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Proposing a New Egg-Shaped Profile to Further Enhance the Hydrothermal Performance of Extended Dimple Tubes in Turbulent Flows 提出一种新的蛋形轮廓,以进一步提高扩展酒窝管在湍流中的水热性能
IF 2.9 4区 综合性期刊 Q1 Multidisciplinary Pub Date : 2024-09-19 DOI: 10.1007/s13369-024-09490-9
Masoud Darbandi, Kazem Mashayekh, Mohammad-Saleh Abdollahpour

Tube dimpling is known as an innovative approach, which has greatly helped to enhance the thermal performance of ordinary tubes. Although dimples mostly increase the thermal performance of ordinary tubes, they likely increase the fluid flow pressure drop and cause a reduction in its hydraulic performance. The primary goal of the present work is to introduce a new egg-shaped profile, which can considerably improve the hydrothermal efficiencies compared with the hydrothermal performances of the past extended dimple tubes, e.g., the spherical, conical, and elliptical ones. The present research is carried out using the numerical simulation approach; however, the experimental data is used to validate the numerical results. After demonstrating the accuracy of the employed numerical method, the performance evaluation criterion (PEC) parameter is used to evaluate the hydrothermal performance of the present dimpled-tubes equipped with the new egg-shaped dimple profiles. The present calculated PEC values are then compared with those of similar dimpled-tubes; however, equipped with the previously developed dimple profiles. The data conclusion is that the dimpled-tube with the present egg-shaped profile will provide at least 12.5% greater thermal performance than that of the previously developed dimpled-tube with the best practicing dimple profile. One of the key findings of this study is that the PEC value of the egg-shaped dimpled tube is double that of the corresponding smooth tube. This improvement is largely attributed to a higher turbulence mixing phenomenon caused by the egg-shaped dimples.

众所周知,管材凹陷是一种创新方法,它大大有助于提高普通管材的热性能。虽然凹痕大多能提高普通管道的热性能,但很可能会增加流体流动压降,导致其水力性能下降。本研究的主要目标是引入一种新的蛋形轮廓,与过去的球形、锥形和椭圆形等加长型窝纹管的水热性能相比,它能大大提高水热效率。本研究采用了数值模拟方法,但也使用了实验数据来验证数值结果。在证明了所采用的数值方法的准确性后,使用性能评估标准(PEC)参数来评估配备了新的蛋形凹陷轮廓的凹陷管的水热性能。然后,将计算出的 PEC 值与配备了先前开发的凹陷轮廓的类似凹陷管的 PEC 值进行比较。数据得出的结论是,采用目前这种蛋形凹槽的凹陷管的热性能比以前开发的具有最佳凹槽轮廓的凹陷管至少高出 12.5%。这项研究的主要发现之一是,蛋形凹陷管的 PEC 值是相应光滑管的两倍。这一改进主要归功于蛋形凹痕造成的更高的湍流混合现象。
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引用次数: 0
Violence Detection Using Deep Learning 利用深度学习进行暴力检测
IF 2.9 4区 综合性期刊 Q1 Multidisciplinary Pub Date : 2024-09-19 DOI: 10.1007/s13369-024-09536-y
Lobna Hsairi, Sara Matar Alosaimi, Ghada Abdulkareem Alharaz

Detecting violence is important for preserving security and reducing crime against humans, animals, and properties. Deep learning algorithms have shown potential for detecting violent acts. Further, the reach of large and diverse datasets is critical for training and testing these algorithms. In this study, the aim is to detect violence in images using deep learning techniques to enhance safety and security measures in various applications. For that, we adopted the most utilized and accurate models, such as sequential CNN, MobileNetV2, and VGG-16 which are well known in this field to measure the performance for each classification model on a large dataset of annotated images of eight classes containing both violent and non-violent content. The techniques like data augmentation, transfer learning, and fine-tuning are utilized to improve model performance. As a result, the VGG-16 model has achieved a 71% test accuracy that outperform than Sequential CNN and MobileNetV2 with suitable hyperparameters showcasing its potential for integration into surveillance systems, social media monitoring tools, and other security applications.

