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基于动力学模型辨识的全臂柔顺控制

机械工程学报 2022年第3期58卷 45-54页

作者：李洋朱立爽刘今越郭士杰河北工业大学省部共建电工装备可靠性与智能化国家重点实验室天津300130 河北工业大学河北省机器人感知与人机融合重点实验室天津300130 河北工业大学机械工程学院天津300130 中国汽车技术研究中心有限公司天津300300

基于动力学模型的阻抗控制无须力传感器,可降低系统复杂性,实现机械臂的全臂柔顺,但现实系统的动力学模型往往难以精确确定。监督学习可以通过关节状态回归辨识动力学模型,但辨识精度取决于观测数据的数量和质量,且难以泛化到未观测空... 详细信息

基于动力学模型的阻抗控制无须力传感器,可降低系统复杂性,实现机械臂的全臂柔顺,但现实系统的动力学模型往往难以精确确定。监督学习可以通过关节状态回归辨识动力学模型,但辨识精度取决于观测数据的数量和质量,且难以泛化到未观测空间。提出一种基于先验动力学知识的递归参数辨识方法,可提高数据效率及泛化能力。辨识过程结合递推牛顿欧拉动力学算法,逐一递归辨识关节参数,减少鞍点数量,克服辨识结果对初值的依赖性。在此基础上,设计了柔顺控制器;其外环为阻抗控制,通过辨识模型实现了无力传感器的全臂柔顺;内环采用滑模控制器,以辨识力矩作为动力学前馈,并通过径向基函数神经网络补偿系统的动态不确定性。实验结果表明,所提出的递归辨识算法可通过少量观测数据辨识完备的动力学模型,并实现全臂柔顺控制。

关键词：全臂柔顺先验动力学知识递归参数辨识辨识模型

CEPC Technical Design Report

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Radiation Detection Technology and Methods 2024年第1期8卷 I0003-I0016,1-1091页

