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PI-funnel and inverse hysteresis compensation cascade control of smart soft dielectric elastomer actuator

Control Theory and Technology 2024年第4期22卷 552-567页

作者： Peng Huang Yawu Wang Yue Zhang jundong wu Chun-Yi Su School of Automation China University of GeosciencesWuhan430074HubeiChina Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074HubeiChina Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan430074HubeiChina Gina Cody School of Engineering and Computer Science Concordia UniversityMontrealQCH3G 1M8Canada

Smart soft dielectric elastomer actuators(SSDEAs)possess wide applications in soft robotics due to their properties similar to natural muscles,including large deformation ratio,high energy density,and fast response ***,the complicated asymmetric and rate-dependent hysteresis property,creep property and quadratic input property of the SSDEA pose enormous challenges to its dynamic modeling and motion *** this paper,first,we construct the dynamic model of the SSDEA by connecting a square module,a one-sided Prandtl–Ishlinskii(OSPI)model and a linear system in series to describe the above *** key and innovative aspect of the dynamic modeling lies in cascading the square module in series with the OSPI model to construct the asymmetric hysteresis ***,a PI-funnel and inverse hysteresis compensation(PIFIHC)cascade control method of the SSDEA is proposed to actualize its tracking control *** performing the inversion operation on the asymmetric hysteresis model,the inverse hysteresis compensation controller(IHCC)is designed to compensate the asymmetric hysteresis property and quadratic input property of the *** addition,a PI-funnel controller is designed to cascade with the IHCC to construct the PIFIHC cascade controller to obtain a good tracking ***,the stability analysis of the PIFIHC cascade control system of the SSDEA is performed to theoretically prove that the tracking error can be controlled within the performance funnel and the steady-state error converges to ***,several practical tracking control experiments of the SSDEA are conducted,and RRMSEs are less than 2.30%for all *** experimental results indicate the effectiveness and feasibility of the proposed PIFIHC cascade control method of the SSDEA.

关键词： Smart soft dielectric elastomer actuator Dynamic modeling Inverse hysteresis compensation controller PI-funnel controller Cascade controller

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Decrease in the Ki67 index during neoadjuvant chemotherapy predicts favorable relapse-free survival in patients with locally advanced breast cancer

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Cancer Biology & Medicine 2019年第3期16卷 575-586页

作者： Chunfa Chen Yuling Zhang Ziyi Huang jundong wu Wenhe Huang Guojun Zhang Department of Thyroid and Breast Surgery The First Affiliated Hospital of Shantou University Medical CollegeShantou515041China Department of Information The Breast Center Cancer Hospital of Shantou University Medical CollegeShantou515031China Cancer Center Xiang'an Hospital of Xiamen UniversitySchool of MedicineXiamen UniversityXiamen361100China Changjiang Scholar’s Laboratory Cancer Hospital of Shantou University Medical CollegeShantou515031China

Objective: The purpose of this study was to explore the optimal cutoffs of the three parameters of Ki67 during NAC for predicting patient prognosis and investigate whether the optimal cutoffs of the Ki67 values were associated with relapse-free survival(RFS) or breast cancer-specific survival(BCSS).Methods: A total of 92 patients with locally advanced breast cancer(LABC), who had residual disease after NAC were retrospectively *** optimal cutoff values of the Ki67 parameters were assessed by the online algorithm Cutoff ***-Meier analysis, the log-rank test and Cox regression analysis were carried out to analyze ***: The optimal cutoff values for the postsurgical Ki67 level and the decrease in the Ki67 level during NAC were defined as 25% and 12.5%, *** to the univariate survival analysis, a higher Ki67 level in residual disease was associated with poor RFS(P = 0.004) and BCSS(P = 0.014).In addition, a Ki67 expression decrease > 12.5% during NAC was related to favorable RFS(P = 0.007), but was not related to BCSS(P = 0.452).Cox regression analysis showed that the Ki67 expression decrease(> 12.5% vs.≤ 12.5%) and histological grade(grade 3 *** 1-2) were the independent factors associated with RFS(P =0.020 and P = 0.023, respectively), with HR values of 0.353(95% CI: 0.147-0.850) and 3.422(95% CI: 1.188-9.858), ***: The Ki67 decrease was one of the independent factors associated with RFS in LABC patients with residual disease after receiving NAC.

