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An artificial systems,computational experiments and parallel execution-based surface electromyogram-driven anti-disturbance zeroing neurodynamic strategy for upper limb human-robot interaction control

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 511-525页

作者： Yongbai liu keping liu Gang Wang Jiliang Zhang Yao Chou Zhongbo Sun Department of Mechanical Engineering Changchun University of TechnologyChangchunChina Department of Control Engineering Changchun University of TechnologyChangchunChina School of Electrical and Information Engineering Jilin Engineering Normal UniversityChangchunChina College of Information Science and Engineering Northeastern UniversityShenyangChina Department of Electrical and Computer Engineering Brigham Young UniversityProvoUtahUSA

In recent years,intelligent robots are extensively applied in the field of the industry and intelligent rehabilitation,wherein the human-robot interaction(HRI)control strategy is a momentous part that needs to be ***,the efficacy and robustness of the HRI control algorithm in the presence of unknown external disturbances deserve to be *** deal with these urgent issues,in this study,artificial systems,computational experiments and a parallel execution intelligent control framework are constructed for the HRI *** upper limb-robotic exoskeleton system is re-modelled as an artificial *** on surface electromyogram-based subject's active motion intention in the practical system,a non-convex function activated anti-disturbance zeroing neurodynamic(NC-ADZND)controller is devised in the artificial system for parallel interaction and HRI control with the practical ***,the linear activation function-based zeroing neurodynamic(LAF-ZND)controller and proportionalderivative(posterior deltoid(PD))controller are presented and *** results substantiate the global convergence and robustness of the proposed controller in the presence of different external *** addition,the simulation results verify that the NC-ADZND controller is better than the LAF-ZND and the PD controllers in respect of convergence order and anti-disturbance characteristics.

关键词： neural network pattern recognition robotics signal processing

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基于LSDANet的手机芯片屏蔽壳表面缺陷检测方法

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光电子．激光 2024年第1期35卷 67-74页

作者：刘克平刘博浩李岩宋誉长春工业大学电气与电子工程学院吉林长春130012 东莞市三瑞自动化科技有限公司广东东莞523000

为了解决手机芯片屏蔽壳表面白印缺陷微小、尺度各异等因素影响检测快速性和准确性的问题,本文提出一种基于长短连接通路和双注意力网络(long short link and double attention network,LSDANet)的手机芯片屏蔽壳表面缺陷检测方法。首先... 详细信息

为了解决手机芯片屏蔽壳表面白印缺陷微小、尺度各异等因素影响检测快速性和准确性的问题,本文提出一种基于长短连接通路和双注意力网络(long short link and double attention network,LSDANet)的手机芯片屏蔽壳表面缺陷检测方法。首先,通过构建基于编码和解码的语义分割模型和利用长短距离连接通路,提高网络模型对尺度各异缺陷的特征提取能力。其次,分别设计基于通道和空间的注意力机制,增大5—10pixel尺寸的白印缺陷在空间和通道上的特征权重。最后,融合双注意力机制和长短距离连接通路分割模型,构建LSDANet缺陷检测网络,应用于手机芯片屏蔽壳表面缺陷检测。实验数据表明,LSDANet网络能够达到96.21%的平均像素精度、66.13%的平均交并比和39.03的每秒检测帧数,相比多种语义分割算法均具有更高的检测精度和速度。

关键词：深度学习屏蔽壳缺陷检测语义分割

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Development and Evaluation of a Wearable Lower Limb Rehabilitation Robot

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Journal of Bionic Engineering 2022年第3期19卷 688-699页

作者： Wanting Li keping liu Chunxu Li Zhongbo Sun Shui liu Jian Gu Department of Control Engineering Changchun University of TechnologyChangchun130012China Centre for Robotics and Neural Systems University of PlymouthPlymouthPL48AAUK School of Mechatronical Engineering Changchun University of TechnologyChangchun130012China

This paper introduces a rigid-flexible coupling wearable exoskeleton robot for lower limb,which is designed in light of gait biomechanics and beneficial for low limb movement disorders by implementing gait *** rationality of the proposed mechanism is shown with the implementation of the dynamic simulation through MSC *** the purposes of lightweight,the exoskeleton mechanism is optimized through finite element *** can be concluded from performance evaluation experiment,the mechanism has certain advantages over existing exoskeleton robots,namely,comfortable,lightweight,low cost,which can be utilized for rehabilitation training in medical institutions or as a daily-walking ancillary equipment for patients.

