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Flexible assistance strategy of lower limb rehabilitation exoskeleton based on admittance model

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Science China(Technological Sciences) 2024年第3期67卷 823-834页

作者： KOU JianGe WANG YiXuan CHEN ZhenLei SHI Yan GUO Qing XU Meng School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731China Department of Musculoskeletal Tumor Senior Department of Orthopedicsthe Fourth Medical Centerof PLA GeneralHospitalBeijing 100853China

Exercise training based on exoskeleton is an effective rehabilitation method for stroke patients. However, some rehabilitation exoskeletons still have poor wearable performance and obvious human-robot impedance during training, which easily cause secondary injuries to the patients. In this study, a variable admittance control strategy is proposed to improve the operator's wearable comfort, which can adapt to different operators by regulating admittance parameters. The admittance controller has two feedback loops: the position inner-loop and the admittance outer-loop. Meanwhile, the exoskeleton Lagrange model is constructed with unknown friction disturbance. By using Lyapunov technique and backstepping with state observer, the joint position error of exoskeleton is convergence into a zero neighborhood. The effectiveness of the proposed admittance controller is verified by both simulation and experiment. The tracking error of hip and knee joint is less than 4 degrees while the human-robot interaction torque is constrained in a tolerable range of the operator.

关键词： human-robot interaction exoskeleton backstepping admittance control

Modulated Degradation Rates of Bone Mineral-Like Calcium Phosphate Glass to Support the Proliferation and Osteogenic Differentiation of Bone Marrow-Derived Stem Cells

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Journal of Bionic Engineering 2024年第4期21卷 1960-1974页

作者： Lizhe He Yuye Huang Jiafei Gu Xiaoling Liu Jun Yin Xiang Gao Department of Neurosurgery The First Affiliated Hospital of Ningbo UniversityNingbo315010China Center for Medical and Engineering Innovation The First Affiliated Hospital of Ningbo UniversityNingbo315010China The State key Laboratory of Fluid Power Transmission and Control Systems Key Laboratory of 3D Printing Process and Equipment of Zhejiang ProvinceSchool of Mechanical EngineeringZhejiang UniversityHangzhou310028China Faculty of Science and Engineering University of Nottingham Ningbo ChinaNingbo315100China

With an elemental composition similar to bone mineral,and the ability to release phosphorus and calcium that benefit bone regeneration,Calcium Phosphate Glass(CPG)serves as a promising component of bone tissue engineering ***,the degradation of CPG composites typically results in increased acidity,and its impact on bone-forming activity is less *** this work,we prepared 3D-printed composite scaffolds comprising CPG,Poly-ε-caprolactone(PCL),and various Magnesium Oxide(MgO)*** the MgO content effectively suppressed the degradation of CPG,maintaining a physiological pH of the degradation *** the degradation of CPG/PCL scaffolds resulted in upregulated apoptosis of Rat Bone Marrow-derived Stem Cells(rBMSC),scaffolds containing MgO were free from these negative impacts,and an optimal MgO content of 1 wt%led to the most pronounced osteogenic differentiation of *** work demonstrated that the rapid degradation of CPG impaired the renewability of stem cells through the increased acidity of the surrounding media,and MgO effectively modulated the degradation rate of CPG,thus preventing the negative effects of rapid degradation and supporting the proliferation and osteogenic differentiation of the stem cells.

关键词： Phosphate glass Polymer composites 3D printing Bone tissue engineering Scaffolds

Model Parameters Identification and Backstepping Control of Lower Limb Exoskeleton Based on Enhanced Whale Algorithm

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 100-114页

作者： Yan Shi Jiange Kou Zhenlei Chen Yixuan Wang Qing Guo School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731China

Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction ***,due to unknown model parameters such as the mass,moment of inertia and mechanical size,the dynamic model of exoskeletons is difficult to ***,an enhanced whale optimization algorithm(EWOA)is proposed to identify the exoskeleton model ***,the periodic excitation trajectories are designed by finite Fourier series to input the desired position demand of exoskeletons with mechanical physical *** a backstepping controller based on the identified model is adopted to improve the human-robot wearable comfortable performance under cooperative ***,the proposed Model parameters identification and control are verified by a two-DOF exoskeletons *** knee joint motion achieves a steady-state response after 0.5 ***,the position error of hip joint response is less than 0.03 rad after 0.9 *** addition,the steady-state human-robot interaction torque of the two joints is constrained within 15 N·*** research proposes a whale optimization algorithm to optimize the excitation trajectory and identify model ***,an enhanced mutation strategy is adopted to avoid whale evolution’s unsatisfactory local optimal value.

关键词： Parameter identification Enhanced whale optimization algorithm(EWOA) Backstepping Human-robot interaction Lower limb exoskeleton

research Progress in the Fabrication of Covalent Organic Framework Membranes for Chemical Separations

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Chinese Journal of Polymer Science 2024年第2期42卷 141-158,I0005页

作者： Cui-Ting Ding Jin-Qiu Yuan Meng-Ying Xie Qing-Yuan Liu Zeng-Guang Yao Shi-Yu Zhang Run-Nan Zhang Hong Wu Zhong-Yi Jiang key Laboratory for Green Chemical Technology of Ministry of Education School of Chemical Engineering and TechnologyTianjin UniversityTianjin300072China Zhejiang Institute of Tianjin University NingboZhejiang315201China Haihe Laboratory of Sustainable Chemical Transformations Tianjin300192China Tianjin key Laboratory of Membrane Science and Desalination Technology Tianjin UniversityTianjin300072China Joint School of National University of Singapore and Tianjin University International Campus of Tianjin UniversityBinhai New CityFuzhou350207China

Membrane technology has become one of the most promising separation technologies for its energy saving, high separation efficiency, environmental friendliness, and economic feasibility. Covalent organic frameworks(COFs) with intrinsically high porosity, controllable pore size, uniform pore size distribution and long-range ordered channel structure, have emerged as next-generation materials to fabricate advanced separation membranes. This feature article summarizes some latest studies in the development of pure COF membranes in our lab, including their fabrication and applications in chemical separations. Finally, current challenges facing high-performance COF separation membranes are discussed.

关键词： Covalent organic frameworks Covalent organic framework membranes Water treatment Organic solvent nanofiltration Gas separation

Impacts of Integrated Multi-Trophic Aquaculture on Phytoplankton in Sanggou Bay

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Journal of Ocean University of China 2024年第3期23卷 835-843页

作者： HAN Jichang LIU Xing PAN Kehou LIU Jiaojiao SUN Yan JIN Guiyong LI Yun LI Yuhang College of Food Science and Engineering Ningbo UniversityNingbo 315832China key Laboratory of Mariculture(Ocean University of China) Ministry of EducationQingdao 266003China Function Laboratory for Marine Fisheries Science and Food Production Processes Qingdao National Laboratory for Marine Science and TechnologyQingdao 266100China Laboratory of Marine Organism Taxonomy and Phylogeny Institute of OceanologyChinese Academy of SciencesQingdao 266071China

