Adaptive admittance tracking control for interactive robot with prescribed performance

An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.

Sound propagation in inhomogeneous waveguides with sound-speed profiles using the multimodal admittance method

The multimodal admittance method and its improvement are presented to deal with various aspects in underwater acoustics,mostly for the sound propagation in inhomogeneous waveguides with sound-speed profiles,arbitrary-shaped liquid-like scatterers,and range-dependent environments.In all cases,the propagation problem governed by the Helmholtz equation is transformed into initial value problems of two coupled first-order evolution equations with respect to the modal components of field quantities(sound pressure and its derivative),by projecting the Helmholtz equation on a constructed orthogonal and complete local basis.The admittance matrix,which is the modal representation of Direchlet-to-Neumann operator,is introduced to compute the first-order evolution equations with no numerical instability caused by evanescent modes.The fourth-order Magnus scheme is used for the numerical integration of differential equations in the numerical implementation.The numerical experiments of sound field in underwater inhomogeneous waveguides generated by point sources are performed.Besides,the numerical results computed by simulation software COMSOL Multiphysics are given to validate the correction of the multimodal admittance method.It is shown that the multimodal admittance method is an efficient and stable numerical method to solve the wave propagation problem in inhomogeneous underwater waveguides with sound-speed profiles,liquid-like scatterers,and range-dependent environments.The extension of the method to more complicated waveguides such as horizontally stratified waveguides is available.

Three-dimensional admittance analysis of lithospheric elastic thickness over the Louisville Ridge

Using bathymetry and altimetric gravity anomalies, a 1°×9 1° lithospheric effective elastic thickness（Te） model over the Louisville Ridge and its adjacent regions is calculated using the moving window admittance technique. For comparison, three bathymetry models are used： general bathymetric charts of the oceans, SIO V15.1,and BAT_VGG. The results show that BAT_VGG is more suitable for calculating T e than the other two models. T e along the Louisville Ridge was re-evaluated. The southeast of the ridge has a medium Te of 10–20 km, while Te increases dramatically seaward of the Tonga-Kermadec trench as a result of the collision of the Pacific and IndoAustralian plates.

Electric admittance analysis of quartz crystal resonator in thickness-shear mode induced by array of surface viscoelastic micro-beams

The electric admittance of a compound system composed of a thickness-shear mode （TSM） quartz crystal resonator （QCR） and an array of surface viscoelastic micro-beams （MBs） is studied. The governing equations of the MBs are derived from the Timoshenko-beam theory in consideration of shear deformation. The electrical admittance is described directly in terms of the physical properties of the surface epoxy resin （SU-8） MBs from an electrically forced vibration analysis. It is found that both the inertia effect and the constraint effect of the MBs produce competitive influence on the resonant frequency and admittance of the compound QCR system. By further comparing the numerical results calculated from the Timoshenko-beam model with those from the Euler-beam model, the shear deformation is found to lead to some deviation of an admittance spectrum. The deviations are revealed to be evident around the admittance peak（s） and reach the maximum when a natural frequency of the MBs is identical to the fundamental frequency of the QCR. Besides, a higher order vibration mode of the MBs corresponds to a larger deviation at the resonance.

Determination of interface states and their time constant for Au/SnO_2 /n-Si (MOS) capacitors using admittance measurements

The frequency dependence of admittance measurements （capacitance–voltage （C–V ） and conductance–voltage （G/ω–V ）） of Au/SnO2 /n-Si （MOS） capacitors was investigated by taking into account the effects of the interface states （N ss ） and series resistance （Rs ） at room temperature. Admittance measurements were carried out in frequency and bias voltage ranges of 1 kHz–1 MHz and （ 5V）–（＋9V）, respectively. The values of N ss and R s were determined by using a conductance method and estimating from the admittance measurements of the MOS capacitors. At low frequencies, the interface states can follow the AC signal and yield excess capacitance and conductance. In addition, the parallel conductance （G p /ω） versus log（f） curves at various voltages include a peak due to the presence of interface states. It is observed that the N ss and their time constant （τ） range from 1.23 ×10 12 eV-1 ·cm-2 to 1.47 ×10 12 eV-1 ·cm-2 and from 7.29 ×10-5 s to 1.81 ×10-5s, respectively.

