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| 1 | Comparative Study of Trajectory Tracking Control for Automated Vehicles via Model Predictive Control and Robust H-infinity State Feedback Control显示文摘A comparative study of model predictive control(MPC)schemes and robust Hstate feedback control(RSC)method for trajectory tracking is proposed in this paper.The main objective of this paper is to compare MPC and RSC controllers’performance in tracking predefined trajectory under different scenarios.MPC controller is designed based on the simple longitudinal-yaw-lateral motions of a single-track vehicle with a linear tire,which is an approximation of the more realistic model of a vehicle with double-track motion with a non-linear tire mode.RSC is designed on the basis of the same method as adopted for the MPC controller to achieve a fair comparison.Then,three test cases are built in CarSim-Simulink joint platform.Specifically,the verification test is used to test the tracking accuracy of MPC and RSC controller under well road conditions.Besides,the double lane change test with low road adhesion is designed to find the maximum velocity that both controllers can carry out while guaranteeing stability.Furthermore,an extreme curve test is built where the road adhesion changes suddenly,in order to test the performance of both controllers under extreme conditions.Finally,the advantages and disadvantages of MPC and RSC under different scenarios are also discussed. | Kai Yang Xiaolin Tang Yechen Qin Yanjun Huang Hong Wang Huayan Pu | 2021 | Chinese Journal of Mechanical Engineering2021，34，4： | 6 |
| 2 | Review of Recent Progress in Robotic Knee Prosthesis Related Techniques:Structure,Actuation and Control显示文摘As the essential technology of human-robotics interactive wearable devices,the robotic knee prosthesis can provide above-knee amputations with functional knee compensations to realize their physical and psychological social regression.With the development of mechanical and mechatronic science and technology,the fully active knee prosthesis that can provide subjects with actuating torques has demonstrated a better wearing performance in slope walking and stair ascent when compared with the passive and the semi-active ones.Additionally,with intelligent human-robotics control strategies and algorithms,the wearing effect of the knee prosthesis has been greatly enhanced in terms of stance stability and swing mobility.Therefore,to help readers to obtain an overview of recent progress in robotic knee prosthesis,this paper systematically categorized knee prostheses according to their integrated functions and introduced related research in the past ten years(2010−2020)regarding(1)mechanical design,including uniaxial,four-bar,and multi-bar knee structures,(2)actuating technology,including rigid and elastic actuation,and(3)control method,including mode identification,motion prediction,and automatic control.Quantitative and qualitative analysis and comparison of robotic knee prosthesis-related techniques are conducted.The development trends are concluded as follows:(1)bionic and lightweight structures with better mechanical performance,(2)bionic elastic actuation with energy-saving effect,(3)artificial intelligence-based bionic prosthetic control.Besides,challenges and innovative insights of customized lightweight bionic knee joint structure,highly efficient compact bionic actuation,and personalized daily multi-mode gait adaptation are also discussed in-depth to facilitate the future development of the robotic knee prosthesis. | Yuanxi Sun Hao Tang Yuntao Tang Jia Zheng Dianbiao Dong Xiaohong Chen Fuqiang Liu Long Bai Wenjie Ge Liming Xin Huayan Pu Yan Peng Jun Luo | 2021 | Journal of Bionic Engineering2021，18，4： | 1 |
| 3 | High-static-low-dynamic stiffness isolator based on an electromagnetic negative stiffness spring with long linear stroke显示文摘Negative stiffness mechanisms can improve low-frequency vibration isolation performance and have been widely used in the vibration isolation of precision equipment. However, the negative stiffness mechanism usually introduces a nonlinear stiffness,resulting in a nonlinear response and worsening the vibration isolation performance, especially under large amplitude vibration.In this paper, an electromagnetic spring with linear negative stiffness(ESLNS) is proposed, in which the antagonistic ampere forces of the energized coils are used to generate negative stiffness within a long linear stroke. The magnetic field distribution is improved