Background:Irregular heartbeats can have serious health implications if left undetected and untreated for an extended period of time.Methods:This study leverages machine learning(ML)techniques to classify electrocardi...Background:Irregular heartbeats can have serious health implications if left undetected and untreated for an extended period of time.Methods:This study leverages machine learning(ML)techniques to classify electrocardiogram(ECG)heartbeats,comparing traditional feature-based ML methods with innovative image-based approaches.The dataset underwent rigorous preprocessing,including down-sampling,frequency filtering,beat segmentation,and normalization.Two methodologies were explored:(1)handcrafted feature extraction,utilizing metrics like heart rate variability and RR distances with LightGBM classifiers,and(2)image transformation of ECG signals using Gramian Angular Field(GAF),Markov Transition Field(MTF),and Recurrence Plot(RP),enabling multimodal input for convolutional neural networks(CNNs).The Synthetic Minority Oversampling Technique(SMOTE)addressed data imbalance,significantly improving minority-class metrics.Results:The handcrafted feature approach achieved notable performance,with LightGBM excelling in precision and recall.Image-based classification further enhanced outcomes,with a custom Inception-based CNN,attaining an 85%F1 score and 97%accuracy using combined GAF,MTF,and RP transformations.Statistical analyses confirmed the significance of these improvements.Conclusion:This work highlights the potential of ML for cardiac irregularities detection,demonstrating that combining advanced preprocessing,feature engineering,and state-of-the-art neural networks can improve classification accuracy.These findings contribute to advancing AI-driven diagnostic tools,offering promising implications for cardiovascular healthcare.展开更多
This paper addresses a coordinated control problem for Spacecraft Formation Flying(SFF). The distributed followers are required to track and synchronize with the leader spacecraft.By using the feature points in the tw...This paper addresses a coordinated control problem for Spacecraft Formation Flying(SFF). The distributed followers are required to track and synchronize with the leader spacecraft.By using the feature points in the two-dimensional image space, an integrated 6-degree-of-freedom dynamic model is formulated for spacecraft relative motion. Without sophisticated threedimensional reconstruction, image features are directly utilized for the controller design. The proposed image-based controller can drive the follower spacecraft in the desired configuration with respect to the leader when the real-time captured images match their reference counterparts. To improve the precision of the formation configuration, the proposed controller employs a coordinated term to reduce the relative distance errors between followers. The uncertainties in the system dynamics are handled by integrating the adaptive technique into the controller, which increases the robustness of the SFF system. The closed-loop system stability is analyzed using the Lyapunov method and algebraic graph theory. A numerical simulation for a given SFF scenario is performed to evaluate the performance of the controller.展开更多
Cervical cancer is the one of the most common cancer in female patients inThailand. Radiotherapy has the role for the treatment of cervical cancer by postoperative, radical and palliative treatments. For radical radio...Cervical cancer is the one of the most common cancer in female patients inThailand. Radiotherapy has the role for the treatment of cervical cancer by postoperative, radical and palliative treatments. For radical radiotherapy, the combination of external beam radiation therapy and brachytherapy will be used to increase the tumor dose to curative goal. With the new development of medical images (Computed tomography (CT), Magnetic Resonance Imaging (MRI) or Ultrasonography (US)), the treatment with brachytherapy will be developed from point-based to volume-based concepts. Many studies reported the benefit of image-based brachytherapy over conventional brachytherapy and clinical benefit of using image-based brachytherapy in the treatment of cervical cancer.展开更多
In this paper, an efficient sparse representation-based method is presented for detecting surface defects. The proposed method uses the sparse degree of coefficient in the redundant dictionary for checking whether the...In this paper, an efficient sparse representation-based method is presented for detecting surface defects. The proposed method uses the sparse degree of coefficient in the redundant dictionary for checking whether the test image is defective or not, and the binary representation of the defective images is obtained, according to the global coefficient feature. Owing to the requirements for the efficiency and detecting quality, the block proximal gradient operator is introduced to speed up the online dictionary learning. Considering the correlation among the testing samples, prior knowledge is applied in the orthogonal-matching-pursuit sparse representation algorithm to improve the speed of sparse coding. Experimental results demonstrate that the proposed detection method can effectively detect and extract the defects of the surface images, and has broad applicability.展开更多