作者： Waleed Abdallah Tiago Carlos Adorno de Freitas Konstantin Afanaciev Shakeel Ahmad Ijaz Ahmed Xiaocong Ai Abid Aleem Wolfgang Altmannshofer Fabio Alves Weiming An Rui An Daniele Paolo Anderle Stefan Antusch Yasuo Arai Andrej Arbuzov Abdesslam Arhrib Mustafa Ashry Sha Bai Yu Bai Yang Bai Vipul Bairathi Csaba Balazs Philip Bambade Yong Ban Tripamo Bandyopadhyay Shou-Shan Bao Desmond P.Barber Ayse Bat Varvara Batozskaya Subash Chandra Behera Alexander Belyaev Michele Bertucci Xiao-Jun Bi Yuanjie Bi Tianjian Bian Fabrizio Bianchi Thomas Biekotter Michela Biglietti Shalva Bilanishvili Deng Binglin Denis Bodrov Anton Bogomyagkov Serge Bondarenko Stewart Boogert Maarten Boonekamp Marcello Borri Angelo Bosotti Vincent Boudry Mohammed Boukidi Igor Boyko Ivanka Bozovic Giuseppe Bozzi Jean-Claude Brient Anastasiia Budzinskaya Masroor Bukhari Vladimir Bytev Giacomo Cacciapaglia Hua Cai Wenyong Cai Wujun Cai Yijian Cai Yizhou Cai Yuchen Cai Haiying Cai Huacheng Cai Lorenzo Calibbi Junsong Cang Guofu Cao Jianshe Cao Antoine Chance Xuejun Chang Yue Chang Zhe Chang Xinyuan Chang Wei Chao Auttakit Chatrabhuti Yimin Che Yuzhi Che Bin Chen Danping Chen Fuqing Chen Fusan Chen Gang Chen Guoming Chen Hua-Xing Chen Huirun Chen Jinhui Chen Ji-Yuan Chen Kai Chen Mali Chen Mingjun Chen Mingshui Chen Ning Chen Shanhong Chen Shanzhen Chen Shao-Long Chen Shaomin Chen Shiqiang Chen Tianlu Chen Wei Chen Xiang Chen Xiaoyu Chen Xin Chen Xun Chen Xurong Chen Ye Chen Ying Chen Yukai Chen Zelin Chen Zilin Chen Gang Chen Boping Chen Chunhui Chen Hok Chuen Cheng Huajie Cheng Shan Cheng Tongguang Cheng Yunlong Chi Pietro Chimenti Wen Han Chiu Guk Cho Ming-Chung Chu Xiaotong Chu Ziliang Chu Guglielmo Coloretti Andreas Crivellin Hanhua Cui Xiaohao Cui Zhaoyuan Cui Brunella D'Anzi ling-Yun Dai Xinchen Dai Xuwen Dai Antonio De Maria Nicola De Filippis Christophe De La Taille Francesca De Mori Chiara De Sio Elisa Del Core Shuangxue Deng Wei-Tian Deng Zhi Deng Ziyan Deng Bhupal Dev Tang Dewen Biagio Di Micco Ran Ding Siqin Dingl Yadong Ding Haiyi Dong Jianin AGH University of Science and Technology Faculty of Physics and Applied Computer ScienceKrakow Anhui University HefeiAnhui Applied Physics Department Federal Urdu University of ArtsScience and TechnologyIslamabad Banaras Hindu University Institute of ScienceVaranasi Bandirma Onyedi Eylul University Bandirma Beihang University Beijing Beijing Computational Science Research Center Beijing Beijing Conveyi LTD Beijing Beijing Glass Research Institute Co. LtdBeijing Beijing Institute of Technology Beijing Beijing Normal University Beijing Brown University ProvidenceRI Budker Institute of Nuclear Physics Novosibirsk Cadi Ayyad University Laboratory of Fundamental and Applied PhysicsPolydisciplinary FacultyMarrakech Cairo University Giza Center for Theory and Computation National Tsing Hua UniversityHsinchu Central China Normal University WuhanHubei Central South University ChangshaHunan Centro de Fisica Teorica de Particulas Universidade Tecnica de LisboaLisboa Chengdu KaitengSifang Digital Radio&TV Equipment Co. LtdChengduSichuan China academy of engineering physics MianyangSichuan China building materials academy Beijing China Center of Advanced Science and Technology Beijing China Institute of Atomic Energy Beijing China Jiliang University HangzhouZhejiang China Nuclear Instrument CO. LTDBeijing China University of Geosciences Beijing China University of Geosciences WuhanHubei China University of Mining and Technology XuzhouJiangsu China West Normal University NanchongSichuan Chongqing University Department of PhysicsChongqing Chulalongkorn University Bangkok City University of Hong Kong Department of PhysicsHong Kong Cockcroft Institute Daresbury Cornell University IthacaNY CPPM(AMU/IPhU&CNRS/INP) Marseille Dalian Minzu University DalianLiaoning Dalian University of Technology Department of PhysicsDalian Deutsches Elektronen-Synchrotron DESY Hamburg Dzhelepov Laboratory of Nuclear Problems of Joint Institute for Nuclear Research(DLNP JINR) Dubna East China University Of Science And Technol

The Circular Electron Positron Collider(CEPC)is a large scientific project initiated and hosted by China,fostered through extensive collaboration with international *** complex comprises four accelerators:a 30 GeV linac,a 1.1 GeV Damping Ring,a Booster capable of achieving energies up to 180 GeV,and a Collider operating at varying energy modes(Z,W,H,and tt).The linac and Damping Ring are situated on the surface,while the subterranean Booster and Collider are housed in a 100 km circumference underground tunnel,strategically accommodating future expansion with provisions for a potential Super Proton Proton Collider(SPPC).The CEPC primarily serves as a Higgs *** its baseline design with synchrotron radiation(SR)power of 30 MW per beam,it can achieve a luminosity of 5×10^(34)cm^(-2)s^(-1)per interaction point(IP),resulting in an integrated luminosity of 13 ab^(-1)for two IPs over a decade,producing 2.6 million Higgs *** the SR power to 50 MW per beam expands the CEPC's capability to generate 4.3 million Higgs bosons,facilitating precise measurements of Higgs coupling at sub-percent levels,exceeding the precision expected from the HL-LHC by an order of *** Technical Design Report(TDR)follows the Preliminary Conceptual Design Report(Pre-CDR,2015)and the Conceptual Design Report(CDR,2018),comprehensively detailing the machine's layout,performance metrics,physical design and analysis,technical systems design,R&D and prototyping efforts,and associated civil engineering ***,it includes a cost estimate and a preliminary construction timeline,establishing a framework for forthcoming engineering design phase and site selection *** is anticipated to begin around 2027-2028,pending government approval,with an estimated duration of 8 *** commencement of experiments and data collection could potentially be initiated in the mid-2030s.