关键词： Wearable rehabilitation robot Biomechanics Robot mechanism design Virtual analysis

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Compliant Control of Lower Limb Rehabilitation Exoskeleton Robot Based on Flexible Transmission

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Journal of Bionic Engineering 2023年第3期20卷 1021-1035页

作者： keping liu Li Li Wanting Li Jian Gu Zhongbo Sun Department of Control Science and Engineering Changchun University of TechnologyChangchun130012China Department of Electrical and Information Engineering Jilin Engineering Normal UniversityChangchun130052China

To ensure the safety, comfort, and effectiveness of lower limb rehabilitation exoskeleton robots in the rehabilitation training process, compliance is a prerequisite for human–machine interaction safety. First, under the premise of considering the mechanical structure of the lower limb rehabilitation exoskeleton robot (LLRER), when conducting the dynamic transmission of the exoskeleton knee joint, the soft axis is added to ensure that the rotation motion and torque are flexibly transmitted to any position to achieve flexible force transmission. Second, to realize the active compliance control of LLRER, the sliding mode impedance closed-loop controller is developed based on the kinematics and dynamics model of LLRER, and the stability of the designed control system is verified by Lyapunov method. Then the experiment is designed to track the collected bicycle rehabilitation motion data stably, and the algorithm and dynamic model are verified to satisfy the experimental requirements. Finally, aiming at the transmission efficiency and response performance of the soft shaft in the torque transmission process of the knee joint, the soft shaft transmission performance test is carried out to test the soft shaft transmission performance and realize the compliance of the LLRER, so as to ensure that the rehabilitation training can be carried out in a safe and comfortable interactive environment. Through the design of rehabilitation exercise training, it is verified that the LLRER of flexible transmission under sliding mode impedance control has good adaptability in the actual environment, and can achieve accurate and flexible control. During the experiment, the effectiveness of monitoring rehabilitation training is brought through the respiratory belt.

关键词： Lower limb rehabilitation exoskeleton Flexible control Impedance control Stability

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The dynamic relaxation form finding method aided with advanced recurrent neural network

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CAAI Transactions on Intelligence Technology 2023年第3期8卷 635-644页

作者： Liming Zhao Zhongbo Sun keping liu Jiliang Zhang Department of Mechanical and Electrical Engineering Changchun University of TechnologyChangchunChina Department of Control Engineering Changchun University of TechnologyChangchunChina Department of Electronic and Electrical Engineering The University of SheffieldSheffieldEngland

How to establish a self‐equilibrium configuration is vital for further kinematics and dynamics analyses of tensegrity *** this study,for investigating tensegrity form‐finding problems,a concise and efficient dynamic relaxation‐noise tolerant zeroing neural network(DR‐NTZNN)form‐finding algorithm is established through analysing the physical properties of tensegrity *** addition,the non‐linear constrained opti-misation problem which transformed from the form‐finding problem is solved by a sequential quadratic programming ***,the noise may produce in the form‐finding process that includes the round‐off errors which are brought by the approximate matrix and restart point calculating course,disturbance caused by external force and manufacturing error when constructing a tensegrity ***,for the purpose of suppressing the noise,a noise tolerant zeroing neural network is presented to solve the search direction,which can endow the anti‐noise capability to the form‐finding model and enhance the calculation ***,the dynamic relaxation method is contributed to seek the nodal coordinates rapidly when the search direction is *** numerical results show the form‐finding model has a huge capability for high‐dimensional free form cable‐strut mechanisms with complicated ***,comparing with other existing form‐finding methods,the contrast simulations reveal the excellent anti‐noise performance and calculation capacity of DR‐NTZNN form‐finding algorithm.

