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仿生关节链球坐标系的建立及应用

计算机辅助设计与图形学学报 2014年第2期26卷 191-197页

作者：王守觉张众维肖泉中国科学院苏州纳米技术与纳米仿生研究所高维仿生信息学及其应用实验室苏州215123 中国科学院半导体研究所神经网络实验室北京100083 天津城建大学计算机与信息工程学院天津300384

为了直观准确地记录和计算空间骨架结构的状态,提出一种仿生关节链球坐标系.对于待求活动关节,在已知与其相连的前两节节棍位置状态的前提下,利用当前节棍的长度值和链球坐标系下的2个角度值来精确计算关节新位置的三维笛卡儿坐标值.最... 详细信息

为了直观准确地记录和计算空间骨架结构的状态,提出一种仿生关节链球坐标系.对于待求活动关节,在已知与其相连的前两节节棍位置状态的前提下,利用当前节棍的长度值和链球坐标系下的2个角度值来精确计算关节新位置的三维笛卡儿坐标值.最后结合高维仿生信息学理论的应用,证明了采用该坐标系对骨架结构进行的刻画可以逼真地反映状态上细微的、连续的变化,无冗余信息,比传统方法参数少、速度快、应用范围广,可生成丰富的姿态,有利于艺术创作.

关键词：人体关节链球坐标系高维形象几何仿生信息学

三臂凿岩台车钻臂协同钻孔防碰撞路径规划研究

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隧道建设（中英文） 2023年第10期43卷 1801-1809页

作者：吕为盛崔孟豪姬会福张中伟河南工业大学机电工程学院河南郑州450001 河南农业大学烟草学院河南郑州450002

针对三臂凿岩台车3个钻臂协同钻孔时,由于路径规划不合理导致钻臂碰撞干涉,造成设备损坏、影响掘进施工效率的问题,提出一种基于改进人工势场法的钻臂协同钻孔防碰撞路径规划方法。首先,采用改进的D-H法建立三臂凿岩台车钻臂运动学模型... 详细信息

针对三臂凿岩台车3个钻臂协同钻孔时,由于路径规划不合理导致钻臂碰撞干涉,造成设备损坏、影响掘进施工效率的问题,提出一种基于改进人工势场法的钻臂协同钻孔防碰撞路径规划方法。首先,采用改进的D-H法建立三臂凿岩台车钻臂运动学模型,采用包络盒法对钻臂结构进行合理简化,建立碰撞检测数学模型;其次,对传统势场法中的势场函数进行重建,将势能引入钻臂各关节,保证势场可以约束钻臂的运动姿态;最后,以188孔位隧道掌子面为例,钻臂依据优化后的钻孔顺序进行作业,基于此对钻臂进行防碰撞路径规划仿真实验。仿真结果表明:1)基于距离最短钻孔顺序时中间钻臂与左右钻臂之间的最短距离分别为984.6、580.8 mm,均未发生碰撞干涉;2)基于关节变量最小钻孔顺序时中间钻臂与左右钻臂之间的最短距离分别为193.5、580.8 mm,此时考虑施工安全性及钻臂结构尺寸存在碰撞风险,故应选取距离最短钻孔顺序进行钻孔施工,以实现三臂凿岩台车多钻臂协同钻孔作业。

关键词：三臂凿岩台车防碰撞路径规划人工势场法钻臂碰撞干涉检测

晶圆制造双闭环Interbay物料运输系统性能分析模型

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工业工程与管理 2023年第3期28卷 135-144页

作者：吴立辉张中伟胡文博张洁上海应用技术大学机械工程学院上海201418 河南工业大学机电工程学院河南郑州450001 东华大学人工智能研究院上海201620

双闭环Interbay物料运输系统是300 mm晶圆制造系统至关重要的组成部分。为在设计阶段快速有效分析其运行性能,本文提出了一种扩展马尔可夫模型。该模型充分考虑了运输小车在外环、内环和捷径导轨关键节点的运行、堵塞、装卸晶圆卡等系... 详细信息

双闭环Interbay物料运输系统是300 mm晶圆制造系统至关重要的组成部分。为在设计阶段快速有效分析其运行性能,本文提出了一种扩展马尔可夫模型。该模型充分考虑了运输小车在外环、内环和捷径导轨关键节点的运行、堵塞、装卸晶圆卡等系统状态,抑制了多运输小车运行环境下的模型状态空间规模爆炸,提高了性能分析模型的准确性与运算效率。采用某晶圆制造企业实际生产数据,将扩展马尔可夫模型与仿真模型进行比较。结果表明:两者在空载运输小车到达时间间隔、系统搬运能力和运输小车利用率等关键指标方面相对误差值较小;扩展马尔可夫模型明显具有更高的分析效率。由此验证了提出的扩展马尔可夫模型用于双闭环Interbay系统性能分析是有效的。

关键词：晶圆制造 Interbay物料运输系统双闭环扩展马尔可夫模型性能分析

基于自适应模糊PID的输液温度控制系统研究

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河南理工大学学报（自然科学版） 2023年第3期42卷 137-145页

