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International Conference on advanced Mechatronic Systems (ICAMechS)

作者： Hongbo Wang Fuhai Deng Lingxue Ren Xiaohua Shi Hao Zhang Liyu Xie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Qinhuangdao China

This paper presents a multi-joint lower limbs rehabilitation robot with three degrees of freedom. The robot includes seat, left mechanical leg, right mechanical leg and electric control box, and each mechanical leg includes the hip joint, knee joint and ankle joint which correspond to the hip joint, knee joint and ankle joint of human. The mechanical structure of the rehabilitation robot is described. By adjusting the seat angle, the patient can do the rehabilitation training in different postures. However, when the posture of human upper body changes with the elevation of the seat, the swing limit position of human thigh also changes. In order to guarantee the safety of patients, the mechanical limit of hip joint is designed to be variable. Therefore, the workspace of the robot is also variable. The inverse kinematics and variable workspace of the rehabilitation robot are analyzed. The trajectory planning for the variable workspaces is discussed and the flow chart of the trajectory planning is given.

关键词： Joints Robots Trajectory Hip Training Equations Knee

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Research on Parallel Energy-saving Reliability Test Method for Hydraulic Components

Research on Parallel Energy-saving Reliability Test Method f...

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2015 International Conference on Fluid Power and Mechatronics

作者： Liwang Wei Yi Zhang Rui Guo Jingyi Zhao School of Mechanical Engineering Yanshan University Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China

The traditional reliability test of hydraulic components is time-consuming and low efficiency with high energy consumption, so we propose a novel parallel energysaving reliability test method to improve the performance. By increasing the sample type and sample size of the single reliability test, the test time can be shortened and the energy can be recycled for many times. The design considerations of the parallel reliability test device are summarized at the end of the article. The experiment results indicate that the test time and the power loss of the parallel energy-saving reliability test device are greatly decreased, and it has large application value.

关键词： hydraulic components,parallel energy-saving,reliability test,recycle

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Active disturbance rejection trajectory tracking control for two-joint driven by pneumatic artificial muscles

Active disturbance rejection trajectory tracking control for...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Ling Zhao Linlin Ge Yafei Yang Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China Qinhuangdao China School of Electrical Engineering Yanshan University Qinhuangdao China

ISBN: (纸本)9781479987719

Active disturbance rejection control is proposed to study the problems on trajectory tracking and decoupling for a two-joint system driven by pneumatic artificial muscles. Because of coupling and nonlinearity, it is very hard to obtain good performance in trajectory tracking for the two-joint system. The active disturbance rejection nonlinear controller includes a tracking differentiator, an extended state observer and a nonlinear error feedback controller. The tracking differentiator is introduced to arrange a transitional process to track input signal and get differential signal. The extended state observer is designed to estimate the non-linearity of system. The nonlinear error feedback controller is designed to improve the performance of system. Simulation results are given to show the effectiveness of proposed controller in this paper.

关键词： Muscles Observers Control systems Simulation Robust control Mathematical model

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Dynamics analysis and simulation of a new 6-DOF lower limb rehabilitation robot

Dynamics analysis and simulation of a new 6-DOF lower limb r...

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第二届计算智能、工程与技术国际研讨会

作者： Hongbo Wang Musong Lin Yonggan Yan Guowei Liu Bowen Su Chaosheng Zhao Fuhao Wang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Academy for Engineering & Technology Fudan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University

This paper proposes a new hybrid(parallel–serial) 6-DOF lower limb rehabilitation robot including two mechanical legs and an adjustable seat, which could train in sitting, lying and standing three postures. Each mechanical leg consists of hip joint, knee joint and ankle joint. The dynamics and DOF of the robot are analysed, and the result is verified by the software ADAMS. The result lay the foundation for prototype build in future.

关键词： DOF Dynamics analysis and simulation of a new 6-DOF lower limb rehabilitation robot simulation

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The study and engineering application on adaptive leveling of vehicle platform 7

The study and engineering application on adaptive leveling o...

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7th International Conference on Advances in Construction Machinery and Vehicle Engineering, ICACMVE 2019

作者： Wang, Jianjun Zhao, Jingyi Li, Wenlei Cai, Wei Wang, Yongchang Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Qmhuangdao Hebei066004 China Department of Mechanical Engineering Anhm Technical College of Mechanical and Electrical Engineering Wuhu Anhui241002 China Key Laboratory of Advanced Forging & Stamping Technology and Science Qmhuangdao Hebei066004 China College of Mechanical Engineering Yanshan University Qmhuangdao Hebei066004 China Hebei Key Laboratory of Special Delivery Equipment Qmhuangdao Hebei066004 China

ISBN: (纸本)9781728139050

Leveling control of bearing platform of large engineering transport vehicle is very important for the safety and reliability of transportation. The leveling method of the load-bearing platform of the transporter is studied. According to the actual working conditions, through the force analysis of the load-bearing platform and the calculation method of the load center of gravity, the allowable loading area for the anti-overturning of the engineering transporter under the condition of four-point support is put forward. An adaptive electro-hydraulic leveling system based on four-point support is designed, and four groups of suspension hydraulic system are simplified as a single-support system model. The hydraulic system is built by AMESim software, and the control system is built by MATLAB software, Then the feasibility of the leveling control system is verified through the simulation. The results show that the control strategy has better precision and shorter reaction time, and is more suitable for vehicle leveling control system. On this basis, And the electro-hydraulic leveling control system was designed for the 100 tons of hydraulic truck of an enterprise, double-axis tilt sensor is used to monitor the level of the platform in real time, and the controller can make the suspension hydraulic cylinders act accordingly to keep the platform level. Finally, the actual vehicle leveling experiment is carried out, and the experiments of load sharing and unbalanced load lifting are carried out respectively. It is found that the leveling accuracy can be controlled within 0.25 degrees, which fully meets the engineering application and can provide reference for the development of similar systems. © 2019 IEEE.

