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A Comparison of Four Neural Networks Algorithms on Locomotion Intention Recognition of Lower Limb Exoskeleton Based on Multi-source Information

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Journal of Bionic Engineering 2024年第1期21卷 224-235页

作者： Duojin Wang Xiaoping Gu hongliu Yu Institute of Rehabilitation Engineering and Technology University of Shanghai for Science and Technology516 Jungong RoadShanghai 200093China Shanghai Engineering Research Center of Assistive Devices 516 Jungong RoadShanghai 200093China

Lower Limb Exoskeletons(LLEs)are receiving increasing attention for supporting activities of daily *** such active systems,an intelligent controller may be *** this paper,we proposed a locomotion intention recognition system based on time series data sets derived from human motion *** of input data and Deep Learning(DL)algorithms,this framework enables the detection and prediction of users’movement *** makes it possible to predict the detection of locomotion modes,allowing the LLEs to provide smooth and seamless *** pre-processed eight subjects were used as input to classify four scenes:Standing/Walking on Level Ground(S/WOLG),Up the Stairs(US),Down the Stairs(DS),and Walking on Grass(WOG).The result showed that the ResNet performed optimally compared to four algorithms(CNN,CNN-LSTM,ResNet,and ResNet-Att)with an approximate evaluation indicator of 100%.It is expected that the proposed locomotion intention system will significantly improve the safety and the effectiveness of LLE due to its high accuracy and predictive performance.

关键词： Lower limb exoskeletons(LLEs) Locomotion intention ResNet Multi-source

Solid catalysts for the dehydrogenation of long-chain alkanes:lessons from the dehydrogenation of light alkanes and homogeneous molecular catalysis

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Science China Chemistry 2022年第11期65卷 2163-2176页

作者： hongliu Wan Nengfeng Gong Lichen Liu Department of Chemistry Tsinghua UniversityBeijing 100084China State Key Laboratory of Coal Conversion Institute of Coal ChemistryChinese Academy of SciencesTaiyuan 030001China National Energy Center for Coal to Clean Fuels Synfuels China Co.Ltd.Beijing 101407China

Long-chain alkanes are abundant feedstocks supplied by natural resources and chemical industry. Specially, normal long-chain alkanes are primary products from Fischer-Tropsch synthesis(FTS) process, which is an important route for the utilization of coal in China. Facing a shift of energy nexus towards sustainable society, the conversion of long-chain alkanes derived from coal into value-added products(such as alkenes and oxygenates) is of great importance for securing China’s energy supply and the role transition of the commercial FTS plants from fuel makers to chemical suppliers. Among the potential transformation routes,the direct dehydrogenation of long-chain alkanes into alkenes is an attractive and practical route, due to the broad applications of long-chain alkenes(especially the linear α-olefins). In this review, we will summary the key insights obtained from the literature on the dehydrogenation of light alkanes based on supported metal catalysts and the dehydrogenation of alkanes with homogeneous molecular catalysts and then discuss how to translate these lessons into the development of efficient catalysts and processes for the dehydrogenation of long-chain alkanes into long-chain alkenes.

关键词： long-chain alkanes catalytic dehydrogenation α-olefins subnanometric cluster zeolite

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Influence of several uropathogenic microorganisms on human sperm motility parameters in vitro

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Asian Journal of Andrology 2002年第3期4卷 179-182页

作者： Ji－hongliu Hao－YongLI DepartmentofUrology TongjiHospitalTongjiMedicalCollegeHuazhongUniversityofScienceandTechnologyWuhan430030 DepartmentofUrology TongjiHospitalTongjiMedicalCollegeHuazhongUniversityofScienceandTechn

Aim: The effects of certain uropathogenic microorganisms (Neisseria gonorrhoeae, Staphylococcus aureus, Staphylococcus epidermidis and Mycobacterium tuberculosis) on human sperm motility characteristics were studied in vitro. Methods: In 10 healthy fertile men, ejaculates were aseptically obtained by masturbation and With a swim-up technique, a sperm suspension of high motility and purity was obtained. Several uropathogenic bacteria were obtained from outpatients with genitourinary tract infections. The sperm suspension was incubated with the pathogens at a bacteria: sperm ratio of 50:1 at 37℃. The sperm mobility parameters were estimated with a computerassisted sperm analyzer (CASA) provided with a multiple-exposure photography system (Madi Corp., Zhejiang, China). Measurements were carried out at 0, 2 and 4 hours of incubation. Results: Staphylococcus aureus significantly decreased the sperm motility and viability, but Staphylococcus epidermidis, Mycobacterium tuberculosis and Neisseria gonorrhoeae did not. Conclusion: Staphylococcus aureus has an inhibitory effect on human sperm motility in vitro.

