Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse ...Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse wearer needs.This paper introduces a novel hierarchical control scheme comprising five integral components:intention recognition layer,dynamics feedforward layer,force distribution layer,feedback compensation layer,as well as sensors and actuators.The intention rec-ognition layer predicts the wearer's movement and enables wearer-dominant movement through integrated force and position sensors.The force distribution layer effectively resolves the statically indeterminate problem in the context of double-foot support,showcasing flexible control modes.The dynamics feedforward layer mitigates the effect of the exoskeleton itself on movement.Meanwhile,the feedback compensation layer provides reliable closed-loop control.This approach mitigates abrupt changes in joint torques during frequent transitions between swing and stance phases by decomposed dynamics.Validating this innovative hierarchical control scheme on a hydraulic exoskeleton platform through a series of experiments,the results demonstrate its capability to deliver assistance in various modes such as stepping,squatting,and jumping while adapting seamlessly to different terrains.展开更多
At present,there is limited research on the application of fuel cell power generation system technology using solid hydrogen storage materials,especially in hydrogen-assisted two-wheelers.Considering the disadvantages...At present,there is limited research on the application of fuel cell power generation system technology using solid hydrogen storage materials,especially in hydrogen-assisted two-wheelers.Considering the disadvantages of low hydrogen storage capacity and poor kinetics of hydrogen storage materials,our primary focus is to achieve smooth hydrogen ab-/desorption over a wide temperature range to meet the requirements of fuel cells and their integrated power generation systems.In this paper,the Ti_(0.9)Zr_(0.1)Mn_(1.45)V_(0.4)Fe_(0.15) hydrogen storage alloy was successfully prepared by arc melting.The maximum hydrogen storage capacity reaches 1.89 wt% at 318 K.The alloy has the capability to absorb 90% of hydrogen storage capacity within 50 s at 7 MPa and release 90% of hydrogen within 220 s.Comsol Multiphysics 6.0 software was used to simulate the hydrogen ab-/desorption processes of the tank.The flow rate of cooling water during hydrogen absorption varied in a gradient of(0.02 t x)m s^(-1)(x=0,0.02,0.04,0.06,0.08,0.1,0.12).Cooling water flow rate is positively correlated with the hydrogen absorption rate but negatively correlated with the cost.When the cooling rate is 0.06 m s^(-1),both simulation and experimentation have shown that the hydrogen storage tank is capable of steady hydrogen desorption for over 6 h at a flow rate of 2 L min^(-1).Based on the above conclusions,we have successfully developed a hydrogen-assisted two-wheeler with a range of 80 km and achieved regional demonstration operations in Changzhou and Shaoguan.This paper highlights the achievements of our team in the technological development of fuel cell power generation systems using solid hydrogen storage materials as hydrogen storage carriers and their application in twowheelers in recent years.展开更多
基金supported by the China Postdoctoral Science Foundation(No.2020M672823)National Natural Science Foundation of China National Natural Science Foundation of China(No.52305072,U2013602)+3 种基金Natural Science Foundation of Hebei Province of China(No.E2022203095)Shenzhen Science and Technology Program(No.JSGG20201102152602007)Shenzhen Science and Technology Research and Development Foundation(No.JCYJ20190813171009236)Basic Scientific Research of Technology(No.JCKY2020603C009).
文摘Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse wearer needs.This paper introduces a novel hierarchical control scheme comprising five integral components:intention recognition layer,dynamics feedforward layer,force distribution layer,feedback compensation layer,as well as sensors and actuators.The intention rec-ognition layer predicts the wearer's movement and enables wearer-dominant movement through integrated force and position sensors.The force distribution layer effectively resolves the statically indeterminate problem in the context of double-foot support,showcasing flexible control modes.The dynamics feedforward layer mitigates the effect of the exoskeleton itself on movement.Meanwhile,the feedback compensation layer provides reliable closed-loop control.This approach mitigates abrupt changes in joint torques during frequent transitions between swing and stance phases by decomposed dynamics.Validating this innovative hierarchical control scheme on a hydraulic exoskeleton platform through a series of experiments,the results demonstrate its capability to deliver assistance in various modes such as stepping,squatting,and jumping while adapting seamlessly to different terrains.
基金financed by the National Key Research and Development Program of China[grants number 2022YFB3803800]the National Natural Science Foundation of China[grants number 52071141,52271212,52201250,51771056]Interdisciplinary Innovation Program of North China Electric Power University[grants number XM2112355].
文摘At present,there is limited research on the application of fuel cell power generation system technology using solid hydrogen storage materials,especially in hydrogen-assisted two-wheelers.Considering the disadvantages of low hydrogen storage capacity and poor kinetics of hydrogen storage materials,our primary focus is to achieve smooth hydrogen ab-/desorption over a wide temperature range to meet the requirements of fuel cells and their integrated power generation systems.In this paper,the Ti_(0.9)Zr_(0.1)Mn_(1.45)V_(0.4)Fe_(0.15) hydrogen storage alloy was successfully prepared by arc melting.The maximum hydrogen storage capacity reaches 1.89 wt% at 318 K.The alloy has the capability to absorb 90% of hydrogen storage capacity within 50 s at 7 MPa and release 90% of hydrogen within 220 s.Comsol Multiphysics 6.0 software was used to simulate the hydrogen ab-/desorption processes of the tank.The flow rate of cooling water during hydrogen absorption varied in a gradient of(0.02 t x)m s^(-1)(x=0,0.02,0.04,0.06,0.08,0.1,0.12).Cooling water flow rate is positively correlated with the hydrogen absorption rate but negatively correlated with the cost.When the cooling rate is 0.06 m s^(-1),both simulation and experimentation have shown that the hydrogen storage tank is capable of steady hydrogen desorption for over 6 h at a flow rate of 2 L min^(-1).Based on the above conclusions,we have successfully developed a hydrogen-assisted two-wheeler with a range of 80 km and achieved regional demonstration operations in Changzhou and Shaoguan.This paper highlights the achievements of our team in the technological development of fuel cell power generation systems using solid hydrogen storage materials as hydrogen storage carriers and their application in twowheelers in recent years.