作者：张中卫杨彦奇杨海坤河南理工大学物理与电子信息学院河南焦作454000

在寒冷季节对输液的药液进行加热,使其保持在一定温度范围内是非常有必要的。针对输液过程中的实际需求,基于自适应模糊PID算法研制用于输液的温度控制系统。首先,通过分析输液加热的特点,利用MATLAB/Simulink仿真工具箱搭建PID、自适... 详细信息

在寒冷季节对输液的药液进行加热,使其保持在一定温度范围内是非常有必要的。针对输液过程中的实际需求,基于自适应模糊PID算法研制用于输液的温度控制系统。首先,通过分析输液加热的特点,利用MATLAB/Simulink仿真工具箱搭建PID、自适应模糊PID的输液温度控制模型,进行仿真对比实验,验证模糊PID算法用于温度控制的优越性;然后,以STM32单片机为主控制器、NTC热敏电阻为温度传感器,结合帕尔贴式温控加热元件,设计并实现基于模糊PID算法的硬件实验电路。结果表明,模糊PID算法与PID算法相比具有响应速度更快、超调量更小的优点,当设定起始温度15℃、目标温度34°C时,模糊PID控制器能够在72 s左右到达稳定,最大超调量为2.1%,控制效果优于传统的PID控制算法,在输液液体温度控制中具有良好的应用前景。

关键词：模糊PID 温度控制单片机 MATLAB仿真自动控制技术

Inter-well internal resonance analysis of rectangular asymmetric cross-ply bistable composite laminated cantilever shell under transverse foundation excitation

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Applied Mathematics and Mechanics(English Edition) 2024年第8期45卷 1353-1373页

作者： Lele REN Wei zhang Yufei zhang State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Department of Mechanics Guangxi University Beijing Key Laboratory of Nonlinear Vibrations and Strength of Mechanical Structures College of Mechanical Engineering Beijing University of Technology

The chaotic dynamic snap-through and complex nonlinear vibrations are investigated in a rectangular asymmetric cross-ply bistable composite laminated cantilever shell, in cases of 1 : 2 inter-well internal resonance and primary resonance. The transverse foundation excitation is applied to the fixed end of the structure, and the other end is in a free state. The first-order approximate multiple scales method is employed to perform the perturbation analysis on the dimensionless two-degree-of-freedom ordinary differential motion control equation. The four-dimensional averaged equations are derived in both polar and rectangular coordinate forms. Deriving from the obtained frequency-amplitude and force-amplitude response curves, a detailed analysis is conducted to examine the impacts of excitation amplitude, damping coefficient, and tuning parameter on the nonlinear internal resonance characteristics of the system. The nonlinear softening characteristic is exhibited in the upper stable-state, while the lower stable-state demonstrates the softening and linearity characteristics. Numerical simulation is carried out using the fourth-order Runge-Kutta method, and a series of nonlinear response curves are plotted. Increasing the excitation amplitude further elucidates the global bifurcation and chaotic dynamic snap-through characteristics of the bistable cantilever shell.

关键词： 74K10 bistable composite laminated cantilever shell chaotic dynamic snap-through complex nonlinear vibration inter-well internal resonance O322 primary resonance

Deep Guided Attention Network for Joint Denoising and Demosaicing in Real Image

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Chinese Journal of Electronics 2024年第1期33卷 303-312页

作者： Tao zhang Ying FU Jun zhang School of Computer Science and Technology Beijing Institute of Technology Advanced Reasearch Institute of Multidisciplinary Science Beijing Institute of Technology

Denoising(DN) and demosaicing(DM) are the first crucial stages in the image signal processing pipeline. Recently, researches pay more attention to solve DN and DM in a joint manner, which is an extremely undetermined inverse problem. Existing deep learning methods learn the desired prior on synthetic dataset, which limits the generalization of learned network to the real world data. Moreover, existing methods mainly focus on the raw data property of high green information sampling rate for DM, but occasionally exploit the high intensity and signalto-noise(SNR) of green channel. In this work, a deep guided attention network(DGAN) is presented for real image joint DN and DM(JDD), which considers both high SNR and high sampling rate of green information for DN and DM, respectively. To ease the training and fully exploit the data property of green channel, we first train DN and DM sub-networks sequentially and then learn them jointly, which can alleviate the error accumulation. Besides, in order to support the real image JDD, we collect paired raw clean RGB and noisy mosaic images to conduct a realistic dataset. The experimental results on real JDD dataset show the presented approach performs better than the state-of-the-art methods, in terms of both quantitative metrics and qualitative visualization.

关键词： Training Visualization Inverse problems Green products Noise reduction Pipelines Signal processing

Value Iteration-Based Cooperative Adaptive Optimal Control for Multi-Player Differential Games With Incomplete Information

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 690-697页

作者： Yun zhang Lulu zhang Yunze Cai the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240 the Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China

This paper presents a novel cooperative value iteration(VI)-based adaptive dynamic programming method for multi-player differential game models with a convergence *** players are divided into two groups in the learning process and adapt their policies *** method removes the dependence of admissible initial policies,which is one of the main drawbacks of the PI-based ***,this algorithm enables the players to adapt their control policies without full knowledge of others’ system parameters or control *** efficacy of our method is illustrated by three examples.

