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Motor Imagery and Error Related Potential Induced Position Control of a Robotic Arm 被引量:5
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作者 Saugat Bhattacharyya Amit Konar D.N.Tibarewala 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2017年第4期639-650,共12页
The paper introduces an electroencephalography(EEG) driven online position control scheme for a robot arm by utilizing motor imagery to activate and error related potential(ErrP) to stop the movement of the individual... The paper introduces an electroencephalography(EEG) driven online position control scheme for a robot arm by utilizing motor imagery to activate and error related potential(ErrP) to stop the movement of the individual links, following a fixed(pre-defined) order of link selection. The right(left)hand motor imagery is used to turn a link clockwise(counterclockwise) and foot imagery is used to move a link forward. The occurrence of ErrP here indicates that the link under motion crosses the visually fixed target position, which usually is a plane/line/point depending on the desired transition of the link across 3D planes/around 2D lines/along 2D lines respectively. The imagined task about individual link's movement is decoded by a classifier into three possible class labels: clockwise, counterclockwise and no movement in case of rotational movements and forward, backward and no movement in case of translational movements. One additional classifier is required to detect the occurrence of the ErrP signal, elicited due to visually inspired positional link error with reference to a geometrically selected target position. Wavelet coefficients and adaptive autoregressive parameters are extracted as features for motor imagery and ErrP signals respectively. Support vector machine classifiers are used to decode motor imagination and ErrP with high classification accuracy above 80%. The average time taken by the proposed scheme to decode and execute control intentions for the complete movement of three links of a robot is approximately33 seconds. The steady-state error and peak overshoot of the proposed controller are experimentally obtained as 1.1% and4.6% respectively. 展开更多
关键词 Brain-computer interfacing(BCI) error related potential(Errp) motor imagery decoding position control of a robot arm
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基于ARM的智能液压阀门定位器的设计 被引量:3
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作者 张素文 刘延兵 《武汉理工大学学报(信息与管理工程版)》 CAS 2007年第3期45-47,51,共4页
介绍了一种基于ARM的智能液压阀门定位器控制系统的基本组成、系统结构、硬件设计、软件流程以及控制策略。系统采用ARM7核的LPC2134作为控制系统的核心,用模糊PI进行控制,通过HART接口实现主机与定位器之间的通信,实现了阀门的准确定位。
关键词 arm HART通信 定位器
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Improved Disk Scheduling Algorithms Based on Rotational Position
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作者 胡鸣 《Journal of Shanghai University(English Edition)》 CAS 2005年第5期411-414,共4页
As increase of disk access speed has far lagged the speed of processors and main memory, disk-scheduling performance, although less significant for personal users with dedicated storage, is crucial for internet-based ... As increase of disk access speed has far lagged the speed of processors and main memory, disk-scheduling performance, although less significant for personal users with dedicated storage, is crucial for internet-based intensive data processing. For modern disks, increase of disk rotation rate makes overhead of disk access to data transfer heavier. Therefore, it seems more important to improve both parallel processing capability of disk I/O and disk-scheduling performance at the same time. For disk-scheduling algorithms based on both disk arm and rotational positions, their time-resolving powers are more precise in comparison with those for disk-scheduling algorithms based only on disk arm position. Algorithms of this sort are studied in this paper. Several improved algorithms based on rotational position are proposed, and simulation results of their performances demonstrate. 展开更多
关键词 disk scheduling algorithms disk arm position rotational position.
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采煤机摇臂变位机研制
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作者 魏文玉 《煤矿机电》 2023年第1期71-73,79,共4页
针对采煤机摇臂在维修过程中翻转难的问题,分析了采煤机摇臂的结构特点和在维修中的翻转要求,提出实现摇臂机械化翻转应具备的功能特点,设计了一种新研制的摇臂翻转装备,并通过实际实际应用验证了该成套设备的实用性及其合理性,解决了... 针对采煤机摇臂在维修过程中翻转难的问题,分析了采煤机摇臂的结构特点和在维修中的翻转要求,提出实现摇臂机械化翻转应具备的功能特点,设计了一种新研制的摇臂翻转装备,并通过实际实际应用验证了该成套设备的实用性及其合理性,解决了采煤机摇臂维修过程中翻转难的问题,对提高生产效率及生产安全性有重要意义。 展开更多
关键词 采煤机 摇臂 变位机
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基于工业以太网的智能阀门定位器控制系统
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作者 张华 《机电产品开发与创新》 2005年第6期48-49,57,共3页
介绍了一种基于工业以太网的智能阀门定位器控制系统,采用32位ARM微处理器作为主控制器,该ARM处理器不但控制阀芯的准确定位,同时提供高速的以太网接入通道,并运行嵌入式操作系统支持以太网通信协议,方便地组成由多个阀门定位器所构成... 介绍了一种基于工业以太网的智能阀门定位器控制系统,采用32位ARM微处理器作为主控制器,该ARM处理器不但控制阀芯的准确定位,同时提供高速的以太网接入通道,并运行嵌入式操作系统支持以太网通信协议,方便地组成由多个阀门定位器所构成的控制系统,与普通智能阀门定位器相比,控制精度高,能耗低,并可通过以太网实现远程控制。 展开更多
关键词 工业以太网 32位arm微处理器 智能阀门定位器
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重车调车机车臂的设计
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作者 聂菁 《装备制造技术》 2013年第12期161-162,共2页
对C型翻车机重车调车机车臂的结构进行了设计,针对车臂的等截面和变截面的应力强度进行了分析校核,设备实际运行状况良好,表明设计方法合理可靠。
关键词 翻车机 重车调车机 车臂 应力强度
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