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Research status on ankle rehabilitation robot

Recent Patents on Mechanical engineering 2019年第2期12卷 104-124页

作者： Jiang, Jingang Min, Zhaowei Huang, Zhiyuan Ma, Xuefeng Chen, Yihao Yu, Xiaoyang Robotics and ITS Engineering Research Center Harbin University of Science and Technology Harbin150080 China Intelligent Machine Institute Harbin University of Science and Technology Harbin150080 China School of Measurement-Control Tech and Communications Engineering Harbin University of Science and Technology Harbin150080 China

Background: Ankle is an important bearing joint in the human body. Unreasonable exercise patterns and exercise intensity can cause ankle injuries. This will seriously affect patients’ daily life. With the increase in the number of patients, the labor intensity of doctors is increasing. Ankle rehabilitation robot can help doctors free themselves from repetitive tasks, which is, of more practical value. Objective: To give a general summary of recent ankle rehabilitation robot and introduce the respective characteristics and development including structure type, drive type and rehabilitation training mode. Methods: This paper investigates various representative studies related to the ankle rehabilitation robot. The structure type, drive type, rehabilitation training mode and applications situation of these ankle rehabilitation robot are discussed. Results: The characteristics of different types of ankle rehabilitation robots are analyzed. This paper analyzes the main problems in its development. The solutions to the issues and the current and future research on ankle rehabilitation robot are discussed. Conclusion: The ankle rehabilitation robots are classified into motor drive type, pneumatic artificial muscle and pneumatic cylinder drive type and others. Further improvements are needed in the aspects of mechanical design, safety, virtual reality, brain-computer interface, control strategies and algorithm of bio-syncretic mechanism system of ankle rehabilitation robot. More related patents about ankle rehabilitation robot need to be developed. © 2019 Bentham Science Publishers.

关键词： Cylinders (shapes)

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A New Combined Heat Source Model of Hollow-Cathode Nanosecond Pulsed Electron Beam for Material Irradiation

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SSRN 2023年

作者： He, Weiguo Huo, Weijie Duan, Xinxin Zhu, Kangwu Wang, Feng School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China School of Fundamental Physics and Mathematical Sciences Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences Hangzhou310024 China Key Laboratory of Gravitational Wave Precision Measurement of Zhejiang Province Taiji Laboratory for Gravitational Wave Universe Hangzhou310024 China Shanghai Aerospace Electronic Technology Institute Shanghai201109 China Shanghai Aerospace Control Technology Institute Shanghai201109 China

The hollow-cathode nanosecond pulsed electron beam changes the components and organization of the material surface through thermal coupling and prepares a modified layer on the surface of the base material with greatly optimized physicochemical and mechanical properties, which has a wide range of applications. In this study, in view of the insufficient research on the heat source model in the hollow-cathode nanosecond pulsed electron beam, a combined heat source model is proposed for the first time by abstracting the action of the hollow-cathode electron beam and the material as two sets of Gaussian heat sources with different parameters, and by equating the heat source of the action of the high-energy electron beam with the body heat source, and the action of the irradiation of the electron beam during the on-state phase with the surface heat source, respectively. Besides, the influence of heat source parameters on the temperature distribution is analyzed. The results show that for the nanosecond pulsed intense current electron beam-material interaction process, the use of a multi-parameter heat source model describes it more accurately compared to the average energy density values. At the same time, in order to further verify the accuracy of the model, a validation experiment was carried out using the titanium alloy Ti-6Al-4V material, and the experimental results show that the formation of irradiation morphology can be more accurately described using the combined heat source model with different storage energies, and the experimental results also show that uniform irradiation effect in a certain area can be realized by reasonably choosing the parameters of the energy storage capacitor. © 2023, The Authors. All rights reserved.

关键词： Electron beams

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TransTracking for UAV: An Autonomous Real-time Target Tracking System for UAV via Transformer Tracking

TransTracking for UAV: An Autonomous Real-time Target Tracki...

