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20th IEEE International Conference on mechatronics and Automation, ICMA 2023

作者： Mao, Yuchen Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Application Complicated Systems Intelligent Robot Laboratory School of Electrical Engineering and Automation Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system. © 2023 IEEE.

关键词： Chemiluminescence

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design of control system for Lower Limb Rehabilitation Robot on the Healthy Side sEMG Signal 20

Design of Control System for Lower Limb Rehabilitation Robot...

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20th IEEE International Conference on mechatronics and Automation, ICMA 2023

作者： Yu, Shiqin Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

With the number of stroke patients increasing year by year, rehabilitation exoskeleton robot has been paid more and more attention. For the rehabilitation exoskeleton robot, human-computer interaction ability is an important index, which affects the effect of rehabilitation therapy to a great extent. Surface Electromyography (sEMG) signals are the combined effect of sEMG signals and electrical activities on nerve stem on the skin surface, which can reflect neuromuscular activities in advance and can be used to predict movement intention by sEMG signals. Therefore, this article proposes to use sEMG signals to monitor the motion information of the healthy leg in real-time, extract the characteristics of the electromyography signals, use the sEMG of the healthy leg as the control signal, reflect the motion patterns reflected by the sEMG collected from the healthy side, and then use the motion intention recognition method of Long Short Term Memory(LSTM) neural network to identify the motion intention of the prosthetic limb by identifying the motion patterns of the swing phase of the healthy side. The results indicate that the predicted maximum Root Mean Squared Error(RMSE) is 5.3729, which proves the feasibility of using LSTM model for motion intention recognition and contributes to the real-time and accuracy of lower limb exoskeleton rehabilitation. © 2023 IEEE.

关键词： Long short-term memory

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Accurate MTPA control Based on Ferrari Method for IPMSM with Partial Derivative Term Calculation

Accurate MTPA Control Based on Ferrari Method for IPMSM with...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Yiyang Li Xin Gu Zhiqiang Wang Liyan Guo Wei Chen Xinmin Li Chen Li School of Electronics and Information Engineering Tiangong University Tianjin China Tianjin Key Laboratory of Intelligent Control of Electrical Equipment Tianjin China School of Electrical Engineering Tiangong University Tianjin China National Local Joint Engineering Research Center of Electrical Machine System Design and Manufacturing China Zhejiang University Advanced Electrical Equipment Innovation Center Hangzhou China

ISBN: (数字)9784886864406

ISBN: (纸本)9798350379105

Even if the exact motor parameters are known, the MTPA strategy cannot obtain precise maximum torque per ampere (MTPA) points under large current amplitude because the partial derivative of inductance to current is ignored in the modeling process. In view of this, the MTPA mathematical model considering the partial derivative of inductance to current is established in this paper, and the MTPA point tracking error caused by ignoring the partial derivative in the modeling process based on Ferrari method is analyzed. Then, an offline-online combined method for calculating the partial derivative term is proposed to compensate the MTPA tracking error. On this basis, an MTPA control strategy based on Ferrari method considering the partial derivative of inductance to current is proposed. Experiment to verify the feasibility and effectiveness of the proposed method.

关键词： Inductance Analytical models Torque Accuracy Permanent magnet motors Mathematical models Trajectory

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Research on Feedforward control Based on Robot Dynamics Parameters Identification 17

Research on Feedforward Control Based on Robot Dynamics Para...

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17th IEEE International Conference on mechatronics and Automation, ICMA 2020

作者： Shao, Xingmao Wang, Shoujun Yang, Liusong Liu, Nan Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin300384 China Citic Heavy Industries Company Ltd. Luoyang471003 China

ISBN: (纸本)9781728164151

Accurate robot dynamics model can effectively improve the motion control performance of robot, and accurate dynamics parameters are the basis for establishing dynamics model. This paper discusses the parameter identification method of the tandem manipulator and the feedforward control scheme based on dynamics. First, we deduced the basic parameters of the first three joints of the UR5 manipulator, and identified the parameters through experimental sampling and calculation. Secondly, we established a feedforward control mechanism based on dynamics using the Simulink platform, and simulated and verified the feedforward control of the robot three-axis system. The experimental results show that the feedforward control scheme based on robot dynamics can effectively improve the error convergence performance, which proves the effectiveness of the method. © 2020 IEEE.

