This paper presents a bioinspired lower extremity exoskeleton robot. The proposed exoskeleton robot can be adjusted in structure to meet the wearer’s height of 150–185 cm and has a good gait stability. In the gait control part, a method of identifying different locomotion modes is proposed; five common locomotion modes are considered in this paper, including sitting down, standing up, level-ground walking, ascending stairs, and descending stairs. The identification is depended on angle information of the hip, knee, and ankle joints. (...) A deep locomotion mode identification model based on long-short term memory architecture is proposed in this paper for exploiting the angle data. We conducted two experiments to verify the effectiveness of the proposed method. Experimental results show that the DLMIM is capable of learning inherent characteristics of joint angles and achieves more accurate identification than the other models. The last experiment demonstrates that the DLMIM can recognize transitions between different locomotion modes in time and the real-time performance varies with each individual. (shrink)

BACKGROUND: Ontologies play a major role in life sciences, enabling a number of applications, from new data integration to knowledge verification. SNOMED CT is a large medical ontology that is formally defined so that it ensures global consistency and support of complex reasoning tasks. Most biomedical ontologies and taxonomies on the other hand define concepts only textually, without the use of logic. Here, we investigate how to automatically generate formal concept definitions from textual ones. We develop a method that uses (...) machine learning in combination with several types of lexical and semantic features and outputs formal definitions that follow the structure of SNOMED CT concept definitions. RESULTS: We evaluate our method on three benchmarks and test both the underlying relation extraction component as well as the overall quality of output concept definitions. In addition, we provide an analysis on the following aspects: How do definitions mined from the Web and literature differ from the ones mined from manually created definitions, e.g., MeSH? How do different feature representations, e.g., the restrictions of relations' domain and range, impact on the generated definition quality?, How do different machine learning algorithms compare to each other for the task of formal definition generation?, and, What is the influence of the learning data size to the task? We discuss all of these settings in detail and show that the suggested approach can achieve success rates of over 90%. In addition, the results show that the choice of corpora, lexical features, learning algorithm and data size do not impact the performance as strongly as semantic types do. Semantic types limit the domain and range of a predicted relation, and as long as relations' domain and range pairs do not overlap, this information is most valuable in formalizing textual definitions. CONCLUSIONS: The analysis presented in this manuscript implies that automated methods can provide a valuable contribution to the formalization of biomedical knowledge, thus paving the way for future applications that go beyond retrieval and into complex reasoning. The method is implemented and accessible to the public from: https://github.com/alifahsyamsiyah/learningDL. (shrink)

Precise prediction of future vehicle information can improve the control efficiency of hybrid electric vehicles. Nowadays, most prediction models use previous information of vehicles to predict future driving velocity, which cannot reflect the impact of the driver and the environment. In this paper, a real-time energy management strategy based on driver-action-impact MPC is proposed for series hybrid electric vehicles. The proposed EMS consists of two modules: the velocity prediction module and the real-time MPC module. In the velocity prediction module, a (...) long short-term memory neural network model, which is trained by the traffic data derived from a VR-based driving simulator, is adopted to predict the future driving information by using driver action information and current vehicle’s velocity. The obtained future driving velocity is treated as the inputs of the real-time MPC module, which outputs the control variables to act on the underlying controllers of power components by solving a standard quadratic programming problem. Compared with the rule-based strategy, a 5.6% average reduction of fuel consumption is obtained. The effectiveness of real-time computation of the EMS is validated and verified through a hardware-in-the-loop test platform. (shrink)

In recent years, the green aviation technology draws more attention, and more hybrid power units have been applied to the aerial vehicles. To achieve the high performance and long lifetime of components during varied working conditions, the effective regulation of the energy management is necessary for the vehicles with hybrid power unit. In this paper, power prediction-based model predictive control for energy management strategy is proposed for the vehicle equipped with HPU based on turboshaft engine in order to maintain proper (...) battery’s state of charge and decrease turboshaft engine’s exhaust gas temperature. First, a modeling approach based on data-driven method is adopted to obtain the mathematical model of turboshaft engine considering time delay and inertial of states. An integrated power predictor consisting of the classification of input status and the subpredictors are developed based on the deep learning method to improve the accuracy of the prediction model of the model predictive control. Subsequently, an EMS based on MPC using the proposed power predictor is introduced to regulate the SOC of battery and the EGT of turboshaft engine. The comparison with experimental results shows the high accuracy of mathematical model of turboshaft engine. The simulation results show the effectiveness of the proposed EMS for the vehicle, and the effects of different weight coefficients of objective function on the proposed EMS are discussed. (shrink)