关键词： MATLAB

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Unveiling the Inhomogeneous Deformation Behavior of Mg-Gd-Y-Zn-Zr Alloy with Unique Featured Intragranular Lamellar Lpso Phase

SSRN

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SSRN 2024年

作者： Meng, Dawei Xu, Yan Jia, Jianbo Luo, Junting Xu, Bo Education Ministry Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Qinhuangdao066004 China School of Mechanical Engineering Yanshan University Qinhuangdao066004 China

A Mg-6.22Gd-3.04Y-0.49Zn-0.41Zr alloy with an exclusive microstructure featuring only an intragranular lamellar long-period stacking ordered (LPSO) phase was developed via specific homogeneous and cooling techniques. The effect of LPSO phases with varying lamellar orientations on the formation of bimodal structures and the inhomogeneous nucleation mechanisms was explored using uniaxial compression tests. Microstructural analyses revealed that compressed alloys exhibited bimodal grain size distributions characterized by DRXed grains alongside deformed coarse grains with RD-oriented lamellar LPSO phases. Notably, a maximum DRX proportion of 49.92% was observed at 400 °C-10 s-1, attributed to the enhanced DRX nucleation induced by the added shear strain. This suggested that increasing the strain rate (400 °C-10 s-1, 49.92%) had a more pronounced effect on recrystallization than increasing the temperature (450 °C-0.1 s-1, 28.99%). Additionally, a characteristic //CD texture was observed in all the compressed alloys, which was predominantly influenced by the residual coarse grains with RD-oriented LPSO lamellae. The basal texture was marginally affected by randomly oriented DRX components with a limited proportion. Both continuous dynamic recrystallization (CDRX) and auxiliary discontinuous dynamic recrystallization (DDRX) mechanisms played roles in generating fine grains within bimodal structures. The initial unique microstructure, differential deformation behavior of the lamellar LPSO phase, and inhomogeneous nucleation were identified as key factors for the formation of inhomogeneous bimodal structures. This research aids in the understanding and manipulation of microstructures in Mg-RE alloys with the aim of fulfilling specific application needs. © 2024, The Authors. All rights reserved.

关键词： Nucleation

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Fault diagnosis method based on precise frequency domain integral and vibration severity

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ICIC Express Letters, Part B: Applications 2016年第11期7卷 2301-2307页

作者： Jiang, Wanlu Zhu, Yong Wang, Zhenwei Dong, keyan Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University No. 438 Hebei Ave. Qinhuangdao066004 China

Aiming at the features of vibration signal, a fault diagnosis method based on precise frequency domain integral (PFDI) and vibration severity (VS) was proposed. With this method, the hidden feature components in vibration signal were accurately extracted. Meanwhile, the interferences of ineffective signals such as trend item and noise were commendably overcome. And the desired vibration velocity signal was precisely obtained. Moreover, the type and severity of faults were identified through further spectrum analysis and VS comparison. The reliability and effectiveness of the method were testified by the measured data analysis. Results indicate that the method can accurately confirm fault type and severity. © 2016 ICIC International.

关键词： Failure analysis

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Reliability Evaluation of Axial Piston Pump based on Degradation Failure

Reliability Evaluation of Axial Piston Pump based on Degrada...

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第六届工程机械与车辆工程新进展国际学术会议

作者： Rui Guo Jinsheng Zhou Chi Zhang Jingyi Zhao Yi Zhang Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University College of Mechanical Engineering Yanshan University

Axial piston pump is very important in the hydraulic system,and its health affects the entire system *** wear and tear of the port plate pair is the main reason for the decrease of the axial

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Comfort degree of patients' rehabilitation training based on DSmT theory

Comfort degree of patients' rehabilitation training based on...

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第二届计算智能、工程与技术国际研讨会

作者： Hongbo Wang Hao Yan Baoshan Niu Xincheng Wang Yafeng Li Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Academy for Engineering &Technology Fudan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University

This paper aims to solve the problem that most rehabilitation robots lack to integrate their physiological functions and psychological states into closed controlling loop in rehabilitation training of stroke patients. The application of fusion technology of multi-electromechanical sensor signal and DSmT signal is used to achieve patients' comfort judgement. Mean value and variance are used to extract physiological information such as heart rate, temperature and skin resistance. Sensor informationof fusion technology of rehabilitation robot based on classical DSmT theory can realize on-line diagnosis of multi-comfort degree of patients' coupling.

关键词： Comfort degree of patients rehabilitation training based on DSmT theory

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An Approach of Power Allocation Scheme for Relay Communication Networks Based on Seller-Buyer Game

An Approach of Power Allocation Scheme for Relay Communicati...

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第三十四届中国控制会议

作者： Peng Zhang Zhixin Liu Ling Zhao Hongjiu Yang Xinbin Li Institute of Electrical Engineering Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University) Ministry of Education of China College of Mechanical Engineering Yanshan University

ISBN: (纸本)9781467374439

In this paper, a robust optimization problem is formulated for decode-and-forward relay network via game *** uncertainty of channel gain is considered to overcome the performance degradation in practical environment. In this study,a probability threshold method is used to suppress the channel fluctuation. Besides, a seller-buyer game is formulated to jointly consider the maximum utility of source node and relay node. To reduce the overhead information exchanging, a distributed iteration algorithm is applied. Numerical results show the effectiveness of the proposed schemes, and also present the robustness of the relay network. Moreover, the proposed game is proved to converge to the unique equilibrium point.

关键词： Relay network game theory robust optimization outage probability distributed algorithm

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