关键词： Adaptive dynamic programming incomplete information multi-player differential game value iteration

Proximal Femur Bionic Nail (PFBN): A Panacea for Unstable Intertrochanteric Femur Fracture

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Engineering 2024年第6期37卷 152-158页

作者： Kaixuan zhang Wei Chen Yingze zhang School of Medicine Nankai UniversityTianjin 300071China Department of Orthopedic Surgery of Hebei Province The Third Hospital of Hebei Medical UniversityShijiazhuang 050051China Key Laboratory of Biomechanics of Hebei Province Orthopaedic Research Institute of Hebei ProvinceShijiazhuang 050051China National Health Commission(NHC)Key Laboratory of Intelligent Orthopeadic Equipment The Third Hospital of Hebei Medical UniversityShijiazhuang 050051China Chinese Academy of Engineering Beijing 100088China

With the aging population,intertrochanteric femur fracture in the elderly has become one of the most serious public health issues and a hot topic of research in trauma *** to the limitations of internal fixation techniques and the insufficient mechanical design of nails,the occurrence of complications delays patient recovery after surgical *** of a proximal femur bionic nail(PFBN)based on zhang’s N triangle theory provides triangular supporting fixation,which dramatically decreases the occurrence of complications and has been widely used for clinical treatment of unstable intertrochanteric femur fracture *** this work,we developed an equivalent biomechanical model to analyze improvement in bone remodeling of unstable intertrochanteric femur fracture through PFBN *** results show that compared with proximal femoral nail antirotation(PFNA)and InterTan,PFBN can dramatically decrease the maximum strain in the proximal *** on Frost’s mechanostat theory,the local mechanical environment in the proximal femur can be regulated into the medium overload region by using a PFBN,which may render the proximal femur in a state of physiological overload,favoring post-operative recovery of intertrochanteric femur fracture in the *** work shows that PFBN may constitute a panacea for unstable intertrochanteric femur fracture and provides insights into improving methods of internal fixation.

关键词： Intertrochanteric femur fracture Internal fixation Proximal femur bionic nail(PFBN) Biomechanics Bone remodeling

Host plant traits play a crucial role in shaping the composition of epiphytic microbiota in the arid desert,Northwest China

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Journal of Arid Land 2024年第5期16卷 699-724页

作者： zhang Jun zhang Yuanming zhang Qi State Key Laboratory of Desert and Oasis Ecology Key Laboratory of Ecological Safety and Sustainable Development in Arid LandsXinjiang Institute of Ecology and GeographyChinese Academy of SciencesUrumqi 830011China Xinjiang Key Laboratory of Biodiversity Conservation and Application in Arid Lands Xinjiang Institute of Ecology and GeographyChinese Academy of SciencesUrumqi 830011China Xinjiang Field Scientific Observation Research Station of Tianshan Wild Fruit Forest Ecosystem Yili Botanical GardenXinjiang Institute of Ecology and GeographyChinese Academy of SciencesUrumqi 830011China College of Life Sciences Shihezi UniversityShihezi 832003China

Phyllosphere microorganisms are a crucial component of environmental microorganisms,highly influenced by host characteristics,and play a significant role in plant health and ***,the impact of host characteristics on shaping phyllosphere microbial communities of plants with different life forms remains *** high-throughput sequencing technology,this study analyzed the diversity and community composition of phyllosphere epiphytic microorganisms(e.g.,bacteria and fungi)of various plant life forms in the hinterland of the Gurbantunggut Desert,Northwest *** annotation of prokaryotic taxa(FAPROTAX)and fungi function guild(FUNGuild)were employed to assess the ecological functions of microorganisms and to investigate the role of stochastic and deterministic processes in shaping phyllosphere microbial *** showed a diverse array of phyllosphere epiphytic microorganisms in the desert plants,with Proteobacteria,Cyanobacteria,and Actinobacteriota dominating bacterial community,while Ascomycota and Basidiomycota were prevalent in fungal *** across different plant life forms highlighted distinct microbial communities,indicating strong filtering effects by plant *** prediction identified intracellular parasites(accounting for 27.44%of bacterial community abundance),chemoheterotrophy(10.12%),and phototrophy(17.41%)as the main functions of epiphytic bacteria on leaves of different life form *** prediction indicated that phyllosphere epiphytic fungi primarily served as Saprotrophs(81.77%),Pathotrophs(17.41%),and Symbiotrophs(0.82%).Co-occurrence network analysis demonstrated a predominance of positive correlations among different microbial ***-Crick dissimilarity index analysis revealed that deterministic processes predominantly influenced phyllosphere bacterial and fungal community *** partitioning analysis and random forest modeling suggested that pla

关键词： phyllosphere epiphytic bacteria phyllosphere epiphytic fungi community structure community diversity functional diversity plant life form plant functional traits