shandong University IEEE the School of Electronic and Electrical Engineering University of Leeds the Qingdao University of Science and Technology the Department of Automation Shanghai Jiao Tong University the Key Laboratory of System Control and Information Processing Ministry of Education of China

This paper proposes an event-triggered stochastic model predictive control for discrete-time linear time-invariant(LTI) systems under additive stochastic disturbances. It first constructs a probabilistic invariant set and a probabilistic reachable set based on the priori knowledge of system *** with enhanced robust tubes, the chance constraints are then formulated into a deterministic form. To alleviate the online computational burden, a novel event-triggered stochastic model predictive control is developed, where the triggering condition is designed based on the past and future optimal trajectory tracking errors in order to achieve a good trade-off between system resource utilization and control performance. Two triggering parameters σ and γ are used to adjust the frequency of solving the optimization problem. The probabilistic feasibility and stability of the system under the event-triggered mechanism are also examined. Finally, numerical studies on the control of a heating, ventilation, and air conditioning(HVAC) system confirm the efficacy of the proposed control.

关键词： Event-triggered mechanism heating, ventilation, and air conditioning (HVAC) control probabilistic reachable set stochastic model predictive control

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Survey and Prospect for Applying Knowledge Graph in Enterprise Risk Management

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Computers, Materials & Continua 2024年第3期78卷 3825-3865页

作者： Pengjun Li Qixin Zhao Yingmin Liu Chao Zhong Jinlong Wang Zhihan Lyu School of Information and Control Engineering Qingdao University of TechnologyQingdao266520China Department of Game Design Uppsala UniversityVisby62167Sweden

Enterprise risk management holds significant importance in fostering sustainable growth of businesses and in serving as a critical element for regulatory bodies to uphold market *** the challenges posed by intricate and unpredictable risk factors,knowledge graph technology is effectively driving risk management,leveraging its ability to associate and infer knowledge from diverse *** review aims to comprehensively summarize the construction techniques of enterprise risk knowledge graphs and their prominent applications across various business ***,employing bibliometric methods,the aim is to uncover the developmental trends and current research hotspots within the domain of enterprise risk knowledge *** the succeeding section,systematically delineate the technical methods for knowledge extraction and fusion in the standardized construction process of enterprise risk knowledge *** comparing and summarizing the strengths and weaknesses of each method,we provide recommendations for addressing the existing challenges in the construction ***,categorizing the applied research of enterprise risk knowledge graphs based on research hotspots and risk category standards,and furnishing a detailed exposition on the applicability of technical routes and ***,the future research directions that still need to be explored in enterprise risk knowledge graphs were discussed,and relevant improvement suggestions were *** and researchers can gain insights into the construction of technical theories and practical guidance of enterprise risk knowledge graphs based on this foundation.

关键词： Knowledge graph enterprise risk risk identification risk management review

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Trajectory Tracking of Manipulator Based on Sliding-Mode Active Disturbance Rejection control

Trajectory Tracking of Manipulator Based on Sliding-Mode Act...

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2024 China Automation Congress, CAC 2024

作者： Sun, Guofa Zheng, Jiaxin Liu, Qingxi Pan, Fengyang Department of Information and Control Engineering Qingdao University of Technology Qingdao China

ISBN: (纸本)9798350368604

This study aims to evaluate the trajectory tracking performance and response speed of the system for a two-degree-of-freedom manipulator. Aiming at the problems of many parameters and complicated tuning of traditional active disturbance rejection control (ADRC), The academic community has made new improvements, the sliding-mode active disturbance rejection control (SM-ADRC) has been proposed. This approach streamlines the parameter tuning process and enhances the system's response speed. A fixed-time command filter is employed in place of the TD differentiator to address the issue of convergence time being influenced by the system's initial conditions. Meanwhile, the fixed time command filter also has the advantages of simple parameter adjustment, fixed time convergence and strong anti-interference ability. To further enhance the system's control performance, a reduced-order extended state observer (R-ESO) is designed and implemented. This reduces the computational load and simplifies the parameter design and tuning process. R-ESO has higher practicability in practical engineering application and reduces the difficulty of implementation. Compared with the original ADRC algorithm, this paper’s proposed control algorithm offers enhanced feasibility and economic advantages for practical engineering use. © 2024 IEEE.

关键词： Disturbance rejection

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Adaptive Neural Sliding Mode Based control of Robot Manipulators with Disturbance Observer

Adaptive Neural Sliding Mode Based Control of Robot Manipula...

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2024 China Automation Congress, CAC 2024

作者： Sun, Guofa Liu, Qingxi Pan, Fengyang Zheng, Jiaxin Department of Information and Control Engineering Qingdao University of Technology Qingdao China

ISBN: (纸本)9798350368604

For robotic manipulator systems experiencing uncertainties and external disturbances, an integral nonsingular fast terminal sliding mode control (INFTSMC) approach is introduced, incorporating an adaptive sliding mode disturbance observer (ASMDO). To relax the constraints on the design of the robotic arm disturbance observer, an adaptive method is added to estimate the upper bound of the disturbances. The fixed-time stability of the proposed ASMDO is analyzed theoretically. Secondly, radial basis function neural network (RBFNN) is utilized to estimate the system uncertainty. Subsequently, by combining the proposed observer with the RBFNN, the INFTSMC is structured around an integral nonsingular fast terminal sliding surface. The stability and finite-time convergence of the full system are then demonstrated through Lyapunov theory, and simulation outcomes confirm the proposed method's effectiveness. © 2024 IEEE.

关键词： Sliding mode control

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Robust adaptive formation control of fixed wing UAVs using disturbance estimators 24

Robust adaptive formation control of fixed wing UAVs using d...

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24th IEEE International Symposium on Computational Intelligence and Informatics, CINTI 2024

作者： Kimathi, Stephen Lantos, Bela Department of Control Engineering and Information Technology Budapest University of Technology and Economics Budapest Hungary

ISBN: (纸本)9798350353433

This paper presents the formation control of multiple homogeneous fixed-wing unmanned aerial vehicles subjected to parameter perturbations and external disturbances. A leader-follower with virtual leader formation architecture is used, and the communication between the vehicles is modelled using a directed graph. A distributed model reference adaptive control strategy is used for the formation acquisition and maintenance. The robustification of the control is achieved using a disturbance estimator developed to estimate and cancel out the effect of the disturbances on the dynamic model. In this formulation, the designed control law does not require any information about the magnitude of the disturbance, or derivative of the states. The simulation results validate the effectiveness of the proposed control strategy. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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