With ongoing economic,scientific,and technological developments,the electronic devices used in daily lives are developing toward precision and miniaturization,and so the demand for high-precision manufacturing machine...With ongoing economic,scientific,and technological developments,the electronic devices used in daily lives are developing toward precision and miniaturization,and so the demand for high-precision manufacturing machinery is expanding.The most important piece of equipment in modern high-precision manufacturing is the macro-micro motion platform(M3P),which offers high speed,precision,and efficiency and has macro-micro motion coupling characteristics due to its mechanical design and composition of its driving components.Therefore,the design of the control system is crucial for the overall precision of the platform;conventional proportional–integral–derivative control cannot meet the system requirements,and so M3Ps are the subject of a growing range of modern control strategies.This paper begins by describing the development history of M3Ps,followed by their platform structure and motion control system components,and then in-depth assessments of the macro,micro,and macro-micro control systems.In addition to examining the advantages and disadvantages of current macro-micro motion control,recent technological breakthroughs are noted.Finally,based on existing problems,future directions for M3P control systems are given,and the present conclusions offer guidelines for future work on M3Ps.展开更多
The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise surgeries.In tu...The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise surgeries.In turn,this urges the design and development of novel surgical robots to possess higher precision,stability,and enhanced motion capabilities.In response to this practical demand,this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs(parallel mechanisms),which have a total of 13 active DOFs(degrees of freedom).This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning control.The introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself.A comprehensive introduction and analysis of the surgical robot are provided,covering aspects such as design,kinematics,motion planning,and performance indicators.To address the pose allocation and coordination of motion between the macro platform and the micro platform,a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is proposed.The designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron respectively.Practical experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot system.This research contributes innovative insights to the development of medical surgical robot systems,particularly in the domain of mechanism design.展开更多
To investigate a novel macro and micro driven linear piezoelectric motor composed of an ultrasonic motor with macro movement and a piezoelectric actuator with micro movement,a digital signal processing(DSP)based macro...To investigate a novel macro and micro driven linear piezoelectric motor composed of an ultrasonic motor with macro movement and a piezoelectric actuator with micro movement,a digital signal processing(DSP)based macro and micro power supply is designed,which fits the new linear piezoelectric motor.The power supply comprises a control circuit,a voltage conversion circuit,an amplifier circuit,a half-bridge module,an optical isolatorsdrive circuit,etc,where the DSP of TMS320F28335 is used as the controller.When the linear piezoelectric motor working in a macro driven state,the power supply outputs alternating currents with high frequency and high voltage,which drives the linear piezoelectric motor dynamically at an ultrasonic frequency;while working in the micro driven state,the power supply outputs direct currents with high voltage,which drives the linear piezoelectric motor in micro driven statically.Here a prototype of the macro-micro power supply is designed.After a series of experiments on the power supply with and without loads,the results show that the power supply can drive and control the macro micro driven linear piezoelectric motor,and realizes quick and seamless switch between macro and micro drive.In addition,the power supply can drive and control the ultrasonic motor or piezoelectric ceramic micro actuator individually.The power supply achieves the multiple parameters of output signals adjustable simultaneously and exhibits good control characteristics.展开更多
In order to further study the reliability of macro evaluation indexes,molecular dynamics (MD) was applied to the evaluation of asphalt binder.Micro evaluation indexes (potential energy,surface free energy,solubility p...In order to further study the reliability of macro evaluation indexes,molecular dynamics (MD) was applied to the evaluation of asphalt binder.Micro evaluation indexes (potential energy,surface free energy,solubility parameter and diffusion coefficient) of asphalt binder in different service phases (virgin,modified,aged and rejuvenated) were simulated.Combined with the variation characteristics of asphalt binder macro evaluation indexes (permeability,ductility,viscosity and softening point) in different service phases,the cross-scale correlation of macro-micro evaluation indexes was explored.The results show that the macro and micro evaluation indexes of asphalt binder have different characteristics in different service phases.The essence of the variation in the properties of asphalt binders is the difference in micro composition.In addition,there is a certain correlation between macro and micro evaluation indexes,which can be described by the gray relation theory.The cross-scale correlation of macro-micro evaluation indexes can provide a certain theoretical basis for the development of asphalt binder.展开更多