Image-based rendering is important both in the field of computer graphics and computer vision,and it is also widely used in virtual reality technology.For more than two decades,people have done a lot of work on the re...Image-based rendering is important both in the field of computer graphics and computer vision,and it is also widely used in virtual reality technology.For more than two decades,people have done a lot of work on the research of image-based rendering,and these methods can be divided into two categories according to whether the geometric information of the scene is utilized.According to this classification,we introduce some classical methods and representative methods proposed in recent years.We also compare and analyze the basic principles,advantages and disadvantages of different methods.Finally,some suggestions are given for research directions on image-based rendering techniques in the future.展开更多
An aluminum matrix syntactic foam, incorporated with hollow-structured fly ash particles, was fabricated by pressure infiltration technique. X-ray micro-computed tomography was used to characterize its heterogeneous m...An aluminum matrix syntactic foam, incorporated with hollow-structured fly ash particles, was fabricated by pressure infiltration technique. X-ray micro-computed tomography was used to characterize its heterogeneous microstructure three dimensionally （3D）. The quantification of some microstructure features, such as content and size distribution of hollow fly ash particles, was acquired in 3D. The tomographic data were exploited as a rapid method to generate a microstructurally accurate and robust 3D meshed model. The thermal transport behavior has been modeled using a commercial finite-element code to conduct steady state analyses. Simulation of the thermal conductivity showed good correlation with experimental result.展开更多
Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical...Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.展开更多
This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The...This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A*algorithm.In six dif-ferent simulation scenarios,the efficiency of the modified A*algorithm is 6.2%higher than that of the traditional A*algorithm.The efficiency of path planning and virtual tube planning is veri-fied by simulations.The effectiveness of interception control is verified by a software-in-loop(SIL)simulation.展开更多
To enhance the robustness and real-time performance of robotic arm visual servoing in complex environments such as space,this study proposes Di FA-DETR,a modified object detection framework based on the DETR architect...To enhance the robustness and real-time performance of robotic arm visual servoing in complex environments such as space,this study proposes Di FA-DETR,a modified object detection framework based on the DETR architecture.The proposed model incorporates an improved Res Net50 Bottleneck structure with spatial dimensionality reduction and sparse interaction mechanisms,alongside a redesigned self-attention module featuring downsampling optimization and adaptive feature enhancement.A custom-annotated satellite component dataset was constructed to train and evaluate the system.Experimental results demonstrate that Di FA-DETR achieves an AP50 of 79.9%,outperforming existing DETR variants while reducing computational complexity by 31.9%and nearly doubling the inference speed.The method was further validated in a ground-based visual servoing system using an industrial robotic arm and camera setup.The system successfully tracked satellite targets under dynamic motion scenarios,maintaining millimeter-level positioning accuracy.These results confirm the feasibility and effectiveness of the proposed method in supporting future space robotic applications requiring precision tracking and fast response.展开更多
A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the...A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the rotating servo and the suspension system,a multi-body dynamic model simulating their integration is established using Lagrange’s equation.To mitigate instantaneous impact forces due to significant non-plumb effects from passive following in the horizontal direction,an elastic element is added in series with the rope in the vertical suspension system.The dynamic response of this elastic element relative to the rotating servo system is analyzed by the ADAMS software.Simulation results show that the compensating error decreases significantly from 45%to 0.31%when incorporating elastic elements compared to scenarios without such elements.Additionally,low-stiffness elastic elements demonstrate a higher compensating error than high-stiffness ones.A spring with a stiffness coefficient of 6 N/mm is selected in the experiment,ensuring that compensating error meets the design specification of 5%.展开更多
