With the development of computer technology, intelligent vehicles have become a popular orientation at present. This paper provides a solution for the traditional GNSS/IMU integrated navigation to mitigate the influen...
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To address the issues of strong motion coupling, high control difficulty, and insufficient degrees-of-freedom (DoFs) in existing bio-syncretic parallel hip exoskeletons, a design scheme characterized by weak coupling ...
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To address the issues of strong motion coupling, high control difficulty, and insufficient degrees-of-freedom (DoFs) in existing bio-syncretic parallel hip exoskeletons, a design scheme characterized by weak coupling is proposed. A configuration synthesis method for weakly coupled parallel hip exoskeletons is introduced by deriving the conditions that the transmission wrench screws (TWSs) in each limb must satisfy. Furthermore, to tackle the problem of limited workspace in parallel hip exoskeletons, a design method aimed at increasing the operational workspace is presented. By applying the proposed methods to the configuration synthesis of the hip exoskeleton, several weakly coupled configurations with expanded workspaces are generated. Finally, the correctness and effectiveness of the proposed methods are validated through case analyses.
The interaction between various energy supply systems (cold, heat, electricity, gas, etc.) is becoming more tightly coupled as social economy and technology advance. Multi-energy systems are ineffective because differ...
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Osteochondral defect caused by trauma or osteoarthritis exhibits a major challenge in clinical treatment with limited symptomatic effects at *** regeneration and remodeling of subchondral bone play a positive effect o...
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Osteochondral defect caused by trauma or osteoarthritis exhibits a major challenge in clinical treatment with limited symptomatic effects at *** regeneration and remodeling of subchondral bone play a positive effect on cartilage regeneration and further promotes the repair of osteochondral *** use of the strengths of each preparation method,the combination of 3D printing and electrospinning is a promising method for designing and constructing multi-scale scaffolds that mimic the complexity and hierarchical structure of subchondral bone at the microscale and nanoscale,*** this study,the 3D printed-electrospun poly(ɛ-caprolactone)/nano-hydroxyapatites/multi-walled carbon nanotubes(PCL/nHA/MWCNTs)scaffolds were successfully constructed by the combination of electrospinning and layer-by-layer 3D *** resulting dual-scale scaffold consisted of a dense layer of disordered nanospun fibers and a porous microscale 3D scaffold layer to support and promote the ingrowth of subchondral ***,the biomimetic PCL/nHA/MWCNTs scaffolds enhanced cell seeding efficiency and allowed for higher cell-cell interactions that supported the adhesion,proliferation,activity,morphology and subsequently improved the osteogenic differentiation of bone marrow mesenchymal stem cells in ***,this study elucidates that the construction of 3D printed-electrospun PCL/nHA/MWCNTs scaffolds provides an alternative strategy for the regeneration of subchondral bone and lays a foundation for subsequent in vivo studies.
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 ***,...
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ISBN:
(数字)9789887581581
ISBN:
(纸本)9798350366907
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 ***,a mathematical model of a continuous casting mold vibration displacement system driven by a servo motor with actuator faults and load disturbance uncertainties are ***,a fault detection observer is designed to obtain information on actuator faults,load disturbances,and system state ***,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 ***,the effectiveness of the designed adaptive sliding mode fault-tolerant controller based on fault observer is verified through simulation.
Helical filamentation of optical fields has gained significant attention due to its potential physical properties, complexity, and practicality. However, conventional methods of manipulating filament formation face a ...
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Helical filamentation of optical fields has gained significant attention due to its potential physical properties, complexity, and practicality. However, conventional methods of manipulating filament formation face a major challenge in achieving controllable helical filamentation. We propose a method to manipulate helical collapse based on a nonlinearity-related Gouy phase shift. This method is triggered by the nonlinear interaction between vector vortex beams and anisotropic Kerr media. It is uncovered that, in the absence of the vortex, the radially polarized beam can only form the multifilament at specific locations in a BaF2 crystal. Nevertheless, once the vortex is attached, the beam can rotate based on the multifilament. The direction and angle of the rotation can be controlled by varying the topological charge number of the vortex phase. In addition, spin-orbit coupling and a rotational nonlinear refractive phase shift are generated during the helical collapse process. Finally, the physical mechanism behind this helical collapse is illustrated by a nonlinearity-related Gouy phase shift. This research presents a different approach to controlling optical field collapse and filamentation, with potential applications in various fields, including optical communications, optical manipulation, and optical microprocessing.
The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variabl...
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The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variable is utilized to improve the utilization of communication ***,a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation(FC)is adopted to realize the demand of reliability and safety of addressed ***,a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_(2)-l_(∞)constraint by employing the variance analysis and the Lyapunov stability ***,the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way,***,a simulation result is employed to verify the usefulness of the proposed design framework.
A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial pos...
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The application of unmanned vehicles in industrial cargo transportation is becoming increasingly widespread, particularly playing a significant role in transporting heavy-duty goods. However, when performing such task...
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Urban rail transit (URT) is vulnerable to natural disasters and social emergencies including fire, storm and epidemic (such as COVID-19), and real-time origin-destination (OD) flow prediction provides URT operators wi...
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