The macro-micro-anatomy of the lingual artery of 25 adult cadavers wasstudied.The origin of the artery is rather concentrated and the greater cornu of thehyoid bone can be used as the indicator.The entrance of the art...The macro-micro-anatomy of the lingual artery of 25 adult cadavers wasstudied.The origin of the artery is rather concentrated and the greater cornu of thehyoid bone can be used as the indicator.The entrance of the artery into the hyoglossusmuscle is almost constantly along the posterior border of the muscle,where the artery issuperficially located and easily to be exposed,and has a constant relationship with thevein and hypoglossal nerve.Thus the lingual artery can be used as the artery of a recipientarea in case of tongue reconstruction.The deep lingual artery has two types ofbranches;the short ones mainly supply the muscles of tongue while the long ones mainlysupply the mucosa by forming a submucosal network.In the muscles of tongue,minutearterioles run tortuously along the muscular fibers with abundant anastomoses betweeneach other,but no anastomosis is found to cross over the rnidline of the tongue.Be-neath the mucosa,there is an arterial network spreading all over the whole tongue notlimited to one side.The relationship of the arterial architecture to the structure and thefunctions of the tongue and its clinical significance were discussed.展开更多
In this paper,the adaptive tracking control problem for macro-micro composite positioning stage(MMCPS)with error constraints and input saturation is considered.The MMCPS has important applications in realizing high-sp...In this paper,the adaptive tracking control problem for macro-micro composite positioning stage(MMCPS)with error constraints and input saturation is considered.The MMCPS has important applications in realizing high-speed macromotion and high-precision micromotion,which can be regarded as a non-strict feedback interconnected nonlinear system.A fixed-time prescribed performance(FTPP)function is proposed to restrict the tracking error and virtual errors.Based on the designed barrier Lyapunov function,the transform errors can also be constrainted in the prescribed constant bounds.Furthermore,an auxiliary system is constructed to compensate adverse effect of the saturation nonlinearity.By integrating the nonlinear filtering technique into the backstepping control framework,the problem of computational complexity explosion can be effectively avoided.For the purpose of achieving better transient performance and improving control precision,an adaptive FTPP tracking control method is presented.According to the Lyapunov stability theory,the proposed control method guarantees that all dynamic errors can converge to the prescribed bounds within fixed time.Finally,a simulation example is given to indicate the effectiveness of the designed controller.展开更多
A new liquid drop model with iso-scalar volume and surface energy terms is applied to reproduce experimentally known masses of nuclei with a number of protons and neutrons larger or equal to twenty. The ground-state m...A new liquid drop model with iso-scalar volume and surface energy terms is applied to reproduce experimentally known masses of nuclei with a number of protons and neutrons larger or equal to twenty. The ground-state microscopic energy corrections are considered. Although the model contains only six adjustable parameters in its macroscopic part, the quality of mass reproduction is high and comparable with other contemporary mass estimates.Additionally, the fission barrier heights of actinide nuclei evaluated using the topographical theorem of Myers and?wia tecki are close to the data.展开更多
A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage ...A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage uses a VCM (voice coil motor) driven macro positioning stage and a PZT piezo-electric driven micro positioning stage. The coupling characteristics of the system are analyzed to produce a control structure with a micro positioning stage that can dynamically compensate for the positioning error produced by the macro positioning stage. Models of the two positioning stages are described. The models cover both the mechanism and the actuator. For the macro positioning stage, friction characteristics are taken into account, and a controller with an LQG (linear-quadratic-Gaussian) control algorithm combining a feed-forward compensation algorithm is derived. A PID controller is used to control the micro positioning stage. Detailed designs are derived for the proposed approach, and the performance is validated by simulation.展开更多
