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Leader-follower: Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science China Technological Sciences 2025年第1期 325-338页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui wu Tianjiao zheng Jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of Technology The Learning Algorithms and Systems Laboratory School of Engineeringécole Polytechnique Fédérale de Lausanne

Supernumerary robotic arms(SuperLimb) are a new type of wearable robot that works closely with humans as a third hand to augment human operation capability. Accurate conveyance of wearers' intentions, allocation of roles, and humancentered interaction considerations are the key points in the process of human–SuperLimb collaboration. This paper proposes a human-centered intention-guided leader–follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying scenarios. The proposed leader–follower controller takes the human as the leader and the SuperLimb as the follower, achieving effective information communication, autonomous coordination, and good force compliance between SuperLimb, humans, and the environment under human safety assurance. First, the human–SuperLimb dynamic system is modeled to achieve force interaction with the environment and wearer. Second, to achieve the precise intention extraction of humans, pose data from five visual odometry sensors are fused to capture the human state, the generalized position, the velocity of hands, and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer network. Then, based on the real-time distance detection between human and mechanical limbs, the security assurance and force-compliant interaction of the human–SuperLimb system are realized. Finally, the human hand muscle intention recognition, human–robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories, and SuperLimb could well understand the wearer's intentions to switch different SuperLimb actions. The proposed sensor-based human–robot communication framework motivates future studies of o

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单级冲击采样器切割头气流特性及切割粒径研究

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建筑热能通风空调 2022年第9期41卷 93-96,92页

作者：吴政江彭小勇陈丽园南华大学土木工程学院

以单级冲击采样器切割头为对象,应用CFD技术,数值模拟了喷嘴末端平齐外壁(模型一)和喷嘴末端向下延伸(模型二)两种结构切割头内部的流场及颗粒物轨迹。模拟结果表明模型二具有以下特点:颗粒物更容易脱离流线而撞击在捕捉面上;√St数曲... 详细信息

以单级冲击采样器切割头为对象,应用CFD技术,数值模拟了喷嘴末端平齐外壁(模型一)和喷嘴末端向下延伸(模型二)两种结构切割头内部的流场及颗粒物轨迹。模拟结果表明模型二具有以下特点:颗粒物更容易脱离流线而撞击在捕捉面上;√St数曲线较陡;能有效通过颗粒物粒径进行选择性捕捉;捕捉率曲线整体上更陡,对颗粒物的切割效果更理想。本文为单级冲击采样器切割头的设计提供了一定的技术参考。

关键词：颗粒物切割原理采样切割头数值模拟

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Spark下BP神经网络并行化算法研究

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测控技术 2018年第3期37卷 23-27,40页

作者：吴正江陈如校张霄宏河南理工大学计算机科学与技术学院河南焦作454003

BP算法(反向传播算法)以其良好的非线性逼近能力、泛化能力以及实用性成为了人工神经网络训练算法中应用最为广泛的算法。但同时使用BP算法又存在收敛速度较慢、易陷入局部极小值等问题。为了将BP算法用于大规模数据分类问题,采用MapRed... 详细信息

BP算法(反向传播算法)以其良好的非线性逼近能力、泛化能力以及实用性成为了人工神经网络训练算法中应用最为广泛的算法。但同时使用BP算法又存在收敛速度较慢、易陷入局部极小值等问题。为了将BP算法用于大规模数据分类问题,采用MapReduce思想,将大数据集切分成若干小的数据集来并行加速处理,同时引入Bagging算法的思想来综合并行结果,提高分类的准确率。通过在各个节点上根据子数据集独立地训练各个BP神经网络,直至各网络收敛,再将各节点上的网络收集起来进行集成,形成最终的分类器。基于Spark平台的实验表明,本文提出的算法具有良好的并行加速性能,且具有较高的分类准确率。

关键词：神经网络算法并行 Spark Bagging

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库车孢型体Kuqaia研究的新认识

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新疆石油地质 2003年第5期24卷 424-426页

作者：罗正江吴新莹王睿阿丽亚中国石油新疆油田分公司勘探开发研究院新疆克拉玛依834000

库车孢型体Kuqaia是一类表面纹饰类似于动物贝壳或腹足类口盖的疑源类化石,它以地质分布时限短、分布范围广、易于识别而广泛应用于地层划分、对比中。过去普遍认为其分布层位相当局限,新疆地区仅限于塔里木盆地侏罗系阳霞组、康苏组、... 详细信息

库车孢型体Kuqaia是一类表面纹饰类似于动物贝壳或腹足类口盖的疑源类化石,它以地质分布时限短、分布范围广、易于识别而广泛应用于地层划分、对比中。过去普遍认为其分布层位相当局限,新疆地区仅限于塔里木盆地侏罗系阳霞组、康苏组、杨叶组(下部)、准噶尔盆地侏罗系三工河组及井下相当层位,时代大致属于早侏罗世晚期或中晚期。最新研究成果证明:Kuqaia始现于早侏罗世早期,繁盛于早侏罗世晚期或中晚期,可延续分布至中侏罗世。

关键词：塔里木盆地:准噶尔盆地侏罗纪孢粉化石

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Analysis of working behavior of Jinping-I Arch Dam during initial impoundment

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Water Science and Engineering 2016年第3期9卷 240-248页

作者： Shi-yong wu Wei Cao jiang zheng Yalong River Hydropower Development Company Ltd.

