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基于GA-BP的表面肌电信号下肢动作模式识别研究

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传感器与微系统 2024年第9期43卷 63-67页

作者：崔冰艳张祥邓嘉华北理工大学机械工程学院河北唐山063000

为了满足下肢康复机器人运动过程中对人体下肢不同动作模式的识别的需求,首先,通过8通道无线肌电传感器采集8种下肢常见动作的表面肌电(sEMG)信号,并对原始信号进行滤波、运动段提取、特征提取处理;然后,将处理后数据分别输入本文设计... 详细信息

为了满足下肢康复机器人运动过程中对人体下肢不同动作模式的识别的需求,首先,通过8通道无线肌电传感器采集8种下肢常见动作的表面肌电(sEMG)信号,并对原始信号进行滤波、运动段提取、特征提取处理;然后,将处理后数据分别输入本文设计的BP、PCA-BP、GA-BP、PCA-GA-BP分类器进行训练与测试。4种分类器对下肢8种动作平均识别率分别为88.6%,90.5%,92.3%,95.1%,对每个动作平均识别率为85%以上。结果表明:基于GA-BP神经网络比BP神经网络具有更高的预测精度,并且降维处理可以提高动作分类的准确率。

关键词：表面肌电信号特征提取遗传算法反向传播神经网络模式识别

Effect of styrene-butadiene-styrene copolymer on the aging resistance of asphalt:An atomistic understanding from reactive molecular dynamics simulations

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Frontiers of Structural and Civil Engineering 2021年第5期15卷 1261-1276页

作者： Dongliang Hu Xingyu Gu bingyan cui School of Transportation Southeast UniversityNanjing 211189China National Demonstration Center for Experimental Road and Trajfic Engineering Education Southeast UniversityNanjing 211189China College of Engineering Tibet UniversityLhasa 850000China Department of Civil and Environmental Engineering School of EngineeringRutgersThe State University of New JerseyNew BrunswickNJ 08854USA

To reveal the potential influence of styrene-butadiene-styrene(SBS)polymer modification on the anti-aging performance of asphalt,and its mechanism,we explored the aging characteristics of base asphalt and SBS-modified asphalt by reaction force field(ReaxFF)and classical molecular dynamics *** results illustrate that the SBS asphalt is more susceptible to oxidative aging than the base asphalt under oxygen-deficient conditions due to the presence of unsaturated C=C bonds in the SBS *** the case of sufficient oxygen,the SBS polymer inhibits the oxidation of asphalt by restraining the diffusion of asphalt *** with the base asphalt,the SBS asphalt exhibits a higher degree of oxidation at the early stage of pavement service and a lower degree of oxidation in the long *** addition,SBS polymer degrades into small blocks during aging,thus counteracting the hardening of aged asphalt and partially restoring its low-temperature cracking resistance.

关键词： SBS asphalt oxidative aging asphalt hardening ReaxFF molecular dynamics

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三自由度并联分拣机器人的动力学建模与仿真

包装工程 2024年第3期45卷 218-225页

作者：崔冰艳桂小庚曾鸿泰李贺华北理工大学机械工程学院河北唐山063000

目的针对自动化生产线上分拣机器人的动力可控性问题,提出一种2UU-UPU三自由度并联分拣机器人,以提高分拣的精度可控性。方法分析该机器人的机构自由度,以及各参数之间的关系,基于闭环矢量法建立并联机构的运动学逆解模型;利用拉格朗... 详细信息

目的针对自动化生产线上分拣机器人的动力可控性问题,提出一种2UU-UPU三自由度并联分拣机器人,以提高分拣的精度可控性。方法分析该机器人的机构自由度,以及各参数之间的关系,基于闭环矢量法建立并联机构的运动学逆解模型;利用拉格朗日动力学方程推导该机器人的动力学表达式,并进行数值计算,采用Matlab Simulink和Adams进行动力学联合仿真,对理论值和仿真值进行误差分析。结果揭示了该机器人动平台的运动规律,得到了驱动力矩曲线,理论值与仿真值的误差较小,3个驱动力矩的最大误差分别为0.379%、0.283%、0.146%。结论通过验证可知,该机构具有较好的动力学特性,这为后续电机的选型和精准控制奠定了基础。

关键词： 2UU-UPU并联机构分拣机器人动力学分拣精度

Dynamic analysis of double-layer and pre-stressed multi-limb six-axis force sensor

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High Technology Letters 2019年第2期25卷 189-196页