检测暴力行为对于维护安全和减少针对人类、动物和财产的犯罪非常重要。深度学习算法已显示出检测暴力行为的潜力。此外,大型且多样化的数据集对于训练和测试这些算法至关重要。本研究旨在利用深度学习技术检测图像中的暴力行为,以加强各种应用中的安全和安保措施。为此,我们采用了该领域最常用、最准确的模型,如序列 CNN、MobileNetV2 和 VGG-16,在包含暴力和非暴力内容的八类注释图像的大型数据集上测量每个分类模型的性能。数据增强、迁移学习和微调等技术被用来提高模型的性能。结果,VGG-16 模型的测试准确率达到了 71%,超过了具有合适超参数的序列 CNN 和 MobileNetV2,展示了其集成到监控系统、社交媒体监控工具和其他安全应用中的潜力。
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引用次数: 0
Statistical Analysis and Accurate Prediction of Thermophysical Properties of ZnO-MWCNT/EG-Water Hybrid Nanofluid Using Several Artificial Intelligence Methods 利用多种人工智能方法对 ZnO-MWCNT/EG-Water 混合纳米流体的热物理性质进行统计分析和精确预测
IF 2.9 4区 综合性期刊 Q1 Multidisciplinary Pub Date : 2024-09-19 DOI: 10.1007/s13369-024-09565-7
Mohammad Shoaib Zamany, Amir Taghavi Khalil Abad

This paper presents a statistical analysis and modeling of the thermophysical properties of ZnO-MWCNT/EG-water hybrid nanofluid using three artificial intelligence models, including multilayer perceptron neural network, radial basis function neural networks, and least square support vector machine (LSSVM). The thermal conductivity of the nanofluid was modeled using experimental data, and statistical parameters such as R-squared (R2), average absolute relative deviation (AARD %), root mean squared error, and standard deviation were employed to investigate the accuracy of the proposed models. The R2 values of 0.9926, 0.9951, and 0.9866 and AARD% values of 0.4996%, 0.3532%, and 0.6013% show the accuracy of the models for respective MLP, RBF, and LSSVM models. Among these models, the RBF model shows the best accuracy. The study demonstrates the potential of artificial intelligence methods in predicting the thermophysical properties of nanofluids, which can help minimize experimental time and cost for future work.

本文利用多层感知器神经网络、径向基函数神经网络和最小平方支持向量机(LSSVM)等三种人工智能模型对 ZnO-MWCNT/EG 水混合纳米流体的热物理性质进行了统计分析和建模。利用实验数据对纳米流体的导热性能进行建模,并采用 R 平方(R2)、平均绝对相对偏差(AARD %)、均方根误差和标准偏差等统计参数来考察所提模型的准确性。R2 值分别为 0.9926、0.9951 和 0.9866,AARD% 值分别为 0.4996%、0.3532% 和 0.6013%,这表明了 MLP、RBF 和 LSSVM 模型的准确性。在这些模型中,RBF 模型的准确率最高。这项研究证明了人工智能方法在预测纳米流体热物理性质方面的潜力,有助于最大限度地减少未来工作的实验时间和成本。
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引用次数: 0
Enhancing Elderly Care with Wearable Technology: Development of a Dataset for Fall Detection and ADL Classification During Muslim Prayer Activities 利用可穿戴技术加强老年人护理:开发用于穆斯林祈祷活动中跌倒检测和 ADL 分类的数据集
IF 2.9 4区 综合性期刊 Q1 Multidisciplinary Pub Date : 2024-09-18 DOI: 10.1007/s13369-024-09478-5
Mutasem Jarrah, Abdelmoughni Toubal, Billel Bengherbia

