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摆臂式全向移动机器人双模式轨迹跟踪研究

机械设计 2024年第4期41卷 65-73页

作者：冉起帆姚圣卓陈新波北京建筑大学机电与车辆工程学院北京100044 中国北方车辆研究所北京100072

为了提升室外轮式移动机器人全向机动能力,文中提出一种通过普通轮作为驱动的移动机器人,根据不同动力分配及摆腿转角实现四轮转向(4WS)、斜行和原地转向模式。基于斜行及4WS模式设计了双模式混合控制器,其中,斜行模式采用多点预瞄模糊... 详细信息

为了提升室外轮式移动机器人全向机动能力,文中提出一种通过普通轮作为驱动的移动机器人,根据不同动力分配及摆腿转角实现四轮转向(4WS)、斜行和原地转向模式。基于斜行及4WS模式设计了双模式混合控制器,其中,斜行模式采用多点预瞄模糊补偿轨迹跟踪控制,4WS模式采用增量线性时变模型预测控制(ILTV-MPC)。通过试验样机的横、纵向跟踪性能试验得到双模式混合控制器所需的约束条件。采用Simulink∕CarSim联合仿真平台对控制器的有效性进行验证。采用混合控制器的移动机器人底盘在低曲率跟踪时较4WS模式均方根误差相差0.18%,且横摆角与横摆角速度维持不变。结果表明:混合控制器保证全轮转向机器人低曲率跟踪精度的同时提升了其横摆稳定性。

关键词：斜行模式四轮转向模式轨迹跟踪多点预瞄双模式混合控制

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OsmiR530正调控水稻的耐旱和耐盐性

湖南农业大学学报（自然科学版） 2024年第1期50卷 43-51页

作者：吕思晓肖敏敏陈信波湖南农业大学生物科学技术学院湖南长沙410128

以粳稻品种日本晴(CK)和农杆菌介导转化的OsmiR530-OE转基因水稻为材料进行耐旱和耐盐性相关功能的鉴定。结果表明:OsmiR530有2种成熟的序列形式OsmiR530-5p和OsmiR530-3p,其表达量在OsmiR530-OE转基因植株均有明显增加;靶基因表达量预... 详细信息

以粳稻品种日本晴(CK)和农杆菌介导转化的OsmiR530-OE转基因水稻为材料进行耐旱和耐盐性相关功能的鉴定。结果表明:OsmiR530有2种成熟的序列形式OsmiR530-5p和OsmiR530-3p,其表达量在OsmiR530-OE转基因植株均有明显增加;靶基因表达量预测分析发现,OsmiR530-5p的靶基因OsTAP46、OsC3HC4、OsPWI和OsE1等在OsmiR530-OE转基因植株中的表达都有一定程度的下调;在干旱、盐胁迫条件下,OsmiR530能提高种子的发芽率、根长和苗高以及萌芽期幼苗对干旱胁迫和盐胁迫的耐受性;检测干旱处理植株的SOD、POD和CAT活性,发现OsmiR530-OE转基因水稻的SOD、POD和CAT活性增长显著;对成熟期水稻植株的农艺性状进行统计分析,发现过表达OsmiR530水稻植株的剑叶的叶表面积、千粒质量以及结实率显著降低。推测OsmiR530可以调控水稻对盐胁迫、干旱胁迫的耐受性。

关键词：水稻 miR530 耐旱性耐盐性

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改进目标检测模型在大米外观品质检测中的应用研究

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中国粮油学报 2024年第7期39卷 181-188页

作者：成泞伸张聪魏志慧闫可陈新波武汉轻工大学电气与电子工程学院武汉430023 武汉轻工大学数学与计算机学院武汉430023

针对现有的大米外观品质检测方法存在识别准确率较低的问题,本研究提出一种结合高效通道注意力机制(Efficient Channel Attention,ECA)的改进CenterNet模型(SEP-CenterNet)用于大米外观品质检测。首先,使用图像采集设备获取碎米、整米... 详细信息