This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanis...This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanism is presented to structure the adaptive integral terminal sliding mode control(SMC)strategy.The control design consists of compensation control and nominal control,which improves the rapidity and accuracy of trajectory tracking.The smooth saturation model based on the error function is applied to approximate the voltage saturation phenomenon.Additionally,to deal with the adverse effects of various unknown disturbances,including model parameter uncertainties and unknown external load disturbances,an improved disturbance observer(DO)is proposed.This observer effectively suppresses the fluctuations caused by fixed gain during the starting period of the system.Finally,the experimental results under different conditions show that the proposed strategy has good tracking and disturbance suppression performances.展开更多
The aim of the study is to investigate the impact of the buffer groove structure on the pressure of continuous rotation electro-hydraulic servo motor.The mathematical model of the motor valve plate with triangular gro...The aim of the study is to investigate the impact of the buffer groove structure on the pressure of continuous rotation electro-hydraulic servo motor.The mathematical model of the motor valve plate with triangular groove and U-groove structure is established firstly,and the structure size of the two buffer grooves with better pressure drop effect is obtained by Matlab.Secondly,an established pressure gradient model is developed for the sealed canisters for electric motors using a combined groove structure.The bird swarm optimization algorithm is used to obtain the optimal dimensions for the combined depth and angle of the pressure groove.The flow field in the motor seal chamber is simulated and calculated by Fluent.This study compared the pressure field distributions in the motors sealing chamber using triangular and combined groove structures.It investigated the combined grooves effect on the pressure impact during the commutation of a continuously rotating electro-hydraulic servo motor.It is found that the combined groove structure has a positive impact on reducing the pressure impact.The results indicate that the combined groove structure significantly enhances the efficiency of mitigating pressure shocks when the motor switches between high-and low-pressure chambers.展开更多
Computer-aided surgical navigation technology helps and guides doctors to complete the operation smoothly,which simulates the whole surgical environment with computer technology,and then visualizes the whole operation...Computer-aided surgical navigation technology helps and guides doctors to complete the operation smoothly,which simulates the whole surgical environment with computer technology,and then visualizes the whole operation link in three dimensions.At present,common image-guided surgical techniques such as computed tomography(CT)and X-ray imaging(X-ray)will cause radiation damage to the human body during the imaging process.To address this,we propose a novel Extended Kalman filter-based model that tracks the puncture needle-point using an ultrasound probe.To address the limitations of Kalman filteringmethods based on position and velocity,our method of Kalman filtering uses the position and relative velocity of the puncture needle-point instead,and the ultrasonic probe is controlled by a Proportional Integral(PI)controller in X-axis direction and Proportional Derivative(PD)controller in the Y-axis direction.The motion of the ultrasonic probe can be servo-controlled by whether the image information of the puncture needle-point can be detected by the ultrasonic image so that the ultrasonic probe can track the puncture needle-point in real time.The experiment results show that this method has better tracking performance.展开更多
Hydraulic technology has the outstanding advantages of easy pressure compensation and high power density.It is an indispensable part of subsea equipment,such as deep-sea operations and submersible propulsion.There are...Hydraulic technology has the outstanding advantages of easy pressure compensation and high power density.It is an indispensable part of subsea equipment,such as deep-sea operations and submersible propulsion.There are few studies on electrohydraulic servo valves(EHSVs)in the deep sea.In this work,a novel electro-hydraulic servo rotary valve is designed,and its mathematical model is established.The analysis considers the variations in physical parameters such as temperature,ambient pressure,and oil viscosity resulting from changes in sea depth.This study focuses on the deformation of the rotary valve and the consequent alterations in leakage and friction torque.The findings indicate that at a depth of 12000 m,the fit clearance between the valve spool and the valve sleeve is 0.00413 mm,representing a 17%reduction compared with the clearance in a land environment.Then,the response of the rotary valve to depth is analyzed.The results indicate that the bandwidth of the rotary valve decreases with increasing depth.This study provides a reference for the use of the EHSV in the deep sea.展开更多
