The bioinert nature of polyether ether ketone(PEEK)material limits the widespread clinical application of PEEK implants.Although the porous structure is considered to improve osseointegration of PEEK implants,it is ha...The bioinert nature of polyether ether ketone(PEEK)material limits the widespread clinical application of PEEK implants.Although the porous structure is considered to improve osseointegration of PEEK implants,it is hardly used due to its mechanical properties.This study investigated the combined influence of the porous structure and in vivo mechanical stimulation on implantation safety and bone growth based on finite element analysis of the biomechanical behavior of the implantation system.The combined control of pore size and screw preloads allows the porous PEEK implant to achieve good osseointegration while maintaining a relatively high safety level.A pore size of 600μm and a preload of 0.05 N·m are the optimal combination for the long-term stability of the implant,with which the safety factor of the implant is>2,and the predicted percentage of effective bone growth area of the bone-implant interface reaches 97%.For further clinical application,PEEK implants were fabricated with fused filament fabrication(FFF)three-dimensional(3D)printing,and clinical outcomes demonstrated better bone repair efficacy and long-term stability of porous PEEK implants compared to solid PEEK implants.Moreover,good osteointegration performance of 3D-printed porous PEEK implants was observed,with an average bone volume fraction>40%three months after implantation.In conclusion,3D-printed porous PEEK implants have great potential for clinical application,with validated implantation safety and good osseointegration.展开更多
To solve the problems with the existing methods for detecting hollowing defects,such as inconvenient operation,low efficiency and intense subjectivity,and to improve the efficiency of the acoustic-optic fusion method ...To solve the problems with the existing methods for detecting hollowing defects,such as inconvenient operation,low efficiency and intense subjectivity,and to improve the efficiency of the acoustic-optic fusion method for detecting hollowing defects,in this paper the vibration characteristics of hollowing defects are measured and analyzed using a laser self-mixing interferometer.The ceramic tile above the hollowing defect is equivalent to a thin circular plate with peripheral fixed support.According to Kirchhoff's classical circular plate theory and the circular plate displacement function based on the improved Fourier series,a theoretical model of a circular plate is established.By solving the characteristic equation,the theoretical modal parameters of hollowing defects are obtained.Subsequently,an experimental system based on a laser self-mixing interferometer is built,and modal experiments are carried out using the hammering method.The experimental modal parameters are obtained with a professional modal analysis software.Through comparative analysis between the theoretical and experimental modal parameters,the error of the natural frequency results is found to be tiny and the mode shapes are consistent.These results provide theoretical guidance for a practical non-destructive acoustic-optic fusion method for detecting hollowing defects.展开更多
Electric vehicles have been rapidly developing worldwide due to the use of new energy.However,at the same time,serious traffic accidents caused by driver fatigue in emergency situations have also drawn widespread atte...Electric vehicles have been rapidly developing worldwide due to the use of new energy.However,at the same time,serious traffic accidents caused by driver fatigue in emergency situations have also drawn widespread attention.The lack of datasets in real vehicle test environments has always been a bottleneck in the research of driver fatigue in electric vehicles.Therefore,this study establishes a dataset from real vehicle test,applies the Bayesian optimization support vector machine(BOA-SVM)algorithm to take features of electromyography(EMG)and electrocardiography(ECG)signals as input and develop an early warning model for driving fatigue detection.Firstly,the driver’s EMG and ECG signals are collected through real vehicle testing experiments and then combined with the driver’s subjective fatigue evaluation scores to establish the dataset.Secondly,the study establishes a driver fatigue early warning model for emergency situations.Time-domain and frequency-domain features are extracted from the EMG signals.Principal component analysis(PCA)is applied for dimensionality reduction of these features.The experimental results show that based on the input of dimensionality reduced EMG features and ECG features,the BOA-SVM algorithm achieved an accuracy of 94.4%in classification.展开更多
During the robot-assisted pelvic fracture reduction,the needle-tissue interactive deformation characteristic is not clear,which affects the accuracy of robotic surgery.In this paper,a layered rig-id-flexible coupling ...During the robot-assisted pelvic fracture reduction,the needle-tissue interactive deformation characteristic is not clear,which affects the accuracy of robotic surgery.In this paper,a layered rig-id-flexible coupling model is proposed,and the needle-tissue interactive deformation under the load-ing is analyzed by the Rayleigh-Ritz method,in accordance with the principle of minimum potential energy.The pelvic musculoskeletal tissue is reversely reconstructed,and the structure of the bone is segmented into cancellous bone and cortical bone.The Mooney-Rivlin five-parameter hyperelastic model is used to simulate muscle,and the Ogden hyperelastic model is used to simulate adipose tis-sue.Finite element simulation is performed by loading different magnitudes of forces.The accuracy of the rigid-flexible coupling model is 0.432 mm,which indicates the correctness of the needle-tis-sue interactive deformation theory analysis.展开更多
Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and el...Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and elastic elements of walking robots have been studied, but different walking gait patterns and contact status have important influences on locomotion energy efficiency, and the energy efficiency considering the foot-end trajectory has not been reported. Therefore, the energy consumption and energy efficiency of quadruped robot with trot gait and combined cycloid foot trajectory are studied. The forward and inverse kinematics of quadruped robot is derived. The combined cycloid function is proposed to generate horizontal and vertical foot trajectory respectively, which can ensure the acceleration curve of the foot-end smoother and more successive, and reduce the contact force between feet and environment. Because of the variable topology mechanism characteristic of quadruped robot, the leg state is divided into three different phases which are swing phase, transition phase and stance phase during one trot gait cycle. The non-continuous variable constraint between feet and environment of quadruped robot is studied. The dynamic model of quadruped robot is derived considering the variable topology mechanism characteristic, the periodic contact and elastic elements of the robot. The total energy consumption of walking robot during one gait cycle is analyzed based on the dynamic model. The specific resistance is used to evaluate energy efficiency of quadruped robot. The calculation results show the relationships between specific resistance and gait parameters, which can be used to determine the reasonable gait parameters.展开更多
