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Adaptive Control of a Flexible Manipulator With Unknown Hysteresis and Intermittent Actuator Faults

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 148-158页

作者： Shouyan Chen Weitian he Zhijia Zhao Yun Feng zhijie Liu Keum-Shik Hong School of Mechanical and Electrical Engineering Guangzhou University the School of Control Science and Engineering Shandong University IEEE the College of Electrical and Information Engineering Hunan University the National Engineering Research Center for Robot Visual Perception and Control Technology Hunan University the School of Intelligence Science and Technology University of Science and Technology Beijing (USTB) the Institute for Future the School of AutomationQingdao University the School of Mechanical Engineering Pusan National University

In this study, we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults. First, an inverse hysteresis dynamics model is introduced, and then the control input is divided into an expected input and an error compensator. Second,a novel adaptive neural network-based control scheme is proposed to cancel the unknown input hysteresis. Subsequently,by modifying the adaptive laws and local control laws, a fault-tolerant control strategy is applied to address uncertain intermittent actuator faults in a flexible manipulator system. Through the direct Lyapunov theory, the proposed scheme allows the state errors to asymptotically converge to a specified interval. Finally,the effectiveness of the proposed scheme is verified through numerical simulations and experiments.

关键词： Adaptive control flexible manipulator intermittent actuator faults inverse hysteresis dynamics vibration control

基于海绵城市理念的老旧小区雨洪管理改造设计研究

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山西建筑 2025年第06期51卷 101-105页

作者：贺志杰李云扬刘慧湖南理工学院土木建筑工程学院

随着城市的不断更迭发展，“海绵城市”作为一种新型城市建设形态，在城市水生态的变化中具有良好的“弹性”。老旧小区建造年代较早，相应的排水基础设施不完善，利用海绵城市理念，以人居环境改善为导向，将其与老旧小区建筑改造相结... 详细信息

随着城市的不断更迭发展，“海绵城市”作为一种新型城市建设形态，在城市水生态的变化中具有良好的“弹性”。老旧小区建造年代较早，相应的排水基础设施不完善，利用海绵城市理念，以人居环境改善为导向，将其与老旧小区建筑改造相结合，分析了老旧小区雨洪适应性的空间布局，探讨了雨洪管理模式下老旧小区海绵建设的可行方案。

关键词：海绵城市海绵设施老旧小区雨洪管理城市水循环

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虚拟仪器法设计数据快速采集γ射线能谱仪

核技术 2007年第5期30卷 463-466页

作者：蔡思静乐仁昌何志杰福建师范大学物理与光电信息科技学院福州350007

采用LabVIEW开发平台,用虚拟仪器技术进行了γ能谱仪的设计和开发。简述了γ能谱仪硬件组成、参数要求、软件设计原理及功能。采用高速数据采集卡,使数据采集速度远大于LabVIEW开发软件的读取速度。系统中嵌入运行速度很快的采集控件,... 详细信息

采用LabVIEW开发平台,用虚拟仪器技术进行了γ能谱仪的设计和开发。简述了γ能谱仪硬件组成、参数要求、软件设计原理及功能。采用高速数据采集卡,使数据采集速度远大于LabVIEW开发软件的读取速度。系统中嵌入运行速度很快的采集控件,成功地解决了仪器读写速度匹配问题,提高了仪器的性能。

关键词： γ能谱仪多道脉冲幅度分析器 LabVIEW 动态连接库

2-complex Symmetric Weighted Composition Operators on Fock Space of C^(N)

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数学进展 2025年第1期54卷 37-49页

作者： JIANG zhijie School of Mathematics and Statistics Sichuan University of Science and EngineeringZigongSichuan643000P.R.China South Sichuan Center for Applied Mathematics Sichuan University of Science and EngineeringZigongSichuan643000P.R.China

The aim of the present paper is to study 2-complex symmetric bounded weighted composition operators on the Fock space of C^(N) with the conjugations J and J_(t,A,b) defined by ■ respectively,where k(z_(1),...,z_N)=(■,...,■),t∈C,b∈C^(N) and A is a linear operator on C^(N).An example of 2-complex symmetric bounded weighted composition operator with the conjugation J_(t,A,b) is given.

