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虚拟企业 4

神经网络 2

虚拟样机 2

虚拟现实 2

AFHW模型 1

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CPU-GPU异构；多核；共享内存；访存调度 1

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“一带一路” 1

一致性；自触发控制；分布式模型预测控制 1

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三维动态 1

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三维毛笔模型；三维笔道；三维交互绘制；实时力反馈技术 1

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Real-time mobile robot teleoperation via Internet based on predictive control

WANG Shihua, XU Bugong, WANG Shihua, ZHOU Yeming, LIU YunHui

《机械工程前沿（英文）》 2008年第3卷第3期页码 299-306 doi: 10.1007/s11465-008-0049-7

摘要： A remote control system that can control a mobile robot in real time via the internet is proposed. To compensate for the network delay and counteract its impact on the teleoperation system, a predictive control scheme based on the modified Smith predictor proposed is selected. To ensure the stability and transparency of the system, a dynamic model manager is designed based on the information exchange between the sensors at the master and slave sides. To precisely predict the time delay, a new timer synchronization algorithm is proposed. To decrease delay- jitter, a new data buffer scheme is performed. Force feedback and a virtual predictive display are introduced to enhance the real-time efficiency of teleoperation. The usefulness and effectiveness of the proposed method and system are proven by teleoperation experiments via the internet over a long distance.

关键词： predictive feedback virtual predictive distance synchronization algorithm

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Multi-timescale optimization scheduling of interconnected data centers based on model predictive control

《能源前沿（英文）》 doi: 10.1007/s11708-023-0912-6

摘要： With the promotion of “dual carbon” strategy, data center (DC) access to high-penetration renewable energy sources (RESs) has become a trend in the industry. However, the uncertainty of RES poses challenges to the safe and stable operation of DCs and power grids. In this paper, a multi-timescale optimal scheduling model is established for interconnected data centers (IDCs) based on model predictive control (MPC), including day-ahead optimization, intraday rolling optimization, and intraday real-time correction. The day-ahead optimization stage aims at the lowest operating cost, the rolling optimization stage aims at the lowest intraday economic cost, and the real-time correction aims at the lowest power fluctuation, eliminating the impact of prediction errors through coordinated multi-timescale optimization. The simulation results show that the economic loss is reduced by 19.6%, and the power fluctuation is decreased by 15.23%.

关键词： model predictive control interconnected data center multi-timescale optimized scheduling distributed power supply landscape uncertainty

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The CatMath: an online predictive platform for thermal + electrocatalysis

《化学科学与工程前沿（英文）》 2023年第17卷第12期页码 2156-2160 doi: 10.1007/s11705-023-2371-3

摘要： The catalytic volcano activity models are the quantified and visualized tools of the Sabatier principle for heterogeneous catalysis, which can depict the intrinsic activity optima and trends of a catalytic reaction as a function of the reaction descriptors, i.e., the bonding strengths of key reaction species. These models can be derived by microkinetic modeling and/or free energy changes in combination with the scaling relations among the reaction intermediates. Herein, we introduce the CatMath—an online platform for generating a variety of common and industrially important thermal + electrocatalysis. With the CatMath, users can request the volcano models for available reactions and analyze their materials of interests as potential catalysts. Besides, the CatMath provides the function of the online generation of Surface Pourbaix Diagram for surface state analysis under electrocatalytic conditions, which is an essential step before analyzing the activity of an electrocatalytic surface. All the model generation and analysis processes are realized by cloud computing via a user-friendly interface.

关键词： CatMath catalysis volcano activity plots Surface Pourbaix Diagrams online platform

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Extended model predictive control scheme for smooth path following of autonomous vehicles

《机械工程前沿（英文）》 2022年第17卷第1期页码 4-4 doi: 10.1007/s11465-021-0660-4

摘要： This paper presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomous vehicles, which has multiple constraints and an integrated model of vehicle and road dynamics. Road curvature and inclination factors are used in the construction of the vehicle dynamic model to describe its lateral and roll dynamics accurately. Sideslip, rollover, and vehicle envelopes are used as multiple constraints in the MPC controller formulation. Then, an extended MPC method solved by differential evolution optimization algorithm is proposed to realize optimal smooth path following based on driving path features. Finally, simulation and real experiments are carried out to evaluate the feasibility and the effectiveness of the extended MPC scheme. Results indicate that the proposed method can obtain the smooth transition to follow the optimal drivable path and satisfy the lateral dynamic stability and environmental constraints, which can improve the path following quality for better ride comfort and road availability of autonomous vehicles.

