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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao Jiliang Zhang Long Jin Junzhi Yu zhongbo sun the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

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

废弃矿井地下空间再利用根源因素识别及评价模型构建

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中国矿业大学学报 2024年第3期53卷 585-599,612页

作者：孙中博赵毅鑫任建东中国矿业大学(北京)共伴生能源精准开采北京市重点实验室北京100083 中国矿业大学(北京)能源与矿业学院北京100083

为了推动废弃矿井空间资源的精准开发利用,根据地质条件和形态方位差异对影响废弃矿井地下空间再利用的众多因素开展系统研究.首先,从资源禀赋状态、稳定性、安全性和区位条件4个维度构建了包含18个因素的指标体系.然后,引入K-means聚... 详细信息

为了推动废弃矿井空间资源的精准开发利用,根据地质条件和形态方位差异对影响废弃矿井地下空间再利用的众多因素开展系统研究.首先,从资源禀赋状态、稳定性、安全性和区位条件4个维度构建了包含18个因素的指标体系.然后,引入K-means聚类算法避免了阈值确定的主观性和随意性,建立DEMATEL-ISM评价模型分析各因素间的相互作用关系.其次,构建多属性两阶段决策评价模型,采用TFN-TODIM方法对备选矿井排序.结果表明:“高度影响关系”类别的阈值包含63个,λ取值范围为0.107~0.248.各影响因素之间呈现复杂的同级和跨级作用关系,并得到了影响废弃矿井地下空间再利用的5个关键因素(煤层稳定性、围岩性质、地质构造复杂程度、开采深度、地质灾害发生频率)和3个根本因素(瓦斯浓度等级、矿井涌水量、煤层自燃倾向性).以地下旅游及休闲娱乐场所模式为例,各备选矿井的优劣势排序为A1(山西太原白家庄煤矿)>A3(山东济宁唐口煤矿)>A2(山西临汾团柏煤矿)>A5(陕西榆林山东煤矿)>A7(贵州遵义云安煤矿),最优先开发的矿井为山西太原白家庄煤矿.最后,展望了物资仓储、医疗场所、科研教学基地和深地工程等模式的决策评价模型的研究焦点和方向.研究结论为促进废弃矿井地下空间资源再利用提供了理论支撑,对推动矿区转型发展具有借鉴意义.

关键词：废弃矿井地下空间再利用 DEMATEL-ISM K-means聚类 TODIM

Nonconvex Noise-Tolerant Neural Model for Repetitive Motion of Omnidirectional Mobile Manipulators

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1766-1768页

作者： zhongbo sun Shijun Tang Jiliang Zhang Junzhi Yu the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE College of Information Science and Engineering Northeastern UniversityShenyang 110819China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

Dear Editor,Quadratic programming problems(QPs)receive a lot of attention in various fields of science computing and engineering applications,such as manipulator control[1].Recursive neural network(RNN)is considered t... 详细信息

关键词： directional programming hardware

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

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

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

基于递归神经网络的人体下肢运动意图识别方法

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机器人外科学杂志（中英文） 2024年第2期5卷 121-129页

作者：张鑫李婉婷陈岩孙中波长春工业大学电气与电子工程学院吉林长春130012 吉林大学第二医院神经外科吉林长春130041

采集下肢两通道的表面肌电信号和相应的关节运动信息,对原始表面肌电信号进行预处理。建立基于径向基函数神经网络的开环估计模型,以预处理后的表面肌电信号为输入,关节运动量为输出。在此基础上,归零神经网络作为一种特殊的递归神经网... 详细信息

采集下肢两通道的表面肌电信号和相应的关节运动信息,对原始表面肌电信号进行预处理。建立基于径向基函数神经网络的开环估计模型,以预处理后的表面肌电信号为输入,关节运动量为输出。在此基础上,归零神经网络作为一种特殊的递归神经网络被应用到开环模型中,形成一个混合的闭环预测模型。实验结果表明,所提出的闭环模型能够有效地消除开环模型的预测误差,进而能够更加准确地识别出人体的主动运动意图,为后续康复机器人的人机交互系统提供有价值的参考。

关键词：表面肌电信号主动运动运动意图下肢归零神经网络径向基函数神经网络

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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

Simulating the evolution of focused waves by a two-layer Boussinesq-type model

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Acta Oceanologica Sinica 2024年第5期43卷 91-99页

作者： Ping Wang zhongbo Liu Kezhao Fang Wenfeng Zou Xiangke Dong Jiawen sun State Environmental Protection Key Laboratory of Marine Ecosystem Restoration National Marine Environmental Monitoring CenterDalian 116023China College of Transportation Engineering Dalian Maritime UniversityDalian 116026China State Key Laboratory of Coastal and Offshore Engineering Dalian University of TechnologyDalian 116024China

Accurate simulation of the evolution of freak waves by the wave phase focusing method requires accurate linear and nonlinear properties,especially in deep-water *** this paper,we analyze the ability to simulate deep-water focused waves of a two-layer Boussinesq-type(BT)model,which has been shown to have excellent linear and nonlinear *** further improve the numerical accuracy and stability,the internal wavegenerated method is introduced into the two-layer Boussinesq-type ***,the sensitivity of the numerical results to the grid resolution is analyzed to verify the convergence of the model;secondly,the focused wave propagating in two opposite directions is simulated to prove the symmetry of the numerical results and the feasibility of the internal wave-generated method;thirdly,the limiting focused wave condition is simulated to compare and analyze the wave surface and the horizontal velocity of the profile at the focusing position,which is in good agreement with the measured *** the simulation of focused waves in very deep waters agrees well with the measured values,which further demonstrates the capability of the two-layer BT model in simulating focused waves in deep waters.

关键词： focused waves numerical simulation Boussinesq-type model velocity profile