An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rot...An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rotary electro-hydraulic servo systems.This enhancement accelerates convergence and improves accuracy compared with traditional LMS.A fifth-order identification mod-el is developed based on valve-controlled hydraulic motors,with parameters identified using Kalman filter state estimation and gradient smoothing.The results indicate that the improved LMS effectively enhances parameter identification.An advanced disturbance rejection controller(ADRC)is de-signed,and its performance is compared with an optimal proportional integral derivative(PID)con-troller through Simulink simulations.The results show that the ADRC fulfills the control specifications and expands the system’s operational bandwidth.展开更多
In light of the high nonlinearity of LuGre friction model, a novel method based on ant colony algorithm(ACA) for identifying the friction parameters of flight simulation servo system is proposed. ACA is a parallelized...In light of the high nonlinearity of LuGre friction model, a novel method based on ant colony algorithm(ACA) for identifying the friction parameters of flight simulation servo system is proposed. ACA is a parallelized bionic optimization algorithm inspired from the behavior of real ants, and a kind of positive feedback mechanism is adopted in ACA. On the basis of brief introduction of LuGre friction model, a method for identifying the static LuGre friction parameters and the dynamic LuGre friction parameters using ACA is derived. Finally, this new friction parameter identification scheme is applied to a electric-driven flight simulation servo system with high precision. Simulation and application results verify the feasibility and the effectiveness of the scheme. It provides a new way to identify the friction parameters of LuGre model.展开更多
Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varietie...Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varieties of PWM modulation methods, and concludes on the relationship between dithers and the different methods, and then discusses the influence of friction to the dithers. Results from experiments regarding the dynamic and static responses on the given system support the theories presented.展开更多
文摘Background:Irregular heartbeats can have serious health implications if left undetected and untreated for an extended period of time.Methods:This study leverages machine learning(ML)techniques to classify electrocardiogram(ECG)heartbeats,comparing traditional feature-based ML methods with innovative image-based approaches.The dataset underwent rigorous preprocessing,including down-sampling,frequency filtering,beat segmentation,and normalization.Two methodologies were explored:(1)handcrafted feature extraction,utilizing metrics like heart rate variability and RR distances with LightGBM classifiers,and(2)image transformation of ECG signals using Gramian Angular Field(GAF),Markov Transition Field(MTF),and Recurrence Plot(RP),enabling multimodal input for convolutional neural networks(CNNs).The Synthetic Minority Oversampling Technique(SMOTE)addressed data imbalance,significantly improving minority-class metrics.Results:The handcrafted feature approach achieved notable performance,with LightGBM excelling in precision and recall.Image-based classification further enhanced outcomes,with a custom Inception-based CNN,attaining an 85%F1 score and 97%accuracy using combined GAF,MTF,and RP transformations.Statistical analyses confirmed the significance of these improvements.Conclusion:This work highlights the potential of ML for cardiac irregularities detection,demonstrating that combining advanced preprocessing,feature engineering,and state-of-the-art neural networks can improve classification accuracy.These findings contribute to advancing AI-driven diagnostic tools,offering promising implications for cardiovascular healthcare.
文摘This paper addresses a coordinated control problem for Spacecraft Formation Flying(SFF). The distributed followers are required to track and synchronize with the leader spacecraft.By using the feature points in the two-dimensional image space, an integrated 6-degree-of-freedom dynamic model is formulated for spacecraft relative motion. Without sophisticated threedimensional reconstruction, image features are directly utilized for the controller design. The proposed image-based controller can drive the follower spacecraft in the desired configuration with respect to the leader when the real-time captured images match their reference counterparts. To improve the precision of the formation configuration, the proposed controller employs a coordinated term to reduce the relative distance errors between followers. The uncertainties in the system dynamics are handled by integrating the adaptive technique into the controller, which increases the robustness of the SFF system. The closed-loop system stability is analyzed using the Lyapunov method and algebraic graph theory. A numerical simulation for a given SFF scenario is performed to evaluate the performance of the controller.
