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7th Asia-Pacific Conference on intelligent Robot systems, ACIRS 2022

作者： Luo, Wenbo Liu, Haokun Yang, Xishun Zhang, Sen Ge, Weimin Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control National Demonstration Center for Experimental Mechanical and Electrical Engineering Education School of Mechanical Engineering Tianjin300384 China

ISBN: (数字)9781665485197

ISBN: (纸本)9781665485197

During the process of human-robot cooperative motion, the internal frictions and modeling errors existing in the system may significantly deteriorate the control precision of a lower limb exoskeleton. To compensate the uncertainty during the human-robot cooperative motion, a nonlinear disturbance observer based sliding mode control strategy is designed in this paper. Firstly, the dynamic model of a lower limb exoskeleton is established. Secondly, low-pass filter and nonlinear disturbance observer are designed to observe the uncertain disturbance and modeling errors. Then, a high-order sliding mode controller is designed to ensure the control precision of the human-robot interaction system. Finally, the effectiveness and reliability of the designed control method are verified with the joint simulation between MATLAB and ADAMS. © 2022 IEEE.

关键词： Sliding mode control

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LBM modeling of three-dimensional mixed convection in CZ crystal growth on curvilinear coordinates system

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Results in Physics 2024年 61卷

作者： Zhang, Ni Liu, Ding The Department of Automation Xi'an Key Laboratory of Advanced Control and Intelligent Process Xi'an University of Posts and Telecommunications Xi'an 710121 China The Shaanxi Key Laboratory of Complex System Control and Intelligent of Information Processing Xi'an University of Technology Xi'an 710048 China

A three-dimensional (3D) thermal lattice Boltzmann model of crystal growth is presented to study the magneto-hydrodynamics (MHD) mixed convection in the melt of Czochralski silicon single crystal growth in this paper. In order to solve the problem of lattice Boltzmann method's difficulty in solving the flow of 3D cylindrical cavity, the 3D physical model of crystal growth is transformed from the Cartesian coordinate system to the Curvilinear coordinate system. And the irregular grids in the Cartesian coordinate system are transformed into regular grids in the Curvilinear coordinate system to facilitate the establishment of the Lattice Boltzmann model. Under the above operations, two coupled distribution functions are established to solve the governing equations. Two D3Q19 models are adopted to solve the melt velocity and temperature. And the 3D lattice Boltzmann modeling of crystal growth with cylinder boundary is realized by interpolation in Curvilinear coordinate system. The comparison with the experiment and other references proves that the proposed model and boundary treatment scheme is correct and it proposes a new way for studying the 3D crystal growth or other similar 3D cylindrical cavity simulations. Furthermore, the unstable melt flow for two cases are also simulated in this paper and the critical Reynolds number are also obtained. Results show that the introduction of the transverse magnetic field enhances the stability of the crystal growth system and increases the adjustable range of crystal rotation parameter. The obtained conclusion has an important reference for adjusting the process parameters during the CZ crystal growth. © 2024 The Author(s)

关键词： 3D mixed convection Computer simulation Heat transfer Lattice Boltzmann Method Silicon single crystal growth

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Design of low-weight, small-size and high-efficiency equalization circuits based on switched-capacitors 4

Design of low-weight, small-size and high-efficiency equaliz...

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2022 4th International Conference on Electronic Engineering and Informatics, EEI 2022

作者： Ding, Yanhong Zhao, Xin Li, Kun Liu, Qing Shi, Gengxin School of Integrated Circuit Science and Engineering Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China China Electronics Technology Group Corporation Tianjin China

ISBN: (纸本)9783800759231

An any cell to any cell equalization circuit, which is based on switched capacitors and energy bus, is proposed in this paper. In this equalization topology, any high voltage cell can directly transfer the power to any low voltage cell through energy bus. With the increasing miniaturisation and integration of circuit boards, the topology proposed in this paper reduces the size of the circuit by varying the capacitance and frequency in order to further reduce the area and weight of the circuit. At the same time compared with the equalization circuit using transformers or inductance devices, this circuit has the characteristics of low cost, low-weight, small-size, easy integration and simple control scheme and it is suitable for applictions such as aerospace and unmanned aerial vehicles. The feasibility of the circuit topology is verified by formula demonstration and simulation results. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Cells

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Phase-gain Dual-parametric Spectrum Measurement in Chaotic Brillouin Optical Correlation Domain Analysis

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IEEE Sensors Journal 2025年第12期25卷 21658-21664页

作者： Chen, Jing Wang, Yahui Ma, Jinglian Huang, Haochen Zhang, Mingjiang Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Taiyuan University of Technology College of Physics and Optoelectronics Taiyuan China Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering Taiyuan030024 China

In this paper, the chaotic Brillouin phase-gain dual-parametric spectrum (BDS) is measured for the first time, which can realize high-accuracy and large-range dynamic strain demodulation in chaotic Brillouin optical correlation domain analysis (CBOCDA). The phase of the chaotic probe wave is measured by a Sagnac interferometer (SI) combined with an optical bandpass filter (OBPF) and a beat frequency locking technique. The Brillouin gain spectrum (BGS), Brillouin phase-shift spectrum (BPS), and BDS are measured in the chaotic BOCDA system through both simulation and experiment, and the feasibility of their demodulation with high-accuracy and large-range dynamic strain is verified. The chaotic BPS exhibits good linearity at the Brillouin frequency shift (BFS) and can be used to demodulate high-accuracy tiny strains. The measurement error of a 1 μΕ strain is only 0.0446 μΕ. The linear range of the chaotic BDS is extended to 150 MHz, and more than 10 mΕ dynamic strain measurements can be enabled by incorporating the slope-assisted method. © 2001-2012 IEEE.

