Pneumatic muscle actuators(PMAs)are compliant and suitable for robotic devices that have been shown to be effective in assisting patients with neurologic injuries,such as strokes,spinal cord injuries,etc.,to accomplis...Pneumatic muscle actuators(PMAs)are compliant and suitable for robotic devices that have been shown to be effective in assisting patients with neurologic injuries,such as strokes,spinal cord injuries,etc.,to accomplish rehabilitation tasks.However,because PMAs have nonlinearities,hysteresis,and uncertainties,etc.,complex mechanisms are rarely involved in the study of PMA-driven robotic systems.In this paper,we use nonlinear model predictive control(NMPC)and an extension of the echo state network called an echo state Gaussian process(ESGP)to design a tracking controller for a PMA-driven lower limb exoskeleton.The dynamics of the system include the PMA actuation and mechanism of the leg orthoses;thus,the system is represented by two nonlinear uncertain subsystems.To facilitate the design of the controller,joint angles of leg orthoses are forecasted based on the universal approximation ability of the ESGP.A gradient descent algorithm is employed to solve the optimization problem and generate the control signal.The stability of the closed-loop system is guaranteed when the ESGP is capable of approximating system dynamics.Simulations and experiments are conducted to verify the approximation ability of the ESGP and achieve gait pattern training with four healthy subjects.展开更多
The disguised covert detection method that imitates whale calls has received great attention in recent years because it can solve the traditional problem of the trade-off between long-range detection and covert detect...The disguised covert detection method that imitates whale calls has received great attention in recent years because it can solve the traditional problem of the trade-off between long-range detection and covert detection.However,under strong reverberation conditions,traditional echo signal processing methods based on matched filtering will be greatly disturbed.Based on this,a disguised sonar signal waveform design is proposed based on imitating whale calls and computationally efficient anti-reverberation echo signal processing method.Firstly,this article proposed a disguised sonar signal waveform design method based on imitating whale calls.This method uses linear frequency modulation(LFM)signals to replace LFM-like segments in real whale calls,and extracts the envelope of the real whale call’s LFM-like segment to modify the LFM signal.Secondly,this article proposed an echo signal processing method of fractional Fourier transform(FrFT)based on target echo locating of synchronization signals.This method uses the synchronization signal to locate the target echo,and determines the step-size interval of the FrFT based on the information carried by the synchronization signal.Compared with the traditional FrFT,this method effectively reduces the amount of calculation and also improves the anti-reverberation ability.Finally,the excellent performance of the proposed method is verified by simulation results.展开更多
基金supported in part by the National Natural Science Foundation of China(U1913207)the International Science and Technology Cooperation Program of China(2017YFE0128300)the Fundamental Research Funds for the Central Universities(HUST 2019kfyRCPY014)。
文摘Pneumatic muscle actuators(PMAs)are compliant and suitable for robotic devices that have been shown to be effective in assisting patients with neurologic injuries,such as strokes,spinal cord injuries,etc.,to accomplish rehabilitation tasks.However,because PMAs have nonlinearities,hysteresis,and uncertainties,etc.,complex mechanisms are rarely involved in the study of PMA-driven robotic systems.In this paper,we use nonlinear model predictive control(NMPC)and an extension of the echo state network called an echo state Gaussian process(ESGP)to design a tracking controller for a PMA-driven lower limb exoskeleton.The dynamics of the system include the PMA actuation and mechanism of the leg orthoses;thus,the system is represented by two nonlinear uncertain subsystems.To facilitate the design of the controller,joint angles of leg orthoses are forecasted based on the universal approximation ability of the ESGP.A gradient descent algorithm is employed to solve the optimization problem and generate the control signal.The stability of the closed-loop system is guaranteed when the ESGP is capable of approximating system dynamics.Simulations and experiments are conducted to verify the approximation ability of the ESGP and achieve gait pattern training with four healthy subjects.
基金National Natural Science Foundations of China under Grant(Nos.61971307,61905175,51775377)National Key Research and Development Plan Project(No.2020YFB2010800)+5 种基金Fok Ying Tung Education Foundation(No.171055)China Postdoctoral Science Foundation(No.2020M680878)Guangdong Province Key Research and Development Plan Project(No.2020B0404030001)Tianjin Science and Technology Plan Project(No.20YDTPJC01660)Foreign Affairs Committee of China Aviation Development Sichuan Gas Turbine Research Institute(Nos.GJCZ-2020-0040,GJCZ-2020-0041)Science and Technology on Underwater Information and Control Laboratory under Grant(No.6142218081811)。
文摘The disguised covert detection method that imitates whale calls has received great attention in recent years because it can solve the traditional problem of the trade-off between long-range detection and covert detection.However,under strong reverberation conditions,traditional echo signal processing methods based on matched filtering will be greatly disturbed.Based on this,a disguised sonar signal waveform design is proposed based on imitating whale calls and computationally efficient anti-reverberation echo signal processing method.Firstly,this article proposed a disguised sonar signal waveform design method based on imitating whale calls.This method uses linear frequency modulation(LFM)signals to replace LFM-like segments in real whale calls,and extracts the envelope of the real whale call’s LFM-like segment to modify the LFM signal.Secondly,this article proposed an echo signal processing method of fractional Fourier transform(FrFT)based on target echo locating of synchronization signals.This method uses the synchronization signal to locate the target echo,and determines the step-size interval of the FrFT based on the information carried by the synchronization signal.Compared with the traditional FrFT,this method effectively reduces the amount of calculation and also improves the anti-reverberation ability.Finally,the excellent performance of the proposed method is verified by simulation results.