This paper deals with a flexible macro-micro manipulator system, which includes a long flexible manipulator and a relatively short rigid manipulator attached to the tip of the macro manipulator. A flexible macro manip...This paper deals with a flexible macro-micro manipulator system, which includes a long flexible manipulator and a relatively short rigid manipulator attached to the tip of the macro manipulator. A flexible macro manipulator possesses the advantages of wide operating range, high speed, and low energy consumption, but the disadvantage of a low tracking precision. The macro-micro manipulator system improves tracking performance by compensating for the endpoint tracking error while maintaining the advantages of the flexible macro manipulator. A trajectory planning scheme was built utilizing the task space division method. The division point is chosen to optimize the error compensation and energy consumption for the whole system. Then movements of the macro-micro manipulator can be determined using separate inverse kinematic models. Simulation results for a planar 4-DOF macro-micro manipulator system are presented to show the effectiveness of the control system.展开更多
It’s the basic premise of promoting the healthy development of rural finance and strengthen-ing macro-prudential supervision to measure the systemic risk of rural finance accurately.We establish the dynamic factor CA...It’s the basic premise of promoting the healthy development of rural finance and strengthen-ing macro-prudential supervision to measure the systemic risk of rural finance accurately.We establish the dynamic factor CAPM and make an all-round and multi-angle quantitative study on the systemic risk of rural finance in China by constructing macro-micro index system and using machine learning to reduce the dimension of high-dimensional data.Our results show that the dynamic factor CAPM of using macro-micro big data can evaluate systemic risk of rural finance more comprehensively and systematically,and machine learning performs well in processing high-dimensional data.In addition,China’s rural financial systemic risk is stable compared with the Shanghai and Shenzhen main markets,but it is also susceptible to macro and micro influ-enced factors.Finally,it is pointed out that the early warning system of rural financial systemic risk could be constructed at macro and micro level,respectively.展开更多
基金This research was supported financially by the China Postdoctoral Science Foundation,the National Natural Science Foundation of China(Grant No.51705132)the Young Backbone Teacher Training Program in Henan University of Technology,the Education Department of Henan Province Natural Science Project(Grant No.21A460006)the Natural Science Project of Henan Provincial Department of Science and Technology(Grant No.222102220088).
文摘With ongoing economic,scientific,and technological developments,the electronic devices used in daily lives are developing toward precision and miniaturization,and so the demand for high-precision manufacturing machinery is expanding.The most important piece of equipment in modern high-precision manufacturing is the macro-micro motion platform(M3P),which offers high speed,precision,and efficiency and has macro-micro motion coupling characteristics due to its mechanical design and composition of its driving components.Therefore,the design of the control system is crucial for the overall precision of the platform;conventional proportional–integral–derivative control cannot meet the system requirements,and so M3Ps are the subject of a growing range of modern control strategies.This paper begins by describing the development history of M3Ps,followed by their platform structure and motion control system components,and then in-depth assessments of the macro,micro,and macro-micro control systems.In addition to examining the advantages and disadvantages of current macro-micro motion control,recent technological breakthroughs are noted.Finally,based on existing problems,future directions for M3P control systems are given,and the present conclusions offer guidelines for future work on M3Ps.
基金Supported by Shanghai Municipal Science and Technology Major Project of China(Grant No.2021SHZDZX).
文摘The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise surgeries.In turn,this urges the design and development of novel surgical robots to possess higher precision,stability,and enhanced motion capabilities.In response to this practical demand,this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs(parallel mechanisms),which have a total of 13 active DOFs(degrees of freedom).This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning control.The introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself.A comprehensive introduction and analysis of the surgical robot are provided,covering aspects such as design,kinematics,motion planning,and performance indicators.To address the pose allocation and coordination of motion between the macro platform and the micro platform,a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is proposed.The designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron respectively.Practical experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot system.This research contributes innovative insights to the development of medical surgical robot systems,particularly in the domain of mechanism design.
