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The purpose of this paper is to study insulin pump therapy and accurate monitoring of glucose levels in diabetic patients, which are current research trends in diabetology. Both problems have a wide margin for improvement and promising applications in the control of parameters and levels involved.

The authors have registered data for the levels of glucose in diabetic patients throughout a day with a temporal resolution of 5 minutes, the amount and time of insulin administered and time of ingestion. The estimated quantity of carbohydrates is also monitored. A mathematical model for Type 1 patients was fitted piecewise to these data and the evolution of the parameters was analyzed.

They have found that the parameters for the model change abruptly throughout a day for the same patient, but this set of parameters account with precision for the evolution of the glucose levels in the test patients. This fitting technique could be used to personalize treatments for specific patients and predict the glucose-level variations in terms of hours or even shorter periods of time. This way more effective insulin pump therapies could be developed.

The proposed model could allow for the development of improved schedules on insulin pump therapies.

Improperly fitted parameters for the Jiles–Atherton (JA) hysteresis model can lead to non-physical hysteresis loops when ferromagnetic materials are simulated. This can be remedied by including a proper physical constraint in the parameter-fitting optimization algorithm. This paper aims to implement the constraint in the meta-heuristic simulated annealing (SA) optimization and Nelder–Mead simplex (NMS) algorithms to find JA model parameters that yield a physical hysteresis loop. The quasi-static B(H)-characteristics of a non-oriented (NO) silicon steel sheet are simulated, using existing measurements from a single sheet tester. Hysteresis loops received from the JA model under modified logistic function and piecewise cubic spline fitted to the average M(H) curve are compared against the measured minor and major hysteresis loops.

A physical constraint takes into account the anhysteretic susceptibility at the origin. This helps in the optimization decision-making, whether to accept or reject randomly generated parameters at a given iteration step. A combination of global and local heuristic optimization methods is used to determine the parameters of the JA hysteresis model. First, the SA method is applied and after that the NMS method is used in the process.

The implementation of a physical constraint improves the robustness of the parameter fitting and leads to more physical hysteresis loops. Modeling the anhysteretic magnetization by a spline fitted to the average of a measured major hysteresis loop provides a significantly better fit with the data than using analytical functions for the purpose. The results show that a modified logistic function can be considered a suitable anhysteretic (analytical) function for the NO silicon steel used in this paper. At high magnitude excitations, the average M(H) curve yields the proper fitting with the measured hysteresis loop. However, the parameters valid for the major hysteresis loop do not produce proper fitting for minor hysteresis loops.

The physical constraint is added in the SA and NMS optimization algorithms. The optimization algorithms are taken from the GNU Scientific Library, which is available from the GNU project. The methods described in this paper can be applied to estimate the physical parameters of the JA hysteresis model, particularly for the unidirectional alternating B(H) characteristics of NO silicon steel.

This paper aims to propose a novel mathematical model of bearingless switched reluctance motor (BSRM). This model differs from conventional mathematical models in the calculation of torque and suspension forces. Conventional mathematical models neglect the coupling relationship between the α- and β-axes or ignore the magnetic saturation of the Si-Fe material. This study considers these issues simultaneously. Additionally, considering the air-gap edge effect, the fringing coefficient is used to establish a high-precision mathematical model.

An innovative mathematical model of BSRM based on the Maxwell stress method was established by selecting an appropriate integration path. The fringing coefficient of the air-gap was computed based on the finite element analysis results at the aligned position of the stator and rotor poles. Using the least squares fitting method, the piecewise fitted magnetization curve of the Si-Fe material was utilized to calculate flux density.

The appropriate integration path of the Maxwell stress method was selected, which considered the coupling relationship of the suspension forces in the α- and β-axes and was closer to the actual situation. The fringing coefficient of the air-gap improved the calculation accuracy of air-gap flux density. The magnetomotive force was consumed by the magnetic resistance of the stator and rotor poles considering the magnetic saturation.

A novel mathematical model of BSRM is proposed. Different from conventional mathematical models, the proposed model can effectively solve the coupling relationship of the suspension forces in the α- and β-axes. Additionally, this model is consistent with the actual situation of motor as it includes a reasonable calculation of the air-gap flux density, considering the air-gap edge effect and magnetic saturation.

Continuum manipulators are often used in complex and narrow space in recent years because of their flexibility and safety. Vision is considered to be one of the most direct methods to obtain its spatial shape. However, with the improvement of the cooperation requirements of multiple continuum manipulators and the increase of space limitation, it is impossible to obtain the complete spatial shape information of multiple continuum manipulators only by several cameras.