Integrated multi-trophic aquaculture(IMTA)has been considered as an ecofriendly culture system providing a potential solution to environmental risks caused by intensive monoculture ***,the impact of IMTA on phytoplankton remains *** this study,the spatial and temporal variations of phytoplankton in Sanggou Bay were investigated seasonally based on 21 sampling sites covering three cultivation zones(bivalve zone,IMTA zone,and kelp zone)and one control zone(without aquatic cultivation).In total,128 phytoplankton species,with diatoms and dinoflagellates as the dominant groups,were obtained across the whole year,and the mean Shannon diversity index(H')and species richness(SR)were determined as 1.39 and 9.39,*** maximum chlorophyll a(Chl-a)(6.32μg L^(-1))and plankton diversity(H'of 1.97)occurred in summer and autumn,*** to other zones,the bivalve zone displayed significantly higher Chl-a and lower H'in majority of *** PERMANOVA analysis indicated that the phytoplankton assemblage in the bivalve zone was significantly different with the control and kelp zones,while the IMTA zone maintained close to other three *** on generalized additive models,temperature,NO_(2)^(-)-N,N/P ratio,SiO_(3)^(2-)-Si,and salinity were determined as the key factors underlying Chl-a and phytoplankton ***-tionally,the results of redundancy analysis further indicated that the phytoplankton assemblage in the bivalve zone is positively re-lated with nutrients such as NO_(3)^(-)-N and NH_(4)^(+)-N as well as water depth,while the phytoplankton assemblages in the kelp,control,and IMTA zones are associated with NO_(2)^(-)-N,SiO_(3)^(2-)-Si,and *** all observations into consideration together,it can be inferred that IMTA can effectively reduce Chl-a level compared to bivalve monoculture by reducing the ***,the SR,H’,and species composition of phytoplankton are primarily determined by local environment fa

关键词： phytoplankton diversity Sanggou Bay integrated multi-trophic aquaculture

Top priority current path between SiC particles during ultra-high temperature flash sintering: Presence of PyC “bridges”

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Journal of Advanced Ceramics 2024年第2期13卷 255-262页

作者： Le Lu Tianlong Liu Zhaofeng Chen Fei Wang Mengmeng Yang Qiong Wu Lixia Yang Huanyong Li International Laboratory for Insulation and Energy Efficiency Materials College of Materials Science and TechnologyNanjing University of Aeronautics and AstronauticsNanjing 211106China State key Laboratory of Solidification Processing School of Materials and EngineeringNorthwestern Polytechnical UniversityXi’an 710072China

Flash sintering(FS)is a novel technique for rapidly densifying silicon carbide(SiC)*** work achieved a rapid sintering of SiC ceramics by the utilization of ultra-high temperature flash sintering within 60 *** carbon(PyC)“bridges”were constructed between SiC particles through the carbonisation of phenolic resin,providing a large number of current *** incubation time of the flash sintering process was significantly reduced,and the sintering difference between the centre and the edge regions of the ceramics was minimized,with an average particle size of the centre region and edge region being 12.31 and 9.02μm,*** results showed that the porosity of the SiC ceramics after the flash sintering was reduced to 14.79% with PyC“bridges”introduced,and the Vickers hardness reached 19.62 ***“bridges”gradually evolved from amorphous eddy current carbon to oriented graphite carbon,indicating that the ultra-high temperature environment in which the sample was located during the flash sintering was successfully ***-high temperature flash sintering of SiC is expected to be applied to the local repair of matrix damage in SiC ceramic matrix composites.

关键词： silicon carbide(SiC) flash sintering(FS) pyrolytic carbon(PyC)"bridges" current path instantaneous

Study on synergistic leaching of potassium and phosphorus from potassium feldspar and solid waste phosphogypsum via coupling reactions

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Chinese Journal of Chemical Engineering 2024年第1期65卷 117-129页

作者： Chao Li Shizhao Wang Yunshan Wang Xuebin An Gang Yang Yong Sun School of Chemical Engineering and Technology Hebei University of TechnologyTianjin 300130China National Engineering research Center of Green Recycling for Strategic Metal Resources Chinese Academy of SciencesBeijing 100190China School of Engineering Edith Cowan University270 Joondalup DriveJoondalupWA 6027Australia key Laboratory of Carbonaceous Wastes Processing and Process Intensification of Zhejiang Province The University of Nottingham Ningbo ChinaNingbo 315100China

To achieve the resource utilization of solid waste phosphogypsum(PG)and tackle the problem of utilizing potassium feldspar(PF),a coupled synergistic process between PG and PF is proposed in this *** study investigates the features of P and F in PG,and explores the decomposition of PF using hydrofluoric acid(HF)in the sulfuric acid system for K leaching and leaching of P and F in *** impact factors such as sulfuric acid concentration,reaction temperature,reaction time,material ratio(PG/PF),liquid–solid ratio,PF particle size,and PF calcination temperature on the leaching of P and K is systematically investigated in this *** results show that under optimal conditions,the leaching rate of K and P reach more than 93%and 96%,*** study using shrinking core model(SCM)indicates two significant stages with internal diffusion predominantly controlling the leaching of *** apparent activation energies of these two stages are 11.92 kJ·mol^(-1)and 11.55 kJ·mol^(-1),respectively.