作者： Wang Zhijun He Jing cui bingyan Li Zhanxian College of Mechanical Engineering North China University of Science and TechnologyTangshan 063210P.R.China Tangshan Polytechnic College Tangshan 063299P.R.China Hebei Province Research Institute of Industrial Robot Industry Technology Tangshan 063210P.R.China

In order to adapt to the specific task, the six-axis dynamic contact force between end-effectors of intelligent robots and working condition needs to be perceived. Therefore, the dynamic property of six-axis force sensor which is installed on the end-effectors of intelligent robots will have influence on the veracity of detection and judgment to working environment contact force by intelligent robots directly. In this paper, dynamic analysis to double-layer and pre-stressed multi-limb six-axis force sensor is conducted. First, the structure of the sensor is introduced, and the limb number is confirmed by introducing the related definitions of convex analysis. Then, based on vibration of multiple-degree-of-freedom system, a mechanical vibration simplified model of double-layer and pre-stressed multiple limb six-axis force sensor is set up. After that, movement differential equations of sensor and the response of analytical expression are deduced, and the movement differential equations is solved. Finally, taking the double-layer and pre-stressed seven limb six-axis force sensor as an example, numerical calculation and simulation of deriving result is conducted, which verify the correctness and feasibility of the theoretical analysis.

关键词： six-axis force sensor multi-limb pre-stressed mechanical vibration dynamic analysis

Optimal design and experiment research of an orthogonal-parallel six-axis force/torque sensor

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High Technology Letters 2021年第2期27卷 184-192页

作者： Wang Zhijun Liu Lu cui bingyan He Jing Li Zhanxian College of Mechanical Engineering North China Universily of Science and TechnologyTangshan 063210P.R.China Hebei Province Research Institute of Industrial Robot Industry Technology Tangshan 063210P.R.China Tangshan Industrial Vocational Technical College Tangshan 063020P.R.China

A novel orthogonal-parallel six-axis force/torque sensor is studied based on a modified Stewart platform architecture,and the optimal design and experiment research of the sensor are ***,the model of orthogonal parallel six-axis force/torque sensor based on improved Stewart platform architecture and its static mathematical model are ***,according to the actual working condition of the sensor,the sensor is optimized and the optimal solution is ***,the experimental prototype and calibration system is ***,the superiority of the sensor structure and the effectiveness of the optimization method are verified by calibration *** results of the proposed method are useful for the further research and application of the orthogonal-parallel six-axis force/torque sensor.

关键词： six-axis force sensor optimal design online static calibration working condition

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基于摆线的下肢康复机器人轨迹优化

机械传动 2024年第1期48卷 75-81页

作者：崔冰艳曾鸿泰杨中原桂小庚李贺王经纬华北理工大学机械工程学院河北唐山063210

随着现代机器人学和医疗行业的迅速发展,使用康复机器人对下肢运动损伤患者进行治疗成为国内外研究热点之一。为实现更好的康复治疗效果,对一种3自由度下肢康复机器人开展轨迹规划研究,模拟健康踝关节运动规律,对下肢康复机器人的运动... 详细信息

随着现代机器人学和医疗行业的迅速发展,使用康复机器人对下肢运动损伤患者进行治疗成为国内外研究热点之一。为实现更好的康复治疗效果,对一种3自由度下肢康复机器人开展轨迹规划研究,模拟健康踝关节运动规律,对下肢康复机器人的运动轨迹进行了优化设计。基于踝关节的康复、损伤机制和运动形式,对比分析几种少自由度平面对称并联机构,确定了以2UU-UPU机构为康复执行机构的设计原型;对下肢康复机器人开展下肢康复训练的轨迹规划研究,推导了摆线运动规律、叠加摆线运动规律的轨迹规划运动公式,并验证了在不同康复训练条件下轨迹的合理性;为探究更合理的康复轨迹,使用光学动作捕捉系统采集坐姿状态下踝关节的运动轨迹,建立康复轨迹约束条件,提高了规划轨迹与人体动作的相似度,可实现更好的康复效果。

关键词：康复机器人轨迹规划动作捕捉

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Miura折叠太阳能发电装置设计

计算机应用文摘 2024年第17期40卷 131-133页

作者：严振华张小龙陈铭昊庄浩哲崔冰艳华北理工大学机械工程学院河北唐山631000

为了适应可再生能源需求的增长,太阳能发电成为研究热点。文章提出了一种新型基于Miura折叠原理的太阳能发电装置。其中,首先制定了整体设计方案,其次对机械本体部分进行了系统化设计并对太阳能板进行了仿真分析,最后基于仿真结果制作了... 详细信息