关键词： Ultraviolet spectroscopy

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Rolling Bearing Remaining Useful Life Prediction Based on Wiener Process

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Journal of Dynamics, Monitoring and Diagnostics 2022年第4期1卷 229-236页

作者： Wentao Zhao Chao Zhang Shuai Wang Da Lv Oscar García Peyrano School of Mechanical Engineering Inner Mongolia University of Science and TechnologyBaotou 014010China Inner Mongolia Key Laboratory of Intelligent Diagnosis and Control of Mechatronic System Baotou 014010China Cuyo University San Carlos de BarilocheArgentina

Rolling bearing is the key part of mechanical *** prediction of bearing life can reduce maintenance costs,improve availability,and prevent catastrophic consequences,aiming at solving the problem of the nonlinear,random and small sample problems faced by rolling bearings in actual operating *** this work,the nonlinearWiener process with random effect and unbiased estimation of unknown parameters is used to predict the remaining useful life of rolling ***,random effects and nonlinear parameters are added to the traditional Wiener process,and a parameter unbiased estimation method is used to estimate the positional parameters of the constructed Wiener ***,the model is validated using a common set of bearing *** results show that compared with the traditional maximum likelihood function estimation method,the parameter unbiased estimation method can effectively improve the accuracy and stability of the parameter estimation *** model has a good fitting effect,which can accurately predict the remaining useful life of rolling bearing.

关键词： parameter estimation remaining useful life rolling bearing Wiener process

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静电驱动下指数型变截面梁式陀螺仪的非线性特性与分析

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Acta Mechanica Sinica 2023年第3期39卷 168-184页

作者：张昆鹏畅兆敏郝淑英张琪昌冯晶晶 Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Schoolof MechanicalEngineeringTianjin University of TechnologyTianjin 300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin 300384China Tianjn Key Laorary of Noninearynamics and Conto Soolof MhancalEngineeringTinjin UnverTianjn 30002China

本文设计一类新型的指数型变截面梁式微陀螺,变截面指数梁的宽度与长度的关系为指数函数变化的形式,且指数梁的截面变化因子小于等于零,梁的厚度随梁长仍保持不变.考虑了曲率非线性和惯性非线性对系统的影响,利用扩展哈密顿原理、单模... 详细信息

本文设计一类新型的指数型变截面梁式微陀螺,变截面指数梁的宽度与长度的关系为指数函数变化的形式,且指数梁的截面变化因子小于等于零,梁的厚度随梁长仍保持不变.考虑了曲率非线性和惯性非线性对系统的影响,利用扩展哈密顿原理、单模近似法和拉格朗日微分方程,建立了指数型变截面梁式非线性陀螺仪的振动控制方程、边界条件和非线性离散化模型,且考虑了陀螺仪驱动和检测两个方向上直流电压和交流电压对系统响应的影响,采用ADM法求解陀螺仪系统在不同截面变化因子下的静态响应,利用多尺度法对系统的非线性离散化模型进行摄动求解,分析各个参数对陀螺仪动态响应的影响规律.结果表明,随着截面变化因子的增大,指数梁陀螺仪的吸合电压和一阶固有频率逐渐增加,并呈现近似线性的变化规律.通过调节指数梁截面变化因子,可以控制科氏力响应峰值频率和检测峰值频率的差值.利用指数梁陀螺仪系统的硬化非线性特征,当交流电压施加在指数梁厚度方向时,选择合适的指数截面变化因子、阻尼比和交流电压,可以使指数梁式陀螺仪系统获得更好的带宽性能及线性可测范围;当交流电压施加在指数梁宽度方向,选取合适的截面变化因子,不仅可以获得较高的系统灵敏度性能,同时增加陀螺仪对外部输入角速度的线性可测范围.

关键词： Exponential beam Micro-gyroscope Nonlinear characteristics Bandwidth Sensitivity

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Non-parallel and Many-to-One Musical Timbre Morphing using DDSP-Autoencoder and Spectral Feature Interpolation

Non-parallel and Many-to-One Musical Timbre Morphing using D...