Input Admittance and Current Distribution of Infinitely Long Circular Cylindrical Antenna Driven at Center

In this paper, by change of integration path in complex spectrum domain and by defining input admittance as the ratio of complex radiated power to amplitude of square of voltage across the gap, new expressions of admittance (valid for all frequencies ) of infinitely long cylindrical antenna with and without conducting ground are obtained. Meanwhile corresponding formulas of current distribution are derived in detail. Some numerical computations are also given.

Game Analysis of Rational FRS on Market Admittance

The dynamic signaling game-model is employed to study countermeasures of Q, U and C for supply-demand on financial market. As the game result, the mixed equilibrium of Q and U exists naturally without FRS. It is concluded that FRS on market admittance is objective demand of financial market, also the rational management behavior of government FRSI. And in addition to the empirical criteria, the FRS agreements between FRSI and financial-institutions should be considered as one of advanced FRS techniques. These must cover:① the regulation conformed status investigation with sufficient frequency,② corresponding punitive measures with sufficient strength. Thus the information can be delivered FRSI have ensured only qualified and regulation-conformed financial-institutions could be allowed to enter. That could safeguard the steadiness of the financial market.

Least Squares Hermitian Problem of Matrix Equation (<i>AXB</i>, <i>CXD</i>) = (<i>E</i>, <i>F</i>) Associated with Indeterminate Admittance Matrices

For A&#8712;Cm&#935;n, if the sum of the elements in each row and the sum of the elements in each column are both equal to 0, then A is called an indeterminate admittance matrix. If A is an indeterminate admittance matrix and a Hermitian matrix, then A is called a Hermitian indeterminate admittance matrix. In this paper, we provide two methods to study the least squares Hermitian indeterminate admittance problem of complex matrix equation (AXB,CXD)=(E,F), and give the explicit expressions of least squares Hermitian indeterminate admittance solution with the least norm in each method. We mainly adopt the Moore-Penrose generalized inverse and Kronecker product in Method I and a matrix-vector product in Method II, respectively.

Using an Off-the-Shelf Lock-In Detector for Admittance Spectroscopy in the Study of Plants

We report on the development of an electrical characterization admittance spectroscopy equipment and method based on an off-the-shelf lock-in detector that is cheap and yet highly sensitive. It is concluded that a contacted constant-pressure electrode configuration is preferable. It was further determined that the temperature does not have great impact in the measured values, but relative humidity of air can be important, especially in the constant-gap electrode configuration. In-situ measurements are difficult since the coupling of the plant with the environment is of high importance. Another aspect is the cables;they are important in that they have to be terminated by their characteristic impedance (50 &Omega;?in our case) to avoid reflections that introduce artificial attenuation and phase shifts in the signal. We introduce a fingerprint plot type to be able to distinguish between various plants and other specimens, and can actually detect the aqueous state of a plant.

Computing of Mutual Admittance between Two Circumferential Slots on Cylindrical Waveguide

This paper studies radiation from circumferential slots on cylindrical waveguide by Poynting’s vector method. It can help us to find mutual admittance between two circumferential slots in an antenna array. The main advantage of Poynting’s vector method is its accurate convergence to compute mutual admittance between two circumferential slots. The importance of this matter will be more salient while we want to compare it with other mutual admittances and also use it to optimize an antenna array.