关键词： initiated exceeding precise

腔镜手术与开放手术治疗新生儿膈疝的对比研究

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中华小儿外科杂志 2014年第8期35卷 599-602页

作者：马丽霜李龙首都儿科研究所外科北京100020 北京协和医学院研究生院

目的：对比腔镜手术和开放手术治疗新生儿膈疝的临床疗效,探讨腔镜下治疗新生儿膈疝的可行性及安全性。方法回顾性分析我院2002年6月至2014年2月采取手术治疗的59例新生儿膈疝患儿病例资料。根据手术方式分为腔镜手术组和开放手术组,其... 详细信息

目的：对比腔镜手术和开放手术治疗新生儿膈疝的临床疗效,探讨腔镜下治疗新生儿膈疝的可行性及安全性。方法回顾性分析我院2002年6月至2014年2月采取手术治疗的59例新生儿膈疝患儿病例资料。根据手术方式分为腔镜手术组和开放手术组,其中腔镜手术组19例,10例采用胸腔镜,9例采用腹腔镜；开放手术组40例。对比两组患儿的术前资料、手术时及术后恢复情况,比较开放手术与腔镜手术相关并发症、生存率及复发率。结果两组患儿的年龄[（3.4±0.2）d比（4.1±0.5）d,P =0.654]、体质量[（3.3±0.3）kg比（3.5±0.2）kg,P =0.815]基本相同,无统计学差异。与开放组比较,腔镜组住院时间短[（14.2±2.7）d比（21.5±3.5）d,P =0.042],术后通气时间短[（1.8±0.2）d比（5.1±0.9）d,P =0.034],但手术时间长[（115.6±31.2）min 比（92.5±19.4）min,P=0.023]；腔镜组的复发率较高（15.8%比5%,P =0.164）,生存率较低（94.7%比95%,P =0.966）,但差异无统计学意义。近5年腔镜手术组的复发率有所降低,仍较开放组高（9%比5%,P =0.327）,但无统计学差异。结论新生儿膈疝腔镜修补术治疗新生儿膈疝安全有效,其疗效与开放手术相似,且创伤小,术后恢复快,具有较好的美容效果。

关键词：新生儿膈疝腹腔镜

Transcriptome Analysis of Cadmium Stress in Cotton Root

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Transcriptome Analysis of Cadmium Stress in Cotton Root

Ex utero intrapartum therapy in infants with congenital diaphragmatic hernia:a propensity score matching analysis

中国农学会棉花分会2017年年会暨第九次会员代表大会

作者： Chen Haodong li Yujun Guo lishuang He Yunxin Kuang Zhengcheng Zhang Zhigang Cotton Sciences Research Institute of Hunan/National Hybrid Cotton Research Promotion Center

In order to conduct a comprehensive study on the influence of cotton root growth and metabolic activity under cadmium stresses,we have conducted the transcriptome sequencing for cotton root that it processed under three different cadmium *** comparison results showed the expression level of thousand genes exhibited significant difference in root *** genes are roughly clustered in thirteen classes,including cytoskeletal protein and the enzyme involved in cytoskeleton assembly and cytoskeleton depolymerization,transport protein（for example,sulfate transport protein,solute carrier family protein,dicarboxylic acid transport protein）,photoresponse protein and the enzyme associated with polypeptide metabolic *** cadmium stress mainly affects the transport system of root organization,and leads to accumulation of harmful metabolites,causes various stress,such as oxidative stress and osmotic *** metabolic processes aspects,the metabolism of nitrogen-containing compounds,the synthesis of phenylpropanoids,and the synthesis of ketonic acid are three major biological processes that have major impacts on cadmium stress,these three biological processes are closely related with the synthesis and transport of plant ***,we believe that cadmium stress mainly affects the development of cotton roots from three aspects,including the root cell division,the absorption and transport of nutrient and plant hormone synthesis and transport.