基金supported by the National Natural Science Foundation of China(No.51177053)the Specialized Research Fund for the Doctoral Program of Higher Education of China(No.2012CXZD0016)+1 种基金the Key Project of Department of Education of Guangdong Province(No.20124404110003)Guangzhou Science and Technology Project(No.201510010227)
文摘To investigate a novel macro and micro driven linear piezoelectric motor composed of an ultrasonic motor with macro movement and a piezoelectric actuator with micro movement,a digital signal processing(DSP)based macro and micro power supply is designed,which fits the new linear piezoelectric motor.The power supply comprises a control circuit,a voltage conversion circuit,an amplifier circuit,a half-bridge module,an optical isolatorsdrive circuit,etc,where the DSP of TMS320F28335 is used as the controller.When the linear piezoelectric motor working in a macro driven state,the power supply outputs alternating currents with high frequency and high voltage,which drives the linear piezoelectric motor dynamically at an ultrasonic frequency;while working in the micro driven state,the power supply outputs direct currents with high voltage,which drives the linear piezoelectric motor in micro driven statically.Here a prototype of the macro-micro power supply is designed.After a series of experiments on the power supply with and without loads,the results show that the power supply can drive and control the macro micro driven linear piezoelectric motor,and realizes quick and seamless switch between macro and micro drive.In addition,the power supply can drive and control the ultrasonic motor or piezoelectric ceramic micro actuator individually.The power supply achieves the multiple parameters of output signals adjustable simultaneously and exhibits good control characteristics.
基金Funded by the Fundamental Research Funds for the Central Universities (No. 2572021AW10)。
文摘In order to further study the reliability of macro evaluation indexes,molecular dynamics (MD) was applied to the evaluation of asphalt binder.Micro evaluation indexes (potential energy,surface free energy,solubility parameter and diffusion coefficient) of asphalt binder in different service phases (virgin,modified,aged and rejuvenated) were simulated.Combined with the variation characteristics of asphalt binder macro evaluation indexes (permeability,ductility,viscosity and softening point) in different service phases,the cross-scale correlation of macro-micro evaluation indexes was explored.The results show that the macro and micro evaluation indexes of asphalt binder have different characteristics in different service phases.The essence of the variation in the properties of asphalt binders is the difference in micro composition.In addition,there is a certain correlation between macro and micro evaluation indexes,which can be described by the gray relation theory.The cross-scale correlation of macro-micro evaluation indexes can provide a certain theoretical basis for the development of asphalt binder.
文摘The macro-micro-anatomy of the lingual artery of 25 adult cadavers wasstudied.The origin of the artery is rather concentrated and the greater cornu of thehyoid bone can be used as the indicator.The entrance of the artery into the hyoglossusmuscle is almost constantly along the posterior border of the muscle,where the artery issuperficially located and easily to be exposed,and has a constant relationship with thevein and hypoglossal nerve.Thus the lingual artery can be used as the artery of a recipientarea in case of tongue reconstruction.The deep lingual artery has two types ofbranches;the short ones mainly supply the muscles of tongue while the long ones mainlysupply the mucosa by forming a submucosal network.In the muscles of tongue,minutearterioles run tortuously along the muscular fibers with abundant anastomoses betweeneach other,but no anastomosis is found to cross over the rnidline of the tongue.Be-neath the mucosa,there is an arterial network spreading all over the whole tongue notlimited to one side.The relationship of the arterial architecture to the structure and thefunctions of the tongue and its clinical significance were discussed.