关键词： dynamic relaxation form‐finding noise‐tolerant zeroing neural network sequential quadratic programming Tensegrity

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某市电子企业职业人群心理健康状况及其影响因素分析

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职业卫生与应急救援 2024年第3期42卷 330-335页

作者：梁永锡刘可平陈浩冯简青中山市疾病预防控制中心广东中山528403

目的了解某市电子企业职业人群心理健康状况及影响因素。方法2023年1—7月,采用立意抽样方法,选取某市9家电子企业的468名职业人群为研究对象,分别采用中国职业人群职业紧张测量核心量表、患者健康问卷(PHQ-9)中文版、广泛性焦虑障碍量... 详细信息

目的了解某市电子企业职业人群心理健康状况及影响因素。方法2023年1—7月,采用立意抽样方法,选取某市9家电子企业的468名职业人群为研究对象,分别采用中国职业人群职业紧张测量核心量表、患者健康问卷(PHQ-9)中文版、广泛性焦虑障碍量表(GAD-7)中文版评估研究对象的职业紧张、抑郁症状和焦虑症状。采用二分类logistic回归模型分析三者的影响因素。结果回收有效问卷468份,有效回收率为97.50%。研究对象的职业紧张、抑郁症状、焦虑症状的检出率分别为34.62%、73.50%、34.83%。回归分析结果显示:管理人员组出现职业紧张的风险是生产人员组的3.399倍(P10年组的6.601倍(P10年组的4.016倍(P<0.05);中型企业组出现抑郁症状的风险是小微型企业组的1.816倍(P<0.05);中型企业组出现焦虑症状的风险是小微型企业组的1.961倍(P<0.05),管理人员出现焦虑症状的风险是生产人员组的2.289倍(P<0.01)。结论某市电子企业职业人群职业紧张水平较高,抑郁症状、焦虑症状等健康问题突出,建议企业把每周工作时间控制在48 h以内,适当提高薪酬待遇,结合个人特点合理安排岗位,采取适当的健康干预措施,降低员工心理健康风险。

关键词：心理健康职业紧张抑郁症状焦虑症状

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一类可变刚度弹性驱动器的RBF神经网络鲁棒控制策略

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长春工业大学学报 2024年第1期45卷 1-8,F0003页

作者：孙中波王琛刘克平吴修君长春工业大学电气与电子工程学院吉林长春130012 吉林工程技术师范学院吉林长春130052

针对康复机器人柔性驱动和可变刚度输出问题,提出一种基于可变刚度驱动器的驱动方法。考虑驱动器自重力和干扰影响,利用径向基函数网络补偿动力学模型中不确定部分,得到精准位置跟踪和刚度跟踪结果以及解释变刚度模型不确定现象,给出模... 详细信息

针对康复机器人柔性驱动和可变刚度输出问题,提出一种基于可变刚度驱动器的驱动方法。考虑驱动器自重力和干扰影响,利用径向基函数网络补偿动力学模型中不确定部分,得到精准位置跟踪和刚度跟踪结果以及解释变刚度模型不确定现象,给出模型不确定部分的解决过程。

关键词：康复机器人变刚度柔性驱动弹性驱动器

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广东省某市202家电子企业职业病危害因素现状调查

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职业卫生与应急救援 2024年第1期42卷 45-48,62页

作者：梁永锡刘可平陈浩冯简青中山市疾病预防控制中心广东中山528403

目的了解广东省某市电子企业劳动者职业病危害因素的接触水平。方法 2022年,对某市202家电子企业工作场所存在的噪声、粉尘和化学毒物等职业病危害因素的接触水平、职业病危害管理情况等内容进行现状调查与分析。结果 202家电子企业以... 详细信息