针对现有的大米外观品质检测方法存在识别准确率较低的问题,本研究提出一种结合高效通道注意力机制(Efficient Channel Attention,ECA)的改进CenterNet模型(SEP-CenterNet)用于大米外观品质检测。首先,使用图像采集设备获取碎米、整米和黄米图像,为防止由于数据集较小出现过拟合现状,对图像进行旋转、翻转等方式扩充数据集;然后将引入空间金字塔池化(Spatial Pyramid Pooling,SPP)的GhostNet作为CenterNet的骨干网络,用于提取大米的多层次特征,并使用基于ECA注意力机制的路径聚合网络(EPANet)进行语义特征融合。实验结果表明,改进后的CenterNet模型的对碎米、黄米和整米的检测准确率分别达到97.02%、96.73%、98.14%,mAP值较原始CenterNet提升了5.84%,识别准确率均高于SSD、Faster-RCNN、Retinanet、YOLOV4、YOLOV4-tiny和YOLOV5等模型,同时对比基于提取形态特征和傅里叶系数的传统大米检测方法,本文模型准确率更高,且具有较好的泛化性。

关键词：大米外观品质目标检测空间金字塔池化路径聚合网络注意力机制

Development of a Wearable Upper Limb Rehabilitation Robot Based on Reinforced Soft Pneumatic Actuators

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Chinese Journal of Mechanical Engineering 2022年第4期35卷 182-190页

作者： xinbo chen Shuai Zhang Kaibin Cao Chunjie Wei Wumian Zhao Jiantao Yao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Dyskinesia of the upper limbs caused by stroke,sports injury,or trafc accidents limits the ability to perform the activities of daily *** the necessary medical treatment,correct and scientifc rehabilitation training for the injured joint is an important auxiliary means during the treatment of the efected upper *** upperlimb rehabilitation robots have some disadvantages,such as a complex structure,poor compliance,high cost,and poor *** this study,a novel soft wearable upper limb rehabilitation robot(SWULRR)with reinforced soft pneumatic actuators(RSPAs)that can withstand high pressure and featuring excellent loading characteristics was *** by RSPAs,this portable SWULRR can perform rehabilitation training of the wrist and elbow *** this study,the kinematics of an SWULRR were analyzed,and the force and motion characteristics of RSPA were studied *** results provide a reference for the development and application of wearable upper limb rehabilitation *** experimental study on the rotation angle of the wrist and the pressure of the RSPA was conducted to test the efect of the rehabilitation training and verify the rationality of the theoretical *** process of wrist rehabilitation training was tested and evaluated,indicating that SWULRR with RSPAs will enhance the fexibility,comfort,and safety of rehabilitation *** work is expected to promote the development of wearable upper-limb rehabilitation robots based on modular reinforced soft pneumatic actuators.

关键词： Upper limb rehabilitation Reinforced soft pneumatic actuator Wearable rehabilitation robot Motion analysis

Path Tracking Control of a Four-Wheel-Independent-Steering Electric Vehicle based on Model Predictive Control

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Path Tracking Control of a Four-Wheel-Independent-Steering E...

第36届中国控制会议

作者： Peng Hang Fengmei Luo Shude Fang xinbo chen School of Automotive Studies Tongji University Clean Energy Automotive Engineering Center Tongji University

ISBN: (纸本)9781538629185

Compared with the traditional front-wheel-steering(FWS) vehicles,four-wheel-independent-steering(4WIS)vehicles have better handling stability and path-tracking *** this paper,a novel 4WIS electric vehicle(EV) is proposed and it is viewed as a controlled object for path *** nonlinear dynamical model of the 4WIS EV is built based on the nonlinear Dugoff tire *** controller design,the nonlinear dynamical model is simplified as a linear ***,a linear model predictive controller(MPC) is designed for the 4WIS EV to follow reference path which is expressed as reference yaw angle and reference longitudinal *** main objective of the MPC is to minimize the error between the reference signals and measurement *** the procedure of solving MPC,the constraints are taken into consideration including actuator constraints,tire slip angle constraints and the lateral acceleration *** evaluate the performance of the designed controller,two simulation conditions are carried out using the nonlinear vehicle model with 9 degrees of freedom(DOF) in MATLAB/*** results show that the designed MPC has good path-tracking performance and strong robust performance against parametric perturbations.