关键词： autonomous vehicles vehicle dynamic modeling model predictive control path following optimization algorithm

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Creating technical heritage object replicas in a virtual environment

Olga EGOROVA,Dmitry SHCHERBININ

《机械工程前沿（英文）》 2016年第11卷第1期页码 108-115 doi: 10.1007/s11465-016-0363-4

摘要：

The paper presents innovative informatics methods for creating virtual technical heritage replicas, which are of significant scientific and practical importance not only to researchers but to the public in general. By performing 3D modeling and animation of aircrafts, spaceships, architectural-engineering buildings, and other technical objects, the process of learning is achieved while promoting the preservation of the replicas for future generations. Modern approaches based on the wide usage of computer technologies attract a greater number of young people to explore the history of science and technology and renew their interest in the field of mechanical engineering.

关键词： 3D document history of science and technology technical knowledge popularization virtual environment replica mechanism and machine science (MMS)

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machine-learning-based system identification of dynamical systems under control: application towards the model predictive

《化学科学与工程前沿（英文）》 2022年第16卷第2期页码 237-250 doi: 10.1007/s11705-021-2058-6

摘要： Advanced model-based control strategies, e.g., model predictive control, can offer superior control of key process variables for multiple-input multiple-output systems. The quality of the system model is critical to controller performance and should adequately describe the process dynamics across its operating range while remaining amenable to fast optimization. This work articulates an integrated system identification procedure for deriving black-box nonlinear continuous-time multiple-input multiple-output system models for nonlinear model predictive control. To showcase this approach, five candidate models for polynomial and interaction features of both output and manipulated variables were trained on simulated data and integrated into a nonlinear model predictive controller for a highly nonlinear continuous stirred tank reactor system. This procedure successfully identified system models that enabled effective control in both servo and regulator problems across wider operating ranges. These controllers also had reasonable per-iteration times of ca. 0.1 s. This demonstration of how such system models could be identified for nonlinear model predictive control without prior knowledge of system dynamics opens further possibilities for direct data-driven methodologies for model-based control which, in the face of process uncertainties or modelling limitations, allow rapid and stable control over wider operating ranges.

关键词： nonlinear model predictive control black-box modeling continuous-time system identification machine learning industrial applications of process control

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Development of a hydrodynamic model and the corresponding virtual software for dual-loop circulating

Shanwei Hu, Xinhua Liu

《化学科学与工程前沿（英文）》 2021年第15卷第3期页码 579-590 doi: 10.1007/s11705-020-1953-6

摘要： Dual-loop circulating fluidized bed (CFB) reactors have been widely applied in industry because of their good heat and mass transfer characteristics and continuous handling ability. However, the design of such reactors is notoriously difficult owing to the poor understanding of the underlying mechanisms, meaning it has been heavily based on empiricism and stepwise experiments. Modeling the gas-solid CFB system requires a quantitative description of the multiscale heterogeneity in the sub-reactors and the strong coupling between them. This article proposed a general method for modeling multi-loop CFB systems by utilizing the energy minimization multiscale (EMMS) principle. A full-loop modeling scheme was implemented by using the EMMS model and/or its extension models to compute the hydrodynamic parameters of the sub-reactors, to achieve the mass conservation and pressure balance in each circulation loop. Based on the modularization strategy, corresponding interactive simulation software was further developed to facilitate the flexible creation and fast modeling of a customized multi-loop CFB reactor. This research can be expected to provide quantitative references for the design and scale-up of gas-solid CFB reactors and lay a solid foundation for the realization of virtual process engineering.