Networked control systems are spatially distributed systems in which the communication between sensors, actuators,and controllers occurs through a shared band-limited digital communication network. Several advantages ...Networked control systems are spatially distributed systems in which the communication between sensors, actuators,and controllers occurs through a shared band-limited digital communication network. Several advantages of the network architectures include reduced system wiring, plug and play devices,increased system agility, and ease of system diagnosis and maintenance. Consequently, networked control is the current trend for industrial automation and has ever-increasing applications in a wide range of areas, such as smart grids, manufacturing systems,process control, automobiles, automated highway systems, and unmanned aerial vehicles. The modelling, analysis, and control of networked control systems have received considerable attention in the last two decades. The ‘control over networks’ is one of the key research directions for networked control systems. This paper aims at presenting a survey of trends and techniques in networked control systems from the perspective of ‘control over networks’, providing a snapshot of five control issues: sampled-data control, quantization control, networked control, event-triggered control, and security control. Some challenging issues are suggested to direct the future research.展开更多
The effectiveness of mobile robot aided for architectural construction depends strongly on its accurate localization ability.Localization of mobile robot is increasingly important for the printing of buildings in the ...The effectiveness of mobile robot aided for architectural construction depends strongly on its accurate localization ability.Localization of mobile robot is increasingly important for the printing of buildings in the construction scene.Although many available studies on the localization have been conducted,only a few studies have addressed the more challenging problem of localization for mobile robot in large-scale ongoing and featureless scenes.To realize the accurate localization of mobile robot in designated stations,we build an artificial landmark map and propose a novel nonlinear optimization algorithm based on graphs to reduce the uncertainty of the whole map.Then,the performances of localization for mobile robot based on the original and optimized map are compared and evaluated.Finally,experimental results show that the average absolute localization errors that adopted the proposed algorithm is reduced by about 21%compared to that of the original map.展开更多
Because of their unique mechanical and electrical properties,zinc oxide(ZnO)nanowires are used widely in microscopic and nanoscopic devices and structures,but characterizing them remains challenging.In this paper,two ...Because of their unique mechanical and electrical properties,zinc oxide(ZnO)nanowires are used widely in microscopic and nanoscopic devices and structures,but characterizing them remains challenging.In this paper,two pick-up strategies are proposed for characterizing the electrical properties of ZnO nanowires using SEM equipped with a nanomanipulator.To pick up nanowires efficiently,direct sampling is compared with electrification fusing,and experiments show that direct sampling is more stable while electrification fusing is more efficient.ZnO nanowires have cut-off properties,and good Schottky contact with the tungsten probes was established.In piezoelectric experiments,the maximum piezoelectric voltage generated by an individual ZnO nanowire was 0.07 V,and its impedance decreased with increasing input signal frequency until it became stable.This work offers a technical reference for the pick-up and construction of nanomaterials and nanogeneration technology.展开更多
We present holographic storage of three-dimensional（3D） images and data in a photopolymer film without any applied electric field.Its absorption and diffraction efficiency are measured,and reflective analog hologram...We present holographic storage of three-dimensional（3D） images and data in a photopolymer film without any applied electric field.Its absorption and diffraction efficiency are measured,and reflective analog hologram of real object and image of digital information are recorded in the films.The photopolymer is compared with polymer dispersed liquid crystals as holographic materials.Besides holographic diffraction efficiency of the former is little lower than that of the latter,this work demonstrates that the photopolymer is more suitable for analog hologram and big data permanent storage because of its high definition and no need of high voltage electric field.Therefore,our study proposes a potential holographic storage material to apply in large size static 3D holographic displays,including analog hologram displays,digital hologram prints,and holographic disks.展开更多
A new complementary metal oxide semiconductor UV/blue-extended photodiode was presented for light detection in the UV/blue spectral range. Photoelectric characteristics of this presented photodiode were studied by num...A new complementary metal oxide semiconductor UV/blue-extended photodiode was presented for light detection in the UV/blue spectral range. Photoelectric characteristics of this presented photodiode were studied by numerical modeling and device simulation. Technology computer aided design simulation was done first to analyze its photoelectric characteristics. The structure characteristic and depletion situation of space between two adjacent P+ anodes were discussed. The reverse characteristic, spectral response characteristic and DC characteristic were discussed in detail. For the numerical modeling, dead layer effect is considered in the building of analytical mode. Dead layer is a space in which the boron doping profile decreases towards the surface due to high doping effects and boron redistribution, which affects the sensitivity of photodiode in the UV range seriously. Reverse characteristics and spectral response characteristics were modeled and analyzed typically. At last, silicon test results were given and compared with the simulated result, which shows reasonable match for each.展开更多