目的了解广东省某市电子企业劳动者职业病危害因素的接触水平。方法 2022年,对某市202家电子企业工作场所存在的噪声、粉尘和化学毒物等职业病危害因素的接触水平、职业病危害管理情况等内容进行现状调查与分析。结果 202家电子企业以电子电路制造、计算机外围设备制造、电子专用材料制造为主(共占43.57%)。145家企业(占71.78%)存在噪声作业,噪声超标岗位的前3位分别是混料、碎料(超标率92.86%),冲压、冲床(超标率85.42%),磨边、打磨、抛光(超标率41.86%)。粉尘种类以其他粉尘为主,木粉尘超标率最高(20.97%),以打磨岗位为主。检测样品数量最高的前3类化学毒物依次为苯系物(苯、甲苯、二甲苯、乙苯)、醇类(甲醇、异丙醇、正丁醇),烷类(正己烷、正庚烷、环己烷)。化学毒物总体超标率为3.82%,超标率前3位的化学毒物为苯乙烯(33.33%)、甲醛(8.00%)、三氯乙烯(7.32%),集中在喷漆、油磨、开料和清洗岗位。参与职业健康检查9 837人,检出职业禁忌证47人(占0.48%),疑似职业病8人(占0.08%),无确诊职业病病例。结论某市电子行业存在噪声、苯系物、醇类、烷类、粉尘等多种职业病危害因素,接触职业病危害因素的工人数量较多,职业卫生监督部门应加强监督力度,督促相关企业做好职业病防治工作。

关键词：职业危害现状调查电子企业噪声

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Decentralized Adaptive Super-Twisting Control for Modular and Reconfigurable Robots with Uncertain Environment Contact

Decentralized Adaptive Super-Twisting Control for Modular an...

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第36届中国控制会议

作者： Bo Dong Yan Li keping liu Yuanchun Li Department of Control Science and Engineering Changchun University of Technology State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781538629185

This paper presents a decentralized adaptive super-twisting control method for modular and reconflgurable robots（MRRs） with uncertain environment *** conventional methods that rely on robot-environment contact model or force/torque sensing,this paper addresses the problem of controlling MRRs in contact with uncertain environment that using only local dynamic information of each joint *** dynamic model of MRR is formulated as a synthesis of interconnected *** on the integral sliding mode control（ISMC） technique and the adaptive super-twisting algorithm（ASTA）,the decentralized controller is designed to compensate the model uncertainty in which the up-bound is *** stability of the MRR system is proved by using the Lyapunov *** last,simulations are conducted for 2-DOF MRRs with different configurations under the situations of dynamic contact and collision to investigate the advantage of the proposed approach.

关键词： Modular and reconfigurable robot Decentralized control strategy Uncertain environment contact Adaptive supertwisting algorithm Interconnected couplings

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Active Collision Avoidance Fuzzy Control for four-in-wheelmotor-driven Electric Vehicles

Active Collision Avoidance Fuzzy Control for four-in-wheelmo...

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第30届中国控制与决策会议

作者： Keyu Hao Yufeng Lian keping liu School of electrical and electronic engineering Changchun University of Technology

In order to realize the active collision avoidance（ACA） control system of four-in-wheel-motor-driven（FIWMD） electric vehicles, the research to find optimal solutions for electric vehicles distance-keeping is ongoing. There are three major contributions in the design of longitudinal collision avoidance system: The first, a longitudinal safety distance model is brought up to make electric vehicle to adapt to driving roads. The second, a design of ACA system controller is offered. ACA system controller is made up of upper controller and Lower controller. Fuzzy logic controller is adopted as the upper controller of ACA control system. Lower controller is composed of PI controller and braking force distribution strategy. In ACA control system, longitudinal safety distance model and fuzzy logic controller, two of the key technologies, are becoming the research focus. The third, Simplified Permanent Magnet Synchronous Motor（PMSM） model is mentioned as the actuators of electric vehicle. It is demonstrated that ACA control system based on longitudinal safety distance model and fuzzy logic controller is feasible, effective, and reliable by simulation experiments with CarSim.

关键词： Longitudinal vehicle dynamics Longitudinal safety distance model Simplified PMSM model Fuzzy logic control Electric vehicles

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