关键词： multi-loop circulating fluidized bed mathematical modeling energy minimization multiscale virtual fluidization mesoscale structure

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A virtual reality system for arm and hand rehabilitation

Zhiqiang LUO, Chee Kian LIM, I-Ming CHEN, Song Huat YEO

《机械工程前沿（英文）》 2011年第6卷第1期页码 23-32 doi: 10.1007/s11465-011-0202-6

摘要：

This paper presents a virtual reality (VR) system for upper limb rehabilitation. The system incorporates two motion track components, the Arm Suit and the Smart Glove which are composed of a range of the optical linear encoders (OLE) and the inertial measurement units (IMU), and two interactive practice applications designed for driving users to perform the required functional and non-functional motor recovery tasks. We describe the technique details about the two motion track components and the rational to design two practice applications. The experiment results show that, compared with the marker-based tracking system, the Arm Suit can accurately track the elbow and wrist positions. The repeatability of the Smart Glove on measuring the five fingers’ movement can be satisfied. Given the low cost, high accuracy and easy installation, the system thus promises to be a valuable complement to conventional therapeutic programs offered in rehabilitation clinics and at home.

关键词： motion tracking rehabilitation optical linear encoder (OLE) virtual reality

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Monitoring checkpoint inhibitors: predictive biomarkers in immunotherapy

Min Zhang, Jingwen Yang, Wenjing Hua, Zhong Li, Zenghui Xu, Qijun Qian

《医学前沿（英文）》 2019年第13卷第1期页码 32-44 doi: 10.1007/s11684-018-0678-0

摘要：

Immunotherapy has become the fourth cancer therapy after surgery, chemotherapy, and radiotherapy. In particular, immune checkpoint inhibitors are proved to be unprecedentedly in increasing the overall survival rates of patients with refractory cancers, such as advanced melanoma, non-small cell lung cancer, and renal cell carcinoma. However, inhibitor therapies are only effective in a small proportion of patients with problems, such as side effects and high costs. Therefore, doctors urgently need reliable predictive biomarkers for checkpoint inhibitor therapies to choose the optimal therapies. Here, we review the biomarkers that can serve as potential predictors of the outcomes of immune checkpoint inhibitor treatment, including tumor-specific profiles and tumor microenvironment evaluation and other factors.

关键词： immune checkpoint companion diagnosis PD-L1 tumor mutation burden immune score

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Abnormal glycosylated hemoglobin as a predictive factor for glucose metabolism disorders in antipsychotic

XU Leping, JI Juying, DUAN Yiyang, SHI Hui, ZHANG Bin, SHAO Yaqin, SUN Jian

《医学前沿（英文）》 2007年第1卷第3期页码 316-319 doi: 10.1007/s11684-007-0061-z

摘要： The aim of this study was to observe the changes in glucose metabolism after antipsychotic (APS) therapy, to note the influencing factors, as well as to discuss the relationship between the occurrence of glucose metabolism disorders of APS origin and abnormal glycosylated hemoglobin (HbAc) levels. One hundred and fifty-two patients with schizophrenia, whose fasting plasma glucose (FPG) and 2-h plasma glucose (2hPG) in the oral glucose tolerance test (2HPG) were normal, were grouped according to the HbAc levels, one normal and the other abnormal, and were randomly enrolled into risperidone, clozapine and chlorpromazine treatment for six weeks. The FPG and 2hPG were measured at the baseline and at the end of the study. In the group with abnormal HbA1c and clozapine therapy, 2HPG was higher after the study [(9.5±1.8) mmol/L] than that before the study [(7.2±1.4) mmol/L] and the difference was statistically significant (〈0.01). FPG had no statistically significant difference before and after the study in any group (〉0.05). HbAc levels and drugs contributing to 2HPG at the end of study had statistical cross-action (〈0.01). In the abnormal HbAc group, 2HPG after the study was higher in the clozapine treatment group [(9.5±1.8) mmol/L] than in the risperidone treatment group [(7.4±1.7) mmol/L] and the chlorpromazine treatment group [(7.3±1.6) mmol/L]. The differences were statistically significant (〈0.01). In the normal HbAc group there was no statistically significant difference before and after the study in any group (〉0.05). 2HPG before [(7.1±1.6) mmol/L] and after the study [(8.1±1.9) mmol/L] was higher in the abnormal HbAc group than in the normal HbAc group [(6.2±1.4) mmol/L (6.5±1.4) mmol/L] with the difference being statistically significant (〈0.01 〈0.001). As compared with normal HbAc group, the relative risk (RR) of glucose metabolism disease occurrence was 4.7 in the abnormal HbAc group with the difference being statistically significant (〈0.001). Patients with abnormal HbAc are more likely to have a higher risk of having glucose metabolism disorders after APS treatment.