Axial flux permanent magnet synchronous motors(AFPMSMs)have been widely used in wind-power generation,electric vehicles,aircraft,and other renewable-energy applications owing to their high power density,operating effi...Axial flux permanent magnet synchronous motors(AFPMSMs)have been widely used in wind-power generation,electric vehicles,aircraft,and other renewable-energy applications owing to their high power density,operating efficiency,and integrability.To facilitate comprehensive research on AFPMSM,this article reviews the developments in the research on the design and control optimization of AFPMSMs.First,the basic topologies of AFPMSMs are introduced and classified.Second,the key points of the design optimization of core and coreless AFPMSMs are summarized from the aspects of parameter design,structure design,and material optimization.Third,because efficiency improvement is an issue that needs to be addressed when AFPMSMs are applied to electric or other vehicles,the development status of efficiency-optimization control strategies is reviewed.Moreover,control strategies proposed to suppress torque ripple caused by the small inductance of disc coreless permanent magnet synchronous motors(DCPMSMs)are summarized.An overview of the rotor-synchronization control strategies for disc contra-rotating permanent magnet synchronous motors(CRPMSMs)is presented.Finally,the current difficulties and development trends revealed in this review are discussed.展开更多
Distributed drive electric vehicles(DDEVs)possess great advantages in the viewpoint of fuel consumption,environment protection and traffic mobility.Whereas the effects of inertial parameter variation in DDEV control s...Distributed drive electric vehicles(DDEVs)possess great advantages in the viewpoint of fuel consumption,environment protection and traffic mobility.Whereas the effects of inertial parameter variation in DDEV control system become much more pronounced due to the drastic reduction of vehicle weights and body size,and inertial parameter has seldom been tackled and systematically estimated.This paper presents a dual central difference Kalman filter(DCDKF)where two Kalman filters run in parallel to simultaneously estimate vehicle different dynamic states and inertial parameters,such as vehicle sideslip angle,vehicle mass,vehicle yaw moment of inertia,the distance from the front axle to centre of gravity.The proposed estimation method only integrates and utilizes real-time measurements of hub torque information and other in-vehicle sensors from standard DDEVs.The four-wheel nonlinear vehicle dynamics estimation model considering payload variations,Pacejka tire model,wheel and motor dynamics model is developed,the observability of the DCDKF observer is analysed and derived via Lie derivative and differential geometry theory.To address system nonlinearities in vehicle dynamics estimation,the DCDKF and dual extended Kalman filter(DEKF)are also investigated and compared.Simulation with various maneuvers are carried out to verify the effectiveness of the proposed method using Matlab/Simulink-CarsimR.The results show that the proposed DCDKF method can effectively estimate vehicle dynamic states and inertial parameters despite the existence of payload variations and variable driving conditions.This research provides a boot-strapping procedure which can performs optimal estimation to estimate simultaneously vehicle system state and inertial parameter with high accuracy and real-time ability.展开更多
Owing to the complex environmental conditions, suspension could induce complicated forces on submarine pipelines and even cause vortex-induced vibration, resulting in fatigue damage of pipelines. Through aiming at the...Owing to the complex environmental conditions, suspension could induce complicated forces on submarine pipelines and even cause vortex-induced vibration, resulting in fatigue damage of pipelines. Through aiming at the 28-inch submarine pipeline in the East China Sea, the pipeline was segmented according to the similarity, considering the factors of pipe assembly, typhoon, current, wave and seabed topography. The effects of span length on natural frequency in each section of submarine pipeline were analyzed by finite element model. The maximum safe span length allowed by each pipeline section was verified by fatigue cumulative damage theory, and the fatigue life of each pipeline section were predicted. The results showed that each order natural frequency of the pipeline decreased with the increase of span length. The calculated results of empirical formulas were much smaller than those of the FEM analysis. The increase of the gap between the suspended pipeline and the seabed was beneficial to enhance the fatigue life of the suspended pipeline.展开更多
A neutrosophic multi-valued set(NMVS)is a crucial representation for true,false,and indeterminate multivalued information.Then,a consistent single-valued neutrosophic set(CSVNS)can effectively reflect the mean and con...A neutrosophic multi-valued set(NMVS)is a crucial representation for true,false,and indeterminate multivalued information.Then,a consistent single-valued neutrosophic set(CSVNS)can effectively reflect the mean and consistency degree of true,false,and indeterminate multi-valued sequences and solve the operational issues between different multi-valued sequence lengths in NMVS.However,there has been no research on consistent single-valued neutrosophic similarity measures in the existing literature.This paper proposes cotangent similarity measures and weighted cotangent similarity measures between CSVNSs based on cotangent function in the neutrosophic multi-valued setting.The cosine similarity measures showthe cosine of the angle between two vectors projected into amultidimensional space,rather than their distance.The cotangent similaritymeasures in this study can alleviate several shortcomings of cosine similarity measures in vector space to a certain extent.Then,a decisionmaking approach is presented in viewof the established cotangent similarity measures in the case of NMVSs.Finally,the developed decision-making approach is applied to selection problems of potential cars.The proposed approach has obtained two different results,which have the same sort sequence as the compared literature.The decision results prove its validity and effectiveness.Meantime,it also provides a new manner for neutrosophic multi-valued decision-making issues.展开更多