基金supported by the National Natural Science Foundation of China(Grant Nos.62403143,52475435,52305456)the National Key Research and Development Program of China(Grant No.2024YFB4610700)+2 种基金the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2025A1515011789,2025A1515010143,2023A1515010855)the China Postdoctoral Science Foundation(Grant Nos.2025T180472,2024M750576,2024M760581)the Postdoctoral Fellowship Program(Grade C)of China Postdoctoral Science Foundation(Grant Nos.GZC20240312,GZC20230569)。
文摘In this paper,the adaptive tracking control problem for macro-micro composite positioning stage(MMCPS)with error constraints and input saturation is considered.The MMCPS has important applications in realizing high-speed macromotion and high-precision micromotion,which can be regarded as a non-strict feedback interconnected nonlinear system.A fixed-time prescribed performance(FTPP)function is proposed to restrict the tracking error and virtual errors.Based on the designed barrier Lyapunov function,the transform errors can also be constrainted in the prescribed constant bounds.Furthermore,an auxiliary system is constructed to compensate adverse effect of the saturation nonlinearity.By integrating the nonlinear filtering technique into the backstepping control framework,the problem of computational complexity explosion can be effectively avoided.For the purpose of achieving better transient performance and improving control precision,an adaptive FTPP tracking control method is presented.According to the Lyapunov stability theory,the proposed control method guarantees that all dynamic errors can converge to the prescribed bounds within fixed time.Finally,a simulation example is given to indicate the effectiveness of the designed controller.
基金Supported by the Polish National Science Center (2023/49/B/ST2/01294)the Natural Science Foundation of China (11961131010, 12335008)。
文摘A new liquid drop model with iso-scalar volume and surface energy terms is applied to reproduce experimentally known masses of nuclei with a number of protons and neutrons larger or equal to twenty. The ground-state microscopic energy corrections are considered. Although the model contains only six adjustable parameters in its macroscopic part, the quality of mass reproduction is high and comparable with other contemporary mass estimates.Additionally, the fission barrier heights of actinide nuclei evaluated using the topographical theorem of Myers and?wia tecki are close to the data.
基金Supported by the National Natural Science Foundation of China(Grant No.50705027)the National High Technology Research and Development Program of China("863"Program)(Grant No.2007AA04Z315)Self-Planned Task of State Key Laboratory of Robotics and System(HIT)(Grant No.SKLRS200804B)
文摘A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage uses a VCM (voice coil motor) driven macro positioning stage and a PZT piezo-electric driven micro positioning stage. The coupling characteristics of the system are analyzed to produce a control structure with a micro positioning stage that can dynamically compensate for the positioning error produced by the macro positioning stage. Models of the two positioning stages are described. The models cover both the mechanism and the actuator. For the macro positioning stage, friction characteristics are taken into account, and a controller with an LQG (linear-quadratic-Gaussian) control algorithm combining a feed-forward compensation algorithm is derived. A PID controller is used to control the micro positioning stage. Detailed designs are derived for the proposed approach, and the performance is validated by simulation.
基金the National Natural Science Foundation of China (No. 60305008)
文摘This paper deals with a flexible macro-micro manipulator system, which includes a long flexible manipulator and a relatively short rigid manipulator attached to the tip of the macro manipulator. A flexible macro manipulator possesses the advantages of wide operating range, high speed, and low energy consumption, but the disadvantage of a low tracking precision. The macro-micro manipulator system improves tracking performance by compensating for the endpoint tracking error while maintaining the advantages of the flexible macro manipulator. A trajectory planning scheme was built utilizing the task space division method. The division point is chosen to optimize the error compensation and energy consumption for the whole system. Then movements of the macro-micro manipulator can be determined using separate inverse kinematic models. Simulation results for a planar 4-DOF macro-micro manipulator system are presented to show the effectiveness of the control system.
文摘It’s the basic premise of promoting the healthy development of rural finance and strengthen-ing macro-prudential supervision to measure the systemic risk of rural finance accurately.We establish the dynamic factor CAPM and make an all-round and multi-angle quantitative study on the systemic risk of rural finance in China by constructing macro-micro index system and using machine learning to reduce the dimension of high-dimensional data.Our results show that the dynamic factor CAPM of using macro-micro big data can evaluate systemic risk of rural finance more comprehensively and systematically,and machine learning performs well in processing high-dimensional data.In addition,China’s rural financial systemic risk is stable compared with the Shanghai and Shenzhen main markets,but it is also susceptible to macro and micro influ-enced factors.Finally,it is pointed out that the early warning system of rural financial systemic risk could be constructed at macro and micro level,respectively.