关键词： Phosphogypsum Potassium feldspar Coupling reaction Leaching Waste treatment Kinetics

Uncovering the electrooxidation behavior of 5-hydroxymethylfurfural on Ni/Co electrodes

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Journal of Energy Chemistry 2024年第5期92卷 1-7页

作者： Shilin Fan Bin Zhu Xiao Yu Yang Gao Weiping Xie Yong Yang Jian Zhang Chunlin Chen ningbo Institute of Materials Technology&Engineering Chinese Academy of SciencesNingbo 315201ZhejiangChina University of Chinese Academy of Sciences Beijing 100049China

Biomass,derived from plant photosynthesis that captures carbon dioxide to form carbohydrates,offers vast renewable *** electrooxidation of biomass,coupled with the hydrogen evolution reaction,enables the simultaneous production of biomass-based plastic monomers and green hydrogen,attracting significant scholarly ***,ambiguity remains regarding the adsorption mechanism at the catalyst surface(Langmuir-Hinshelwood or Eley-Rideal)and the adsorbed substrate *** address this,we prepared a Ni/Co electrode for the electrooxidation of 5-hydroxymethylfurfural(HMF)into 2,5-furandicarboxylic acid(FDCA)through a corrosion reaction and electro-reduction *** conversion reached 100.00%,FDCA yield reached 96.82%,and Faradic efficiency(FE)reached 92.14%.Meaningfully,utilizing in-situ spectroscopy and electrochemical methods,this work provided valuable insights into active sites and catalyst surface adsorption.

关键词： Electrocatalysis Electrochemistry 2,5-Furandicarboxylicacid 5-Hydroxymethylfurfural Biomass

Bioinspired Closed-loop CPG-based Control of a Robotic Manta for Autonomous Swimming

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Journal of Bionic Engineering 2024年第1期21卷 177-191页

作者： Yiwei Hao Yonghui Cao Yingzhuo Cao Xiong Mo Qiaogao Huang Lei Gong Guang Pan Yong Cao School of Marine Science and Technology Northwestern Polytechnical UniversityXi'an 710072China Unmanned Vehicle Innovation Center Ningbo Institute of NPUNingbo 315103China key Laboratory of Unmanned Underwater Vehicle Technology of Ministry of Industry and Information Technology Xi'an 710072China

Fish in nature exhibit a variety of swimming modes such as forward swimming,backward swimming,turning,pitching,etc.,enabling them to swim in complex scenes such as coral *** is still difficult for a robotic fish to swim autonomously in a confined area as a real ***,we develop an untethered robotic manta as an experimental platform,which consists of two flexible pectoral fins and a tail fin,with three infrared sensors installed on the front,left,and right sides of the head to sense the surrounding *** generate multiple swimming modes of the robotic manta and online switching of different modes,we design a closed-loop Central Pattern Generator(CPG)controller based on distance information and use a combination of phase difference and amplitude of the CPG model to achieve stable and rapid adjustment of yaw *** verify the autonomous swimming ability of the robotic manta in complex scenes,we design an experimental scenario with a concave *** experimental results show that the robotic manta can achieve forward swimming,backward swimming,in situ turning within the concave obstacle,and finally exit from the area safely while relying on the perception of external obstacles,which can provide insight into the autonomous exploration of complex scenes by the biomimetic robotic ***,the swimming ability of the robotic manta is verified by field tests.

关键词： Biomimetic robotic manta Central Pattern Generator Closed-loop control Backward swimming