Caring for elderly individuals, particularly those residing alone, is pivotal for cultivating a compassionate and inclusive society. The ageing population grapples with various challenges, necessitating additional support. A comprehensive and culturally sensitive dataset focusing on elderly individuals within Muslim communities is developed, contributing to the field of Activity of Daily Living (ADL) and fall detection. Utilising low-cost, lightweight wearable technology, the focus centres on inertial-based data for Activity of ADL classification and fall detection as a crucial research area. A culturally diverse dataset comprising 16 classes, specifically tailored for ADLs and fall detection during Muslim prayer movements, is gathered from a self-developed wearable device equipped with dual inertial measurement units (IMUs) on the waist and thigh, ensuring dependable and synchronised information. A Convolutional Neural Network (CNN) classification model is employed and rigorously tested for its effectiveness, revealing high performance with an average accuracy of 98.974% owing to the synchronised acquisition of data from the two IMUs. The acquired CNN model is adapted for deployment on a wearable embedded system, and authentic experiments are conducted, yielding precise outcomes. The results underscore the potential of wearable technology and advanced machine learning in enhancing elderly support and fall detection systems, fostering a safer and more empathetic environment for our ageing population.

关爱老年人,尤其是独居老人,对于建立一个富有同情心和包容性的社会至关重要。老龄人口面临着各种挑战,需要额外的支持。本研究以穆斯林社区的老年人为重点,开发了一个全面且具有文化敏感性的数据集,为日常生活活动(ADL)和跌倒检测领域做出了贡献。利用低成本、轻便的可穿戴技术,重点关注基于惯性数据的日常生活活动分类和跌倒检测,这是一个至关重要的研究领域。自主研发的可穿戴设备在腰部和大腿上配备了双惯性测量单元(IMU),确保了信息的可靠性和同步性。采用了卷积神经网络(CNN)分类模型,并对其有效性进行了严格测试,结果表明,由于同步采集了两个惯性测量单元的数据,该模型具有很高的性能,平均准确率达到 98.974%。获得的 CNN 模型被调整用于可穿戴嵌入式系统的部署,并进行了真实实验,获得了精确的结果。这些结果凸显了可穿戴技术和先进机器学习在增强老年人支持和跌倒检测系统方面的潜力,为我们的老龄人口营造了一个更安全、更有同情心的环境。
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引用次数: 0
Experimental Analysis of Reinforced Concrete Deep Beams with Circular Openings Strengthened by GFRP and Steel Bars 用 GFRP 和钢筋加固带圆形开口的钢筋混凝土深梁的实验分析
IF 2.9 4区 综合性期刊 Q1 Multidisciplinary Pub Date : 2024-09-18 DOI: 10.1007/s13369-024-09541-1
M. Mirzaie Aliabadi, P. Homami, A. Massumi

This study investigated the behavior of deep beams with openings that have been reinforced with GFRP and steel bars. A total of 14 reinforced concrete deep beams having a rectangular cross-section of 150 × 500 mm and a total length of 1600 mm were constructed with or without openings and tested up to failure under a four-point bending test. The parameters studied were the opening diameter (140 and 240 mm), number and location of the openings and the shear span-to-depth ratio (a/d). These beams were divided into Group I (a/d = 0.9) and Group II (a/d = 0.5). In each group, one beam had no opening to serve as the control beam. Two beams had one opening in the shear area, two had one at the mid-span of the beam and two had two openings, one on each side of the beam. Finite element modeling with strong correlation with the laboratory results was performed. The results showed that an increase in a/d caused a decrease in the final strength of the beam. The number of openings and their locations on the load transfer path were factors that significantly reduced the ultimate load borne by the beam. Comparison of the test results with the relations provided in design regulations indicated that the ultimate strengths of the beams were higher than the values obtained from the regulations. On average, the values calculated based on ACI 318–19 and Canadian S806-2012 were 86.95 and 55.55% lower than the test results, respectively.