through the design of the magnetic circuit, thereby increasing the stiffness generation efficiency. The stiffness can be adjusted bidirectionally by current within the range of positive and negative stiffness. An electromagnetic stiffness model was established based on the equivalent magnetic circuit method. Experimental measurements verified the accuracy of the model and proved the linearity of the electromagnetic spring. A vibration isolator with high static and low dynamic stiffness(HSLDS) based on the ESLNS is designed and tested. The experimental results prove that the introduction of the ESLNS can effectively expand the isolation frequency band without changing the equilibrium position. Moreover, the vibration isolator with ESLNS does not produce nonlinear response. The proposed electromagnetic spring with linear negative stiffness extends the application range of HSLDS isolators to a large amplitude vibration environment. | YUAN ShuJin WU YaJun SONG DaiPing PU HuaYan MOU LiSheng HOU Lei ZHAO JingLei LI XuePing LUO Jun WU Jie HUANG XiaoXu | 2024 | Science China(Technological Sciences)2024，67，3： | 0 |
| 4 | Design and experiment of bio-inspired GER fluid damper显示文摘Dear editor,With the rapid development of industrial robots,the influence of vibration has been considerably increasing.The consequent demand for vibration suppression in robot systems has become increasingly urgent.The effective vibration suppression can remarkably improve the performance of robots such as operation stability,detective and tracking accuracy,and the security of interaction with the human body. | Huayan PU Yining HUANG Yi SUN Min WANG Shujin YUAN Zhen KONG Peipei YANG Liufeng CHU Jinbo WU Yan PENG Shaorong XIE Jun LUO | 2020 | Science China(Information Sciences)2020，63，7： | 0 |
| 5 | Melamine sponge derived porous carbon monoliths with NiMn oxides for high performance supercapacitor显示文摘Supercapacitors with good electrochemical performance and flexibility are in great demand.In this paper,the concept of preparing 3D porous carbon monoliths via direct calcination of melamine sponge is presented.This preparation method is simple and has good control of the structure.Porous carbon composite nickel-manga nese oxides can be obtained by hydrothermal method followed with calcination.The electrochemical performances were tested and porous carbon monoliths with NiMn oxides exhibited a specific capacitance of 870 F/g in 1 mol/L KOH at a charge/discharge current density of 0.5 A/g and a capacity retention of 89.9% after 5000 times charge and discharge. | Qianyuan Shan Wangchen Huo Man Shen Chuan Jing Yan Peng Huayan Pu Yuxin Zhang | 2020 | Chinese Chemical Letters2020，31，9： | 0 |
| 6 | 材料、能源、机械工程中高效的电流变技术——从机理到应用显示文摘电流变(ER)技术是一种基于电流变效应的先进技术。电流变技术中最常见的材料是电流变液(ERF)。电流变液是一种软物质智能材料,其黏度可以通过施加电场来可逆地调节。电流变液的衍生物、一种新型的电响应软物质材料——电流变弹性体(ERE),由于其不沉降、易封装的优点也得到了越来越多的关注。电流变材料由于其可逆可调、快速响应、低能耗等特性在机械工程中有着广泛的应用。除了基础的电流变材料的合成和应用以外,电流变技术还应用在了能源材料制备、石油运输、储能等诸多领域。电流变技术在能源领域的应用为其在其他领域的潜在应用提供了一个很好的范例。本文结合最新的研究成果,从机理到应用,系统地综述了电流变技术在材料、能源和机械工程等领域的研究现状和未来发展前景。 | Yudai Liang Dongyang Huang Xuefeng Zhou Ziqiu Wang Quan Shi Yaying Hong Huayan Pu Mengying Zhang Jinbo Wu Weijia Wen | 2023 | Engineering2023，，5： | 0 |
| 7 | Significant wave height prediction through artificial intelligent mode decomposition for wave energy management显示文摘The prediction of significant wave height(SWH)is crucial for managing wave energy.While many machine learning studies have focused on accurately predicting SWH values within hours in advance,the primary concern should be given to the level of the wave height for real-world applications.In this paper,a classification framework for the time-series of SWH based on Transformer encoder(TF)and empirical mode decomposition(EMD)is developed,which can provide a lead time of 6 to 48 h with the fixed thresholds of 2 m for high level waves and 1.5 m for low level waves.The performance of this approach is compared to that of three mainstream algorithms with and without EMD features.Results from the datasets collected from buoy measurements in the Atlantic Ocean indicate that the optimal mean accuracy at a lead time of 6 h was 99.1%and the average training time was 75 s,demonstrating the accuracy and efficiency of this proposed model.This study provides valuable tools and references for real-world SWH prediction applications. | Yaoran Chen Dan Zhang Xiaowei Li Yan Peng Chuhan Wu Huayan Pu Dai Zhou Yong Cao Jiujun Zhang | 2023 | Energy and AI2023，14，4： | 0 |
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