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Prescribed Performance Tracking Control of Time-Delay Nonlinear Systems With Output Constraints

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1557-1565页

作者： Jin-Xi Zhang Kai-Di Xu qing-guo wang IEEE the State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819China Institute of Artificial Intelligence and Future Networks Beijing Normal UniversityZhuhai 519087 Guangdong Key Laboratory of Artificial Intelligence and Multi-Modal Data Processing Beijing Normal University-Hong Kong Baptist University United International CollegeZhuhai 519087

The problem of prescribed performance tracking control for unknown time-delay nonlinear systems subject to output constraints is dealt with in this paper. In contrast with related works, only the most fundamental requirements, i.e., boundedness and the local Lipschitz condition, are assumed for the allowable time delays. Moreover, we focus on the case where the reference is unknown beforehand, which renders the standard prescribed performance control designs under output constraints infeasible. To conquer these challenges, a novel robust prescribed performance control approach is put forward in this ***, a reverse tuning function is skillfully constructed and automatically generates a performance envelop for the tracking error. In addition, a unified performance analysis framework based on proof by contradiction and the barrier function is established to reveal the inherent robustness of the control system against the time delays. It turns out that the system output tracks the reference with a preassigned settling time and good accuracy,without constraint violations. A comparative simulation on a two-stage chemical reactor is carried out to illustrate the above theoretical findings.

关键词： Nonlinear systems output constraints prescribed performance reference tracking time delays

Model Parameters Identification and Backstepping Control of Lower Limb Exoskeleton Based on Enhanced Whale Algorithm

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 100-114页

作者： Yan Shi Jiange Kou Zhenlei Chen Yixuan wang qing guo School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731China

Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction ***,due to unknown model parameters such as the mass,moment of inertia and mechanical size,the dynamic model of exoskeletons is difficult to ***,an enhanced whale optimization algorithm(EWOA)is proposed to identify the exoskeleton model ***,the periodic excitation trajectories are designed by finite Fourier series to input the desired position demand of exoskeletons with mechanical physical *** a backstepping controller based on the identified model is adopted to improve the human-robot wearable comfortable performance under cooperative ***,the proposed Model parameters identification and control are verified by a two-DOF exoskeletons *** knee joint motion achieves a steady-state response after 0.5 ***,the position error of hip joint response is less than 0.03 rad after 0.9 *** addition,the steady-state human-robot interaction torque of the two joints is constrained within 15 N·*** research proposes a whale optimization algorithm to optimize the excitation trajectory and identify model ***,an enhanced mutation strategy is adopted to avoid whale evolution’s unsatisfactory local optimal value.

关键词： Parameter identification Enhanced whale optimization algorithm(EWOA) Backstepping Human-robot interaction Lower limb exoskeleton

Improving mathematical model of burden distribution and correcting chute angle to cope with fluctuation of stock line

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Journal of Iron and Steel Research International 2024年第2期31卷 342-356页

作者： Jian-sheng Chen Wen-guo Liu Hao guo wang Ding qing-guo Xue Jing-song wang Hai-bin Zuo State Key Laboratory of Advanced Metallurgy University of Science and Technology BeijingBeijing100083China MCC Capital Engineering&Research Incorporation Limited Beijing100176China Hunan Valin Xiangtan Iron and Steel Co. Ltd.Xiangtan411101HunanChina

Accurate evaluations of the burden distribution are of critical importance to stabilize the operation of blast *** mathematical model and discrete element method(DEM)are two attractive methods for predicting burden *** on DEM,the initial velocities of the pellet,sinter,and coke were calculated,and the velocity attenuations of the above three particles between the burden and the chute were *** initial velocity and velocity attenuation were applied to a mathematical model for improving the ***,based on the improved model,a scheme for rectifying the chute angles was proposed to address the fluctuation of the stock line and maintain a stable burden *** validity of the scheme was confirmed via a stable burden distribution under different stock *** mathematical model has been successfully applied to evaluate the online burden distribution and cope with the fluctuation of the stock line.