关键词： Ki67 locally advanced breast cancer neoadjuvant chemotherapy prognosis residual disease

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Application of stilamin on advanced gastrointestinal carcinoma patients complicated with malignant bowel obstruction

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The Chinese-German Journal of Clinical Oncology 2008年第4期7卷 233-236页

作者： jundong wu Yezhong Zhuang Wenhe Huang Miansheng Huang Weifeng Wang Muming Xu Department of Abdominal Surgery The Affiliated Cancer Hospital of Shantou University Medical College Shantou 515031 China

Objective： To investigate the effectiveness of stilamin in malignant bowel obstruction （MBO） due to advanced gastrointestinal carcinoma patients. Methods： 62 patients with MBO due to gastrointestinal carcinoma were randomly divided into two groups： routine therapy group （control group 30 patients） and stilamin group （32 patients）. Stilamin group received routine therapy combined with stilamin （6 rag/d） by 24 hours continuous infusion for three to twelve days. The curative effectiveness was observed and compared between the two groups. Results： After treatment, the clinical symptoms of abdominal distention and abdominal pain were relieved significantly in stilamin group compared with the control group （84.4% vs 57.6%; P 〈 0.05）. The exhaust of anus was more earlier （62.1% vs 25.6%; P 〈 0.05）, and the average volume of gastrointestinal decompression reduced more rapidly in stilamin group compared with the control group [（216 ± 158） mL/d vs （522 ± 184） mL/d; P 〈 0.001）, smaller and less fluid-air in the intestinal and in the colon at the 81.3% of patients plain abdominal radiography were observed in stilamin group. Quality of life, evaluated with Karnofsky score （57 ±7 vs 45 ±9; P 〈 0.01）, was improved significantly. Conclusion： The administration of stilamin, in combination with routine treatment can be very effective in the management of MBO. It can effectively relieve the symptoms of MBO and improve the quality of life in patients.

关键词： somatostatin gastrointestinal carcinoma bowel obstruction effect

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Motion Analysis and Modeling of Pneumatic Bellows Robotic Arm

Motion Analysis and Modeling of Pneumatic Bellows Robotic Ar...

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第43届中国控制会议

作者： Shu Luo jundong wu Huai Xiao Chun-Yi Su Daiki Sato Jinhua She Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Laboratory for Future Interdisciplinary Research of Science and Technology (FIRST) Tokyo Institute of Technology Gina Cody School of Engineering and Computer Science Concordia University The School of Engineering Tokyo University of Technology

Pneumatic soft robots are increasingly valued for their lightweight, flexibility and adaptability to complex environments. Among various structures, pneumatic soft robotic arm is widely used in the fields of medical rehabilitation,complex terrain exploration, and service industry, etc., making it a popular form of pneumatic soft robots. In practical applications, precise control of soft robotic arms is very important, which requires a complete understanding of their motion patterns and corresponding modelling. However, due to their nonlinearity, the motion patterns of soft robotic arms are complex,which makes the motion analysis and modeling of the soft robotic arm a challenging topic. Based on the above considerations,this paper analyzes the motion of a pneumatic soft robotic arm and develops a prediction model for its input-output characteristics. First, we introduce the basic structure and experimental platform of a pneumatic soft robotic arm, after that, we analyze its performances including spatial reach, response time and bending angle, and designed an application experiment based on the results of the analysis. In the end, we use BP neural network to establish a model of the input air pressure and the end coordinates, and the accuracy of the model was verified through experiments.

关键词： Soft robot Pneumatic bellows robotic arm Motion analysis Neural network

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Introduction of a multicenter online database for non-metastatic breast cancer in China

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Science China(Life Sciences) 2020年第9期63卷 1417-1420页