关键词： upland cotton cadmium toxicity transcriptome analysis root

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World Journal of Pediatric Surgery 2022年第4期5卷 267-274页

作者： Yunlong Zhao Ying Wang Chao liu Yulin Jiang Yandong Wei Hua Meng Shan Jian Xiting Zhu lijian Pei Xiaochen Bai Feng Feng Yan Lv Xiya Zhou Qingwei Qi Jingna li lishuang Ma Peking Union Medical College Graduate School BeijingChina Department of Neonatal Surgery Children’s Hospital of Capital Institute of PediatricsCapital Institute of PediatricsBeijingChina Department of Obstetrics Peking Union Medical College HospitalBeijingChina Department of Ultrasound Peking Union Medical College HospitalBeijingChina Department of Pediatrics Peking Union Medical College HospitalBeijingChina Department of Biostatistics and Statistical Programming Everest Clinical Research CorporationBeijingChina Department of Anesthesiology Peking Union Medical College HospitalBeijingChina Department of Pediatrics Beijing Obstetrics and Gynecology HospitalCapital Medical UniversityBeijingChina Department of Radiology Peking Union Medical College HospitalBeijingChina

Objective Previous studies have shown that ex utero intrapartum therapy(EXIT)is safe and feasible for newborns with congenital diaphragmatic hernia(CDH).This study reports our experience with EXIT in fetuses with CDH in an attempt to explore the efficacy of EXIT on the survival rate of this *** A retrospective analysis of the clinical data of 116 children with CDH was *** children were assigned to EXIT and non-EXIT *** score matching(PSM)toward clinical data was performed,and the clinical characteristics and outcomes were *** survival at discharge as the main outcome,logistic regression analysis was carried out to explore the efficacy of EXIT on *** During the study period,30 of 116 children received *** PSM,the survival rates of the EXIT group and the non-EXIT group were 82.76%(24/29)and 48.28%(14/29),respectively(p=0.006).EXIT(OR=0.083,95%CI=0.013to 0.525,p=0.008),liver herniation(OR=16.955,95%CI=2.342 to 122.767,p=0.005),and gestational age at diagnosis(OR=0.662,95%CI=0.497 to 0.881,p=0.005)were independent mortality-related risk factors of all children with ***-nine of 116 children underwent *** PSM,the postoperative survival rates of the EXIT group and non-EXIT group were 84.6%(22/26)and 76.9%(20/26),respectively(p=0.754).liver herniation(OR=10.451,95%CI=1.641 to 66.544,p=0.013)and gestational age at diagnosis(OR=0.736,95%CI=0.577 to 0.938,p=0.013)were independent mortality-related risk factors of children after *** EXIT can be performed safely for selected prenatally diagnosed CDH neonates with potentially better survival and does not cause more maternal complications compared with traditional cesarean section.

关键词： hernia diagnosis congenital

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先天性膈疝产后评估研究进展

中华围产医学杂志 2020年第1期23卷 61-64页

作者：李景娜马立霜首都儿科研究所附属儿童医院新生儿外科北京100020

先天性膈疝病情严重程度以及预后差异较大,轻症患儿可全部存活,重症患儿死亡率较高。准确地筛选高风险患儿,制定相应诊疗策略,可有效提高其存活率。近年来国际上对先天性膈疝产后评估的研究逐渐增多,包含单因素指标及5种主要评分模型,... 详细信息

先天性膈疝病情严重程度以及预后差异较大,轻症患儿可全部存活,重症患儿死亡率较高。准确地筛选高风险患儿,制定相应诊疗策略,可有效提高其存活率。近年来国际上对先天性膈疝产后评估的研究逐渐增多,包含单因素指标及5种主要评分模型,但我国对此方面研究较少,尤其是评分模型。本文对先天性膈疝的产后评估研究进展进行综述。

