This research focuses on how to control the robot easily and how to generate the better trajectories of the robot with multiple joints to implement weightlifting motion. The purpose of this research is to develop a mu...This research focuses on how to control the robot easily and how to generate the better trajectories of the robot with multiple joints to implement weightlifting motion. The purpose of this research is to develop a multijoint robot can stand up successfully with an object. This research requires the operations with two items. First, when the object is lifted up slowly, the robot could stand up as easily as possible and does not tumble down. Second, the load applied on each joint should be as small as possible. In this article, a motion control method is proposed to evaluate the variations of the load torque and rotated angle of each joint with the geometrical constraints in the procedure and find the best algorithm to generate the trajectory of a weightlifting motion by a stance robot with repeatedly direct kinematics.展开更多
Coherent Jamming is one of the Important trends in modern radar electronic warfare. High-speed sampling of wldeband radio frequency （RF） signals and high isolatlon of two receive-transmit antennas are key technologi...Coherent Jamming is one of the Important trends in modern radar electronic warfare. High-speed sampling of wldeband radio frequency （RF） signals and high isolatlon of two receive-transmit antennas are key technologies for the realization of coherent jamming. However, these technologies present significant challenges to enginserlng application. In this paper, a novel repeater Jamming based on interrupted sampling technique is presented. For a Jammer with a receive-transmit time-sharing antenna, a radar signal is sampled with a low rate by the jammer. Then, a train of false targets will be achieved after the Jamming signal feed the matched flltar of a pulse compression radar. For the case of the Ilnser frequency modulated （LFM） pulse compression radars, mathematic principles of the interrupted.sampiing repeater jamming Is developed, and then the efficiency of the jamming is described and stated as expressions of key parameters which are also beneficial to the Jamming design for other coherent radars.展开更多
快速而准确地计算可用输电能力(available transfer capability,ATC),对于大型互联电网的运行与调度具有重要意义。提出一种考虑多方面影响因素的适用于大型互联电网的可用输电能力快速计算方法。该模型采用重复潮流法构建动态ATC的计...快速而准确地计算可用输电能力(available transfer capability,ATC),对于大型互联电网的运行与调度具有重要意义。提出一种考虑多方面影响因素的适用于大型互联电网的可用输电能力快速计算方法。该模型采用重复潮流法构建动态ATC的计算框架,通过优化校验过程与自适应步长控制提高了计算速度。文中全面地考虑了包括暂态稳定约束在内的多种动态和静态约束;在分析不同的功率调整过程对计算结果影响的基础上,给出3种具有实际指导意义的功率增长方向及其计算方法;并引入暂态稳定的概率风险评估,间接计及不确定性因素,计算系统承担一定失稳风险时的ATC。所开发软件在实际电网中的应用验证了所提算法的有效性和实用性。展开更多
文摘This research focuses on how to control the robot easily and how to generate the better trajectories of the robot with multiple joints to implement weightlifting motion. The purpose of this research is to develop a multijoint robot can stand up successfully with an object. This research requires the operations with two items. First, when the object is lifted up slowly, the robot could stand up as easily as possible and does not tumble down. Second, the load applied on each joint should be as small as possible. In this article, a motion control method is proposed to evaluate the variations of the load torque and rotated angle of each joint with the geometrical constraints in the procedure and find the best algorithm to generate the trajectory of a weightlifting motion by a stance robot with repeatedly direct kinematics.
文摘Coherent Jamming is one of the Important trends in modern radar electronic warfare. High-speed sampling of wldeband radio frequency （RF） signals and high isolatlon of two receive-transmit antennas are key technologies for the realization of coherent jamming. However, these technologies present significant challenges to enginserlng application. In this paper, a novel repeater Jamming based on interrupted sampling technique is presented. For a Jammer with a receive-transmit time-sharing antenna, a radar signal is sampled with a low rate by the jammer. Then, a train of false targets will be achieved after the Jamming signal feed the matched flltar of a pulse compression radar. For the case of the Ilnser frequency modulated （LFM） pulse compression radars, mathematic principles of the interrupted.sampiing repeater jamming Is developed, and then the efficiency of the jamming is described and stated as expressions of key parameters which are also beneficial to the Jamming design for other coherent radars.
文摘快速而准确地计算可用输电能力(available transfer capability,ATC),对于大型互联电网的运行与调度具有重要意义。提出一种考虑多方面影响因素的适用于大型互联电网的可用输电能力快速计算方法。该模型采用重复潮流法构建动态ATC的计算框架,通过优化校验过程与自适应步长控制提高了计算速度。文中全面地考虑了包括暂态稳定约束在内的多种动态和静态约束;在分析不同的功率调整过程对计算结果影响的基础上,给出3种具有实际指导意义的功率增长方向及其计算方法;并引入暂态稳定的概率风险评估,间接计及不确定性因素,计算系统承担一定失稳风险时的ATC。所开发软件在实际电网中的应用验证了所提算法的有效性和实用性。
