Dynamic Compliance and its Compensation Control of HIVC Force Control System

Ba, Kai-xian,Yu, Bin,Li, Wen-feng,Wang, Dong-kun,Liu, Ya-liang,Ma, Guo-liang,Kong, Xiang-dong The Korean Institute of Electrical Engineers 2018 Journal of Electrical Engineering & Technology Vol.13 No.2

In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamic-compliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.

Spiraea prunifolia var. simpliciflora attenuates inflammatory responses in NCI-H292 cells and a murine model of lipopolysaccharide-induced acute lung injury

Ba-Wool Lee,Han-Gyo Shin,Seong-Hun Jeong,Da-bin Jeon,Joo-Hong Kim,Ji-Hye Ha,Ji-Young Park,Young-Bae Ryu,Hyung-Jun Kwon,In-Chul Lee 한국실험동물학회 2019 한국실험동물학회 학술발표대회 논문집 Vol.2019 No.1

Research on the Solution and Properties of Ni-P/n-A1203 Electroless Composite Plating

( Yan Bin Huang ),( Fei Fei Liu ),( Qi Yong Zhang ),( Guo Zhao Ba ),( Zhi Jie Liang ) 한국부식방식학회(구 한국부식학회) 2007 Corrosion Science and Technology Vol.6 No.5

A Nonlinear Model-based Variable Impedance Parameters Control for Position-based Impedance Control System of Hydraulic Drive Unit

Kaixian Ba,Guo-liang Ma,Bin Yu,Zheng-guo Jin,Zhi-peng Huang,Jun-xiao Zhang,Xiangdong Kong 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.7

In this paper, aimed at the problem of control accuracy when the traditional position-based impedance control is applied in the hydraulic drive unit (HDU) of legged robot, a kind of nonlinear model-based variable impedance parameters controller (MVIPC) is designed. First, the mathematical model of position-based impedance control for HDU is given. Second, the performance of traditional position-based impedance control is tested on the HDU performance test platform under different working conditions, and the experimental results show that the control accuracy of this control method needs to be improved greatly. Thirdly, the control idea of MVIPC is described, and the theoretical derivation is deduced. MVIPC considers the high-order dynamic characteristics of servo valve, pressure-flow nonlinearity of servo valve, oil compressibility and load characteristics. Finally, the control performance of MVIPC is verified on the HDU performance test platform. The experimental results show that MVIPC can significantly improve the performance of traditional position-based impedance control, and have an excellent adaptability under different working conditions. This research can provide an underlying control method of hydraulic systems during the robot locomotion.

The Dynamic Compliance and Its Compensation Control Research of the Highly Integrated Valve-controlled Cylinder Position Control System

Kaixian Ba,Bin Yu,Xiangdong Kong,Hua-Long Zhao,Jin-Song Zhao,Qi-Xin Zhu,Chun-He Li 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.4

The highly integrated valve-controlled cylinder (HIVC) is the joint driver in the hydraulic drive leggedrobot motion process, with the inner-loop-control-based outer loop dynamic compliance control method of the hydraulicsystem adopted. Yet the dynamic compliance of the HIVC position inner loop control has effects on theaccuracy of the outer loop dynamic compliance control. Therefore, the dynamic compliance parallel compositiontheory of the HIVC position inner loop control is presented and its dynamic compliance is analyzed in this paper,based on the HIVC position control nonlinear mathematical model. Moreover, the multiple parallel branch dynamiccompliance compound compensation control method is also designed and the dynamic compliance parallel compositionis rearranged. The experimental results indicate that adopting the compensation control method can decreasethe dynamic compliance of the HIVC position control system dramatically, which would provide the inner loopdynamic compliance compensation control method of the robot with high accuracy and high robustness.

Dynamic Compliance and its Compensation Control of HIVC Force Control System

Kai-xian Ba,Bin Yu,Wen-feng Li,Dong-kun Wang,Ya-liang Liu,Guo-liang Ma,Xiang-dong Kong 대한전기학회 2018 Journal of Electrical Engineering & Technology Vol.13 No.2

In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamiccompliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.

The Effects of Subliminal Music with Balance Imagery Training on Balance and Concentration

Jung Gyu Yoon,Sang Bin Lee,Hwa Mi Seo,Eun Kyung Baek,Ha Na Seol,Kyung Tae Yoo 국제물리치료학회 2010 Journal of International Academy of Physical Ther Vol.1 No.2

Purpose: The purpose of this study was to estimate the effects of subliminal music with balance imagery training on balance and concentration. Methods: The participants were 45 seniors in an undergraduate school in Korea. The subliminal music with balance imagery training intervention was carried out for 20 minutes. Other interventions were also carried out for 20 minutes. 12 seniors(Group A) listened to subliminal music with balance imagery training, 12 seniors(Group B) listened to subliminal music, 11 seniors(Group C) received balance imagery training, and 10 seniors(Group D) had no intervention(Control group). The grid test is related to measured levels of concentration intensity. Romberg one legged standing test was carried out for 30 seconds. The collected data was analyzed by one-paired t test and one way ANOVA using the SPSS Windows 12 ver. program. Results: The major findings of this study were as follows: Concentration levels of Group A and C improved, and balance levels of Group C and D improved. There was a statistically significant decrease in concentration between Group A and B, Group A and C after intervention. Conclusion: These findings suggest that listening to subliminal music with balance imagery training may be useful in managing concentration in seniors. So it provides basic information for further concentration on improving education on music with balance imagery training.