This paper proposes a fusion method using inertial navigation sensors and cameras to reconstruct the shape of continuum manipulators in the whole workspace. The camera is used to obtain the position information, and the inertial navigation sensor is used to obtain the attitude information. Based on the above two information, the shape of the continuum manipulator is reconstructed by fitting Bézier curve.

The experiment result of single continuum manipulator shows that the cubic Bézier curves is applicable to curve fitting of variable curvature, the maximum fitting error is about 2 mm. Meanwhile, the experiment result shows that this method is not affected by obstacles and can still reconstruct the shape of the continuum manipulators in 3-D space by detecting the position and attitude information of the end.

According to the authors’ knowledge, this is the first study on spatial shape reconstruction of multiple continuum manipulators and the first study to introduce inertial navigation sensors and cameras into the field of shape reconstruction of multiple continuum manipulators in narrow space. This method is suitable for shape reconstruction of manipulator with variable curvature continuum manipulator. When the vision of multiple continuum manipulators is blocked by obstacles, the spatial shape can still be reconstructed only by exposing the end point. The structure is simple, but it has certain accuracy within a certain range.

The objective of this study is to investigate the feasibility of using selective laser melting (SLM) process to print fine capillary wick porous structures for heat pipe applications and clarify the interrelations between the printing parameters and the structure functional performance to form guidelines for design and printing preparation.

A new toolpath-based construction method is adopted to prepare the printing of capillary wick with fine pores in SLM process. This method uses physical melting toolpath profile with associated printing parameters to directly define slices and assemble them into a printing data model to ensure manufacturability and reduce precision loss of data model transformation in the printing preparation stage. The performance of the sample was characterised by a set of standard experiments and the relationship between the printing parameters and the structure performance is modeled.

The results show that SLM-printed capillary wick porous structures exhibit better performance in terms of pore diameter and related permeability than that of structures formed using traditional sintering methods, generally 15 times greater. The print hatching space and infilling pattern have a critical impact on functional porosity and permeability. An empirical formula was obtained to describe this impact and can serve as a reference for the design and printing of capillary wicks in future applications.

This research proves the feasibility of using SLM process to printing functional capillary wicks in extremely fine pores with improved functional performance. It is the first time to reveal the relations among the pore shapes, printing parameters and functional performance. The research results can be used as a reference for heat pipe design and printing in future industrial applications.

This research aims to present a novel cooperative control architecture designed specifically for roads with variations in height and curvature. The primary objective is to enhance the longitudinal and lateral tracking accuracy of the vehicle.

In addressing the challenges posed by time-varying road information and vehicle dynamics parameters, a combination of model predictive control (MPC) and active disturbance rejection control (ADRC) is employed in this study. A coupled controller based on the authors’ model was developed by utilizing the capabilities of MPC and ADRC. Emphasis is placed on the ramifications of road undulations and changes in curvature concerning control effectiveness. Recognizing these factors as disturbances, measures are taken to offset their influences within the system. Load transfer due to variations in road parameters has been considered and integrated into the design of the authors’ synergistic architecture.

The framework's efficacy is validated through hardware-in-the-loop simulation. Experimental results show that the integrated controller is more robust than conventional MPC and PID controllers. Consequently, the integrated controller improves the vehicle's driving stability and safety.

The proposed coupled control strategy notably enhances vehicle stability and reduces slip concerns. A tailored model is introduced integrating a control strategy based on MPC and ADRC which takes into account vertical and longitudinal force variations and allowing it to effectively cope with complex scenarios and multifaceted constraints problems.

The purpose of this paper is to develop a kind of low cost measuring system based on binocular vision sensor to detect both the weld pool geometry and root gap simultaneously for robot welding process.

Two normal charge coupled device cameras are used for capturing clear images from two directions; one of them is used to measure the root gap and another one is used to measure the geometric parameters of the weld pool. Efforts are made from both hardware and software aspects to decrease the strong interferences in pulsed gas tungsten arc welding process, so that clear and steady images can be obtained. The grey level distribution characteristics of root gap edge and weld pool edge in images are analyzed and utilized for developing the image processing algorithms.

A solid foundation for seam tracking and penetration control of robot welding process can be established based on the binocular vision sensor.

The results show that the algorithms can extract the root gap edges and the contour of weld pool effectively, and then some geometric parameters can be calculated from the results.