关键词： Burden distribution Mathematical model Discrete element method Velocity attenuation Stock line fluctuation

Exploring a new path of green and efficient utilization of sinter return fine to produce composite pellets

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Journal of Iron and Steel Research International 2024年第7期31卷 1610-1622页

作者： Yan-biao Chen Wen-guo Liu Hao guo Jing-song wang qing-guo Xue Hai-bin Zuo State Key Laboratory of Advanced Metallurgy University of Science and Technology BeijingBeijing 100083China MCC Capital Engineering and Research Incorporation Limited Beijing 100176China

Efficient utilization of sinter return fine is an important measure to reduce cost,increase efficiency,save energy and reduce emission.A new path of green and efficient utilization of return fine was proposed to produce composite *** metallurgical properties of composite pellets under the condition of hydrogen-rich blast furnace were *** experimental results indicate that the coated concentrate was consolidated for the composite pellets through normal Fe_(2)O_(3) *** the surface of core return fine,the liquid phase formed due to its low-melting point,assimilated the adjacent concentrate,and then consolidated with the temperature *** with regular pellets,the com-pressive strength and reduction swelling index of composite pellets were decreased,but the reducibility index and softening-melting properties were *** addition,the reduction degradation index of composite pellets was sig-nificantly higher than that of ***,adding composite pellets was conducive to indirect reduction in blast furnace,reducing fuel ratio and improving production *** to the effect of the roasting system on the metallurgical properties,the roasting temperature and time were determined as 1250℃and 30 min,*** composite pellets can be produced under the traditional pelletizing process.

关键词： Sinter Return fine Composite pellet Roasting system Metallurgical property Hydrogen-rich blast furnace

Multi-scale data joint inversion of minerals and porosity in altered igneous reservoirs—A case study in the South China Sea

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Petroleum Science 2024年第1期21卷 206-220页

作者： Xin-Ru wang Bao-Zhi Pan Yu-Hang guo qing-Hui wang Yao Guan College of Geo-exploration Science and Technology Jilin UniversityChangchun130046JilinChina Research Institute CNOOC Ltd.-ShenzhenShenzhen518000GuangdongChina

There are abundant igneous gas reservoirs in the South China Sea with significant value of research,and lithology classification,mineral analysis and porosity inversion are important links in reservoir ***,affected by the diverse lithology,complicated mineral and widespread alteration,conventional logging lithology classification and mineral inversion become considerably *** the same time,owing to the limitation of the wireline log response equation,the quantity and accuracy of minerals can hardly meet the exploration requirements of igneous *** overcome those issues,this study takes the South China Sea as an example,and combines multi-scale data such as micro rock slices,petrophysical experiments,wireline log and element cutting log to establish a set of joint inversion methods for minerals and porosity of altered igneous ***,we define the lithology and mineral characteristics through core slices and mineral data,and establish an igneous multi-mineral volumetric *** we determine element cutting log correction method based on core element data,and combine wireline log and corrected element cutting log to perform the lithology classification and joint inversion of minerals and ***,it is always difficult to determine the elemental eigenvalues of different minerals in *** paper uses multiple linear regression methods to solve this ***,an integrated inversion technique for altered igneous formations was *** results show that the corrected element cutting log are in good agreement with the core element data,and the mineral and porosity results obtained from the joint inversion based on the wireline log and corrected element cutting log are also in good agreement with the core data from X-ray *** results demonstrate that the inversion technique is applicable and this study provides a new direction for the mineral inversion research of altered igneous formation

关键词： Joint inversion Altered igneous rock Element correction method Lithology identification Multi mineral volume model

A Method for Evaluating the Maximum Bending Degree of Flexural Toppling Rock Masses Based on the Rock Tensile Strain-Softening Model

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Journal of Earth Science 2024年第4期35卷 1243-1253页

作者： Jiongchao wang Jun Zheng Jichao guo qing Lü Jianhui Deng Department of Civil Engineering Zhejiang UniversityHangzhou310058China Center for Balance Architecture Zhejiang UniversityHangzhou310007China State Key Laboratory of Hydraulics and Mountain River Engineering College of Water Resource and HydropowerSichuan UniversityChengdu610065China

Flexural toppling occurs when a series of layered rock masses bend towards their free *** is important to evaluate the maximum bending degree and the requirement of supports of flexural toppling rock mass to prevent rock mass cracking and even failure leading to a *** on the rock tensile strain-softening model,this study proposes a method for calculating the maximum curvature(C_(ppmax))of flexural toppling rock *** applying this method to calculate Cppmax of 9 types of rock masses with different hardness and rock layer thickness,some conclusions are drawn:(1)the internal key factors affecting C_(ppmax)are E^(⋆)(E^(⋆)=E_(ss)/E_(0),where E_(0)and E_(ss)are the mean deformation moduli of the rock before and after reaching its peak tensile strength,respectively),the strainεt corresponding to the tensile strength of rock,and the thickness(h)of rock layers;(2)hard rock layers are more likely to develop into block toppling than soft rock layers;and(3)thin rock layers are more likely to remain in flexural toppling state than thick rock *** addition,it is found that C_(ppmax)for flexural toppling rock masses composed of bedded rocks such as gneiss is related to the tensile direction.