Direct Position Determination of Coherently Distributed Sources based on Compressed Sensing with a Moving Nested Array

( Zhang Yankui ),( Xu Haiyun ),( Ba Bin ),( Zong Rong ),( Wang Daming ),( Li Xiangzhi ) 한국인터넷정보학회 2019 KSII Transactions on Internet and Information Syst Vol.13 No.5

The existing direct position determinations(DPD) for coherently distributed(CD) sources are mostly applicable for uniform linear array(ULA), which result in a low degree of freedom(DOF), and it is difficult for them to realize the effective positioning in underdetermined condition. In this paper, a novel DPD algorithm for coherently distributed sources based on compressed sensing with a moving nested array is present. In this algorithm, the nested array is introduced to DPD firstly, and a positioning model of signal moving station based on nested array is constructed. Owing to the features of coherently distributed sources, the cost function of compressed sensing is established based on vectorization. For the sake of convenience, unconstrained transformation and convex transformation of cost functions are carried out. Finally, the position coordinates of the distribution source signals are obtained according to the theory of optimization. At the same time, the complexity is analyzed, and the simulation results show that, in comparison with two-step positioning algorithms and subspace-based algorithms, the proposed algorithm effectively solves the positioning problem in underdetermined condition with the same physical element number.

Trajectory sensitivity analysis of first order and second order on position control system of highly integrated valve-controlled cylinder

Xiangdong Kong,Kaixian Ba,Bin Yu,Yuan Cao,Liujie Wu,Lingxiao Quan 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.10

A Highly-integrated valve-controlled cylinder (HIVC) that has the advantage of large power weight ratio and fast response is widelyapplied in many fields. To ensure high performance of HIVC, control strategy selection and structure parameters optimization are essential;thus, performance-influenced main parameters and secondary parameters should be well-grasped to target control compensation andstructure optimization. Trajectory sensitivity analysis (TSA), a branch of sensitivity analysis, can be adapted to research on the effects ofcontrol and structure parameter variation on system performance; the analysis conclusions can be used to improve system performanceand the analysis has been applied in many applications in various fields. In this paper, based on the mathematical model of the First-ordertrajectory sensitivity analysis (FOTSA), the mathematical model of Second trajectory sensitivity analysis (SOTSA) is further derived; thegeneral expression of the second-order trajectory sensitivity equations and the special expression that is applicable to each system parametersensitivity analysis of HIVC are built respectively. Furthermore, based on the position control system of the nonlinear mathematicalmodel of HIVC involved with servo valve dynamic characteristics, flow-pressure nonlinearity, initial piston position of servocylinder, and friction nonlinearity, the coefficient items and the free items matrices of the special expression are calculated. Moreover, theFirst-order trajectory sensitivity function (FOTSF) and the Second trajectory sensitivity function (SOTSF) of the 17 main parameters inHIVC are computed on the MATLAB/Simulink platform under nine typical working conditions of the displacement step response. Then,the dynamic change rules and the differences and similarities of each parameter sensitivity analysis results are obtained through FOTSAand SOTSA under different working conditions with different parameter variations; each parameter sensitivity variation histogram basedon the two kinds of sensitivity indexes, including the maximum value of the percentage absolute value and the absolute value summationwithin the sampling time, are given. Furthermore, differences and similarities of each parameter sensitivity index change rule and valueare quantitatively analyzed. Finally, the sensitivity index change rules and values of the four parameters in the position control system ofHIVC, including system supply oil pressure, proportion gain, initial piston position of servo cylinder, and load are experimentally verified. All above studies indicate that each parameter SOTSA result of HIVC vary under different working conditions. When parametervariation is significant, the differences in certain parameter sensitivity analysis between FOSTA and SOTSA are relatively significant;and SOTSA results are more similar to the test results, which illustrates that SOTSA results are more accurate.

Bartonella rochalimae, B. grahamii, B. elizabethae, and Wolbachia spp. in Fleas from Wild Rodents near the China-Kazakhstan Border

Xiaoping Yin,Shanshan Zhao,Bin Yan,Yanhe Tian,Teer Ba,Jiangguo Zhang,Yuanzhi Wang 대한기생충학ㆍ열대의학회 2019 The Korean Journal of Parasitology Vol.57 No.5

The Alataw Pass, near the Ebinur Lake Wetland (northwest of China) and Taldykorgan (east of Kazakhstan), is a natural habitat for wild rodents. To date, little has been done on the surveillance of Bartonella spp. and Wolbachia spp. from fleas in the region. Here we molecularly detected Bartonella spp. and Wolbachia spp. in wild rodent fleas during January and October of 2016 along the Alataw Pass-Kazakhstan border. A total of 1,706 fleas belonging to 10 species were collected from 6 rodent species. Among the 10 flea species, 4 were found to be positive for Wolbachia, and 5 flea species were positive for Bartonella. Molecular analysis indicated that i) B. rochalimae was firstly identified in Xenopsylla gerbilli minax and X. conforms conforms, ii) B. grahamii was firstly identified in X. gerbilli minax, and iii) B. elizabethae was firstly detected in Coptopsylla lamellifer ardua, Paradoxopsyllus repandus, and Nosopsyllus laeviceps laeviceps. Additionally, 3 Wolbachia endosymbionts were firstly found in X. gerbilli minax, X. conforms conforms, P. repandus, and N. laeviceps laeviceps. BLASTn analysis indicated 3 Bartonella species showed genotypic variation. Phylogenetic analysis revealed 3 Wolbachia endosymbionts were clustered into the non-Siphonaptera Wolbachia group. These findings extend our knowledge of the geographical distribution and carriers of B. rochalimae, B. grahamii, B. elizabethae, and Wolbachia spp. In the future, there is a need for China-Kazakhstan cooperation to strengthen the surveillance of flea-borne pathogens in wildlife.