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Intelligent technology and Embedded Systems (ICITES), International Conference on

作者： Xiaolou Sun Fei Xie Qi Wang Yuncong Yao Hao Wang Wei Wang Wankou Yang Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing China School of Automation Nanjing University of Information Science and Technology Nanjing China

Most of the existing Siamese-type trackers usually adopt pre-defined anchor boxes or anchor-free schemes to accurately estimate the bounding box of targets. Unfortunately, they suffer from complicated hand-designed components and tedious post-processings. It is not easy to adjust parameters for unique scenes in real applications. So, we propose a new scheme by formulating visual tracking as a direct set prediction problem to alleviate this issue. The main component is a transformer attached to the Siamese-type feature extraction networks. Thus, our new framework can be summarized as Siamese Network with Transformers (SiamTFR). With a fixed small set of learned object queries, we force the final set of predictions via bipartite matching, significantly reducing hyper-parameters associated with the candidate boxes. Due to the unique predictions of this framework, we significantly ease the heavy burden of hyper-parameters search of post-processings in visual tracking. Extensive experiments on visual tracking benchmarks, including GOT-10K, demonstrate that SiamTFR achieves competitive performance and runs at 50 FPS. Specifically, SiamTFR outperforms leading anchor-based tracker SiamRPN++ in the GOT-10K benchmark, confirming its effectiveness and efficiency. Furthermore, SiamTFR is deployed on the embedded device in which the algorithm can be run at 30FPS or 54FPS with TensorRT meeting the real-time requirements. In addition, we design the complete tracking system demo that can work in the real road to narrow the gap between the academic models and industrial deployments.

关键词： Performance evaluation Visualization Target tracking Embedded systems Roads Force Benchmark testing

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Crowdsourced GNSS Satellite SNR in Degraded Environments for Dependability Improvement 22

Crowdsourced GNSS Satellite SNR in Degraded Environments for...

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22nd International Conference on Electromagnetics in Advanced Applications, ICEAA 2021

作者： Sun, Hao Lu, Debiao Cai, Baigen Xiao, Yu Beijing Jiaotong Univ. Beijing Eng. Research Center of Emc and Gnss Technology for Rail Transport School of Electronic and Information Engineering Frontiers Science Center for Smart High-speed Railway System Beijing China Beijing Jiaotong University State Key Laboratory of Rail Traffic Control and Safety School of Electronic and Information Engineering Frontiers Science Center for Smart High-speed Railway System Beijing China Aalto University School of Electrical Engineering Department of Communications and Networking Espoo Finland

ISBN: (纸本)9781665413862

Global Navigation Satellite Systems (GNSS) localization uses time of arrival (TOA) to measure the distance between satellite and rover antenna. The key for TOA technique is the signal propagation should be straight geometrically. However, when the train runs in harsh environments, the GNSS signal quality can be degraded due to obstacles. GNSS signals are usually blocked by buildings and other obstacles, resulting in reflection and reflection, which leads to multipath positioning errors of LOS and NLOS. In the case of LOS multipath error, the GNSS receiver tracks the direct and reflected / diffracted composite signal, and the reflected / diffracted signal affects the correlation function tracking loop of the direct signal in GNSS. In the case of NLOS multipath error, GNSS receiver directly tracks reflected or diffracted signal because there is no direct satellite signal. In both cases, the multipath signal will have a large noise error range which is reflected in the change of SNR. In the GNSS solution, various GNSS receivers are used to obtain the SNR of each satellite to achieve the fully coverage of the satellite signal reception quality. Thus with limited GNSS receiver observation results, of the crowdsourcing of NLOS signal inspection will deliver the observation results in a more convenient way. In the open environment scenario, the relationship between elevation angle and SNR can be fitted by a linear function. However, in GNSS signal reception degraded environments (urban canyon etc.), The SNR at the elevation angle of the occlusion boundary will be drastically reduced. This will give us the boundary of the occlusion range. Based on this principle, we can map the environmental characteristics of different sections of the railway. The railway environment can generally be divided into open scenario, road cutting scenario, half sky scenario, urban canyon scenario and tunnel scenario. 5 typical scenario all have distinct environmental characteristics. By matching

关键词： Satellites

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TOPSIS Power Quality Comprehensive Assessment Based on A Combination Weighting Method

TOPSIS Power Quality Comprehensive Assessment Based on A Com...

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IEEE Conference on Energy Internet and Energy System Integration (EI2)

作者： Jiahui Yin Xinhui Du Hesheng Yuan Meiqin Ji Xiaoxi Yang Shuang Tian Qianchun Wang Yaojun Liang School of Electrical and Power Engineering Taiyuan University of Technology Taiyuan China School of Electrical of Power Engineering Taiyuan University of Technology Taiyuan China General Manager's Office Shanxi Fengxing Measurement and Control Co.Ltd Taiyuan China

