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Design and Verification of Parallel Hip Exoskeleton Considering Output Torque Anisotropy

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Journal of Bionic Engineering 2024年第3期21卷 1305-1320页

作者： Jilong xu Yunzhan Niu Fucai Liu Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment Yanshan UniversityQinhuangdao066004China Key Laboratory of Industrial Computer Control Engineering of Heibei Province Yanshan UniversityQinhuangdao066004China College of Mechanical Engineering Yanshan UniversityQinhuangdao066004China

In rehabilitation training,it is crucial to consider the compatibility between exoskeletons and human legs in ***,most exoskeletons today adopt an anthropomorphic serial structure,which results in rotational centers that are not precisely aligned with the center of the hip *** address this issue,we introduce a novel exoskeleton called the Parallel Hip Exoskeleton(PH-Exo)in this ***-Exo is meticulously designed based on the anisotropic law of output *** the friction of the drive components,a dynamic model of the human-machine complex is *** analysis demonstrates that PH-Exo not only exhibits outstanding torque performance but also achieves high controllability in both flexion/extension and adduction/abduction ***,a robust controller is designed to address model uncertainty,friction,and external *** experiments indicate that under the control of the robust controller,each motor achieves excellent tracking performance.

关键词： Hip exoskeleton Parallel mechanism Misalignment Anisotropy Output torque

On Isodual Double Toeplitz Codes

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Journal of Systems Science & Complexity 2024年第5期37卷 2196-2206页

作者： SHI Minjia xu Li SOLé Patrick Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education School of Mathematical Sciences Anhui University State Key Laboratory of Information Security Institute of Information Engineering Chinese Academy of Sciences CNRS University of Aix Marseille Centrale Marseille

Double Toeplitz（shortly DT） codes are introduced here as a generalization of double circulant codes. The authors show that such a code is isodual, hence formally self-dual（FSD）. FSD codes form a far-reaching generalization of self-dual codes, the most important class of codes of rate one-half. Self-dual DT codes are characterized as double circulant or double negacirculant. Likewise, even binary DT codes are characterized as double circulant. Numerical examples obtained by exhaustive search show that the codes constructed have best-known minimum distance, up to one unit, amongst formally self-dual codes, and sometimes improve on the known values. For q = 2, the authors find four improvements on the best-known values of the minimum distance of FSD codes. Over F4an explicit construction of DT codes, based on quadratic residues in a prime field, performs equally well. The authors show that DT codes are asymptotically good over Fq. Specifically, the authors construct DT codes arbitrarily close to the asymptotic Varshamov-Gilbert bound for codes of rate one half.

关键词： Double circulant codes double Toeplitz codes formally self-dual codes isodual codes

Linear Quadratic Optimal Control for Systems Governed by First-Order Hyperbolic Partial Differential Equations

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Journal of Systems Science & Complexity 2024年第1期37卷 230-252页

作者： xuE Xiaomin xu Juanjuan ZHANG Huanshui School of Control Science and Engineering Shandong UniversityJinan 250061China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266000China

This paper focuses on linear-quadratic(LQ)optimal control for a class of systems governed by first-order hyperbolic partial differential equations(PDEs).Different from most of the previous works,an approach of discretization-then-continuousization is proposed in this paper to cope with the infinite-dimensional nature of PDE *** contributions of this paper consist of the following aspects:(1)The differential Riccati equations and the solvability condition of the LQ optimal control problems are obtained via the discretization-then-continuousization method.(2)A numerical calculation way of the differential Riccati equations and a practical design way of the optimal controller are ***,the relationship between the optimal costate and the optimal state is established by solving a set of forward and backward partial difference equations(FBPDEs).(3)The correctness of the method used in this paper is verified by a complementary continuous method and the comparative analysis with the existing operator results is *** is shown that the proposed results not only contain the classic results of the standard LQ control problem of systems governed by ordinary differential equations as a special case,but also support the existing operator results and give a more convenient form of computation.

关键词： Discretization-then-continuousization method first-order hyperbolic partial differential equations forward and backward partial difference equations linear quadratic optimal control.

Discovery of Partial Differential Equations from Highly Noisy and Sparse Data with Physics-Informed Information Criterion

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Research 2024年第1期2023卷 247-259页

作者： Hao xu Junsheng Zeng Dongxiao Zhang BIC-ESAT EREand SKLTCSCollege of EngineeringPeking UniversityBeijing 100871P.R.China Institute of Applied Physics and Computational Mathematics Beijing 100088P.R.China Eastern Institute for Advanced Study Eastern Institute of TechnologyNingbo 315200ZhejiangP.R.China National Center for Applied Mathematics Shenzhen(NCAMS) Southern University of Science and TechnologyShenzhen 518055GuangdongP.R.China Department of Mathematics and Theories Peng Cheng LaboratoryShenzhen 518000GuangdongP.R.China