为了适应可再生能源需求的增长,太阳能发电成为研究热点。文章提出了一种新型基于Miura折叠原理的太阳能发电装置。其中,首先制定了整体设计方案,其次对机械本体部分进行了系统化设计并对太阳能板进行了仿真分析,最后基于仿真结果制作了Miura折叠太阳能发电装置样机。该装置具有太阳能追踪功能,可为实现太阳能发电装置轻量化与绿色发展奠定理论基础。

关键词：太阳能电板发电装置 Miura折叠技术清洁能源

Molybdenum and cadmium co-induce necroptosis through Th1/Th2 imbalance-mediated endoplasmic reticulum stress in duck ovaries

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Journal of Environmental Sciences 2024年第8期142卷 92-102页

作者： Ting cui Xueyan Dai Huiling Guo Dianyun Wang bingyan Huang Wenjing Pu Xuesheng Chu Caiying Zhang Jiangxi Provincial Key Laboratory for Animal Health Institute of Animal Population HealthCollege of Animal Science and TechnologyJiangxi Agricultural UniversityNanchang 330045China

Cadmium(Cd)and excess molybdenum(Mo)pose serious threats to animal *** previous study has determined that Cd and/or Mo exposure can cause ovarian damage of ducks,while the specific mechanism is still *** further investigate the toxic mechanism of Cd and Mo co-exposure in the ovary,forty 8-day-old female ducks were randomly allocated into four groups for 16 weeks,and the doses of Cd and Mo in basic diet per kg were as follows:control group,Mo group(100 mg Mo),Cd group(4 mg Cd),and Mo+Cd group(100 mg Mo+4 mg Cd).Cadmium sulfate 8/3-hydrate(CdSO_(4)·8/3H_(2)O)and hexaammonium molybdate((NH_(4))_(6)Mo_(7)O_(24)·4H_(2)O)were the origins of Cd and Mo,*** the 16th week of the experiment,all ovary tissues were collected for the detection of related *** data indicated that Mo and/or Cd induced trace element disorders and Th1/Th2 balance to divert toward Th1 in the ovary,which activated endoplasmic reticulum(ER)stress and then provoked necroptosis through triggering RIPK1/RIPK3/MLKL signaling pathway,and eventually caused ovarian pathological injuries and necroptosis *** alterations of above indicators were most apparent in the joint *** all,this research illustrates that Mo and/or Cd exposure can initiate necroptosis through Th1/Th2 imbalance-modulated ER stress in duck ovaries,and Mo and Cd combined exposure aggravates ovarian *** research explores the molecular mechanism of necroptosis caused by Mo and/or Cd,which reveals that ER stress attenuation may be a therapeutic target to alleviate necroptosis.

关键词： Molybdenum Cadmium Th1/Th2 imbalance Endoplasmic reticulum stress Necroptosis Ovary

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农业机器人新型肘关节的静力学性能分析

农业工程学报 2011年第3期27卷 122-125页

作者：崔冰艳金振林燕山大学机械工程学院秦皇岛066004 河北农业大学海洋学院秦皇岛066003

为了提高农业自动化程度,改善农业机器人的通用性与适应性,提高农业机器人工作时的承载能力和利用率,该文提出一种基于二自由度正交球面并联机构的农业机器人新型肘关节。新型肘关节由2条支链组成,其动平台相对于机架具有2个转动自由度... 详细信息

为了提高农业自动化程度,改善农业机器人的通用性与适应性,提高农业机器人工作时的承载能力和利用率,该文提出一种基于二自由度正交球面并联机构的农业机器人新型肘关节。新型肘关节由2条支链组成,其动平台相对于机架具有2个转动自由度。新型肘关节与其它机器人的肘关节相比,具有良好的运动性能和较大的工作空间。对新型肘关节进行静力学性能分析,首先采用虚功原理的方法建立新型肘关节的静力学传递方程,该方法简化了肘关节的静力学计算过程;其次,利用矩阵理论中的范数知识,将力雅克比矩阵引入到静力学性能评价指标中,定义了肘关节的静力学力矩传递性能评价指标和力矩输入均衡性评价指标,分析了肘关节的静力学特性,并绘制了肘关节的静力学性能评价指标在工作空间内的性能图谱。分析结果表明,农业机器人新型肘关节的力矩传递性能指标和力矩输入均衡性能指标都呈对称分布,静力学力矩传递性能随着转角的增大而降低,在初始位置附近约50%的工作空间内具有良好的静力学特性和运动稳定性。该研究为农业机器人新型肘关节的优化设计提供参考。

关键词：农业工程机器人静力学分析肘关节力矩性能评价指标