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2021 International Conference on Culture-Oriented Science and technology, ICCST 2021

作者： Zou, Yi Liu, Jingyu Jiang, Wei Ministry of Culture and Tourism Communication University of China Key Laboratory of Acoustic Visual Technology and Intelligent Control System Beijing China

ISBN: (纸本)9781665442541

Abstract - Timbre morphing is a signal processing technology that involves the use of an interpolation algorithm to gradually change the timbre of one instrument into that of another. However, the prepared target audio, which possesses the same music content (such as score and rhythm) as the original audio, is essential to the input used in the morphing technique. To meet the application requirements of non-parallel and many-to-one processing, we combined the signal processing technology of spectral feature interpolation with the deep learning technology of the autoencoder to provide the timbre morphing technology with a generalization ability. The complex framework, which focuses on the processing of harmonic information, is built using the pitch tracking, temporal signal processing, decoder, source-filter modeling, and spectral feature interpolation. Notably, unlike the neural vocoder that is commonly used in voice conversion, the decoder, which is trained using a data reconstruction method, is used to map the input audio features to the harmonic amplitude distribution with the target timbre. Experiments were conducted in which the clarinet timbre was morphed into a trumpet. An evaluation of the spectral features demonstrated the validity of the morphing technology. © 2021 IEEE.

关键词： Interpolation

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Research on synergy based on correlation analysis of weighted samples of grasping action

Research on synergy based on correlation analysis of weighte...

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2021 China Automation Congress, CAC 2021

作者： Yu, Jianjun Zhang, Zihao Zuo, Guoyu Liu, Gengyuan Li, Xuchen Beijing Key Laboratory of Computational Intelligence and Intelligent System College of Electronic and Control Engineering Beijing University of Technology Beijing China

ISBN: (纸本)9781665426473

The main research goal of underactuated manipulator is to reduce the number of controllers and improve the bionic ability. In this kind of research, underactuated hand design synergy is the mainstream research direction in recent years. Human hand synergy space is a parameterized representation of human hand motion based on a large number of human hand motion data In the past synergy meta-analysis, samples were selected only based on grasping classification without considering people's daily habits, which led to the lack of bionic ability. In this paper, based on the most authoritative 33 kinds of grabbing classification, the samples are weighted and reconstructed according to the daily use habits;Principal component analysis is used to analyze the reconstructed samples, and the correlation between joints is calculated to obtain the synergy of human hand The comparative experiments show that the underactuated transmission scheme based on the synergy design of reconstructed samples has higher similarity and stronger bionic ability than the ordinary sample scheme in most grasping scenes. On this basis, this paper studies the following ability between fingers through the calculation of correlation coefficient and clustering method, so as to further reduce the number of controllers. © 2021 IEEE

关键词： Principal component analysis

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An IMU Error Correction Method Based on Multithreshold ZV Detection and SRCKF

An IMU Error Correction Method Based on Multithreshold ZV De...

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2023 International Conference on Cyber-Physical Social Intelligence, ICCSI 2023

作者： Luo, Jialiang Chen, Shichao Lv, Yisheng Sun, Wenqiao Yang, Fan Xu, Ruijie Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Rail Transit Shan Dong JiaoTong University The State Key Laboratory for Management and Control of Complex System Jinan China The Hong Kong Polytechnic University Department of Aeronautical and Aviation Engineering Hong Kong Hong Kong

ISBN: (纸本)9798350312492

With the rapid development and widespread application of Inertial Measurement Units (IMUs), IMU-based human localization has become critically important in environments lacking Global Navigation Satellite systems (GNSS) signals. Methods such as UWB/WIFI and other anchor-based localization have been employed to enhance the positioning accuracy. However, these methods are susceptible to the environmental interference and increased costs. In contrast, SINS-based localization methods eliminate reliance on the external data. However, this method can suffer from drift errors due to cumulative integration errors. Inertial navigation error correction techniques like Zero Detection Update technology (ZUPT) provide potential solutions to address drift errors. This paper proposes an error correction method based on the multithreshold zero-velocity detection and Square Root Cubature Kalman Filter (SRCKF) updates. Compared to the single fixed threshold detection, the multi-threshold zero-velocity detection reduces the likelihood of missed zero velocity detection and false alarms, providing accurate time intervals for error correction. Experimental results demonstrate that the SRCKF-based algorithm reduces position deviation to approximately 0.3146 meters, corresponding to an error ratio of1.14%. The proposed method enables cost-effective and accurate pedestrian localization, driving advancements in the field. © 2023 IEEE.

关键词： Cost effectiveness

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Early Forest Fire Detection Based on Deep Learning 3

Early Forest Fire Detection Based on Deep Learning

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3rd International Conference on Industrial Artificial Intelligence, IAI 2021

作者： Li, Mengna Zhang, Youmin Mu, Lingxia Xin, Jing Yu, Ziquan Liu, Han Xie, Guo Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Shaanxi Xi'an710048 China

ISBN: (纸本)9781665435178

Early fire detection is very important for preventing forest fires. In this paper, a new image-based fire detection algorithm, named as h-EfflcientDet, is proposed to complete the task of early forest fire detection. h-EfflcientDet is based on a popular deep learning approach EfficientDet (scalable and efficient object detection) by replacing the nonlinear activation function swish of the EfficientDet with the hard version of swish and combing also with an efficient feature fusion network BIFPN (bidirectional feature pyramid network), which can improve significantly the efficiency of the fire detection model. The experiment results show that the proposed h-EfficientDet can detect the fire in real-time with the detection speed of 21 FPS. The detection accuracy is up to 98.35% with a low miss detection rate. © 2021 IEEE.

关键词： Fires

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