本研究调查了用 GFRP 和钢筋加固的带开口深梁的行为。共建造了 14 根横截面为 150 × 500 毫米矩形、总长度为 1600 毫米的钢筋混凝土深梁,这些深梁有的带开口,有的不带开口,并在四点弯曲试验中进行了直至破坏的测试。研究参数包括开口直径(140 毫米和 240 毫米)、开口数量和位置以及剪切跨度与深度比 (a/d)。这些梁被分为第一组(a/d = 0.9)和第二组(a/d = 0.5)。每组中,有一根梁没有开口,作为对照梁。两根梁在剪切区有一个开口,两根在梁的中跨有一个开口,还有两根在梁的两侧各有一个开口。进行了与实验室结果密切相关的有限元建模。结果表明,a/d 的增加会导致梁的最终强度降低。开口数量及其在荷载传递路径上的位置是显著降低梁所承受极限荷载的因素。将测试结果与设计规定中的关系进行比较后发现,梁的极限强度高于设计规定中的值。平均而言,根据 ACI 318-19 和 Canadian S806-2012 计算得出的数值分别比测试结果低 86.95% 和 55.55%。
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引用次数: 0
Sensitivity Analysis of Compressive Strength in CNT-Reinforced Composites: A Comparative Study of Sample-Based, Linearization, and Global Methods CNT 增强复合材料抗压强度的灵敏度分析:基于样本、线性化和全局方法的比较研究
IF 2.9 4区 综合性期刊 Q1 Multidisciplinary Pub Date : 2024-09-18 DOI: 10.1007/s13369-024-09580-8
Majid Ilchi Ghazaan, Amirali Khademi

Sensitivity analysis (SA) methods determine and quantify how different values of dependent or independent variables affect an output under specific circumstances, such as those represented by a surrogate model. Put differently, sensitivity analyses explore how various sources of uncertainty within a mathematical model collectively impact the model’s overall uncertainty. This study addresses the influence of different parameters—namely, the W/C ratio, CNT type, CNT content, CNT length, CNT diameter, S/C ratio, dispersion method, curing days, and the compressive strength of the control sample (C0) on the compressive strength of carbon nanotube (CNT)-reinforced cementitious nanocomposites as an output. This is achieved by applying four sensitivity analysis methods, including correlation-based indices, Cotter indices, Morris indices, and Borgonovo indices. To implement these four methodologies, a Genetic Programming-based function-finding algorithm known as Gene Expression Programming (GEP) is developed. This algorithm utilizes a collected dataset comprising 326 experimental data points obtained from a comprehensive campaign. Based on the results of the four sensitivity analysis methods, the W/C ratio and the length of CNTs are identified as the most influential input variables across all methods, with CNT type identified in three methods and CNT content in two methods as significant factors affecting compressive strength. Consequently, the W/C ratio, length of CNTs, CNT type, and CNT content are highlighted as the most impactful parameters on the compressive strength of CNT-reinforced cementitious nanocomposites.

敏感性分析(SA)方法确定并量化因变量或自变量的不同值在特定情况下(如代用模型所代表的情况)对输出的影响。换句话说,灵敏度分析探索数学模型中的各种不确定性来源如何共同影响模型的整体不确定性。本研究探讨了不同参数(即 W/C 比、CNT 类型、CNT 含量、CNT 长度、CNT 直径、S/C 比、分散方法、固化天数和对照样品 (C0) 的抗压强度)对碳纳米管 (CNT) 增强水泥基纳米复合材料输出抗压强度的影响。这是通过应用四种灵敏度分析方法实现的,包括基于相关性的指数、Cotter 指数、Morris 指数和 Borgonovo 指数。为了实施这四种方法,开发了一种基于遗传编程的函数查找算法,即基因表达编程(GEP)。该算法利用的是一个收集的数据集,其中包括从一项综合活动中获得的 326 个实验数据点。根据四种灵敏度分析方法的结果,确定 CNT 的 W/C 比和长度是所有方法中影响最大的输入变量,三种方法中的 CNT 类型和两种方法中的 CNT 含量是影响抗压强度的重要因素。因此,W/C 比、CNT 长度、CNT 类型和 CNT 含量是对 CNT 增强水泥基纳米复合材料抗压强度影响最大的参数。
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引用次数: 0
Effects of Iron Ion Ratios on the Synthesis and Adsorption Capacity of the Magnetic Graphene Oxide Nanomaterials 铁离子比率对磁性氧化石墨烯纳米材料的合成和吸附能力的影响
IF 2.9 4区 综合性期刊 Q1 Multidisciplinary Pub Date : 2024-09-18 DOI: 10.1007/s13369-024-09575-5
H. Hamiyet Konuk, Erdem Alp, Zeynep Ozaydin, Dilsad Dolunay Eslek Koyuncu, Huseyin Arbag