ISBN: (纸本)9781665434263

In order to better perform operation and planning of active distribution system under the background of high penetration rate of new energy, this paper studies power quality assessment and proposes a method named TOPSIS based on the combination of AHP-CRITIC-EWM. First of all, considering the actual situation, the difference and relevance between power quality indicators, and the degree of dispersion of the evaluation data, the analytic hierarchy process (AHP) is used to determine the subjective weight of the indicators, and the criteria importance through intercriteria correlation (CRITIC) and the entropy weight method (EWM) are combined to determine the objective weight of the indicators. With the goal of the subjective and objective weights tending to be consistent, the minimum deviation combination weight model is established. Secondly, the index weights are integrated into the TOPSIS assessment method to meet the actual requirements of different indexes with different importance levels, and the assessment objects are quantified and graded. Finally, a case study is carried out, and the results show that the comprehensive assessment method proposed is effective and feasible.

关键词： Power quality Analytic hierarchy process System integration Entropy Power system reliability Planning Internet

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Modeling and Simulation Research of a Novel Artificial Skin Sensor 3

Modeling and Simulation Research of a Novel Artificial Skin ...

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2020 3rd International Conference on Computer Information Science and Artificial Intelligence, CISAI 2020

作者： Wang, Feilu Hu, Yong Song, Yang Chen, Yufeng Ye, Ruigen School of Electronics and Information Engineering Anhui Jianzhu University Hefei230601 China Key Laboratory of Building Information Acquisition and Measurement Control Technology Anhui Jianzhu University Hefei230601 China

In this paper, a novel artificial skin sensor model with special structure based on the flexibility of Polydimethylsiloxane (PDMS) and the piezoresistive effect of Poly Vinylidene Fluoride (PVDF) piezoelectric fiber is proposed to solve the problems of structure design and complicated manufacturing process of skin sensor sensitive units. It has excellent piezoelectric effect and can detect the external force efficiently and precisely. The finite element analysis technology is used to simulate the deformation of the novel artificial skin sensor under external force from different aspects. Firstly, the crossing-mesh sensitive unit model and the three-layer configuration with three-layer of the artificial skin sensor are designed. Secondly, the external forces are applied to the sensitive units with different diameters by finite element analysis, and the sensitive unit with optimum diameter is figured out for the novel artificial skin sensor. After that, with the optimum sensitive unit, the performance of the artificial skin sensor model with the optimum sensitive unit is specifically simulated when it's subjected to different stress. Finally, through seriously analyzing the experiment results, the mapping relationship between the deformation of the artificial skin sensor and the external force is obtained. Experiment results demonstrate that the novel artificial skin sensor has high sensitivity, not only can truly reflect the approximate linear relationship between sensor deformation and external load, but also can accurately detect the magnitude of external force applied to the sensor. © Published under licence by IOP Publishing Ltd.

关键词： Finite element method

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Spatiotemporal Mode-Locking in Lasers with Large Modal Dispersion

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Physical Review Letters 2021年第9期126卷 093901-093901页

作者： Yihang Ding Xiaosheng Xiao Kewei Liu Shuzheng Fan Xiaoguang Zhang Changxi Yang State Key Laboratory of Precision Measurement Technology and Instruments Department of Precision Instruments Tsinghua University Beijing 100084 China State Key Laboratory of Information Photonics and Optical Communications School of Electronic Engineering Beijing University of Posts and Telecommunications Beijing 100876 China

Dissipative nonlinear wave dynamics have been investigated extensively in mode-locked lasers with single transverse mode, whereas there are few studies related to three-dimensional nonlinear dynamics within lasers. Recently, spatiotemporal mode locking (STML) was proposed in lasers with small modal (i.e., transverse-mode) dispersion, which has been considered to be critical for achieving STML in those cavities because the small dispersion can be easily balanced. Here, we demonstrate that STML can also be achieved in multimode lasers with much larger modal dispersion, where we find that the intracavity saturable absorber plays an important role for counteracting the large modal dispersion. Furthermore, we observe a new STML phenomenon of passive nonlinear autoselection of single-mode mode locking, resulting from the interaction between spatiotemporal saturable absorption and spatial gain competition. Our work significantly broadens the design possibilities for useful STML lasers thus making them much more accessible for applications, and extends the explorable parameter space of the novel dissipative spatiotemporal nonlinear dynamics that can be achieved in these lasers.