Flexible assistance strategy of lower limb rehabilitation exoskeleton based on admittance model

Exercise training based on exoskeleton is an effective rehabilitation method for stroke patients. However, some rehabilitation exoskeletons still have poor wearable performance and obvious human-robot impedance during training, which easily cause secondary injuries to the patients. In this study, a variable admittance control strategy is proposed to improve the operator's wearable comfort, which can adapt to different operators by regulating admittance parameters. The admittance controller has two feedback loops: the position inner-loop and the admittance outer-loop. Meanwhile, the exoskeleton Lagrange model is constructed with unknown friction disturbance. By using Lyapunov technique and backstepping with state observer, the joint position error of exoskeleton is convergence into a zero neighborhood. The effectiveness of the proposed admittance controller is verified by both simulation and experiment. The tracking error of hip and knee joint is less than 4 degrees while the human-robot interaction torque is constrained in a tolerable range of the operator.

An Efficient Method to Estimate Admittance of Black-boxed Inverter-based Resources for Varying Operating Points

Traditional analytical approaches for stability assessment of inverter-based resources(IBRs),often requiring detailed knowledge of IBR internals,become impractical due to IBRs’proprietary nature.Admittance measurements,relying on electromagnetic transient simulation or laboratory settings,are not only time-intensive but also operationally inflexible,since various non-linear control loops make IBRs’admittance models operating-point dependent.Therefore,such admittance measurements must be performed repeatedly when operating point changes.To avoid time-consuming and cumbersome measurements,admittance estimation for arbitrary operating points is highly desirable.However,existing admittance estimation algorithms usually face challenges in versatility,data demands,and accuracy.Addressing this challenge,this letter presents a simple and efficient admittance estimation method for blackboxed IBRs,by utilizing a minimal set of seven operating points to solve a homogeneous linear equation system.Case studies demonstrate this proposed method ensures high accuracy across various types of IBRs.Estimation accuracy is satisfying even when non-negligible measurement errors exist.

Nullors, and Nullor Circuits;There Applications in Symbolic Circuit Analysis and Design

The objective in this presentation is to introduce some of the unique properties and applications of nullors in active circuit analysis and designs. The emphasis is to discuss the role nullors can play in symbolic representation of transfer functions. To show this we adopt the topological platform for the circuit analysis and use a recently developed Admittance Method (AM) to achieve the Sum of Tree Products (STP), replacing the determinant and cofactors of the Nodal Admittance Matrix (NAM) of the circuit. To construct a transfer function, we start with a given active circuit and convert all its controlled sources and I/O-ports to nullors. Now, with a solid nullor circuit (passive elements and nullors) we first eliminate the passive elements through AM operations. This produces the STPs. Second, the all-nullor circuit is then used to find the signs or the STPs. Finally, the transfer function (in symbolic, if chosen) is obtained from the ratio between the STPs.

Admittance spectroscopy characterize graphite paste for back contact of CdTe thin film solar cells

CdTe thin film solar cells with a doped-graphite paste back contact layer were studied using admittance spectroscopy technology.The positions and the capture cross sections of energy level in the forbidden band were calculated,which are the important parameters to affect solar cell performance.The results showed that there were three defects in the CdTe thin films solar cells with the doped-graphite paste back contact layer,whose positions in the forbidden band were close to 0.34,0.46 and 0.51 eV,respectively above the valence band,and capture cross sections were 2.23×10-16,2.41×10-14,4.38×10-13 cm2,respectively.

Surface Plasmon Resonance Based Sensing of Different Chemical and Biological Samples Using Admittance Loci Method

The admittance loci method plays an important role in the design of multilayer thin film structures. In this paper, admittance loci method has been explored theoretically for sensing of various chemical and biological samples based on surface plasmon resonance （SPR） phenomenon. A dielectric multilayer structure consisting of a Boro silicate glass （BSG） substrate, calcium fluoride （CaF2） and zirconium dioxide （ZrO2） along with different dielectric layers has been investigated. Moreover, admittance loci as well as SPR curves of metal-dielectric multilayer structure consisting of the BSG prism, gold metal film and various dielectric samples have been simulated in MATLAB environment. To validate the proposed simulation results, calibration curves have also been provided.