关键词： Manipulators

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Significant Wave Height Prediction Based on VMD-SA-MLP-BP

Significant Wave Height Prediction Based on VMD-SA-MLP-BP

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Chinese Automation Congress (CAC)

作者： Yining Wu Runfeng Zhang Fang Liu Zhenzhong Liu Jianguo Wu Haonan Dong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Yichang Research Institute of Testing Technology Yichang China Tianjin Hanhailanfan Marine Technology Co. Ltd. Tianjin China School of Computer Science and Engineering Tianjin University of Technology Tianjin China

Waves seriously impact port construction, worldwide route planning, military activities, and wave power generation. To improve the accuracy of significant wave height prediction, we proposed a novel prediction method, a multi-layer perceptron combined with a backpropagation adjustment (MLP-BP) prediction model that combines mutation mode decomposition (VMD) and a simulated annealing optimization algorithm (SA). Firstly, we use the variable modulus method to decompose the significant wave height sequence data and transform the wave height sequence into multiple different sub-modes (IMF) to reduce the complexity and non-stationarity of the data. Secondly, the simulated annealing algorithm (SA) is used to optimize the weight and bias of the MLP-BP neural network to find the optimal parameter configuration and improve the performance and generalization ability of the prediction model. Finally, the decomposed sub-modal components of each significant wave height sequence are inserted into the MLP-BP neural network and the predicted values of each element are summed to obtain the final significant wave height prediction. The prediction results of the SSA-MLP-BP, PSO-MLP-BP, SA-MLP-BP, and VMD-SA-MLP-BP were compared and demonstrated that the VMD-SA-MLP-BP model performed best. The MAE, MAPE, MSE, RMSE, and R2 of the prediction evaluation indexes were 0.036 m, 11.7%, 0.004 m 2 , 0.067 m, and 0.983, respectively, which performed well in predicting significant wave height.

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Effects of Wall Emissivity on Aerodynamic Heating in Scramjets

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Fluid Dynamics & Materials Processing 2020年第6期16卷 206-216页

作者： Yue Zhou Pengfei Ju School of Aeronautical Science and Technology Beihang UniversityBeijing100191China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology) Tianjin300384China

The effects of the wall emissivity on aerodynamic heating in a scramjet are *** supersonic turbulent combustion flow including radiation is solved in the framework of a decoupled strategy where the flow field is determined first and the radiation field *** particular,a finite difference method is used for solving the flow while a DOM(iscrete ordinates method)approach combined with a WSGGM(weighted sum of gray gases)model is implemented for radiative *** nonreactive turbulent channel flows are examined for a DLR hydrogen fueled scramjet changing parametrically the wall *** results indicate that the wall radiative heating rises greatly with increasing the wall *** the wall emissivity rises,the radiative source and total absorption increase,while the incident radiation decreases ***,although the radiative heating can reach a significant level,its contribution to the total aerodynamic heating is relatively limited.

关键词： Scramjet aerodynamic heating wall emissivity radiation

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Hamiltonian Dynamics and Targeted Energy Transfer of a Grounded Bistable Nonlinear Energy Sink

SSRN

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SSRN 2022年

作者： Li, Shuangbao Zhou, Xinxing Chen, Jianen Research Institute of Science and Technology Civil Aviation University of China Tianjin300300 China College of Science Civil Aviation University of China Tianjin300300 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China

A two-degree-of-freedom nonlinear mechanical system describing a damped linear oscillator weakly coupled to a lightweight grounded bistable nonlinear energy sink is proposed to investigate the targeted energy transfer (TET) under asymmetric local nonlinear potentials. The Bogdanov-Takens bifurcations of equilibria are discussed to reflect the bistable and asymmetric characteristics of the system. Through projections of isoenergetic manifolds, the topological features of the Hamiltonian dynamics under $1:1$ internal resonance have been investigated, which induces conditions for energy localization and exchange. In the general case, the topological features of the Hamiltonian dynamics related to the nonlinear normal modes (NNMs) are classified by the Poincare map, the relations between the NNMs and the Hamiltonian dynamics have been interpreted through the frequency energy plots. The results show that introducing the asymmetric characteristics may enhance the TET and realize the complete TET. © 2022, The Authors. All rights reserved.

关键词： Degrees of freedom (mechanics)

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design of wearable squat booster for automobile assembler based on ergonomics 6

Design of wearable squat booster for automobile assembler ba...