关键词： Neisseria gonorrhoeae Staphylococcus aureus Staphylococcus epidermidis Mycobacterium tuberculosis sperm motility computer-assisted sperm analysis

Uniform Strike-Slip Rate along the Xianshuihe-Xiaojiang Fault System and Its Implications for Active Tectonics in Southeastern Tibet

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Acta Geologica Sinica(English Edition) 2006年第3期80卷 376-386页

作者： HE Honglin RAN hongliu Yasutaka IKEDA Institute of Geology China Earthquake Administration Beijing 100029 China Department of Earth and Planetary Science University of Tokyo Tokyo 113-0033 Japan

Recent studies on the Xianshuihe-Xiaojiang fault system suggest that the Late Quaternary strike-slip rate is approximately uniform along the entire length of the fault zone, about 15±2 mm/a. This approximately uniform strike slip rate strongly supports the clockwise rotation model of the southeastern Tibetan crust. By approximating the geometry of the arc-shaped Xianshuihe-Xiaojiang fault system as a portion of a small circle on a spherical Earth, the 15±2 mm/a strike slip rate corresponds to clockwise rotation of the Southeastern Tibetan Block at the （5.2±0.7）×10^-7 deg/a angular velocity around the pole （21°N, 88°E） relative to the Northeast Tibetan Block. The approximately uniform strike slip rate along the Xianshuihe-Xiaojiang fault system also implies that the Longmeushan thrust zone is not active, or at least its activity has been very weak since the Late Quaternary. Moreover, the total offset along the Xiaushuihe-Xiaojiang fault system suggests that the lateral extrusion of the Southeastern Tibetan Block relative to Northeastern Tibetan Block is about 160 km and 200-240 km relative to the Tarim-North China block. This amount of lateral extrusion of the Tibetan crust should have accommodated about 13-24% convergence between India and Eurasia based on mass balance calculations. Assuming that the slip rate of 15±2 mm/a is constant throughout the entire history of the Xianshuihe-Xiaojiang fault system, 11±1.5 Ma is needed for the Xianshuihe-Xiaojiang fault system to attain the 160 km of total offset. This implies that left-slip faulting on the Xianshuihe-Xiaojiang fault system might start at 11±1.5 Ma.

关键词： Xianshuihe-Xiaojiang fault system southeastern Tibet strike-slip rate active tectonics

Hybrid Active–Passive Prosthetic Knee:A Gait Kinematics and Muscle Activity Comparison with Mechanical and Microprocessor-Controlled Passive Prostheses

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Journal of Bionic Engineering 2023年第1期20卷 119-135页

作者： Xiaoming Wang Qiaoling Meng Shaoping Bai Qingyun Meng hongliu Yu Institute of Rehabilitation Engineering and Technology University of Shanghai for Science and TechnologyShanghai200093China Department of Materials and Production Aalborg University9220AalborgDenmark Shanghai Engineering Research Center of Assistive Devices Institute of Rehabilitation Engineering and Technology Shanghai200093China Key Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs Shanghai200093China Shanghai University of Medicine and Health Sciences Shanghai201318China

Existing microprocessor-controlled passive prosthetic knees(PaPKs)and active prosthetic knees(AcPKs)cannot truly simulate the muscle activity characteristics of the active–passive hybrid action of the knee during the normal *** in EMG between normal and different prosthetic gait for different phases were never separately *** this study,a novel hybrid active–passive prosthetic knee(HAPK)is proposed and if and how muscle activity and kinematics changes in different prosthetic gait are *** hybrid hydraulic-motor actuator is adopted to fully integrate the advantages of hydraulic compliance damping and motor efficiency,and the hierarchical control strategy is adopted to realize the adaptive predictive control of the *** kinematic data and EMG data of normal gait and different prosthetic gait were compared by experiments,so as to analyze the changes in the muscle activity and spatio-temporal data per phase compared to normal walking and the adaptations of amputees when walking with a different kind of prosthesis(the mechanical prosthesis(MePK),the PaPK and the HAPK).The results show that changes in prosthetic gait mainly consisted of decreased self-selected walking speed,gait symmetry and maximum knee flexion,increased first double support phase duration,muscle activation in both opposed and prosthetic limb and inter-subject *** differences between controls and MePK,PaPK and HAPK decreases *** results indicate that the hybrid active–passive actuating mode can have positive effects on improving the approximation of healthy gait characteristics.

关键词： Bionic prosthetic knee Hybrid active-passive actuator EMG Muscle activity Gait kinematics

Flow Patterns and Thermal Drag in Supersonic Duct Flow with Heating

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Journal of Thermal Science 1994年第2期3卷 93-98页

作者： Zeng－YuanGuo Zhi－hongliu DepartmentofEngineeringMechanics TsinghuaUnversityBeijingChina DepartmentofEngineeringMechanics Tsin

The supersonic duct flow with fixed back pressure to stagnation pressure ratio Pb/Po under heating is investigated analytically. A 'Flow Pattern Diagram' which consists of six pattern zones is *** this diagram the actual flow state in supersonic duct flow system can be determined conveniently when Pb/Po and heating intensity are known. It is impossible for flow with heavy heating to become supersonic, even though the pressure ratio is much smaller than the critical pressure ratio. Based on the analogy between viscous effect and heating effect a thermal drag factor has been defined, which can predict the flow property variation due to heating and the relative importance of viscous effect and heating effect.