Revisiting aerodynamic admittance functions of bridge decks

A framework was proposed to identify a comprehensive set of aerodynamic admittance functions for bridge decks. The contributions of the cross-spectra between longitudinal and vertical wind velocity components and between turbulence components and gust-induced forces were embedded in the identification procedure. To facilitate application of the identified functions in engineering practice, the concept of an equivalent aerodynamic admittance function was introduced and numerically validated. The equivalent aerodynamic admittance functions of a set of streamlined and bluff cross sections were identified experimentally in a wind tunnel. Buffeting analysis of a bridge deck was carried out and the response predicted using the identified aerodynamic admittance functions compared well with the measured response. In addition, a sensitivity analysis was performed to delineate the influence of aerodynamic and structural parameters on the buffeting response, thereby demonstrating the significance of the proposed identification framework.

Effect of prism material on design of surface plasmon resonance sensor by admittance loci method

A theoretical study on the design of surface plasmon resonance （SPR） based sensor by admittance loci method has been reported in this paper with the main emphasis being given to the effect of the prism material in a conventional Kretschmann structure in attenuated total internal reflection （ATIR） mode. Several sensing media such as water, acetone, methanol etc have been investi- gated using different types of prism materials to study their effect on SPR sensing and validated by corresponding admittance loci plots as well as respective SPR curves. The performance of the sensor based on choice of the prism material has been discussed with the help of sensitivity plots giving due to the importance of dynamic range of the designed sensor. Simulations have been carried out in MATLAB 7.1 environment.

Adaptive Human-Robot Collaboration Control Based on Optimal Admittance Parameters

In order to help the operator perform the human-robot collaboration task and optimize the task performance,an adaptive control method based on optimal admittance parameters is proposed.The overall control structure with the inner loop and outer loop is first established.The tasks of the inner loop and outer loop are robot control and task optimization,respectively.An inner-loop robot controller integrated with barrier Lyapunov function and radial basis function neural networks is then proposed,which makes the robot with unknown dynamics securely behave like a prescribed robot admittance model sensed by the operator.Subsequently,the optimal parameters of the robot admittance model are obtained in the outer loop to minimize the task tracking error and interaction force.The optimization problem of the robot admittance model is transformed into a linear quadratic regulator problem by constructing the human-robot collaboration system model.The model includes the unknown dynamics of the operator and the task performance details.To relax the requirement of the system model,the integral reinforcement learning is employed to solve the linear quadratic regulator problem.Besides,an auxiliary force is designed to help the operator complete the specific task better.Compared with the traditional control scheme,the security performance and interaction performance of the human-robot collaboration system are improved.The effectiveness of the proposed method is verified through two numerical simulations.In addition,a practical human-robot collaboration experiment is carried out to demonstrate the performance of the proposed method.

Modeling method of sequence admittance for three-phase voltage source converter under unbalanced grid condition

The admittance is a strong tool for stability analysis and assessment of the three-phase voltage source converters(VSCs) especially in grid-connected mode.However, the sequence admittance is hard to calculate when the VSC is operating under unbalanced grid voltage conditions. In this paper, a simple and direct modeling method is proposed for a three-phase VSC taking the unbalanced grid voltage as a new variable for the system.Then coupling in the three-phase system can be calculated by applying the harmonic linearization method. The calculated admittance of three-phase VSCs is verified by detailed circuit simulations.

The admittance feature representation and impact sound feature extraction in the material identification of ribbed plates

The admittance features representing the physical attributes are used as the in termediates to extract the materialattributesrelated impact sound features of ribbed plates. Firstly, the admittance feature representations of metal ribbed plates attributes are obtained and the relationship between the admittance features and the impact sound features are established via correlation analysis method. Then, materialattributesrelated impact sound features are obtained indirectly. Finally, the performances of different sound features for the material recognition of ribbedmetal plates are verified through the Support Vector Machine classifier. The results indicate that the obtained four sets of features can effectively identify the materials of the metal ribbed plates, while the accuracy of a single feature depends on the separable degree of the corresponding material attribute. And the features extracted based on admittance functions have higher average accuracy than that of timbre features. Therefore, the proposed sound feature extraction method based on admittance features is valid, and the extracted sound features can effectively reflect the physical attributes.