关键词： flexural toppling rock mass maximum bending degree strain-softening model curvature rock mechanics

Hybrid bonding of GaAs and Si wafers at low temperature by Ar plasma activation

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Journal of Semiconductors 2024年第4期45卷 69-75页

作者： Rui Huang Zhiyong wang Kai Wu Hao Xu qing wang Yecai guo School of Electronic and Information Engineering Wuxi UniversityWuxi 214105China Institute of Advanced Technology on Semiconductor Optics&Electronics Institute of Laser EngineeringBeijing University of TechnologyBeijing 100124China

High-quality bonding of 4-inch GaAs and Si is achieved using plasma-activated bonding *** influence of Ar plasma activation on surface morphology is *** the annealing temperature is 300℃,the bonding strength reaches a maximum of 6.2 *** addition,a thermal stress model for GaAs/Si wafers is established based on finite element analysis to obtain the distribution of equivalent stress and deformation variables at different *** shape varia-tion of the wafer is directly proportional to the annealing *** an annealing temperature of 400℃,the maximum protrusion of 4 inches GaAs/Si wafers is 3.6 *** interface of GaAs/Si wafers is observed to be dense and defect-free using a transmission electron *** characterization of interface elements by X-ray energy dispersion spectroscopy indi-cates that the elements at the interface undergo mutual diffusion,which is beneficial for improving the bonding strength of the *** is an amorphous transition layer with a thickness of about 5 nm at the bonding *** preparation of Si-based GaAs heterojunctions can enrich the types of materials required for the development of integrated circuits,improve the performance of materials and devices,and promote the development of microelectronics technology.

关键词： plasma-activated bonding bonding strength thermal stress model mutual diffusion

Flexible assistance strategy of lower limb rehabilitation exoskeleton based on admittance model

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Science China(Technological Sciences) 2024年第3期67卷 823-834页

作者： KOU JianGe wang YiXuan CHEN ZhenLei SHI Yan guo qing XU Meng School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731China Department of Musculoskeletal Tumor Senior Department of Orthopedicsthe Fourth Medical Centerof PLA GeneralHospitalBeijing 100853China

Exercise training based on exoskeleton is an effective rehabilitation method for stroke patients. However, some rehabilitation exoskeletons still have poor wearable performance and obvious human-robot impedance during training, which easily cause secondary injuries to the patients. In this study, a variable admittance control strategy is proposed to improve the operator's wearable comfort, which can adapt to different operators by regulating admittance parameters. The admittance controller has two feedback loops: the position inner-loop and the admittance outer-loop. Meanwhile, the exoskeleton Lagrange model is constructed with unknown friction disturbance. By using Lyapunov technique and backstepping with state observer, the joint position error of exoskeleton is convergence into a zero neighborhood. The effectiveness of the proposed admittance controller is verified by both simulation and experiment. The tracking error of hip and knee joint is less than 4 degrees while the human-robot interaction torque is constrained in a tolerable range of the operator.

关键词： human-robot interaction exoskeleton backstepping admittance control

Oilfield analogy and productivity prediction based on machine learning: Field cases in PL oilfield, China

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Petroleum Science 2024年第4期21卷 2554-2570页

作者： Wen-Peng Bai Shi-qing Cheng Xin-Yang guo Yang wang Qiao guo Chao-Dong Tan State Key Laboratory of Petroleum Resources and Engineering China University of Petroleum (Beijing)

In the early time of oilfield development, insufficient production data and unclear understanding of oil production presented a challenge to reservoir engineers in devising effective development plans. To address this challenge, this study proposes a method using data mining technology to search for similar oil fields and predict well productivity. A query system of 135 analogy parameters is established based on geological and reservoir engineering research, and the weight values of these parameters are calculated using a data algorithm to establish an analogy system. The fuzzy matter-element algorithm is then used to calculate the similarity between oil fields, with fields having similarity greater than 70% identified as similar oil fields. Using similar oil fields as sample data, 8 important factors affecting well productivity are identified using the Pearson coefficient and mean decrease impurity（MDI） method. To establish productivity prediction models, linear regression（LR）, random forest regression（RF）, support vector regression（SVR）, backpropagation（BP）, extreme gradient boosting（XGBoost）, and light gradient boosting machine（Light GBM） algorithms are used. Their performance is evaluated using the coefficient of determination（R2）, explained variance score（EV）, mean squared error（MSE）, and mean absolute error（MAE） metrics. The Light GBM model is selected to predict the productivity of 30 wells in the PL field with an average error of only 6.31%, which significantly improves the accuracy of the productivity prediction and meets the application requirements in the field. Finally, a software platform integrating data query,oil field analogy, productivity prediction, and knowledge base is established to identify patterns in massive reservoir development data and provide valuable technical references for new reservoir development.

关键词： Data mining technique Analogy parameters Oilfield analogy Productivity prediction Software platform