文摘Cervical cancer is the one of the most common cancer in female patients inThailand. Radiotherapy has the role for the treatment of cervical cancer by postoperative, radical and palliative treatments. For radical radiotherapy, the combination of external beam radiation therapy and brachytherapy will be used to increase the tumor dose to curative goal. With the new development of medical images (Computed tomography (CT), Magnetic Resonance Imaging (MRI) or Ultrasonography (US)), the treatment with brachytherapy will be developed from point-based to volume-based concepts. Many studies reported the benefit of image-based brachytherapy over conventional brachytherapy and clinical benefit of using image-based brachytherapy in the treatment of cervical cancer.
基金supported by the Zhejiang Provincial Natural Science Foundation of China(No.LZ14F030001)
文摘In this paper, an efficient sparse representation-based method is presented for detecting surface defects. The proposed method uses the sparse degree of coefficient in the redundant dictionary for checking whether the test image is defective or not, and the binary representation of the defective images is obtained, according to the global coefficient feature. Owing to the requirements for the efficiency and detecting quality, the block proximal gradient operator is introduced to speed up the online dictionary learning. Considering the correlation among the testing samples, prior knowledge is applied in the orthogonal-matching-pursuit sparse representation algorithm to improve the speed of sparse coding. Experimental results demonstrate that the proposed detection method can effectively detect and extract the defects of the surface images, and has broad applicability.
基金National Natural Science Foundation of China(61632003).
文摘Image-based rendering is important both in the field of computer graphics and computer vision,and it is also widely used in virtual reality technology.For more than two decades,people have done a lot of work on the research of image-based rendering,and these methods can be divided into two categories according to whether the geometric information of the scene is utilized.According to this classification,we introduce some classical methods and representative methods proposed in recent years.We also compare and analyze the basic principles,advantages and disadvantages of different methods.Finally,some suggestions are given for research directions on image-based rendering techniques in the future.
基金Funded by the National Natural Science Foundation of China (No. 51001037)the Fundamental Research Funds for the Central Universities (No. HIT.NSRIF.2013003)
文摘An aluminum matrix syntactic foam, incorporated with hollow-structured fly ash particles, was fabricated by pressure infiltration technique. X-ray micro-computed tomography was used to characterize its heterogeneous microstructure three dimensionally （3D）. The quantification of some microstructure features, such as content and size distribution of hollow fly ash particles, was acquired in 3D. The tomographic data were exploited as a rapid method to generate a microstructurally accurate and robust 3D meshed model. The thermal transport behavior has been modeled using a commercial finite-element code to conduct steady state analyses. Simulation of the thermal conductivity showed good correlation with experimental result.
基金supported by the National Natural Science Foundation of China(Nos.52177059 and 52407064).
文摘Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.
基金supported by the National Natural Science Foundation of China(62303350).
文摘This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A*algorithm.In six dif-ferent simulation scenarios,the efficiency of the modified A*algorithm is 6.2%higher than that of the traditional A*algorithm.The efficiency of path planning and virtual tube planning is veri-fied by simulations.The effectiveness of interception control is verified by a software-in-loop(SIL)simulation.
基金supported by the Foundation of National Key Laboratory of Human Factors Engineering,China(No.HFNKL2023 WWO5)。
文摘To enhance the robustness and real-time performance of robotic arm visual servoing in complex environments such as space,this study proposes Di FA-DETR,a modified object detection framework based on the DETR architecture.The proposed model incorporates an improved Res Net50 Bottleneck structure with spatial dimensionality reduction and sparse interaction mechanisms,alongside a redesigned self-attention module featuring downsampling optimization and adaptive feature enhancement.A custom-annotated satellite component dataset was constructed to train and evaluate the system.Experimental results demonstrate that Di FA-DETR achieves an AP50 of 79.9%,outperforming existing DETR variants while reducing computational complexity by 31.9%and nearly doubling the inference speed.The method was further validated in a ground-based visual servoing system using an industrial robotic arm and camera setup.The system successfully tracked satellite targets under dynamic motion scenarios,maintaining millimeter-level positioning accuracy.These results confirm the feasibility and effectiveness of the proposed method in supporting future space robotic applications requiring precision tracking and fast response.