Data-driven discovery of partial differential equations(PDEs)has recently made tremendous progress,and many canonical PDEs have been discovered successfully for proof of ***,determining the most proper PDE without prior references remains challenging in terms of practical *** this work,a physics-informed information criterion(PIC)is proposed to measure the parsimony and precision of the discovered PDE *** proposed PIC achieves satisfactory robustness to highly noisy and sparse data on 7 canonical PDEs from different physical scenes,which confirms its ability to handle difficult *** PIC is also employed to discover unrevealed macroscale governing equations from microscopic simulation data in an actual physical *** results show that the discovered macroscale PDE is precise and parsimonious and satisfies underlying symmetries,which facilitates understanding and simulation of the physical *** proposition of the PIC enables practical applications of PDE discovery in discovering unrevealed governing equations in broader physical scenes.

关键词： process canonical proof

Toward tunable shape memory effect of NiTi alloy by grain size engineering:A phase field study

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Journal of Materials Science & Technology 2024年第1期168卷 276-289页

作者： Bo xu Chong Wang Qingyuan Wang Failure Mechanics and Engineering Disaster Prevention Key Laboratory of Sichuan ProvinceSichuan UniversityChengdu 610065China Department of Mechanical Science and Engineering College of Architecture and EnvironmentSichuan UniversityChengdu 610065China Key Laboratory of Deep Underground Science and Engineering (Sichuan University)Ministry of EducationChengdu 610065China

The inelastic deformations of shape memory alloys(SMAs)always show poor controllability due to the avalanche-like martensite transformation,and the effective control for the deformation of precision de-vices has been not yet *** this work,the phase field method was used to investigate the shape memory effects(SMEs)of NiTi SMAs undergoing grain size(GS)engineering,to obtain tunable one-way and stress-assisted two-way SMEs(OWSME and SATWSME).The OWSME and SATWSME of the systems with various gradient-nanograin structures and bimodal grain structure,as well as that with geometric gradients were *** simulated results indicate that due to the GS dependences of martensite transformation and reorientation,the occurrence and expansion of martensite reorientation,martensite transformation and its reverse can be efficaciously controlled via the GS *** combining the GS engineering and geometric gradient design,since the effects of GS and stress gradient can be su-perimposed or competing,and the responses of martensite reorientation,martensite transformation and its reverse to this are different,the OWSME and SATWSME of the geometrically graded systems with various nanograin structures can exhibit different improvements in *** short,the reorienta-tion hardening modulus during OWSME is increased and the transformation temperature window during SATWSME is widened by GS engineering,indicating the improved controllability of *** optimal GS engineering schemes revealed in this work provide the basic reference and guidance for designing tun-able SMEs and producing NiTi-based driving devices catering to desired functional performance in various engineering fields.

关键词： Phase field NiTi Shape memory effect Grain size engineering Geometric gradient

Cooperative guidance law with maneuverability awareness:A decentralized solution

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Chinese Journal of Aeronautics 2024年第7期37卷 450-457页

作者： Shuyang xu xun SONG Chaoyong LI College of Electrical Engineering Zhejiang UniversityHangzhou 310027China Beijing Institute of Electronic System Engineering Beijing 100074China

In this paper,we propose a cooperative guidance law aimed to achieve coordinated impact angles with limited observation on target *** primary challenge lies in establishing an appropriate communication graph among all missiles and devising an algorithm to estimate target acceleration information during *** address this,we propose a specific communication topology and employ a numerical integration-based estimation ***,a distributed algorithm is introduced to facilitate consensus on target acceleration *** upon these foundations,we design an optimal-control-based distributed guidance law for each *** of the proposed guidance law is validated through numerical simulations.

关键词： Cooperative guidance Target maneuver estimation Distributed estimation Consensus Optimal control

Evaluation of suitability,adaptability,and reserve potential of construction land on the Qinghai-Tibet Plateau

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Journal of Geographical Sciences 2024年第1期34卷 41-61页

作者： YANG Hua xu Yong ZHOU Kan WANG Lijia xu Lin Key Laboratory of Regional Sustainable Development Modeling Institute of Geographic Sciences and Natural Resources ResearchCASBeijing 100101China University of Chinese Academy of Sciences Beijing 100049China