关键词： four-wheel-independent-steering electric vehicle path tracking model predictive control

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航空多层铆接结构内层裂纹的远场涡流检测

无损检测 2024年第3期46卷 44-48页

作者：李小丽陈新波王正王泽帅宋凯海军航空大学青岛校区航空机械工程与指挥系青岛266041 中国海洋大学信息科学与工程学部青岛266100 92329部队葫芦岛125100 南昌航空大学无损检测技术教育部重点实验室南昌330063

多层铆接结构是飞机机身蒙皮与型材的主要结构。由于周期性载荷作用,其内部型材等承力部位易产生疲劳裂纹,该位置隐蔽性强,采用目视或常规无损检测技术难以检测出这些缺陷。而远场涡流检测技术可检测埋藏深度大的缺陷,采用该技术对飞机... 详细信息

多层铆接结构是飞机机身蒙皮与型材的主要结构。由于周期性载荷作用,其内部型材等承力部位易产生疲劳裂纹,该位置隐蔽性强,采用目视或常规无损检测技术难以检测出这些缺陷。而远场涡流检测技术可检测埋藏深度大的缺陷,采用该技术对飞机多层铆接结构的内层裂纹进行检测。结果表明:选择合适的检测频率时,检测信号阻抗的幅值与裂纹深度、检测信号阻抗的相位角与裂纹埋藏深度均呈良好的线性关系,对于确定的被检材料和检测传感器,得出的拟合公式可为裂纹损伤的定位、定量检测提供理论参考依据,从而获得裂纹的准确信息,实现裂纹损伤的准确定位和定量检测。

关键词：多层结构内层裂纹远场涡流检测阻抗幅值阻抗相位角

Sliding Mode-based Learning Control for A Novel Steering-by-wire System

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Sliding Mode-based Learning Control for A Novel Steering-by-...

Li-air batteries:air stability of lithium metal anodes

第36届中国控制会议

作者： Jie Luo Peng Hang Fengmei Luo Lixin Wu xinbo chen Clean Energy Automotive Engineering Center Tongji University School of Automotive Studies Tongji University

ISBN: (纸本)9781538629185

To achieve steering angle tracking perfonnance of a novel steering-by-wire（SbW） system,a sliding mode-based learning control（SMLC） is *** features that the bounds infonnation of disturbances isn’t required in advance and the chattering phenomenon will be *** results show that the proposed SMLC has excellent steering angle tracking perfonnance,robust perfonnance and energy ***,to fulfill path tracking perfonnance of a novel four-wheel-independent-steering electric vehicle（4WIS EV）,a control scheme is proposed for the 4WIS EV,which utilizes a μ-synthesis robust control as a main-loop controller and utilizes the SMLC as a servo-loop *** results also show that good path tracking perfonnance is achieved by the proposed control scheme.

关键词： sliding mode control steering-by-wire(SbW) four-wheel-independent-steering(4WIS) learning control

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Science China Chemistry 2024年第1期67卷 122-136页

作者： Renfei Cao Kai chen Jianwei Liu Gang Huang Wanqiang Liu xinbo Zhang School of Materials Science and Engineering Changchun University of Science and TechnologyChangchun 130022China State Key Laboratory of Rare Earth Resource Utilization Changchun Institute of Applied ChemistryChangchun 130022China

Aprotic rechargeable lithium-air batteries(LABs)with an ultrahigh theoretical energy density(3,500 Wh kg^(-1))are known as the‘holy grail’of energy storage systems and could replace Li-ion batteries as the next-generation high-capacity batteries if a practical device could be ***,only a few researches focus on the battery performance and reactions in the ambient air environment,which is a major obstacle to promote the practical application of ***,we have summarized the recent research progress on LABs,especially with respect to the Li metal *** chemical and electrochemical deteriorations of the Li metal anode under the ambient air are discussed in detail,and the parasitic reactions involving the cathode and electrolyte during the charge-discharge processes are *** also provide stability perspectives on protecting the Li metal anodes and propose design principles for realizing high-performance LABs.

关键词： parasitic reaction lithium metal anode anode protection Li-air batteries

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基于虚拟样机的某多轴车辆制动轴荷特性分析

车辆与动力技术 2024年第2期 7-11页

作者：范婧周伟徐晓曦杨立煜王师凯陈新波中国北方车辆研究所北京100072

文中对某多轴单纵臂车辆的行动部分进行了虚拟样机建模,依据总体任务指标及相关法规对其进行了不同制动强度工况下的制动过程仿真.通过对仿真结果的综合比较,分析得到了各轴在不同制动强度下轴荷动态分布特性,为车辆行动部件及车体的结... 详细信息

文中对某多轴单纵臂车辆的行动部分进行了虚拟样机建模,依据总体任务指标及相关法规对其进行了不同制动强度工况下的制动过程仿真.通过对仿真结果的综合比较,分析得到了各轴在不同制动强度下轴荷动态分布特性,为车辆行动部件及车体的结构强度校核设计,以及各轴制动力的匹配优化设计提供了参考依据.

关键词：多轴车辆单纵臂制动仿真轴荷分布