This paper reports the photocapacitance effect of silicon-based single-photon avalanche diodes(SPADs),and the frequency scattering phenomenon of capacitance.The test results of the small-signal capacitance-voltage met...This paper reports the photocapacitance effect of silicon-based single-photon avalanche diodes(SPADs),and the frequency scattering phenomenon of capacitance.The test results of the small-signal capacitance-voltage method show that light can cause the capacitance of a SPAD device to increase under low-frequency conditions,and the photocapacitance exhibits frequency-dependent characteristics.Since the devices are fabricated based on the standard bipolar-CMOS-DMOS process,this study attributes the above results to the interfacial traps formed by Si-SiO_(2),and the illumination can effectively reduce the interfacial trap lifetime,leading to changes in the junction capacitance inside the SPAD.Accordingly,an equivalent circuit model considering the photocapacitance effect is also proposed in this paper.Accurate analysis of the capacitance characteristics of SPAD has important scientific significance and application value for studying the energy level distribution of device interface defect states and improving the interface quality.展开更多
Acellular dermal matrix(ADM)as a biomaterial is currently believed to be promising tissue repair improvement.With the development of tissue engineering,ADM is increasingly used as biological scaffolds.We explored the ...Acellular dermal matrix(ADM)as a biomaterial is currently believed to be promising tissue repair improvement.With the development of tissue engineering,ADM is increasingly used as biological scaffolds.We explored the feasibility and performance of ADM biological scaffolds that fabricated by 3D printing.This paper presented our study on the printability of 3D printed ADM scaffolds,with a focus on identifying the influence of printing parameters/conditions on printability.To characterize the printability,we examined the fiber morphology,pore size,strand diameter,and mechanical property of the printed scaffolds.Our results revealed that the printability could be affected by a number of factors and among them,the most considerable one was related to the nozzle diameter and the composition of ADM.We then evaluated the biocompatibility in terms of cytotoxicity,cell proliferation and vivisection.In vitro evaluation of the ADM scaffolds was carried out and the experimental results indicated that cells were viable and proliferative during the period of study.In vivo results also indicated that the defect area was well repaired without any noticeable infection,hematoma and other conditions.In conclusion,ADM could be reconstructed with 3D printing technology and ADM biological scaffold has potential applications for tissue engineering.展开更多
A matching pursuit method based on training an over-complete dictionary is investigated.By using the K-singular value decomposition(K-SVD)algorithm,an over-complete dictionary that describes the Lamb wave signals is t...A matching pursuit method based on training an over-complete dictionary is investigated.By using the K-singular value decomposition(K-SVD)algorithm,an over-complete dictionary that describes the Lamb wave signals is trained.The results demonstrate that the method can effectively remove redundant information and separate multiple Lamb wave modes.The matching pursuit method with the K-SVD algorithm shows its efficiency for Lamb wave signal processing.展开更多
One of the key issues for parallel mechanism is the kinematic characteristics,especially the workspace which varies with configuration parameters.A kind of 4UPS-UPU parallel mechanism is designed and its workspace is ...One of the key issues for parallel mechanism is the kinematic characteristics,especially the workspace which varies with configuration parameters.A kind of 4UPS-UPU parallel mechanism is designed and its workspace is studied in this paper.First,the mobility of the 4UPS-UPU parallel mechanism is analyzed based on the reciprocal screw theory,and the motion and constraint screw systems of the parallel mechanism are obtained.Then the inverse kinematics is derived by the closed-form kinematics chain.The boundary search method in the polar coordinate system is presented to analyze the constant-orientation workspace of the parallel mechanism.Finally,the influence factors relevant to the workspace,such as the structural parameters and kinematics parameters are analyzed in detail.The relationship between the workspace volume and different parameters are obtained.The conclusions can be used for parameters optimization and path planning of the parallel mechanism.展开更多
A two-step high-precision Time-to-Digital Converter(TDC),integrated with a Single-Photon Avalanche Diode(SPAD),used for Time-Of-Flight(TOF)application,has been developed and tested.Time interval measurement is perform...A two-step high-precision Time-to-Digital Converter(TDC),integrated with a Single-Photon Avalanche Diode(SPAD),used for Time-Of-Flight(TOF)application,has been developed and tested.Time interval measurement is performed by the coarse counter and fine interpolator,which are utilized to measure the total periods and the residue time of the reference clock,respectively.Following a detail analysis of time precision and clock jitter in the two-step structure,the prototype TDC fabricated in GSMC 1P6M 0.18μm CMOS Image Sensor(CIS)technology exhibits a Single-Shot Precision(SSP)of 11.415 ps and a dynamic range of 216.7 ns.In addition,a pixel of the chip occupies 100μm×100μm,and the measured Integral Nonlinearity(INL)and Differential Nonlinearity(DNL)are better than±0.88 LSB and±0.67 LSB,respectively.Meanwhile,the overall power consumption of the chip is 35 mW at 1.8 V power supply.Combined with these characteristics,the designed chip is suitable for TOF-based ranging applications.展开更多
While positive feedback exists in an active vibration control system, it may cause instability of the whole system. To solve this problem, a feedforward adaptive controller is proposed based on the Fihered-U recursive...While positive feedback exists in an active vibration control system, it may cause instability of the whole system. To solve this problem, a feedforward adaptive controller is proposed based on the Fihered-U recursive least square （FURLS） algorithm. Algorithm development process is presented in this paper. Real time active vibration control experimental tests were done. The experiment resuits show that the active control algorithm proposed in this paper has good control performance for both narrow band disturbances and broad band disturbances.展开更多
基金supported by the National Key R&D Program of China(No.2023YFB4603500)the Program for Innovation Team of Shaanxi Province(No.2023-CX-TD-17)+1 种基金the Fundamental Research Funds for the Central Universitiesthe Shaanxi Province Qinchuangyuan“Scientist+Engineer”Team Construction Project(No.2022KXJ-106).
