Keeping balance is the premise of human walking. ZMP(zero moment point) is a point where total torque achieves balance. It is an important evaluation parameter of balance ability in walking, since it can be used to be...Keeping balance is the premise of human walking. ZMP(zero moment point) is a point where total torque achieves balance. It is an important evaluation parameter of balance ability in walking, since it can be used to better reflect the dynamic balance during walking. ZMP can be used in many applications, such as medical rehabilitation, disease diagnosis, treatment and etc. In this paper, wearable inertial sensors system based on MEMS is used to measure ZMP(zero moment point) during walking, which is cheap, convenient, and free from the restriction of lab. Our wearable ZMP measurement system consists of inertial measurement subsystem and PC real-time monitoring station. Inertial measurement subsystem includes 9-axis inertial sensing nodes, the body communication network and the central node. Inertial sensing nodes are mounted on different parts of the body to collect body posture information in real-time, and then the best estimation of current posture are obtained by Kalman filter. The data from sensors is aggregated to the central node through the CAN bus, and then ZMP is calculated. Finally, it can be showed in the PC monitoring station. Experiments prove the system can achieve real-time ZMP detection during walking.展开更多
The integrated information network is a large capacity information network that integrates various communication platforms on the ground, at sea, in the air and in the deep air through the inter-satellite and satellit...The integrated information network is a large capacity information network that integrates various communication platforms on the ground, at sea, in the air and in the deep air through the inter-satellite and satellite-ground links to acquire information accurately, process it quickly, and transmit it efficiently. The satellite communication, as an important part of integrated information networks, is one of main approaches to acquire, process and distribute communication information and resources. In this paper, based on current researches of the satellite communication network, we put forward a 3-layer satellite communication network model based on the Software Defined Network (SDN). Meanwhile, to improve current routing policies of the Low Earth Orbit (LEO) satellite communication network, we put forward an Adaptive Routing Algorithm (ARA) to sustain the shortest satellite communication link. Experiment results show that the proposed method can effectively reduce link distance and communication delay, and realize adaptive path planning.展开更多
基金supported by "the Fundamental Research Funds for the Central Universities" ZYGX2013J123
文摘Keeping balance is the premise of human walking. ZMP(zero moment point) is a point where total torque achieves balance. It is an important evaluation parameter of balance ability in walking, since it can be used to better reflect the dynamic balance during walking. ZMP can be used in many applications, such as medical rehabilitation, disease diagnosis, treatment and etc. In this paper, wearable inertial sensors system based on MEMS is used to measure ZMP(zero moment point) during walking, which is cheap, convenient, and free from the restriction of lab. Our wearable ZMP measurement system consists of inertial measurement subsystem and PC real-time monitoring station. Inertial measurement subsystem includes 9-axis inertial sensing nodes, the body communication network and the central node. Inertial sensing nodes are mounted on different parts of the body to collect body posture information in real-time, and then the best estimation of current posture are obtained by Kalman filter. The data from sensors is aggregated to the central node through the CAN bus, and then ZMP is calculated. Finally, it can be showed in the PC monitoring station. Experiments prove the system can achieve real-time ZMP detection during walking.
基金supported in part by the National Natural Science Foundation of China (No. 61571104)the Sichuan Science and Technology Program (No. 2018JY0539)+2 种基金the Key projects of the Sichuan Provincial Education Department (No. 18ZA0219)the Fundamental Research Funds for the Central Universities (No. ZYGX2017KYQD170)the Innovation Funding (No. 2018510007000134)
文摘The integrated information network is a large capacity information network that integrates various communication platforms on the ground, at sea, in the air and in the deep air through the inter-satellite and satellite-ground links to acquire information accurately, process it quickly, and transmit it efficiently. The satellite communication, as an important part of integrated information networks, is one of main approaches to acquire, process and distribute communication information and resources. In this paper, based on current researches of the satellite communication network, we put forward a 3-layer satellite communication network model based on the Software Defined Network (SDN). Meanwhile, to improve current routing policies of the Low Earth Orbit (LEO) satellite communication network, we put forward an Adaptive Routing Algorithm (ARA) to sustain the shortest satellite communication link. Experiment results show that the proposed method can effectively reduce link distance and communication delay, and realize adaptive path planning.
