Gait recognition is the key question of functional electrical stimulation (FES) system control for paraplegic walking. A new risk-tendency-graph (RTG) method was proposed to recognize the stability information in FES-...Gait recognition is the key question of functional electrical stimulation (FES) system control for paraplegic walking. A new risk-tendency-graph (RTG) method was proposed to recognize the stability information in FES-assisted walking gait. The main instrument was a specialized walker dynamometer system based on a multi-channel strain-gauge bridge network fixed on the walker frame. During walking process, this system collected the reaction forces between patient's upper extremities and walker and converted them into RTG morphologic curves of dynamic gait stability in temporal and spatial domains. To demonstrate the potential usefulness of RTG, preliminary clinical trials were done with paraplegic patients. The gait stability levels of two walking cases with 4- and 12-week FES training from one subject were quantified (0.43 and 0.19) from the results of temporal and spatial RTG. Relevant instable phases in gait cycle and dangerous inclinations of patient's body during walking process were also brought forward. In conclusion, the new RTG method is practical for distinguishing more useful gait stability information for FES system control.展开更多
This paper makes a comparative analysis of testing stability of seed coat neps (SCN) number and size with Advanced Fiber Information System (AFIS) and aQura.After testing the number and size of SCN in sliver produced ...This paper makes a comparative analysis of testing stability of seed coat neps (SCN) number and size with Advanced Fiber Information System (AFIS) and aQura.After testing the number and size of SCN in sliver produced by two different experiments (twelve plans in each experiment)with AFIS and aQura,the test results are analyzed with the theory of statistical analysis and the following conclusions are drawn:(1) the testing stability of SCN number and size of aQura is better than that of AFIS;(2) to get a reliable testing stability of SCN number,more than 24 samples should be tested on aQura,while more than 130 samples on AFIS;(3) for SCN size test,more than 10 and 12 samples should be tested on aQura and AFIS,respectively;(4) the basic reason for higher testing stability of SCN number and size on aQura is that the weight of the samples is greater than that on AFIS.展开更多
To improve maneuverability and stability of articulated vehicles, we design an active steering controller, including tractor and trailer controllers, based on linear quadratic regulator(LQR) theory. First, a three-deg...To improve maneuverability and stability of articulated vehicles, we design an active steering controller, including tractor and trailer controllers, based on linear quadratic regulator(LQR) theory. First, a three-degree-of-freedom(3-DOF) model of the tractor-trailer with steered trailer axles is built. The simulated annealing particle swarm optimization(SAPSO) algorithm is applied to identify the key parameters of the model under specified vehicle speed and steering wheel angle. Thus, the key parameters of the simplified model can be obtained according to the vehicle conditions using an online look-up table and interpolation. Simulation results show that vehicle parameter outputs of the simplified model and Truck Sim agree well, thus providing the ideal reference yaw rate for the controller. Then the active steering controller of the tractor and trailer based on LQR is designed to follow the desired yaw rate and minimize their side-slip angle of the center of gravity(CG) at the same time. Finally, simulation tests at both low speed and high speed are conducted based on the Truck Sim-Simulink program. The results show significant effects on the active steering controller on improving maneuverability at low speed and lateral stability at high speed for the articulated vehicle. The control strategy is applicable for steering not only along gentle curves but also along sharp curves.展开更多
The authors study a linear inverse problem with a biological interpretation,which is modelled by a Fredholm integral equation of the first kind, where the kernel is represented by step functions. Based on different as...The authors study a linear inverse problem with a biological interpretation,which is modelled by a Fredholm integral equation of the first kind, where the kernel is represented by step functions. Based on different assumptions, identifiability, stability and reconstruction results are obtained.展开更多
基金Supported by National Natural Science Foundation of China (No.60501005)Key Programof Tianjin Science Technology Support Plan(No.2007-68)
文摘Gait recognition is the key question of functional electrical stimulation (FES) system control for paraplegic walking. A new risk-tendency-graph (RTG) method was proposed to recognize the stability information in FES-assisted walking gait. The main instrument was a specialized walker dynamometer system based on a multi-channel strain-gauge bridge network fixed on the walker frame. During walking process, this system collected the reaction forces between patient's upper extremities and walker and converted them into RTG morphologic curves of dynamic gait stability in temporal and spatial domains. To demonstrate the potential usefulness of RTG, preliminary clinical trials were done with paraplegic patients. The gait stability levels of two walking cases with 4- and 12-week FES training from one subject were quantified (0.43 and 0.19) from the results of temporal and spatial RTG. Relevant instable phases in gait cycle and dangerous inclinations of patient's body during walking process were also brought forward. In conclusion, the new RTG method is practical for distinguishing more useful gait stability information for FES system control.
基金Fund of Scientific and Technological Key Project Plan of Liaoning Province,China(No.2003220026) Fund of Scientific and Technological Key Project Plan of Dandong City,China(No.06133)
文摘This paper makes a comparative analysis of testing stability of seed coat neps (SCN) number and size with Advanced Fiber Information System (AFIS) and aQura.After testing the number and size of SCN in sliver produced by two different experiments (twelve plans in each experiment)with AFIS and aQura,the test results are analyzed with the theory of statistical analysis and the following conclusions are drawn:(1) the testing stability of SCN number and size of aQura is better than that of AFIS;(2) to get a reliable testing stability of SCN number,more than 24 samples should be tested on aQura,while more than 130 samples on AFIS;(3) for SCN size test,more than 10 and 12 samples should be tested on aQura and AFIS,respectively;(4) the basic reason for higher testing stability of SCN number and size on aQura is that the weight of the samples is greater than that on AFIS.
基金supported by the Program for Changjiang ScholarsInnovative Research Team in University,China(No.IRT0626)
文摘To improve maneuverability and stability of articulated vehicles, we design an active steering controller, including tractor and trailer controllers, based on linear quadratic regulator(LQR) theory. First, a three-degree-of-freedom(3-DOF) model of the tractor-trailer with steered trailer axles is built. The simulated annealing particle swarm optimization(SAPSO) algorithm is applied to identify the key parameters of the model under specified vehicle speed and steering wheel angle. Thus, the key parameters of the simplified model can be obtained according to the vehicle conditions using an online look-up table and interpolation. Simulation results show that vehicle parameter outputs of the simplified model and Truck Sim agree well, thus providing the ideal reference yaw rate for the controller. Then the active steering controller of the tractor and trailer based on LQR is designed to follow the desired yaw rate and minimize their side-slip angle of the center of gravity(CG) at the same time. Finally, simulation tests at both low speed and high speed are conducted based on the Truck Sim-Simulink program. The results show significant effects on the active steering controller on improving maneuverability at low speed and lateral stability at high speed for the articulated vehicle. The control strategy is applicable for steering not only along gentle curves but also along sharp curves.
基金partially supported by the Basal-CMM Project,the Fondecyt Grant(No.1130317,1111012,1140773)"Agence Nationale de la Recherche" Project CISIFS(No.ANR-09-BLAN-0213-02)partially supported by ECOS-CONICYT C13E05 and Basal-CeBiB
文摘The authors study a linear inverse problem with a biological interpretation,which is modelled by a Fredholm integral equation of the first kind, where the kernel is represented by step functions. Based on different assumptions, identifiability, stability and reconstruction results are obtained.