文摘The bioinert nature of polyether ether ketone(PEEK)material limits the widespread clinical application of PEEK implants.Although the porous structure is considered to improve osseointegration of PEEK implants,it is hardly used due to its mechanical properties.This study investigated the combined influence of the porous structure and in vivo mechanical stimulation on implantation safety and bone growth based on finite element analysis of the biomechanical behavior of the implantation system.The combined control of pore size and screw preloads allows the porous PEEK implant to achieve good osseointegration while maintaining a relatively high safety level.A pore size of 600μm and a preload of 0.05 N·m are the optimal combination for the long-term stability of the implant,with which the safety factor of the implant is>2,and the predicted percentage of effective bone growth area of the bone-implant interface reaches 97%.For further clinical application,PEEK implants were fabricated with fused filament fabrication(FFF)three-dimensional(3D)printing,and clinical outcomes demonstrated better bone repair efficacy and long-term stability of porous PEEK implants compared to solid PEEK implants.Moreover,good osteointegration performance of 3D-printed porous PEEK implants was observed,with an average bone volume fraction>40%three months after implantation.In conclusion,3D-printed porous PEEK implants have great potential for clinical application,with validated implantation safety and good osseointegration.
基金Project supported by the National Key Research and Development Program of China(Grant No.2023YFF0722900)the Beijing Engineering Research Center of Aerial Intelligent Remote Sensing Equipments Fund(Grant No.AIRSE20233)the National Natural Science Foundation of China(Grant No.62175144)。
文摘To solve the problems with the existing methods for detecting hollowing defects,such as inconvenient operation,low efficiency and intense subjectivity,and to improve the efficiency of the acoustic-optic fusion method for detecting hollowing defects,in this paper the vibration characteristics of hollowing defects are measured and analyzed using a laser self-mixing interferometer.The ceramic tile above the hollowing defect is equivalent to a thin circular plate with peripheral fixed support.According to Kirchhoff's classical circular plate theory and the circular plate displacement function based on the improved Fourier series,a theoretical model of a circular plate is established.By solving the characteristic equation,the theoretical modal parameters of hollowing defects are obtained.Subsequently,an experimental system based on a laser self-mixing interferometer is built,and modal experiments are carried out using the hammering method.The experimental modal parameters are obtained with a professional modal analysis software.Through comparative analysis between the theoretical and experimental modal parameters,the error of the natural frequency results is found to be tiny and the mode shapes are consistent.These results provide theoretical guidance for a practical non-destructive acoustic-optic fusion method for detecting hollowing defects.
基金Supported by the Key Research and Development Program of Ningbo(No.2023Z218)the Joint Funds of the National Natural Science Founda-tion of China(No.U21A20121)+1 种基金the National Natural Science Foundation of China(No.51775325)the Young Eastern Scholars Program of Shanghai(No.QD2016033).
文摘Electric vehicles have been rapidly developing worldwide due to the use of new energy.However,at the same time,serious traffic accidents caused by driver fatigue in emergency situations have also drawn widespread attention.The lack of datasets in real vehicle test environments has always been a bottleneck in the research of driver fatigue in electric vehicles.Therefore,this study establishes a dataset from real vehicle test,applies the Bayesian optimization support vector machine(BOA-SVM)algorithm to take features of electromyography(EMG)and electrocardiography(ECG)signals as input and develop an early warning model for driving fatigue detection.Firstly,the driver’s EMG and ECG signals are collected through real vehicle testing experiments and then combined with the driver’s subjective fatigue evaluation scores to establish the dataset.Secondly,the study establishes a driver fatigue early warning model for emergency situations.Time-domain and frequency-domain features are extracted from the EMG signals.Principal component analysis(PCA)is applied for dimensionality reduction of these features.The experimental results show that based on the input of dimensionality reduced EMG features and ECG features,the BOA-SVM algorithm achieved an accuracy of 94.4%in classification.
基金the National Key R&D Program of China(No.2020YFB1313803).
文摘During the robot-assisted pelvic fracture reduction,the needle-tissue interactive deformation characteristic is not clear,which affects the accuracy of robotic surgery.In this paper,a layered rig-id-flexible coupling model is proposed,and the needle-tissue interactive deformation under the load-ing is analyzed by the Rayleigh-Ritz method,in accordance with the principle of minimum potential energy.The pelvic musculoskeletal tissue is reversely reconstructed,and the structure of the bone is segmented into cancellous bone and cortical bone.The Mooney-Rivlin five-parameter hyperelastic model is used to simulate muscle,and the Ogden hyperelastic model is used to simulate adipose tis-sue.Finite element simulation is performed by loading different magnitudes of forces.The accuracy of the rigid-flexible coupling model is 0.432 mm,which indicates the correctness of the needle-tis-sue interactive deformation theory analysis.