关键词： Laser dynamics Laser-system design Fiber lasers

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Study of Nanosecond Pulsed Hollow-Cathode Electron Beam Generation and Transportation Based on Pic-Mcc Simulation

SSRN

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SSRN 2023年

作者： Huo, Weijie He, Weiguo Han, Luofeng Zhu, Kangwu Wang, Feng Shanghai Aerospace Electronic Technology Institute Shanghai201109 China School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China School of Fundamental Physics and Mathematical Sciences Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences Hangzhou310024 China Key Laboratory of Gravitational Wave Precision Measurement of Zhejiang Province Taiji Laboratory for Gravitational Wave Universe Hangzhou310024 China Shanghai Aerospace Control Technology Institute Shanghai201109 China

This work employs the PIC-MCC method to study the nanosecond pulsed hollow-cathode discharge and electron beam generation process. The electron beam’s energy and current distribution characteristics at the anode exit are investigated, and the simulation’s grid and step sizes are set as 0.04 μm and 5*10-13 s, respectively. Experimental parameters are used in the simulation, and experimental results are also used to verify the simulation accuracy. The simulations investigate the transportation characteristics of the electron beam under different energies and currents and obtain the effects of voltage, current, and ion density on the distribution characteristics of the electron beam. The electron beam current generated by the hollow-cathode discharge is gradually transformed from a random distribution in the central region to a Gaussian distribution. Due to the ion channel caused by the action of runaway electron pre-ionization, the high-energy electron beam achieves focused transport over a certain distance, and the high-energy electron beam has a smaller Gaussian radius than the source input. Besides, the ion-focusing channel formed by the high-energy electron transportation process can realize the transportation of the high-current electron beam in the conduction stage. © 2023, The Authors. All rights reserved.

关键词： Electron beams

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Three-dimensional force simulation prediction of flexible sensor based on BP neural network 3

Three-dimensional force simulation prediction of flexible se...

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2020 3rd International Conference on Mechatronics and Computer technology engineering, MCTE 2020

作者： Wang, Feilu Chen, Yufeng Song, Yang Hu, Yong Ye, Rungen Jiang, Yanan School of Electronics and Information Engineering Anhui Jianzhu University Hefei230601 China Key Laboratory of Building Information Acquisition and Measurement Control Technology Anhui Jianzhu University Hefei230601 China

When the robot grabs the object, the force information detection of the object is the basis for the smooth grabbing process. The force information of the object can be fully reflected by detecting the force in the three-dimensional direction. In this paper, with polydimethylsiloxane (PDMS) as the substrate and embedded into the sensitive unit prepared by conductive rubber, a new flexible sensor which can detect three-dimensional force is designed. Firstly, based on the piezoresistive effect of conductive rubber, COMSOL Multiphysics software was used to carry out multi-physical field simulation experiment for the sensor. Furthermore, based on the nonlinear approximation ability of BP neural network and the resistance of simulation output, the training sample set and the test sample set were constructed by using the 5-fold cross validation method, and the BP neural network model was constructed to achieve the accurate prediction of three-dimensional force. Finally, the number of hidden layer neurons was adjusted to optimize the BP network model. The results of cross-validation experiments show that the sensor designed in this paper can effectively detect the three-dimensional force information, and the optimized BP neural network can significantly improve the accuracy of the three-dimensional force prediction. © Published under licence by IOP Publishing Ltd.

关键词： Silicones

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Optimal Operation Strategy of Energy Storage System Considering Wind Uncertainty and Power Market

Optimal Operation Strategy of Energy Storage System Consider...

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IEEE Conference on Energy Internet and Energy System Integration (EI2)

作者： Meiqin Ji Xinhui Du Tiangang Gong Jiahui Yin XiaoXi Yang Shuang Tian Yingying Wu Hesheng Yuan School of Electrical and Power Engineering Taiyuan University of Technology Taiyuan China School of Electrical of Power Engineering Taiyuan University of Technology Taiyuan China General Manager's Office Shanxi Fengxing measurement and Control Co.Ltd Taiyuan China

ISBN: (纸本)9781665434263

Considering the uncertainty of wind power output and the market price of electric energy and frequency modulation auxiliary services, a model is established. The established model adopts a two-stage collaborative operation optimization method. The first stage aims to maximize wind power consumption and lowest cost, and the second stage aims to maximize the profitability of idle energy storage system under the energy market and frequency regulation market. The proposed strategy is obtained through the analysis of the calculation example. The energy storage system not only reduces the fluctuation of new energy and improves the dispatchability and absorption capacity of wind power, but also can increase the operating income in the environment of the energy market and ancillary service. Especially when the price of frequency regulation market is high, it has good economic benefits and reduces the cost recovery period of investment in the energy storage system.

关键词： Costs Frequency modulation Uncertainty Profitability System integration Wind power generation State of charge

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