Nanocomposites consisting of graphene oxide (GO) and Fe3O4 nanoparticles are significant structures due to their high absorption and magnetic properties, and they are promising materials for various application areas from drug delivery to dye removal. In this study, the effect of adding iron salts with different Fe2+/Fe3+ ratios during the synthesis of magnetic graphene oxide (MNGO) nanocomposites on size distribution, magnetic properties, morphology, and adsorption–desorption behavior was investigated. Characterization results indicated that superparamagnetic iron oxide nanoparticles (SPIONs) were successfully integrated into MNGO nanocomposites, and the surface area increased when SPIONs were synthesized on GO significantly, especially with increasing Fe2+/Fe3+ ratio. MNGO nanocomposites were tested for the removal of methylene blue (MB). Moreover, the effects of initial pH, dye concentration, and temperature on the adsorption process of MB were also studied. As a result, it is shown that the Fe2+/Fe3+ ratio has a crucial effect on the adsorption–desorption behavior of MNGO nanocomposites, which are promising nanomaterials for dye removal studies.

由氧化石墨烯(GO)和 Fe3O4 纳米颗粒组成的纳米复合材料因其高吸附性和磁性而成为一种重要的结构,是一种很有前途的材料,可用于从药物传输到染料去除等多个应用领域。本研究考察了在合成磁性氧化石墨烯(MNGO)纳米复合材料过程中添加不同 Fe2+/Fe3+ 比例的铁盐对其粒度分布、磁性能、形貌和吸附-解吸行为的影响。表征结果表明,超顺磁性氧化铁纳米粒子(SPIONs)成功地融入了 MNGO 纳米复合材料,而且当 SPIONs 在 GO 上合成时,其表面积显著增加,尤其是随着 Fe2+/Fe3+ 比值的增加。对 MNGO 纳米复合材料进行了去除亚甲基蓝(MB)的测试。此外,还研究了初始 pH 值、染料浓度和温度对 MB 吸附过程的影响。结果表明,Fe2+/Fe3+ 比率对 MNGO 纳米复合材料的吸附-解吸行为有重要影响,MNGO 纳米复合材料是一种很有潜力的染料去除纳米材料。
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引用次数: 0
High-Purity Silica Produced from Sand Using a Novel Method Combining Acid Leaching and Thermal Processing 利用酸浸和热处理相结合的新方法从沙子中生产高纯度二氧化硅
IF 2.9 4区 综合性期刊 Q1 Multidisciplinary Pub Date : 2024-09-18 DOI: 10.1007/s13369-024-09545-x
Marouan Khalifa, Mariem Touil, Khadija Hammadi, Ikbel Haddadi, Atef Attyaoui, Nassima Meftah, Faouzi Mannai, Selma Aouida, Hatem Ezzaouia

