The lower limb exoskeletons are used to assist wearers in various scenarios such as medical and industrial settings.Complex modeling errors of the exoskeleton in different application scenarios pose challenges to the ...The lower limb exoskeletons are used to assist wearers in various scenarios such as medical and industrial settings.Complex modeling errors of the exoskeleton in different application scenarios pose challenges to the robustness and stability of its control algorithm.The Radial Basis Function(RBF)neural network is used widely to compensate for modeling errors.In order to solve the problem that the current RBF neural network controllers cannot guarantee the asymptotic stability,a neural network robust control algorithm based on computed torque method is proposed in this paper,focusing on trajectory tracking.It innovatively incorporates the robust adaptive term while introducing the RBF neural network term,improving the compensation ability for modeling errors.The stability of the algorithm is proved by Lyapunov method,and the effectiveness of the robust adaptive term is verified by the simulation.Experiments wearing the exoskeleton under different walking speeds and scenarios were carried out,and the results show that the absolute value of tracking errors of the hip and knee joints of the exoskeleton are consistently less than 1.5°and 2.5°,respectively.The proposed control algorithm effectively compensates for modeling errors and exhibits high robustness.展开更多
The fifth-generation(5G)wireless communication networks are expected to play an essential role in the transformation of vertical industries.Among many exciting applications to be enabled by 5G,logistics tasks in indus...The fifth-generation(5G)wireless communication networks are expected to play an essential role in the transformation of vertical industries.Among many exciting applications to be enabled by 5G,logistics tasks in industry parks can be performed more efficiently via vehicle-to-everything(V2X)communications.In this paper,a multi-layer collaboration framework enabled by V2X is proposed for logistics management in industrial parks.The proposed framework includes three layers:a perception and execution layer,a logistics layer,and a configuration layer.In addition to the collaboration among these three layers,this study addresses the collaboration among devices,edge servers,and cloud services.For effective logistics in industrial parks,task collaboration is achieved through four functions:environmental perception and map construction,task allocation,path planning,and vehicle movement.To dynamically coordinate these functions,device–edge–cloud collaboration,which is supported by 5G slices and V2X communication technology,is applied.Then,the analytical target cascading method is adopted to configure and evaluate the collaboration schemes of industrial parks.Finally,a logistics analytical case study in industrial parks is employed to demonstrate the feasibility of the proposed collaboration framework.展开更多
Objective： To establish a rat model of combined kidney-adrenal gland and allotransplantation, and to explore the immunoprotecive effect of the transplanted adrenal gland on the transplanted kidney in the combined tra...Objective： To establish a rat model of combined kidney-adrenal gland and allotransplantation, and to explore the immunoprotecive effect of the transplanted adrenal gland on the transplanted kidney in the combined transplantation. Methods. SD rats 160 served as donors and recipients. The combined kidney-adrenal gland allotransplantation was performed. Infusion was conducted and prepared at prime position ,and the kidney and adrenal gland were at the left side. Direct vascular anastomosis and operation of connecting ureter attached part of bladder with the bladder were conducted. The kidney pedicle of the right side was ligated. Results： A stable and mature rat model of combined transplantation was established. The warm ischemia time was 30 seconds, and the cold ischemia time was 90-120min.The average time was 100 min. The operation time was 150 min. The survival time of the recipients was 21 days. The successful rate of the operation was 75%. Conclusion： The model of the combined kidney-adrenal gland allotransplantation can be established with higher successful rate. The model can be used to explore that transplanted adrenal gland may have immunoprotecive effect on the transplanted kidney in the combined transplantation.展开更多
基金Supported by National Key R&D Program of China(Grant No.2022YFB4701200)National Natural Science Foundation of China(NSFC)(Grant Nos.T2121003,52205004).
文摘The lower limb exoskeletons are used to assist wearers in various scenarios such as medical and industrial settings.Complex modeling errors of the exoskeleton in different application scenarios pose challenges to the robustness and stability of its control algorithm.The Radial Basis Function(RBF)neural network is used widely to compensate for modeling errors.In order to solve the problem that the current RBF neural network controllers cannot guarantee the asymptotic stability,a neural network robust control algorithm based on computed torque method is proposed in this paper,focusing on trajectory tracking.It innovatively incorporates the robust adaptive term while introducing the RBF neural network term,improving the compensation ability for modeling errors.The stability of the algorithm is proved by Lyapunov method,and the effectiveness of the robust adaptive term is verified by the simulation.Experiments wearing the exoskeleton under different walking speeds and scenarios were carried out,and the results show that the absolute value of tracking errors of the hip and knee joints of the exoskeleton are consistently less than 1.5°and 2.5°,respectively.The proposed control algorithm effectively compensates for modeling errors and exhibits high robustness.
基金supported by the China National Key Research and Development Program(2018YFE0197700).
文摘The fifth-generation(5G)wireless communication networks are expected to play an essential role in the transformation of vertical industries.Among many exciting applications to be enabled by 5G,logistics tasks in industry parks can be performed more efficiently via vehicle-to-everything(V2X)communications.In this paper,a multi-layer collaboration framework enabled by V2X is proposed for logistics management in industrial parks.The proposed framework includes three layers:a perception and execution layer,a logistics layer,and a configuration layer.In addition to the collaboration among these three layers,this study addresses the collaboration among devices,edge servers,and cloud services.For effective logistics in industrial parks,task collaboration is achieved through four functions:environmental perception and map construction,task allocation,path planning,and vehicle movement.To dynamically coordinate these functions,device–edge–cloud collaboration,which is supported by 5G slices and V2X communication technology,is applied.Then,the analytical target cascading method is adopted to configure and evaluate the collaboration schemes of industrial parks.Finally,a logistics analytical case study in industrial parks is employed to demonstrate the feasibility of the proposed collaboration framework.
文摘Objective： To establish a rat model of combined kidney-adrenal gland and allotransplantation, and to explore the immunoprotecive effect of the transplanted adrenal gland on the transplanted kidney in the combined transplantation. Methods. SD rats 160 served as donors and recipients. The combined kidney-adrenal gland allotransplantation was performed. Infusion was conducted and prepared at prime position ,and the kidney and adrenal gland were at the left side. Direct vascular anastomosis and operation of connecting ureter attached part of bladder with the bladder were conducted. The kidney pedicle of the right side was ligated. Results： A stable and mature rat model of combined transplantation was established. The warm ischemia time was 30 seconds, and the cold ischemia time was 90-120min.The average time was 100 min. The operation time was 150 min. The survival time of the recipients was 21 days. The successful rate of the operation was 75%. Conclusion： The model of the combined kidney-adrenal gland allotransplantation can be established with higher successful rate. The model can be used to explore that transplanted adrenal gland may have immunoprotecive effect on the transplanted kidney in the combined transplantation.