To study the stress, deformation, and seepage pressure during the initial impoundment of the Jinping-I Arch Dam, monitoring analysis and numerical calculation were used in a dam behavior analysis that focused on the working behavior of the dam during the late period of the initial impoundment up to the end of November 2014. The numerical calculation was performed based on feedback analysis of the deformation and stress of the arch dam through inversion of the elastic moduli(E) of the dam body and foundation, using a three-dimensional finite element model for the linear elastic material of the arch dam. The main monitoring indices presented insignificant changes in the late period of the initial impoundment, and the results of feedback analysis were consistent with monitoring results. Analysis results also show that the deformations of the dam body and dam foundation were within the design range; the dam stress distributions were normal, with values lower than the design control criteria; and the seepage flows through the dam body and dam foundation were lower than the design drainage capacity of the deep-well pump house, demonstrating that the Jinping-I Arch Dam was in good working condition, and the initial impoundment had been successfully completed. The results of the working behavior analysis of the Jinping-I hydropower project during the initial impoundment can provide references for safe operation of similar projects.

关键词： Dam safety monitoring Working behavior Elastic modulus Dam impoundment Jinping-I hydropower project

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船用低噪声液压集成块优化设计与分析

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舰船科学技术 2011年第9期33卷 116-119页

作者：孙霖廖金军吴正江于俊海军驻研究所军事代表室湖北武汉430064 华中科技大学FESTO气动技术中心湖北武汉430074 武汉第二船舶设计研究所湖北武汉430064

液压集成块是集成式液压系统的关键元件之一,它的工作状态直接影响系统的整体性能。为了降低系统的工作噪声,提高船用液压集成块的能源利用率和工作舒适性等,针对现有液压集成块所存在的问题,利用CFD和CAE方法对其进行对比分析,并从机... 详细信息

液压集成块是集成式液压系统的关键元件之一,它的工作状态直接影响系统的整体性能。为了降低系统的工作噪声,提高船用液压集成块的能源利用率和工作舒适性等,针对现有液压集成块所存在的问题,利用CFD和CAE方法对其进行对比分析,并从机械系统动力学出发,设计了液压换向缓冲结构,通过对优化设计后的液压集成块的分析可知,对原有系统的优化设计效果明显。

关键词：船舶低噪声液压集成块缓冲装置优化设计

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Cascade degradation and electrocatalytic upcycling of waste poly(ethylene terephthalate)to valued products

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Nano Research 2025年第1期18卷 76-93页

作者： Xin Li Zirui jiang Zongkui Kou John Wang Shiyou zheng School of Materials and Chemistry University of Shanghai for Science and TechnologyShanghai 200093China School of Materials Science and Engineering Wuhan University of TechnologyWuhan 430070China Department of Materials Science and Engineering National University of SingaporeSingapore 117574Singapore

The global annual production of poly(ethylene terephthalate)(PET)has reached 82 million tons,yet only a small fraction(less than 20%)is *** ultra-slow degradation rate of PET results in the accumulation of PET waste in the environment,causing serious plastic pollution and posing severe challenges to *** response,great efforts have been directed toward developing a cascade degradation and electrocatalytic upcycling strategy,which serves as a“waste-towealth”*** strategy involves electro-reforming PEThydrolyzed intermediates or using PET pyrolyzed products as electrocatalysts to generate high-value *** review provides an overview of the state-of-the-art strategies for the“degradation-electrocatalytic upcycling(De-eUp)”of PET ***,an introduction to the strategy is provided,categorizing it into two main frameworks:“pyrolysis-electrocatalytic upcycling”and“hydrolysis-electrocatalytic upcycling”.The section on“pyrolysis-electrocatalytic upcycling”delves into the degradation methods for designing derived carbon nanomaterials and their utilization as high-performance ***“hydrolysis-electrocatalytic upcycling”section discusses recent advancements in electro-reforming of PET hydrolyzed intermediates for the production of C_(1) and C_(2) *** review concludes by examining the challenges and future prospects in developing an efficient and economical PET upcycling *** is anticipated that this review will stimulate further progress in plastic waste valorization.

