Adaptive robust posture control of a parallel manipulator driven by pneumatic muscles

Rather severe parametric uncertainties and uncertain nonlinearities exist in the dynamic modeling of a parallel manipulator driven by pneumatic muscles. Those uncertainties not only come from the time-varying friction forces and the static force modeling errors of pneumatic muscles but also from the inherent complex nonlinearities and unknown disturbances of the parallel manipulator. In this paper, a discontinuous projection-based adaptive robust control strategy is adopted to compensate for both the parametric uncertainties and uncertain nonlinearities of a three-pneumatic-muscles-driven parallel manipulator to achieve precise posture trajectory tracking control. The resulting controller effectively handles the effects of various parameter variations and the hard-to-model nonlinearities such as the friction forces of the pneumatic muscles. Simulation and experimental results are obtained to illustrate the effectiveness of the proposed adaptive robust controller.     

一种基于知识发现的拓展型竞争情报系统

目前,制约竞争情报发展的一个关键问题就是情报的收集与分析手段比较落后,远远不能胜任竞争情报系统所蕴含的特点和功效。本文将竞争情报作为一种特殊的知识,吸纳知识发现理论成果和方法,提升现有竞争情报系统的构造技术,真正做到快速、全面、准确和智能化的竞争情报生成和利用。     

化工设备故障诊断仿真模型设计及计算分析

通过化工设备的结构模型、功能模型建立仿真模型,在对仿真模型分析的基础上得到症状与故障之间的数量关系并进行分析计算,推断出潜在的故障模式,为设计化工设备故障诊断专家系统奠定基础。     

Enhanced semantic representation learning for implicit discourse relation classification

Applied Intelligence - Implicit discourse relation classification is one of the most challenging tasks in discourse parsing. Without connectives as linguistic clues, classifying discourse relations...     

Finite element implementation of a thermo-damage-viscoelastic constitutive model for hydroxyl-terminated polybutadiene composite propellant

A thermo-damage-viscoelastic model for hydroxyl-terminated polybutadiene (HTPB) composite propellant with consideration for the effect of temperature was implemented in ABAQUS. The damage evolution law of the model has the same form as the crack growth equation for viscoelastic materials, and only a single damage variable \(S\) is considered. The HTPB propellant was considered as an isotropic material, and the deviatoric and volumetric strain-stress relations are decoupled and described by the bulk and shear relaxation moduli, respectively. The stress update equations were expressed by the principal stresses \(\sigma_{ii}^{R}\) and the rotation tensor \(M\), the Jacobian matrix in the global coordinate system \(J_{ijkl}\) was obtained according to the fourth-order tensor transformation rules. Two models having complex stress states were used to verify the accuracy of the constitutive model. The test results showed good agreement with the strain responses of characteristic points measured by a contactless optical deformation test system, which illustrates that the thermo-damage-viscoelastic model perform well at describing the mechanical properties of an HTPB propellant.     

Application potential of bone marrow mesenchymal stem cell (BMSCs) based tissue-engineering for spinal cord defect repair in rat fetuses with spina bifida aperta

Spina bifida aperta are complex congenital malformations resulting from failure of fusion in the spinal neural tube during embryogenesis. Despite surgical repair of the defect, most patients who survive with spina bifida aperta have a multiple system handicap due to neuron deficiency of the defective spinal cord. Tissue engineering has emerged as a novel treatment for replacement of lost tissue. This study evaluated the prenatal surgical approach of transplanting a chitosan–gelatin scaffold seeded with bone marrow mesenchymal stem cells (BMSCs) in the healing the defective spinal cord of rat fetuses with retinoic acid induced spina bifida aperta. Scaffold characterisation revealed the porous structure, organic and amorphous content. This biomaterial promoted the adhesion, spreading and in vitro viability of the BMSCs. After transplantation of the scaffold combined with BMSCs, the defective region of spinal cord in rat fetuses with spina bifida aperta at E20 decreased obviously under stereomicroscopy, and the skin defect almost closed in many fetuses. The transplanted BMSCs in chitosan–gelatin scaffold survived, grew and expressed markers of neural stem cells and neurons in the defective spinal cord. In addition, the biomaterial presented high biocompatibility and slow biodegradation in vivo. In conclusion, prenatal transplantation of the scaffold combined with BMSCs could treat spinal cord defect in fetuses with spina bifida aperta by the regeneration of neurons and repairmen of defective region.