基金supported by National Natural Science Foundation of China(Grant No.51375289)Shanghai Municipal National Natural Science Foundation of China(Grant No.13ZR1415500)Innovation Fund of Shanghai Education Commission of China(Grant No.13YZ020)
文摘Quadruped robots consume a lot of energy, which is one of the factors restricting their application. Energy efficiency is one of the key evaluating indicators for walking robots. The relationship between energy and elastic elements of walking robots have been studied, but different walking gait patterns and contact status have important influences on locomotion energy efficiency, and the energy efficiency considering the foot-end trajectory has not been reported. Therefore, the energy consumption and energy efficiency of quadruped robot with trot gait and combined cycloid foot trajectory are studied. The forward and inverse kinematics of quadruped robot is derived. The combined cycloid function is proposed to generate horizontal and vertical foot trajectory respectively, which can ensure the acceleration curve of the foot-end smoother and more successive, and reduce the contact force between feet and environment. Because of the variable topology mechanism characteristic of quadruped robot, the leg state is divided into three different phases which are swing phase, transition phase and stance phase during one trot gait cycle. The non-continuous variable constraint between feet and environment of quadruped robot is studied. The dynamic model of quadruped robot is derived considering the variable topology mechanism characteristic, the periodic contact and elastic elements of the robot. The total energy consumption of walking robot during one gait cycle is analyzed based on the dynamic model. The specific resistance is used to evaluate energy efficiency of quadruped robot. The calculation results show the relationships between specific resistance and gait parameters, which can be used to determine the reasonable gait parameters.
基金supported in part by the Australian Research Council Discovery Project(DP160103567)
文摘Networked control systems are spatially distributed systems in which the communication between sensors, actuators,and controllers occurs through a shared band-limited digital communication network. Several advantages of the network architectures include reduced system wiring, plug and play devices,increased system agility, and ease of system diagnosis and maintenance. Consequently, networked control is the current trend for industrial automation and has ever-increasing applications in a wide range of areas, such as smart grids, manufacturing systems,process control, automobiles, automated highway systems, and unmanned aerial vehicles. The modelling, analysis, and control of networked control systems have received considerable attention in the last two decades. The ‘control over networks’ is one of the key research directions for networked control systems. This paper aims at presenting a survey of trends and techniques in networked control systems from the perspective of ‘control over networks’, providing a snapshot of five control issues: sampled-data control, quantization control, networked control, event-triggered control, and security control. Some challenging issues are suggested to direct the future research.
基金This research was supported by National Natural Science Foundation of China(Nos.U1913603,61803251,51775322)National Key Research and Development Program of China(No.2019YFB1310003).
文摘The effectiveness of mobile robot aided for architectural construction depends strongly on its accurate localization ability.Localization of mobile robot is increasingly important for the printing of buildings in the construction scene.Although many available studies on the localization have been conducted,only a few studies have addressed the more challenging problem of localization for mobile robot in large-scale ongoing and featureless scenes.To realize the accurate localization of mobile robot in designated stations,we build an artificial landmark map and propose a novel nonlinear optimization algorithm based on graphs to reduce the uncertainty of the whole map.Then,the performances of localization for mobile robot based on the original and optimized map are compared and evaluated.Finally,experimental results show that the average absolute localization errors that adopted the proposed algorithm is reduced by about 21%compared to that of the original map.
基金supported by the Research Fund Program of the Guangdong Provincial Key Laboratory of Fuel Cell Technology。
文摘Because of their unique mechanical and electrical properties,zinc oxide(ZnO)nanowires are used widely in microscopic and nanoscopic devices and structures,but characterizing them remains challenging.In this paper,two pick-up strategies are proposed for characterizing the electrical properties of ZnO nanowires using SEM equipped with a nanomanipulator.To pick up nanowires efficiently,direct sampling is compared with electrification fusing,and experiments show that direct sampling is more stable while electrification fusing is more efficient.ZnO nanowires have cut-off properties,and good Schottky contact with the tungsten probes was established.In piezoelectric experiments,the maximum piezoelectric voltage generated by an individual ZnO nanowire was 0.07 V,and its impedance decreased with increasing input signal frequency until it became stable.This work offers a technical reference for the pick-up and construction of nanomaterials and nanogeneration technology.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.11474194,11004037,and 61101176)the Natural Science Foundation of Shanghai,China(Grant No.14ZR1415500)
文摘We present holographic storage of three-dimensional（3D） images and data in a photopolymer film without any applied electric field.Its absorption and diffraction efficiency are measured,and reflective analog hologram of real object and image of digital information are recorded in the films.The photopolymer is compared with polymer dispersed liquid crystals as holographic materials.Besides holographic diffraction efficiency of the former is little lower than that of the latter,this work demonstrates that the photopolymer is more suitable for analog hologram and big data permanent storage because of its high definition and no need of high voltage electric field.Therefore,our study proposes a potential holographic storage material to apply in large size static 3D holographic displays,including analog hologram displays,digital hologram prints,and holographic disks.
基金Projects(61233010,61274043)supported by the National Natural Science Foundation of ChinaProject(NCET-11-0975)supported by the Program for New Century Excellent Talents in University,China
文摘A new complementary metal oxide semiconductor UV/blue-extended photodiode was presented for light detection in the UV/blue spectral range. Photoelectric characteristics of this presented photodiode were studied by numerical modeling and device simulation. Technology computer aided design simulation was done first to analyze its photoelectric characteristics. The structure characteristic and depletion situation of space between two adjacent P+ anodes were discussed. The reverse characteristic, spectral response characteristic and DC characteristic were discussed in detail. For the numerical modeling, dead layer effect is considered in the building of analytical mode. Dead layer is a space in which the boron doping profile decreases towards the surface due to high doping effects and boron redistribution, which affects the sensitivity of photodiode in the UV range seriously. Reverse characteristics and spectral response characteristics were modeled and analyzed typically. At last, silicon test results were given and compared with the simulated result, which shows reasonable match for each.