作者： Yaping Yang Jieqiong Liu Min Peng Fengxi Su Xiaoming Xie Zhenzhen Liu jundong wu Wei Wei Dongxian Zhou Weiwen Li Ailing Zhang Guosen Su Weixiong Yang Jishang Chen Dekui Ma Yongguang Cai Kai Chen Liling Zhu Qiang Liu Erwei Song Guangdong Provincial Key Laboratory of Malignant Tumor Epigenetics and Gene Regulation Breast Tumor CenterSun Yat-sen Memorial HospitalSun Yat-sen UniversityGuangzhou 510120China Diseases Registry Center of Sun Yat-sen Memorial Hospital Sun Yat-sen UniversityGuangzhou 510120China Department of Breast Oncology Sun Yat-sen University Cancer CenterGuangzhou 510060China Department of Breast Surgery Breast Cancer CenterAffiliated Cancer Hospital of Zhengzhou UniversityHenan Cancer HospitalZhengzhou 450008China The Breast Center Shantou University Medical College Cancer HospitalShantou 515041China Department of Breast and Thyroid Surgery Peking University Shenzhen HospitalShenzhen 518036China Department of Breast and Thyroid Surgery Shenzhen People’s HospitalShenzhen 518020China Breast and Thyroid Surgery Department Jiangmen Central HospitalJiangmen 529030China Department of Breast Surgery Dongguan People’s HospitalDongguan 523059China Department of Breast Surgery Gaozhou People’s HospitalGaozhou 525200China Department of Breast Disease Maoming People’s HospitalMaoming 525000China Department of Breast Surgery Yangjiang People’s HospitalYangjiang 29500China Breast Disease Treatment Center The First People’s Hospital of ZhaoqingZhaoqing 526000China Department of Oncology Guangdong Agricultural Reclamation Center HospitalZhanjiang 524002China Guangzhou Regenerative Medicine and Health Guangdong Laboratory Guangzhou 510005China Fountain-Valley Institute for Life Sciences 4th FloorBuilding DGuangzhou Institute of Biomedicine and HealthChinese Academy of SciencesGuangzhou 510530China

Dear Editor,Breast cancer is now the most frequently diagnosed cancer and is the fifth leading cause of cancer-related death in Chinese women. Therefore, the burden of breast cancer in China is gradually increasing. According to figures released by the Chinese Cancer Center in 2018, the number of newly diagnostic breast cancer is about 278,900 cases, accounting for 16.51%of all women who were diagnosed with the first primary malignant tumors;and 66,000 cases of breast cancer died in 2014 (Chen et al., 2016).

关键词： breast Cancer Breast

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Modeling the dynamic deformation process of light-responsive liquid crystal elastomer actuator

Modeling the dynamic deformation process of light-responsive...

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第43届中国控制会议

作者： Junyu Xue jundong wu Qingxin Meng Yawu Wang Chun-Yi Su Daiki Sato Jinhua She School of Automation China University of Geosciences Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Laboratory for Future Interdisciplinary Research of Science and Technology (FIRST) Tokyo Institute of Technology Gina Cody School of Engineering and Computer Science Concordia University The School of Engineering Tokyo University of Technology

Light-responsive liquid crystal elastomer actuators(LCEAs) enables novel remote-controlled soft robot actuation,bringing new possibilities to the application of soft ***,these actuators have complicated dynamic characteristics,and a dynamic model that can describe the deformation process of LCEAs is needed to predict and control their *** on the above consideration,this paper proposes a model to describe the dynamic deformation process of light-responsive *** proposed model consists of two parts:a dynamic temperature model and a dynamic deformation *** order to verify the proposed model,we establish a light-responsive LCEA experimental platform and perform LCEA deformation *** parameters of the model are identified by the nonlinear least squares *** experimental results show that the proposed model can characterize the dynamic deformation process of LCEAs with precision.

关键词： Liquid crystal elastomer actuator dynamic modeling hysteresis Prandtl-Ishlinskii model

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融合特征增强的轻量化罐道缺陷检测算法

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电子测量与仪器学报 2023年第6期37卷 159-168页

作者：赵佰亭吴俊东贾晓芬安徽理工大学电气与信息工程学院淮南232001 安徽理工大学省部共建深部煤矿采动响应与灾害防控国家重点实验室淮南232001

为了解决矿井复杂环境下,缺陷特征提取不充分问题,融合特征增强和级联注意力机制提出一种快速智能的罐道缺陷识别算法RDM-YOLOv5,旨在解决人工巡检效率低的现状。首先,为了提高主干网络特征图信息表征能力,设计特征增强模块RLKM,它通过... 详细信息

为了解决矿井复杂环境下,缺陷特征提取不充分问题,融合特征增强和级联注意力机制提出一种快速智能的罐道缺陷识别算法RDM-YOLOv5,旨在解决人工巡检效率低的现状。首先,为了提高主干网络特征图信息表征能力,设计特征增强模块RLKM,它通过重参数化大内核卷积增强主干网络对目标特征的提取能力,并且有效降低模型参数量;然后,经过主干网络提取到高低层级特征后,由设计的级联注意力机制DCAM进一步挖掘缺陷目标的深层语义信息,显著增强小目标的特征信息;最后,为提升检测精度的同时保障检测网络的轻量化,在特征增强网络中引入轻量级卷积GSConv,在保持模型检测准确性的同时降低计算成本。实验结果表明,相较于YOLOv5s,RDM-YOLOv5的检测精度和速度分别提高3.7%、11.4%,模型参数量减少15.4%。它能基本满足实际应用中精准识别和快速定位罐道表面缺陷的需求。