Construction land is the leading carrier of human activities such as production and *** the construction land suitability(CLS)on the Qinghai-Tibet Plateau(QTP)holds significant implications for harmonizing the relationship between ecological protection and human activity and promoting population and industry layout ***,no relevant studies provide a complete CLS assessment of the *** this study,we developed a model-based CLS evaluation framework coupling of pattern and process to calculate the global CLS on the QTP based on a previously developed CLS evaluation ***,using the land-use data of 1990,2000,2010,and 2020,we examined the adaptability of existing construction land(ECL)to the CLS assessment result through the adaptability index and vertical gradient index and further analyzed the limitations of maladaptive construction ***,we calculated the potential area of reserve suitable construction *** article includes four conclusions:(1)The highly suitable,suitable,moderately suitable,marginally suitable,and unsuitable CLS classes cover areas of 0.33×10^(4)km^(2),10.42×10^(4)km^(2),18.06×10^(4)km^(2),24.12×10^(4)km^(2),and 205.29×10^(4)km^(2),*** approximately 11%of the study area on the QTP is suitable for large-scale permanent construction land,and approximately 79.50%of the area is unsuitable under current economic and technological conditions.(2)The ECL adaptability index is 85.16%,85.93%,85.18%,and 78.01%during 1990–2020,respectively,with an average adaptability index exceeding 80%on the *** ECL distribution generally conforms to construction land suitable space characteristics but with a significant spatial difference.(3)From 1990 to 2020,the maladaptive ECL was dominated by rural settlement land,transport land,and special land,with a rapidly increasing proportion of urban and other construction *** maladaptive ECL is constrained by both elevation and slope in the southern Qinghai Pla

关键词： land resource construction land suitability existing construction land adaptability human activity Qinghai-Tibet Plateau

A Review on Vibration Control of Multiple Cylinders Subjected to FlowInduced Vibrations

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China Ocean Engineering 2024年第2期38卷 183-197页

作者： xu Wan-hai MA Ye-xuan State Key Laboratory of Hydraulic Engineering Intelligent Construction and Operation Tianjin UniversityTianjin 300350China Institute of Mechanics Chinese Academy of SciencesBeijing 100190China

The fatigue damage caused by flow-induced vibration(FIV)is one of the major concerns for multiple cylindrical structures in many engineering *** FIV suppression is of great importance for the security of many cylindrical *** active and passive control methods have been employed for the vibration suppression of an isolated cylinder undergoing vortex-induced vibrations(VIV).The FIV suppression methods are mainly extended to the multiple cylinders from the vibration control of the isolated *** to the mutual interference between the multiple cylinders,the FIV mechanism is more complex than the VIV mechanism,which makes a great challenge for the FIV *** efforts have been devoted to vibration suppression of multiple cylinder systems undergoing FIV over the past two *** control methods,such as helical strakes,splitter plates,control rods and flexible sheets,are not always effective,depending on many influence factors,such as the spacing ratio,the arrangement geometrical shape,the flow velocity and the parameters of the vibration control *** FIV response,hydrodynamic features and wake patterns of the multiple cylinders equipped with vibration control devices are reviewed and *** FIV suppression efficiency of the vibration control methods are analyzed and compared considering different influence *** research on the FIV suppression of multiple cylinders is suggested to provide insight for the development of FIV control methods and promote engineering applications of FIV control methods.

关键词： flow-induced vibration vibration control multiple cylinders tandem side-by-side staggered

Development of a Three-Dimensional Multiscale Octree SBFEM for Viscoelastic Problems of Heterogeneous Materials

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Computer Modeling in Engineering & Sciences 2024年第8期140卷 1831-1861页

作者： xu xu Xiaoteng Wang Haitian Yang Zhenjun Yang Yiqian He State Key Laboratory of Structural Analysis Optimization and CAE Software for Industrial EquipmentDepartment of Engineering MechanicsDalian University of TechnologyDalian116024China Hubei Key Laboratory of Geotechnical and Structural Safety School of Civil EngineeringWuhan UniversityWuhan430072China Mechanik–Materialtheorie Ruhr-Universität BochumBochum44801Germany

The multiscale method provides an effective approach for the numerical analysis of heterogeneous viscoelastic materials by reducing the degree of freedoms(DOFs).A basic framework of the Multiscale Scaled Boundary Finite Element Method(MsSBFEM)was presented in our previous works,but those works only addressed two-dimensional *** order to solve more realistic problems,a three-dimensional MsSBFEM is further developed in this *** the proposed method,the octree SBFEM is used to deal with the three-dimensional calculation for numerical base functions to bridge small and large scales,the three-dimensional image-based analysis can be conveniently conducted in small-scale and coarse nodes can be flexibly adjusted to improve the computational ***,the Temporally Piecewise Adaptive Algorithm(TPAA)is used to maintain the computational accuracy of multiscale analysis by adaptive calculation in time *** results of numerical examples show that the proposed method can significantly reduce the DOFs for three-dimensional viscoelastic analysis with good *** instance,the DOFs can be reduced by 9021 times compared with Direct Numerical Simulation(DNS)with an average error of 1.87%in the third example,and it is very effective in dealing with three-dimensional complex microstructures directly based on images without any geometric modelling process.

关键词： Three-dimensionalmultiscale viscoelastic analysis numerical base functions octree SBFEM image-based analysis temporally piecewise adaptive algorithm