基金Supported by Shanghai Municipal Natural Science Foundation of China (Grant No.19ZR1418600)。
文摘Axial flux permanent magnet synchronous motors(AFPMSMs)have been widely used in wind-power generation,electric vehicles,aircraft,and other renewable-energy applications owing to their high power density,operating efficiency,and integrability.To facilitate comprehensive research on AFPMSM,this article reviews the developments in the research on the design and control optimization of AFPMSMs.First,the basic topologies of AFPMSMs are introduced and classified.Second,the key points of the design optimization of core and coreless AFPMSMs are summarized from the aspects of parameter design,structure design,and material optimization.Third,because efficiency improvement is an issue that needs to be addressed when AFPMSMs are applied to electric or other vehicles,the development status of efficiency-optimization control strategies is reviewed.Moreover,control strategies proposed to suppress torque ripple caused by the small inductance of disc coreless permanent magnet synchronous motors(DCPMSMs)are summarized.An overview of the rotor-synchronization control strategies for disc contra-rotating permanent magnet synchronous motors(CRPMSMs)is presented.Finally,the current difficulties and development trends revealed in this review are discussed.
基金Supported by National Natural Science Foundation of China(Grant Nos.51905329,51975118)Foundation of State Key Laboratory of Automotive Simulation and Control of China(Grant No.20181112).
文摘Distributed drive electric vehicles(DDEVs)possess great advantages in the viewpoint of fuel consumption,environment protection and traffic mobility.Whereas the effects of inertial parameter variation in DDEV control system become much more pronounced due to the drastic reduction of vehicle weights and body size,and inertial parameter has seldom been tackled and systematically estimated.This paper presents a dual central difference Kalman filter(DCDKF)where two Kalman filters run in parallel to simultaneously estimate vehicle different dynamic states and inertial parameters,such as vehicle sideslip angle,vehicle mass,vehicle yaw moment of inertia,the distance from the front axle to centre of gravity.The proposed estimation method only integrates and utilizes real-time measurements of hub torque information and other in-vehicle sensors from standard DDEVs.The four-wheel nonlinear vehicle dynamics estimation model considering payload variations,Pacejka tire model,wheel and motor dynamics model is developed,the observability of the DCDKF observer is analysed and derived via Lie derivative and differential geometry theory.To address system nonlinearities in vehicle dynamics estimation,the DCDKF and dual extended Kalman filter(DEKF)are also investigated and compared.Simulation with various maneuvers are carried out to verify the effectiveness of the proposed method using Matlab/Simulink-CarsimR.The results show that the proposed DCDKF method can effectively estimate vehicle dynamic states and inertial parameters despite the existence of payload variations and variable driving conditions.This research provides a boot-strapping procedure which can performs optimal estimation to estimate simultaneously vehicle system state and inertial parameter with high accuracy and real-time ability.
基金financially supported by the National Natural Science Foundation of China(Grant Nos.11802168 and 51575331)project funded by China Postdoctoral Science Foundation(No.2019M661458)
文摘Owing to the complex environmental conditions, suspension could induce complicated forces on submarine pipelines and even cause vortex-induced vibration, resulting in fatigue damage of pipelines. Through aiming at the 28-inch submarine pipeline in the East China Sea, the pipeline was segmented according to the similarity, considering the factors of pipe assembly, typhoon, current, wave and seabed topography. The effects of span length on natural frequency in each section of submarine pipeline were analyzed by finite element model. The maximum safe span length allowed by each pipeline section was verified by fatigue cumulative damage theory, and the fatigue life of each pipeline section were predicted. The results showed that each order natural frequency of the pipeline decreased with the increase of span length. The calculated results of empirical formulas were much smaller than those of the FEM analysis. The increase of the gap between the suspended pipeline and the seabed was beneficial to enhance the fatigue life of the suspended pipeline.
文摘A neutrosophic multi-valued set(NMVS)is a crucial representation for true,false,and indeterminate multivalued information.Then,a consistent single-valued neutrosophic set(CSVNS)can effectively reflect the mean and consistency degree of true,false,and indeterminate multi-valued sequences and solve the operational issues between different multi-valued sequence lengths in NMVS.However,there has been no research on consistent single-valued neutrosophic similarity measures in the existing literature.This paper proposes cotangent similarity measures and weighted cotangent similarity measures between CSVNSs based on cotangent function in the neutrosophic multi-valued setting.The cosine similarity measures showthe cosine of the angle between two vectors projected into amultidimensional space,rather than their distance.The cotangent similaritymeasures in this study can alleviate several shortcomings of cosine similarity measures in vector space to a certain extent.Then,a decisionmaking approach is presented in viewof the established cotangent similarity measures in the case of NMVSs.Finally,the developed decision-making approach is applied to selection problems of potential cars.The proposed approach has obtained two different results,which have the same sort sequence as the compared literature.The decision results prove its validity and effectiveness.Meantime,it also provides a new manner for neutrosophic multi-valued decision-making issues.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.62174052 and 61827812)Hunan Science and Technology Department Huxiang High-level Talent Gathering Project(Grant No.2019RS1037)+1 种基金Innovation Project of Science and Technology Department of Hunan Province(Grant No.2020GK2018)Postgraduate Scientific Research Innovation Project of Hunan Province(Grant No.QL20210131).