关键词： Fock space weighted composition operator 2-complex symmetric operator reproducing kernel function

Effect of transcutaneous electrical nerve stimulation at acupoints on patients with type 2 diabetes mellitus:a randomized controlled trial

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Journal of Traditional Chinese Medicine 2015年第2期35卷 134-140页

作者： Wu Zhiyuan Yang Ming Jia Jie Wu Yi Huang Tiansheng Li Mingfen he zhijie Guo Zhenzhen Leung Mason Chin Pang Department of Rehabilitation Huashan Hospital Affiliated to Fudan University Department of Gastroenterology Shanghai Jiading Traditional Chinese Medicine Hospital Department of Rehabilitation Sciences The Hong Kong Polytechnic University

OBJECTIVE:To examine whether transcutaneous electric nerve stimulation at acupoints(Acu-TENS)improved the biochemical and physical indices of patients with type 2 diabetes mellitus(T2DM).METHODS:Ninety subjects with T2DM were divided randomly into a control group(n = 30),aerobic exercise group(n- 30),or Acu-TENS group(n = 30).In addition to conventional diabetes drug treatment,patients in the Acu-TENS group received acupoint stimulation,the aerobic exercise group engaged in walking exercises,and the control group was given sham electrical *** groups were treated for 30 min for each session and five times a week for 2 *** indices of glycosylated hemoglobin,2 h postprandial glucose,fasting serum insulin,triglyceride,total cholesterol,and body mass index were assessed at pre-treatment,post-treatment,and follow-up,which was 2 months after ***:The indices of the control group were not changed(P > 0.05) at the three time *** the pre-treatment measurement,there were significant differences(P > 0.05) in indices among the three *** post-treatment,each index of the two groups was lower than that of the control group(P he pre-treatment measurement(P he aerobic exercise group and Acu-TENS group increased,but was still decreased compared with the pre-treatment value(P he state of patients with T2 DM and be used as a therapy in clinical application.

关键词： Diabetes mellitus type 2 Transcutaneous electric nerve stimulation Acupuncture points Exercise

Reduced Severity of Outcome of Recurrent Ipsilateral Transient Cerebral Ischemia Compared with Contralateral Transient Cerebral Ischemia in Rats

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Reduced Severity of Outcome of Recurrent Ipsilateral Transie...

中国神经科学学会第十二届全国学术会议

作者： Chenyu Fan Li Zhang zhijie he Peng Shao Li Ding Guili Wang Jie Jia Department of Rehabilitation Medicine Huashan Hospital Fudan University Department of Rehabilitation Medicine Jin’an Branch of Huashan Hospital Fudan University

Background and Purpose: A transient ischemic attack（TIA） is a risk factor for subsequent cerebral infarction or stroke. The aim of this study was to investigate whether prior TIA had a preconditioning effect on subsequent cerebral infarction in a rat model using middle cerebral artery occlusion（MCAO）. Methods: A rat model of transient（5 min） MCAO was developed, which resulted in neurological deficits or brain infarcts. Thirty-six adult male Sprague–Dawley rats were divided into three groups: those with transient left MCAO（L-TIA）（n = 15）;those with transient right MCAO（R-TIA）（n = 15）;and a sham operation group（n = 6）. The physiological parameters were measured throughout MCAO. Cerebral blood flow was monitored using laser speckle imaging（LSI）;the Garcia score and T2-weighted imaging by magnetic resonance imaging（MRI） was used to determine whether there were any neurological deficits and brain infarcts, respectively. Seven days after the initial transient MCAO, rats in all groups underwent permanent left MCAO. After 24 hours, all rats underwent motor function measurement（the Garcia score and tilting plane test）, MRI and post-mortem brain examination. Biomarkers of blood-brain barrier damage, inflammation, oxidative stress, and apoptosis were evaluated, including MMP-9, IL-1β, i NOS and TNF-α m RNA, as well as BAX and p-p38. Results: Following permanent MCAO, the Garcia score, the brain edema area of T2-weighted images, brain infarction volume and the level of TNF-α m RNA of the ipsilateral and contralateral TIA groups showed no significant difference. The angle of sliding off in the tilting plane test, the mean intensity of brain edema area of T2-weighted images, levels of MMP-9, IL-1β, i NOS m RNA and apoptosis-related proteins, BAX and p-p38, were lower in the ipsilateral TIA group compared with the contralateral TIA group. Conclusion: the main finding of this study was that a transient, mild, unilateral focus of cerebral ischemia（or TIA） in either the left or right