文摘A new suspension gravity compensation system has been developed to alleviate the gravity effects on a two-dimensional(2D)deployable mechanism for ground verification.Considering the rigid-flexible coupling of both the rotating servo and the suspension system,a multi-body dynamic model simulating their integration is established using Lagrange’s equation.To mitigate instantaneous impact forces due to significant non-plumb effects from passive following in the horizontal direction,an elastic element is added in series with the rope in the vertical suspension system.The dynamic response of this elastic element relative to the rotating servo system is analyzed by the ADAMS software.Simulation results show that the compensating error decreases significantly from 45%to 0.31%when incorporating elastic elements compared to scenarios without such elements.Additionally,low-stiffness elastic elements demonstrate a higher compensating error than high-stiffness ones.A spring with a stiffness coefficient of 6 N/mm is selected in the experiment,ensuring that compensating error meets the design specification of 5%.
基金supported by the National Natural Science Foundation under Grant 62273189the Shandong Province Natural Science Foundation under Grant ZR2021MF005Systems Science Plus Joint Research Program of Qingdao University under Grant XT2024201 of China supporting this research work.
文摘This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanism is presented to structure the adaptive integral terminal sliding mode control(SMC)strategy.The control design consists of compensation control and nominal control,which improves the rapidity and accuracy of trajectory tracking.The smooth saturation model based on the error function is applied to approximate the voltage saturation phenomenon.Additionally,to deal with the adverse effects of various unknown disturbances,including model parameter uncertainties and unknown external load disturbances,an improved disturbance observer(DO)is proposed.This observer effectively suppresses the fluctuations caused by fixed gain during the starting period of the system.Finally,the experimental results under different conditions show that the proposed strategy has good tracking and disturbance suppression performances.
基金Supported by the National Natural Science Foundation of China(No.52375037)the Masters Innovation Project of Beijing University of Civil Engineering and Architecture(No.PG2024142)+1 种基金the Outstanding Youth of Pyramid Talent Training Project of Beijing University of Civil Engineering and Architecture(No.GDRC20220801)the Breeding Program Funding of Beijing University of Civil Engineering and Architecture(No.X24026).
文摘The aim of the study is to investigate the impact of the buffer groove structure on the pressure of continuous rotation electro-hydraulic servo motor.The mathematical model of the motor valve plate with triangular groove and U-groove structure is established firstly,and the structure size of the two buffer grooves with better pressure drop effect is obtained by Matlab.Secondly,an established pressure gradient model is developed for the sealed canisters for electric motors using a combined groove structure.The bird swarm optimization algorithm is used to obtain the optimal dimensions for the combined depth and angle of the pressure groove.The flow field in the motor seal chamber is simulated and calculated by Fluent.This study compared the pressure field distributions in the motors sealing chamber using triangular and combined groove structures.It investigated the combined grooves effect on the pressure impact during the commutation of a continuously rotating electro-hydraulic servo motor.It is found that the combined groove structure has a positive impact on reducing the pressure impact.The results indicate that the combined groove structure significantly enhances the efficiency of mitigating pressure shocks when the motor switches between high-and low-pressure chambers.
基金supported by the Sichuan Science and Technology Program(2023YFSY0026,2023YFH0004).