文摘This paper reports the photocapacitance effect of silicon-based single-photon avalanche diodes(SPADs),and the frequency scattering phenomenon of capacitance.The test results of the small-signal capacitance-voltage method show that light can cause the capacitance of a SPAD device to increase under low-frequency conditions,and the photocapacitance exhibits frequency-dependent characteristics.Since the devices are fabricated based on the standard bipolar-CMOS-DMOS process,this study attributes the above results to the interfacial traps formed by Si-SiO_(2),and the illumination can effectively reduce the interfacial trap lifetime,leading to changes in the junction capacitance inside the SPAD.Accordingly,an equivalent circuit model considering the photocapacitance effect is also proposed in this paper.Accurate analysis of the capacitance characteristics of SPAD has important scientific significance and application value for studying the energy level distribution of device interface defect states and improving the interface quality.
基金This research was funded by National Natural Science Foundation of China,Grant Nos.51775324 and 81970455.
文摘Acellular dermal matrix(ADM)as a biomaterial is currently believed to be promising tissue repair improvement.With the development of tissue engineering,ADM is increasingly used as biological scaffolds.We explored the feasibility and performance of ADM biological scaffolds that fabricated by 3D printing.This paper presented our study on the printability of 3D printed ADM scaffolds,with a focus on identifying the influence of printing parameters/conditions on printability.To characterize the printability,we examined the fiber morphology,pore size,strand diameter,and mechanical property of the printed scaffolds.Our results revealed that the printability could be affected by a number of factors and among them,the most considerable one was related to the nozzle diameter and the composition of ADM.We then evaluated the biocompatibility in terms of cytotoxicity,cell proliferation and vivisection.In vitro evaluation of the ADM scaffolds was carried out and the experimental results indicated that cells were viable and proliferative during the period of study.In vivo results also indicated that the defect area was well repaired without any noticeable infection,hematoma and other conditions.In conclusion,ADM could be reconstructed with 3D printing technology and ADM biological scaffold has potential applications for tissue engineering.
基金Supported by the National Natural Science Foundation of China under Grant Nos 11074164,11274226,11074273,61171145the Innovation Foundation of Shanghai Municipal Commission of Education(No 11YZ17)the Ph.D.Foundation of Ministry of Education of China(20103108120011)。
文摘A matching pursuit method based on training an over-complete dictionary is investigated.By using the K-singular value decomposition(K-SVD)algorithm,an over-complete dictionary that describes the Lamb wave signals is trained.The results demonstrate that the method can effectively remove redundant information and separate multiple Lamb wave modes.The matching pursuit method with the K-SVD algorithm shows its efficiency for Lamb wave signal processing.
基金Supported by the National High Technology Research and Development Programme of China(No.SS2012AA041604)
文摘One of the key issues for parallel mechanism is the kinematic characteristics,especially the workspace which varies with configuration parameters.A kind of 4UPS-UPU parallel mechanism is designed and its workspace is studied in this paper.First,the mobility of the 4UPS-UPU parallel mechanism is analyzed based on the reciprocal screw theory,and the motion and constraint screw systems of the parallel mechanism are obtained.Then the inverse kinematics is derived by the closed-form kinematics chain.The boundary search method in the polar coordinate system is presented to analyze the constant-orientation workspace of the parallel mechanism.Finally,the influence factors relevant to the workspace,such as the structural parameters and kinematics parameters are analyzed in detail.The relationship between the workspace volume and different parameters are obtained.The conclusions can be used for parameters optimization and path planning of the parallel mechanism.
基金National Natural Science Foundation of China(61774129,61827812,61704145)Hunan Science and Technology Department Huxiang High-level Talent Gathering Project(2019RS1037)Changsha Science and Technology Plan Key Projects(kq1801035)。
文摘A two-step high-precision Time-to-Digital Converter(TDC),integrated with a Single-Photon Avalanche Diode(SPAD),used for Time-Of-Flight(TOF)application,has been developed and tested.Time interval measurement is performed by the coarse counter and fine interpolator,which are utilized to measure the total periods and the residue time of the reference clock,respectively.Following a detail analysis of time precision and clock jitter in the two-step structure,the prototype TDC fabricated in GSMC 1P6M 0.18μm CMOS Image Sensor(CIS)technology exhibits a Single-Shot Precision(SSP)of 11.415 ps and a dynamic range of 216.7 ns.In addition,a pixel of the chip occupies 100μm×100μm,and the measured Integral Nonlinearity(INL)and Differential Nonlinearity(DNL)are better than±0.88 LSB and±0.67 LSB,respectively.Meanwhile,the overall power consumption of the chip is 35 mW at 1.8 V power supply.Combined with these characteristics,the designed chip is suitable for TOF-based ranging applications.
基金Supported by the National Natural Science Foundation of China(No.90716027,51175319)
文摘While positive feedback exists in an active vibration control system, it may cause instability of the whole system. To solve this problem, a feedforward adaptive controller is proposed based on the Fihered-U recursive least square （FURLS） algorithm. Algorithm development process is presented in this paper. Real time active vibration control experimental tests were done. The experiment resuits show that the active control algorithm proposed in this paper has good control performance for both narrow band disturbances and broad band disturbances.