关键词：疝,横膈,先天性产后期疾病严重程度指数预后

四维超Jerk系统的分岔特性及同步控制研究

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动力学与控制学报 2021年第6期19卷 1-7页

作者：姜丽爽李静张伟北京工业大学理学部北京100124 北京工业大学材料与制造学部北京100124

研究具有双翼混沌吸引子的四维超Jerk系统的分岔特性和混沌路径,并设计有效的自适应反馈控制器实现该系统的全局指数同步.通过相图、Poincaré映射图、分岔图和Lyapunov指数谱等揭示系统的混沌特性,并得到系统进入混沌的主要路径是逆倍... 详细信息

研究具有双翼混沌吸引子的四维超Jerk系统的分岔特性和混沌路径,并设计有效的自适应反馈控制器实现该系统的全局指数同步.通过相图、Poincaré映射图、分岔图和Lyapunov指数谱等揭示系统的混沌特性,并得到系统进入混沌的主要路径是逆倍周期分岔和大幅度的周期振荡.将高维分岔理论和扰动方法应用于该系统的动力学分析中,建立分岔点处参数之间的精确关系,进一步得出产生的周期轨道的稳定性及其近似解表达式.基于自适应同步理论,提出一种实现混沌系统完全同步的方案.数值模拟结果表明所提出机制的可行性和有效性.本文可为此类系统在混沌加密领域内的实际应用提供理论参考.

关键词：超Jerk系统奇异吸引子分岔周期轨道同步控制

差动式光纤Bragg光栅加速度计传感头设计与仿真

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北京航空航天大学学报 2006年第11期32卷 1369-1372页

作者：刘惠兰冯丽爽滕莉林恒北京航空航天大学仪器科学与光电工程学院北京100083

针对传统悬臂梁-质量块结构加速度计存在的灵敏度与固有频率不能兼顾的问题,设计一种差动式光纤Bragg光栅加速度计,建立系统模型,对测量精度等进行理论计算与分析.传感头设计采用主梁与微梁结合的结构,是悬臂梁-质量块结构的一种改进形... 详细信息

针对传统悬臂梁-质量块结构加速度计存在的灵敏度与固有频率不能兼顾的问题,设计一种差动式光纤Bragg光栅加速度计,建立系统模型,对测量精度等进行理论计算与分析.传感头设计采用主梁与微梁结合的结构,是悬臂梁-质量块结构的一种改进形式,并运用有限元方法对其静态特性和动态性能进行仿真分析.结果表明:该设计系统精度可以达到10.5×10-3g,固有频率为270Hz,固有频率是同等精度的传统悬臂梁结构光纤光栅加速度计的2.7倍;此结构的加速度计在不降低灵敏度的同时可以有效提高系统的固有频率.

关键词：光纤Bragg光栅加速度计悬臂梁有限元法

我国民族地区农村金融普惠水平及影响因素分析

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改革与战略 2015年第7期31卷 111-116页

作者：谢丽霜李可中央民族大学经济学院北京100081

文章将民族地区置于全国的系统结构中,通过利用系列数据及相关计量方法,对民族地区农村金融普惠水平及影响因素进行横向比较和纵向分析。结果表明,民族地区农村金融普惠水平总体处于全国的低位,但内部的省际差异明显;农村居民收入、GDP... 详细信息

文章将民族地区置于全国的系统结构中,通过利用系列数据及相关计量方法,对民族地区农村金融普惠水平及影响因素进行横向比较和纵向分析。结果表明,民族地区农村金融普惠水平总体处于全国的低位,但内部的省际差异明显;农村居民收入、GDP总量、非农化水平、政府的金融努力和居民金融素养等因素,与民族地区农村金融普惠水平显著相关;民族地区应当高度重视推进农村金融普惠,并从主要影响因素入手,因地制宜采取相应措施。

关键词：农村金融普惠水平指数影响因素民族地区

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