The binocular vision system provides a new method for sensing of robot welding process.

Surface forming control of welding bead is the fundamental study in automated welding. Considering that the vision sensing system cannot extract the height information of weld pool in pulsed GTAW process, so this paper designed a set of automatic measurement and control technology to achieve real-time arc height control via audio sensing system. The paper aims to discuss these issues.

The experiment system is based on GTAW welding with acoustic sensor and signal conditioner. A combination denoising method was used to reduce the environmental noise and pulse interference noise. After extracting features of acoustic signal, the relationship between arc height and arc sound pressure was established by linear fitting. Then in order to improve the prediction accuracy of that model, the piecewise linear fitting method was proposed. Finally, arc height linear model of arc sound signal and arc height is divided into two parts and built in two different arc height conditions, which are arc height 3-4 and 4-5-6 mm.

The combination denoising method was proved to have great effect on reducing the environmental noise and pulse interference noise. The experimental results showed that the prediction accuracy of linear model was not stable in different arc height changing state, like 3-4 and 4-5-6 mm. The maximum error was 0.635588 mm. And the average error of linear model was about 0.580487 mm, and the arc sound signal was accurately enough to meet the requirement for real-time control of arc height in pulse GTAW.

This paper tries to make a foundation work to achieve controlling of depth of welding pool through arc sound signal, then the welding quality control. So a new idea of arc height control based on automatic measuring and processing system through arc sound signal was proposed. A new way to remove environmental noise and pulse interference noise was proposed. The results of this thesis had proved that arc sound signal was an effective features and precisely enough for online arc height monitoring during pulsed GTAW.

The purpose of the article is to develop an equation to accurately represent OCV as a function of SoC with reduced computational burden. Dependency of open circuit voltage (OCV) on state of charge (SoC) is often represented by either a look-up table or an equation developed by regression analysis. The accuracy is increased by either a larger data set for the look-up table or using a higher order equation for the regression analysis. Both of them increase the memory requirement in the controller. In this paper, Gaussian exponential regression methodology is proposed to represent OCV and SoC relationships accurately, with reduced memory requirement.

Incremental OCV test under constant temperature provides a data set of OCV and SoC. This data set is subjected to polynomial, Gaussian and the proposed Gaussian exponential equations. The unknown coefficients of these equations are obtained by least residual algorithm and differential evolution–based fitting algorithms for charging, discharging and average OCV.

Root mean square error (RMSE) of the proposed equation for differential evolution–based fitting technique is 35% less than second-order Gaussian and 74% less than a fifth-order polynomial equation for average OCV with a 16.66% reduction in number of coefficients, thereby reducing memory requirement.

The knee structure in the OCV and SoC relationship is accurately represented by Gaussian first-order equation, and the exponential equation can accurately describe the linear relation. Therefore, this paper proposes a Gaussian exponential equation that accurately represents the OCV as a function of SoC. The results obtained from the proposed regression methodology are compared with the polynomial and Gaussian regression in terms of RMSE, mean average, variance and number of coefficients.

The purpose of this paper investigates dynamic ease distributions of clothes at bust and waist lines with different body surface angle by using a Qualisys three-dimensional motion capture system (3DMCS).

The current method first obtain the specific markers of participants and their clothes along the bust and waist lines through 3DMCS, then using the least square method and four piecewise polynomial fitting participants and their clothes' bust and waist curves. The coordinates of the markers were tracked by the 3DMCS, while the participants under different body surface angle walked on a treadmill calculated the distances of markers coordinates to the participants' bust and waist curves. Finally, the data of samples were analyzed. It was found that the dynamic ease distributions showed different patterns at different body surface angle.

The results revealed the bust convex angle is 26.53 degrees (Specification:X3) and back slope angle is 13.96 degrees (Specification: Y1), the fluctuation of participant ease distributions on bust section was most obvious, and the maximum fluctuation value was ±20 mm and ±25 mm. The ease distributions of participant waist section fluctuated most obviously when the bust convex angle is 28.10 degrees (Specification: X5) and the back slope angle is 13.96 degrees (Specification: Y1), and the maximum fluctuation was ±30 mm and ±20 mm. The bust convex angle has the greatest influence on 1# garment, and the back slope angle has the greatest influence on 2# garment.

Currently, there is little information in the literature about dynamic ease distributions of garment on a different body types. This paper takes different body surface angles as the research objects to analyze the ease distributions of different clothes, the conclusion can provide reference data for 3D garment modeling and improve the authenticity of virtual garment fitting.