关键词： Stroke Neuroprotection Cerebral ischemia Animal model

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基于光纤传感的智能安防报警系统设计与开发

红外与激光工程 2022年第8期51卷 386-391页

作者：管立伟卢宇何志杰陈曦福建师范大学物理与能源学院福建省量子调控与新能源材料重点实验室福建福州350117 福建省半导体光电材料及其高效转换器件协同创新中心福建厦门361005 福建省太阳能转换与储能工程技术研究中心福建福州350117

针对现有安防传感系统高能耗、易受电磁干扰、成本高和铺设困难等缺陷,提出了一种低能耗、高灵敏度、不受电磁干扰的智能光纤传感安防报警系统。系统传感器采用微弯型阶跃光纤结构,在分析微弯光纤传感器光能损耗与谐振频率相对折射率差... 详细信息

针对现有安防传感系统高能耗、易受电磁干扰、成本高和铺设困难等缺陷,提出了一种低能耗、高灵敏度、不受电磁干扰的智能光纤传感安防报警系统。系统传感器采用微弯型阶跃光纤结构,在分析微弯光纤传感器光能损耗与谐振频率相对折射率差函数关系的基础上,优化了传感单元的结构参数。实验首先对干扰抑制算法进行测试,从波形分布看出,采用本算法后噪声得到了大幅抑制。在此基础上,又采用系统对不同伪目标干扰进行了测试。选用功率为2.5 mW的650.0 nm激光器、光纤功率计、微弯光纤架和纤芯9μm的微弯光纤传感器搭建了光纤微弯传感实验,对4种不同安防状态的光电响应特征进行了分析。结果表明,针对不同干扰类型只要采用相应的信号分析手段就能有效降低系统误识别的概率。由此可见,光纤微弯传感系统具有高灵敏、低能耗、抗干扰等优势,满足设计要求,在智能安防领域具有很好的应用前景。

关键词：光纤传感谐振频率光能损耗干扰抑制

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一种自适应的CT图像联合代数重建算法

西安电子科技大学学报 2016年第3期43卷 67-72页

作者：乔全邦黄力宇贺志杰西安电子科技大学生命科学技术学院陕西西安710071

联合代数重建技术作为一种经典的断层图像重建算法,存在着收敛速度慢、边缘模糊、振铃效应等问题.迭代过程中与步长相关的松弛算子是影响算法性能的重要因素,而重建图像的边缘区域与其他区域无需使用相同的松弛算子,由此提出一种基于模... 详细信息

联合代数重建技术作为一种经典的断层图像重建算法,存在着收敛速度慢、边缘模糊、振铃效应等问题.迭代过程中与步长相关的松弛算子是影响算法性能的重要因素,而重建图像的边缘区域与其他区域无需使用相同的松弛算子,由此提出一种基于模糊熵的自适应联合代数重建算法.在进行初步的联合代数重建之后,把重建图像作为先验信息采用模糊熵的方法对其进行边缘检测,根据边缘一致性原则构造单调递增函数,以此作为定义迭代步长的松弛算子,进而可根据重建图像各部分的区域特征自适应地选取迭代步长进行接下来的联合代数迭代.仿真与实际测试实验表明,使用本改进算法进行计算机断层图像重建不仅可以较好地解决边缘模糊问题,还可以很好地抑制振铃效应.

关键词：计算机断层成像术联合代数重建技术模糊熵松弛算子

急性髓细胞白血病细胞的淋系分化抗原表达及其临床意义

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中华血液学杂志 1993年第1期14卷 16-17页

作者：何志洁张学光 215004 苏州医学院免疫研究室

分析了40例急性髓细胞白血病（AML）细胞表面抗原CD 2 、CD 10 等的表达；CD 2 、CD 10 是分别表达在T和B淋巴细胞上的分化抗原。检测的40例AML有7例不仅表达髓系分化抗原（CD 14 、CD 15 ），而且也表达淋系分化抗原（CD 2 ），这7例... 详细信息

分析了40例急性髓细胞白血病（AML）细胞表面抗原CD 2 、CD 10 等的表达；CD 2 、CD 10 是分别表达在T和B淋巴细胞上的分化抗原。检测的40例AML有7例不仅表达髓系分化抗原（CD 14 、CD 15 ），而且也表达淋系分化抗原（CD 2 ），这7例中同时又有5例表达CD 10 。7例患者中，仅有2例获得部分缓解（PR），其余5例均因治疗无效而死亡。认为有淋系分化抗原表达的AML治疗困难、预后差。

关键词：抗原白血病单克隆抗体