关键词： poly(ethylene terephthalate)waste electrocatalytic upcycling pyrolysis hydrolysis ethylene glycol oxidation reaction

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Effect of the presence of trace sulfur dioxide on piperazine-based amine absorbents for carbon dioxide capture

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Chinese Journal of Chemical Engineering 2024年第9期73卷 34-41页

作者： Songtao zheng Yao jiang Shaojun Jia Yan wu Peng Cui School of Chemistry and Chemical Engineering Hefei University of TechnologyHefei 230009China

The effect of the presence of trace SO_(2)in industrial flue gas on the amine-scrubbing-based absorption process for CO_(2)capture has been a matter of *** study aimed to investigate the effect of trace SO_(2)on the CO_(2)capture process using piperazine-based amine absorbents,focusing on SO_(2)-resistance capability,SO_(2)/CO_(2)absorption selectivity,and cyclic *** presence of trace SO_(2)not only restrains CO_(2)absorption,but also promotes the formation of carbamate within the piperazine-based amine ***,the incorporation of aminoethyl group in piperazine-based amine absorbents can enhance the SO_(2)-resistance capability by promoting the formation of carbamate,while piperazine-based amine absorbents with hydroxyethyl group can promote the formation of bicarbonate to reduce the SO_(2)-resistance *** work offers valuable insights into the efficient application of novel amine absorbents for CO_(2)capture from practical industrial flue gas.

关键词： CO_(2)capture Piperazine Amine absorbent Trace SO_(2) Absorption

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Detection of kinematics parameters of index finger movement with high-speed video camera

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仪器仪表学报 2008年第2期29卷 240-243页

作者： Hou Wensheng jiang Yingtao wu Xiaoying zheng Xiaolin zheng Jun Ye Yihong Department of Biomedical Engineering Chongqing University Chongqing 400044 China Department of Electrical and Computer Engineering University of Nevada Las Vegas NV 89154 USA Computer Science Department Queens College City University of New York Flushing NY 11367 USA

Synergic movement of finger's joints provides human hand tremendous dexterities,and the detection of kinematics parameters is critical to describe and evaluate the kinesiology functions of the *** present work is the attempt to investigate how the angular velocity and angular acceleration of the joints of index finger vary with respect to time during conducting a motor task.A high-speed video camera has been employed to visually record the movement of index finger,and miniaturized(5-mm diameter) reflective markers have affixed to the subject's index finger on the side close to thumb and dorsum of thumb at different joint *** images have been reviewed frame by frame to get the coordinate values of each joint,and the angular displacements,angular velocities and angular acceleration can be obtained with triangle *** experiment results show that the methods here can detect the kinematics parameters of index finger joints during moving,and can be a valid route to study the motor function of index finger.

关键词：运动学参数食指移动高速摄影机角速度协同作用

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In situ self-assembly of amphiphilic dextran micelles and superparamagnetic iron oxide nanoparticle-loading as magnetic resonance imaging contrast agents

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Regenerative Biomaterials 2023年第1期10卷 194-204页

作者： Linrui jiang Rong zheng Ni Zeng Changqiang wu Hongying Su Faculty of Chemical Engineering Kunming University of Science and TechnologyKunming 650500China Sichuan Key Laboratory of Medical Imaging North Sichuan Medical CollegeNanchong 637000China

Polymeric micelles have long been considered as promising nanocarrier for hydrophobic drugs and imaging probes,due to their nanoscale particle size,biocompatibility and ability to loading reasonable amount of ***,a facile method for dextran micelles preparation was developed and their performance as carriers of superparamagnetic iron oxide(SPIO)nanocrystals was *** dextran(Dex-g-OA)was synthesized via the Schiff base reactions between oxidized dextran and oleylamine,and self-assembled in situ into nano-size micelles in the reaction *** self-assembling behaviors of the amphiphilic dextran were identified using fluorescence resonance energy transfer technique by detection the energy transfer signal between the fluorophore pairs,Cy5 and *** SPIO nanoparticles(Fe_(3)O_(4)NPs)were successfully loaded into the dextran micelles via the in situ self-assembly process,leading to a series of Fe_(3)O_(4)NPs-loaded micelle nanocomposites(Fe_(3)O_(4)@Dex-g-OA)with good biocompatibility,superparamagnetism and strongly enhanced T_(2)*** the magnetic field of 0.5 T,the Fe_(3)O_(4)@Dex-g-OA nanocomposite with particle size of 116.2±53.7 nm presented a higher T_(2)relaxivity of 327.9 mM_(re)^(-1)·s^(-1)·s^(−1).The prepared magnetic nanocomposites hold the promise to be used as contrast agents in magnetic resonance imaging.

关键词： micelle dextran superparamagnetic iron oxide magnetic resonance imaging Schiff base

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