关键词：罐道缺陷特征融合目标检测 YOLOv5s 轻量化

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基于目标优化的大型通航隧洞断面尺度研究

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水利水运工程学报 2021年第3期2021卷 1-8页

作者：钮新强吴俊东王小威长江勘测规划设计研究院湖北武汉430010 长江勘测规划设计研究有限责任公司湖北武汉430010

通航隧洞是解决高山峡谷条件下通航建筑物布置难题的有效手段之一,其断面尺度设计受到多因素的制约。基于设计通过能力和船舶临界航速,建立了大型通航隧洞断面尺度目标优化数学模型。该模型以通航隧洞断面系数和隧洞宽度为目标函数,以... 详细信息

通航隧洞是解决高山峡谷条件下通航建筑物布置难题的有效手段之一,其断面尺度设计受到多因素的制约。基于设计通过能力和船舶临界航速,建立了大型通航隧洞断面尺度目标优化数学模型。该模型以通航隧洞断面系数和隧洞宽度为目标函数,以设计通过能力和船舶临界航速为约束条件,结合工程实际情况将多目标优化问题转化为单目标优化问题,并给出目标函数的最优解。将提出的目标优化数学模型应用到构皮滩通航隧洞断面尺度分析中,计算结果与实际工程吻合较好,验证了模型的合理性和有效性。

关键词：大型通航隧洞断面尺度断面系数隧洞宽度目标优化

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机场工程水泥道面面层厚度计算影响因素分析研究

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水利与建筑工程学报 2019年第2期17卷 211-215页

作者：武俊东薛小刚中国民航机场建设集团公司西北分公司陕西西安710075

水泥道面在机场道面结构中得到了广泛的应用。目前机场工程水泥道面结构面层厚度设计由于影响因素复杂,多依靠经验确定。在参考相关研究成果的基础上,阐述和分析了机场水泥道面结构厚度设计方法;咸阳机场三期扩建道面主要采用水泥道面... 详细信息

水泥道面在机场道面结构中得到了广泛的应用。目前机场工程水泥道面结构面层厚度设计由于影响因素复杂,多依靠经验确定。在参考相关研究成果的基础上,阐述和分析了机场水泥道面结构厚度设计方法;咸阳机场三期扩建道面主要采用水泥道面结构。以咸阳机场三期扩建工程为例,结合机场预测飞机起降架次、飞机在机场的地面运行线路,详细分析了水泥道面结构厚度计算中不同道面如何分区、不同分区如何选用计算荷载、不同分区如何确定荷载重复作用次数,发现分区作用荷载、荷载重复作用次数是影响水泥道面结构面层厚度计算的主要因素,对大型复杂枢纽机场的水泥道面结构设计具有一定的参考意义。

关键词：道面分区道面厚度计算波特兰水泥协会法

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高效液相色谱法测定地下水中的草甘膦

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河南科技 2021年第12期40卷 125-127页

作者：孔凡亭吴俊懂山东嘉誉测试科技有限公司山东淄博255086

本文利用高效液相色谱法对《水质草甘膦的测定高效液相色谱法》(HJ 1071—2019)中地下水草甘膦的测定方法进行了验证。结果表明,草甘膦在0~0.50μg/mL内的线性结果良好,相关系数为R≥0.995。实验室测定的地下水草甘膦检出限为1.57μg/mL... 详细信息

本文利用高效液相色谱法对《水质草甘膦的测定高效液相色谱法》(HJ 1071—2019)中地下水草甘膦的测定方法进行了验证。结果表明,草甘膦在0~0.50μg/mL内的线性结果良好,相关系数为R≥0.995。实验室测定的地下水草甘膦检出限为1.57μg/mL,相对标准偏差为4.48%~8.22%、加标回收率为98.7%~103.0%,符合标准要求。结果确认实验室具备检测地下水草甘膦的能力。

关键词：地下水高效液相色谱法草甘膦

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