The production of high-purity silica from natural sand is crucial as it is a primary material in the high-grade silicon industry. This paper presents a new processing method for purifying sand silica. This process is a subsequent combination of annealing thermal and acid etching. First, samples of Algerian Sahara sand were subjected to rapid thermal annealing in an infrared furnace at 900 °C for 1 h. Subsequently, the samples were etched using an aqueous solution containing hydrofluoric and hydrochloric acid. This last acid etching step is designed to eliminate any gettered impurities that may have been migrated during the annealing process. Various characterization techniques were employed to evaluate the effectiveness of this impurity removal process, such as X-ray fluorescence (XRF) analysis and scanning electron microscopy (SEM) with energy-dispersive X-ray (EDX) spectroscopy. The results show a substantial reduction in all metallic impurities in silica after two successive purification cycles, improving the purity from 94.63 to 99.87% and the removal efficiencies for critical eleven contaminants such as Fe (93.92%), Al (98.41%), and Ca (> 99.99%).

从天然砂中生产高纯度硅石至关重要,因为它是高档硅工业的主要材料。本文介绍了一种提纯砂硅石的新加工方法。该工艺是退火热处理和酸蚀刻的后续组合。首先,阿尔及利亚撒哈拉沙漠的沙子样品在红外线炉中进行 900 °C 的快速热退火 1 小时。最后的酸蚀刻步骤是为了消除退火过程中可能迁移的任何沉积杂质。为了评估这种杂质去除工艺的效果,采用了多种表征技术,如 X 射线荧光 (XRF) 分析和扫描电子显微镜 (SEM) 与能量色散 X 射线 (EDX) 光谱分析。结果表明,经过连续两个净化周期后,二氧化硅中的所有金属杂质都大幅减少,纯度从 94.63% 提高到 99.87%,对铁(93.92%)、铝(98.41%)和钙(99.99%)等 11 种关键杂质的去除率也有所提高。
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引用次数: 0
Novel Deep Learning-Based Method for Seismic-Induced Damage Detection 基于深度学习的地震诱发损伤检测新方法
IF 2.9 4区 综合性期刊 Q1 Multidisciplinary Pub Date : 2024-09-18 DOI: 10.1007/s13369-024-09316-8
Ahmed Atia, Mohammadreza Vafaei, Sophia C. Alih, Kong Fah Tee

In recent decades, the challenges of traditional visual inspection methods after catastrophic events, which are time- and money-consuming, have necessitated innovative approaches. As a result, a seismic-induced damage detection method utilizing deep learning has been developed to overcome the limitations of conventional techniques. Structure health monitoring (SHM) has emerged to address the limitations of the traditional methods of visual inspections, and among the most effective automatic feature extractor methods is Deep Learning Neural Networks (DLNNs). The DLNN method has proven highly effective compared to other methods, such as traditional methods used in damage detection when used as a feature extractor for seismic-induced damage detection. This study proposes a novel deep learning-based damage detection method for automatically extracting damage features from time series data, eliminating the need for intermediate preprocessing tools. The CNNs algorithm attains a validation accuracy of 91% when applied to a 7-story frame structure by subjecting the structures to different sets of incremental dynamic loading. The study investigates real-time applications, including environmental variables such as noise and temperature effects, examining unseen datasets of different earthquake groups and validating multiple structures in synthesis datasets. The algorithm is further investigated using the IASC-ASCE Benchmark experimental dataset conducted at the University of British Columbia laboratory. A comparative analysis is also performed in terms of time and performance on different deep learning algorithms, such as LSTM, 1D CNN, 2D CNNs and DNNs, while the 1D-CNNs showed the best performance. The results reveal that the proposed method effectively quantifies damage in different structures, including 7-story story steel and concrete structures, and the IASC-ASCE Benchmark dataset, with 93% validation accuracy. The study investigates different earthquake characteristics that affect deep learning performance, such as earthquake time step, and duration, while a specific group was examined to strengthen the claim and show 94% validation accuracy.