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2020 6th International Forum on Engineering Materials and Manufacturing Technology, IFEMMT 2020

作者： Chen, Zhewen Qiao, Zhifeng Bao, Tianxu Dou, Fuchao Chen, Xinpu Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin China

Aiming at the problem that automobile assembler need to squat for a long time, a wearable squatting assistance system with low cost, simple control and easy to squat and walk is designed. Based on ergonomics and finite element theory, UG was used to draw a three-dimensional solid model of the wearable squatting power system for automobile assemblers. With the help of ANSYS software, the statics analysis of key components is carried out to check their strength and stiffness. It is concluded that the wearable squatting power assist device for automotive fitters based on ergonomics has reached the design requirements in terms of function use and strength and stiffness. © Published under licence by IOP Publishing Ltd.

关键词： Ergonomics

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Nonstoichiometric Protic Ionic Liquids for Efficient Carbon Dioxide Capture

SSRN

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SSRN 2023年

作者： Wang, Litian Chen, Jie Li, Dan Li, Cuiping Qian, Lirong Xiong, Yang Xie, Zhiyong Wang, Shuai Zhou, Tongyao Gai, Baojia Wang, Yinuo Tianjin Key Laboratory of Film Electronic and Communication Devices School of Integrated Circuit Science and Engineering Tianjin University of Technology Tianjin300384 China School of Integrated Circuit Science and Engineering Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology China Tianjin Bohua Yongli Chemical Industry CO. Ltd Tianjin30045 China

Protic ionic liquids (PILs) have emerged as promising solvents for CO2 capture, offering great potential for the development of efficient CO2 absorbents. Understanding the relationship between the PILs’ structures and CO2absorption mechanisms is instructive for advancing their applicability. Herein, an innovative strategy for CO2 capture using nonstoichiometric PILs was demonstrated for the first time. These nonstoichiometric PILs composed of imidazole (Im) as a Brønsted acid and 1,8-diazabicyclo [5.4.0] undec-7-ene (DBU) as a Brønsted base with various ratios. They exhibited both low viscosities and remarkable CO2 loading capacities, reaching up to 0.194 g CO2 /g IL and 1.42 mol CO2 /mol IL at 0.1 atm and 40 °C. The distribution of neutral and ionic species in these nonstoichiometric PILs was determined using density functional theory (DFT) calculations and nuclear magnetic (NMR) spectroscopy analysis. Correlations between the mole ratio of Brønsted acid and base and the viscosities, conductivities, and CO2 absorption properties were observed. The mechanism of CO2 absorption was proposed from the spectral results and DFT calculations. The superior CO2 loading ability of these PILs can be attributed to the formation of the zwitterionic carbamic complexes through interactions between CO2 and the N atom in DBU. Additionally, the presentence of Im significantly avoided the dramatic increase in the viscosity of the absorbents during CO2 absorption. It is believed that the new insights into the CO2 mechanism will facilitate the rational design of PILs for CO2 capture in the future. © 2023, The Authors. All rights reserved.

关键词： Carbon dioxide

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Multi-Objective Optimal Feedback controls for Under-Actuated Dynamical system

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Journal of Shanghai Jiaotong university(Science) 2020年第5期25卷 545-552页

作者： QIN Zhichang XIN Ying SUN Jianqiao School of Transportation and Vehicle Engineering Shandong University of TechnologyZibo 255000ShandongChina School of Mechanical Engineering Tianjin University of TechnologyTianjin 300384China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of TechnologyTianjin 300384China School of Engineering University of California MercedCA 95343USA

This paper presents a study of optimal control design for a single-inverted pendulum(SIP)system with the multi-objective particle swarm optimization(MOPSO)*** proportional derivative(PD)control algorithm is utilized to control the *** the SIP system is nonlinear and the output(the pendulum angle)cannot be directly controlled(it is under-actuated),the PD control gains are not tuned with classical *** this work,the MOPSO method is used to obtain the best PD *** use of multi-objective optimization algorithm allows the control design of the system without the need of linearization,which is not provided by using classical *** multi-objective optimal control design of the nonlinear system involves four design parameters(PD gains)and six objective functions(time-domain performance indices).The HausdorfF distances of consecutive Pareto sets,obtained in the MOPSO iterations,are computed to check the convergence of the MOPSO *** MOPSO algorithm finds the Pareto set and the Pareto front *** simulations and experiments of the rotary inverted pendulum system are done to verify this design *** and experimental results show that the multi-objective optimal controls offer a wide range of choices including the ones that have comparable performances to the linear quadratic regulator(LQR)control.

关键词： multi-objective optimal control under-actuated system particle swarm optimization(PSO) rotary inverted pendulum

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