关键词： supersonic flow heating effect.

Synthesis of Branched Chains with Actuation Redundancy for Eliminating Interior Singularities of 3T1R Parallel Mechanisms

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Chinese Journal of Mechanical Engineering 2016年第2期29卷 250-259页

作者： LI Shihua LIU Yanmin CUI hongliu NIU Yunzhan ZHAO Yanzhi Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao 066004 China Hebei Vocationa & Technical College of Building Materials Qinhuangdao 066004 China

Although it is common to eliminate the singularity of parallel mechanism by adding the branched chain with actuation redundancy, there is no theory and method for the configuration synthesis of the branched chain with actuation redundancy in parallel mechanism. Branched chains with actuation redundancy are synthesized for eliminating interior singularity of 3-translational and 1-rotational（3T1R） parallel mechanisms. Guided by the discriminance method of hybrid screw group according to Grassmann line geometry, all the possibilities are listed for the occurrence of interior singularities in 3T1R parallel mechanism. Based on the linear relevance of screw system and the principles of eliminating parallel mechanism singularity with actuation redundancy, different types of branched chains with actuation redundancy are synthesized systematically to indicate the layout and the number of the branched chainsinterior with actuation redundancy. A general method is proposed for the configuration synthesis of the branched chains with actuation redundancy of the redundant parallel mechanism, and it builds a solid foundation for the subsequent performance optimization of the redundant actuation parallel mechanism.

关键词： parallel mechanism interior singularity hybrid screw group branched chain with actuation redundancy

Intelligent Knee Prostheses: A Systematic Review of Control Strategies

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Journal of Bionic Engineering 2022年第5期19卷 1242-1260页

作者： Linrong Li Xiaoming Wang Qiaoling Meng Changlong Chen Jie Sun hongliu Yu Institute of Rehabilitation Engineering and Technology University of Shanghai for Science and TechnologyNo.516Jungong RoadYangpu DistrictShanghai 200093China Shanghai Engineering Research Center of Assistive Devices Shanghai 200093China Key Laboratory of Neural-Functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs Shanghai 200093China

The intelligent knee prosthesis is capable of human-like bionic lower limb control through advanced control systems and artificial intelligence algorithms that will potentially minimize gait limitations for above-knee amputees and facilitate their reintegration into *** this paper,we sum up the control strategies corresponding to the prevailing control objectives(position and impedance)of the current intelligent knee *** these control strategies have been successfully implemented and validated in relevant experiments,the existing deficiencies still fail to achieve optimal performance of the controllers,which complicates the definition of a standard control *** a mature control system can be developed,it is more important to realize the full potential for the control strategy,which requires upgrading and refining the relevant key technologies based on the existing control *** this reason,we discuss potential areas for improvement of the prosthetic control system based on the summarized control strategies,including intent recognition,sensor system,prosthetic evaluation,and parameter optimization algorithms,providing future directions toward optimizing control strategies for the next generation of intelligent knee prostheses.

关键词： Intelligent knee prosthesis Finite-state machine Volitional control Sensor system Intent recognition Parameter tuning

Bionic Design to Reduce Driving Power for a Portable Elbow Exoskeleton Based on Gravity-balancing Coupled Model

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Journal of Bionic Engineering 2023年第1期20卷 146-157页

作者： Qiaoling Meng Rongna Xu Qiaolian Xie Bostan·Mahmutjan Sujiao Li hongliu Yu Institute of Rehabilitation Engineering and Technology University of Shanghai for Science and TechnologyNo.516Jungong RoadYangpu DistrictShanghai200093China Shanghai Engineering Research Center of Assistive Devices Shanghai200093China

Portability is an important performance to the design of exoskeleton for rehabilitation and ***,the structure of traditional exoskeletons will decrease the portability because of their heavy weight and large *** paper proposes a novel bionic portable elbow exoskeleton based on a human-exoskeleton gravity-balancing coupled *** variable stiffness characteristics of the coupled model is analyzed based on the static *** addition,the optimization of human-exoskeleton joint points is analysis to improve the bionic motor characteristics of the *** prototype is designed and its driving power and dynamic performance are ***,a prototype is designed and manufactured with a total weight of 375 *** merits of driving power reducing is verified by simulation and the isokinetic *** simulation and isokinetic results show that the driving torque and the driving power of the subject were significantly decreased with wearing the proposed *** driving torques are reduced 79.28%and 57.38%from the simulation results and isokinetic experiment results,*** driving work of experiment was reduced by 56.5%.The development of the novel elbow exoskeleton with gravity-balancing mechanism can expand the application of exoskeleton in home-based rehabilitation.

关键词： Elbow exoskeleton Bionic Gravity-balancing Human-exoskeleton coupled model-Portability