近几十年来,灾难性事件发生后,传统的目视检测方法耗时耗钱,因此有必要采用创新方法。因此,一种利用深度学习的地震诱发损伤检测方法应运而生,以克服传统技术的局限性。结构健康监测(SHM)的出现解决了传统目视检测方法的局限性,其中最有效的自动特征提取方法是深度学习神经网络(DLNN)。事实证明,与其他方法(如用于损伤检测的传统方法)相比,DLNN 方法在用作地震诱发损伤检测的特征提取器时非常有效。本研究提出了一种基于深度学习的新型损伤检测方法,可从时间序列数据中自动提取损伤特征,无需使用中间预处理工具。将 CNNs 算法应用于 7 层框架结构时,通过对结构施加不同的增量动态载荷,其验证准确率达到 91%。研究调查了实时应用,包括环境变量(如噪声和温度影响),检查了不同地震组的未见数据集,并验证了合成数据集中的多个结构。利用不列颠哥伦比亚大学实验室进行的 IASC-ASCE 基准实验数据集对该算法进行了进一步研究。此外,还对 LSTM、一维 CNN、二维 CNN 和 DNN 等不同深度学习算法的时间和性能进行了比较分析,其中一维 CNN 的性能最佳。研究结果表明,所提出的方法能有效量化不同结构的损伤,包括 7 层钢结构和混凝土结构,以及 IASC-ASCE 基准数据集,验证准确率达到 93%。该研究调查了影响深度学习性能的不同地震特征,如地震时间步长和持续时间,同时对特定组进行了研究,以加强其主张,并显示出 94% 的验证准确率。
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引用次数: 0
Model-Free Variable Impedance Control for Upper Limb Rehabilitation Robot 上肢康复机器人的无模型可变阻抗控制
IF 2.9 4区 综合性期刊 Q1 Multidisciplinary Pub Date : 2024-09-17 DOI: 10.1007/s13369-024-09568-4
Mawloud Aichaoui, Ameur Ikhlef

This paper presents an innovative approach to control upper-limb rehabilitation robots for both passive and active-assistive rehabilitation therapy. In contrast to conventional model-based impedance control strategies, which may compromise controller stability and robustness due to model uncertainties, unmodeled dynamics, and external disturbances, our proposed model-free impedance control (MFIC) strategy eliminates the requirement for prior knowledge about the controlled system dynamics. MFIC is achieved by incorporating model-free control into conventional impedance control, employing time delay estimation (TDE) to estimate unknown dynamics. Numerical simulations confirm that MFIC outperforms traditional impedance control in terms of tracking performance and robustness. Furthermore, model-free variable impedance control (MFVIC) is introduced by enhancing MFIC with online impedance parameters adaptation using fuzzy logic control. The desired impedance model adapts according to motion and contact torque measurements. MFVIC employs two fuzzy systems to adjust the desired impedance model for two stages of rehabilitation: passive and active-assistive rehabilitation training. Our controller is designed for n degrees-of-freedom (DOF) robots and has been tested on a two-DOF robot model for simplicity.

本文提出了一种控制上肢康复机器人的创新方法,可用于被动和主动辅助康复治疗。传统的基于模型的阻抗控制策略可能会因模型的不确定性、未建模的动态和外部干扰而影响控制器的稳定性和鲁棒性,与之相比,我们提出的无模型阻抗控制(MFIC)策略无需预先了解受控系统的动态。MFIC 是通过在传统阻抗控制中加入无模型控制,利用时延估计 (TDE) 来估计未知动态来实现的。数值模拟证实,MFIC 在跟踪性能和鲁棒性方面优于传统阻抗控制。此外,通过使用模糊逻辑控制对 MFIC 进行在线阻抗参数调整,还引入了无模型可变阻抗控制(MFVIC)。所需的阻抗模型会根据运动和接触扭矩测量结果进行调整。MFVIC 采用两个模糊系统来调整两个康复阶段所需的阻抗模型:被动和主动辅助康复训练。我们的控制器是为 n 自由度 (DOF) 机器人设计的,为了简单起见,我们在一个双自由度机器人模型上进行了测试。
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引用次数: 0
期刊
Arabian Journal for Science and Engineering
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