文摘Computer-aided surgical navigation technology helps and guides doctors to complete the operation smoothly,which simulates the whole surgical environment with computer technology,and then visualizes the whole operation link in three dimensions.At present,common image-guided surgical techniques such as computed tomography(CT)and X-ray imaging(X-ray)will cause radiation damage to the human body during the imaging process.To address this,we propose a novel Extended Kalman filter-based model that tracks the puncture needle-point using an ultrasound probe.To address the limitations of Kalman filteringmethods based on position and velocity,our method of Kalman filtering uses the position and relative velocity of the puncture needle-point instead,and the ultrasonic probe is controlled by a Proportional Integral(PI)controller in X-axis direction and Proportional Derivative(PD)controller in the Y-axis direction.The motion of the ultrasonic probe can be servo-controlled by whether the image information of the puncture needle-point can be detected by the ultrasonic image so that the ultrasonic probe can track the puncture needle-point in real time.The experiment results show that this method has better tracking performance.
基金supported by the National Key Research and Development Program of China(Grant No.2022YFC2805703)the Major Training Program of University Research and Innovation Platform of Gansu Provincial Department of Education(Grant No.2024CXPT-09).
文摘Hydraulic technology has the outstanding advantages of easy pressure compensation and high power density.It is an indispensable part of subsea equipment,such as deep-sea operations and submersible propulsion.There are few studies on electrohydraulic servo valves(EHSVs)in the deep sea.In this work,a novel electro-hydraulic servo rotary valve is designed,and its mathematical model is established.The analysis considers the variations in physical parameters such as temperature,ambient pressure,and oil viscosity resulting from changes in sea depth.This study focuses on the deformation of the rotary valve and the consequent alterations in leakage and friction torque.The findings indicate that at a depth of 12000 m,the fit clearance between the valve spool and the valve sleeve is 0.00413 mm,representing a 17%reduction compared with the clearance in a land environment.Then,the response of the rotary valve to depth is analyzed.The results indicate that the bandwidth of the rotary valve decreases with increasing depth.This study provides a reference for the use of the EHSV in the deep sea.
基金Supported by the National Natural Science Foundation of China(No.52375037)the Outstanding Youth of Pyramid Talent Training Project of Beijing University of Civil Engineering and Architecture(No.GDRC 20220801)+1 种基金the Graduate Innovation Fund Project of Beijing University of Civil Engineering and Architecture(No.PG2025160)the Special Fund for Cultivation Projects of Beijing University of Civil Engineering and Architecture(No.X24026).
文摘An enhanced least mean square(LMS)error identification algorithm integrated with Kalman filtering is proposed to resolve accuracy degradation induced by nonlinear dynamics and parameter uncertainties in continuous rotary electro-hydraulic servo systems.This enhancement accelerates convergence and improves accuracy compared with traditional LMS.A fifth-order identification mod-el is developed based on valve-controlled hydraulic motors,with parameters identified using Kalman filter state estimation and gradient smoothing.The results indicate that the improved LMS effectively enhances parameter identification.An advanced disturbance rejection controller(ADRC)is de-signed,and its performance is compared with an optimal proportional integral derivative(PID)con-troller through Simulink simulations.The results show that the ADRC fulfills the control specifications and expands the system’s operational bandwidth.
文摘In light of the high nonlinearity of LuGre friction model, a novel method based on ant colony algorithm(ACA) for identifying the friction parameters of flight simulation servo system is proposed. ACA is a parallelized bionic optimization algorithm inspired from the behavior of real ants, and a kind of positive feedback mechanism is adopted in ACA. On the basis of brief introduction of LuGre friction model, a method for identifying the static LuGre friction parameters and the dynamic LuGre friction parameters using ACA is derived. Finally, this new friction parameter identification scheme is applied to a electric-driven flight simulation servo system with high precision. Simulation and application results verify the feasibility and the effectiveness of the scheme. It provides a new way to identify the friction parameters of LuGre model.
文摘Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varieties of PWM modulation methods, and concludes on the relationship between dithers and the different methods, and then discusses the influence of friction to the dithers. Results from experiments regarding the dynamic and static responses on the given system support the theories presented.
