At present, the motion control algorithms of lower limb exoskeleton robots have errors in tracking the desired trajectory of human hip and knee joints, which leads to poor follow-up performance of the human-machine system. Therefore, an iterative learning control algorithm is proposed to track the desired trajectory of human hip and knee joints. In this paper, the experimental platform of lower limb exoskeleton rehabilitation robot is built, and the control system software and hardware design and robot prototype function test are (...) carried out. On this basis, a series of experiments are carried out to verify the rationality of the robot structure and the feasibility of the control method. Firstly, the dynamic model of the lower limb exoskeleton robot is established based on the structure analysis of the human lower limb; secondly, the servo control model of the lower limb exoskeleton robot is established based on the iterative learning control algorithm; finally, the exponential gain closed-loop system is designed by using MATLAB software. The relationship between convergence speed and spectral radius is analyzed, and the expected trajectory of hip joint and knee joint is obtained. The simulation results show that the algorithm can effectively improve the gait tracking accuracy of the lower limb exoskeleton robot and improve the follow-up performance of the human-machine system. (shrink)

The South-to-North Water Diversion Project consists of long-distance water delivery channels and a complicated geological environment along the way. To deal with the operation safety of the water conveyance channels in the middle route of the South-to-North Water Diversion Project, this study analyzes six failure modes: structural cracks, poor water delivery during ice periods, instability of canal slopes, material aging, abnormal leakage, and foundation defects. Based on FMEA, a multigranularity language evaluation method that can be converted into interval intuitionistic fuzzy (...) numbers is used to evaluate the severity, occurrence, and detection difficulty of the six failure modes. Interval intuitionistic fuzzy entropy is used to calculate the weights of the risk factors. Finally, a ranking model of each failure mode is built based on the TODIM method. The final ranking results show that the risk of abnormal leakage is the largest, and the risk of poor water delivery during ice periods is the smallest. The feasibility and validity of the calculation results are verified by comparing them with the ranking results of the traditional RPN and TOPSIS methods. The TODIM-FMEA risk assessment model offers a new solution to the problem of risk assessment for water transfer projects. (shrink)