关键词： significant difference occurrence hemoglobin risperidone treatment abnormal

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基于网格服务的协同虚拟环境

张谞,吴慧中,肖亮

《中国工程科学》 2007年第9卷第11期页码 157-162

摘要：

由于计算资源、网络资源以及现有技术的限制，协同虚拟环境的扩展性问题至今没有得到很好的解决。针对这一问题，讨论了大规模协同虚拟环境的通信模式，提出了一个基于开放网格服务结构OGSA的协同虚拟环境体系结构，利用网格服务封装将系统功能实现与具体的物理资源相分离以达到系统可扩展的目的。另外，还重点研究了影响协同虚拟环境扩展性的关键技术———虚拟世界管理服务以及相关的支撑服务。最后基于Globus Toolkit开发了一个协同虚拟环境示例程序，验证所提出的框架和方法的可行性。

关键词：协同虚拟环境开放网格服务结构虚拟世界管理扩展性

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虚拟企业和谐机制研究

王硕,唐小我

《中国工程科学》 2004年第6卷第4期页码 82-85

摘要：

文章运用和谐理论与方法，探讨虚拟企业运作与发展要素划分、现状和谐性分析，研究其和谐机制，据此可随时分析虚拟企业系统的和谐状态，以针对性改进其运行，最后给出案例研究。

关键词：虚拟企业和谐机制协调要素

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Research on constraint-based virtual assembly technologies

YANG Rundang, WU Dianliang, FAN Xiumin, YAN Juanqi

《机械工程前沿（英文）》 2007年第2卷第2期页码 243-249 doi: 10.1007/s11465-007-0043-5

摘要： To realize a constraint-based virtual assembly operation, the unified representations of the assembly constraint, the equivalent relation between the constraint and the degree of freedom (DOF), and the movement DOF reduction in a virtual environment are proposed. Several algorithms about the constraint treatment are submitted. First, the automatic recognition algorithm based on the assembly relation is used to determine the position and orientation relation between two geometry elements of constraint whether they meet the given errors. Second, to satisfy the new constraint, according to the positing solving algorithm, the position and orientation of an active part are modified with minimal adjustment after the part has satisfied the affirmed constraints. Finally, the algorithm of movement navigation based on the generalized coordinate system is put forward, and the part movement is guided. These algorithms have been applied to the integrated virtual assembly environment (IVAE) system. Experiments have indicated that these algorithms have well supported constraint treatments in the IVAE and realized the closer combination of the virtual and the real assembly processes.

关键词： movement DOF recognition algorithm assembly orientation combination

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Digital design of a combine harvester using virtual prototyping

YAN Chuliang, LI Jie, ZHANG Shuming, YANG Fangfei

《机械工程前沿（英文）》 2007年第2卷第2期页码 159-163 doi: 10.1007/s11465-007-0026-6

摘要： A parametric feature-based modeling was used to model the parts of a combine harvester. The digital virtual prototyping of the harvester was completed by virtual assembly. The finite element analysis of the vehicle frame was made and the result satisfied the requirements. The vibration sieve, which is a key part of the combine harvester, was simulated and optimized. The excellent parameters of the vibration were gained by optimization. The grain passed through the sieve easily after the optimization and reduced the loss rate and impurity rate in theory.

关键词： excellent assembly impurity harvester vibration