A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on ...A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on dynamic response and open-loop gain are analyzed including the supply pressure, the initial pressure and the volume of pneumatic muscle. A sliding-mode controller with a nonlinear switching function is applied to control posture, which adopts the combination of a main method that separates control of each muscle and an auxiliary method that postures error evaluation of multiple muscles, especially adopting the segmented and intelligent adjustments of sliding-mode parameters to fit different expected postures and initial states. Experimental results show that this control strategy not only amounts to the steady-state error of 0. 1° without overshoot, but also achieves good trajectory tracking.展开更多
This paper proposes the new cascaded series parallel design for improved dynamic performance of DC-DC buck boost converters by a new Sliding Mode Control (SMC) method. The converter is controlled using Sliding Mode Co...This paper proposes the new cascaded series parallel design for improved dynamic performance of DC-DC buck boost converters by a new Sliding Mode Control (SMC) method. The converter is controlled using Sliding Mode Control method that utilizes the converter’s duty ratio to determine the skidding surface. System modeling and simulation results are presented. The results also showed an improved overall performance over typical PID controller, and there was no overshoot or settling time, tracking the desired output nicely. Improved converter performance and robustness were expected.展开更多
Supersonic viscous flows past blunt bodies is calculated with TVD difference scheme and implicit Lower Upper Symmetric Gauss Seidel (LU SGS) method, and parallel programming designing software platform PVM is used b...Supersonic viscous flows past blunt bodies is calculated with TVD difference scheme and implicit Lower Upper Symmetric Gauss Seidel (LU SGS) method, and parallel programming designing software platform PVM is used based on message passing to distribute a large task according to some patching strategies to a large number of processors in the network. These processors accomplish this large task together. The marked improvement of computational efficiency in networks, especially in MPP system, demonstrates the potential vitality of CFD in engineering design.展开更多
We propose a content-based parallel image retrieval system to achieve high responding ability. Our system is developed on cluster architectures. It has several retrieval. servers to supply the service of content-based...We propose a content-based parallel image retrieval system to achieve high responding ability. Our system is developed on cluster architectures. It has several retrieval. servers to supply the service of content-based image retrieval. It adopts the Browser/Server (B/S) mode. The users could visit our system though web pages. It uses the symmetrical color-spatial features (SCSF) to represent the content of an image. The SCSF is effective and efficient for image matching because it is independent of image distortion such as rotation and flip as well as it increases the matching accuracy. The SCSF was organized by M-tree, which could speedup the searching procedure. Our experiments show that the image matching is quickly and efficiently with the use of SCSF. And with the support of several retrieval servers, the system could respond to many users at mean time. Key words content-based image retrieval - cluster architecture - color-spatial feature - B/S mode - task parallel - WWW - Internet CLC number TP391 Foundation item: Supported by the National Natural Science Foundation of China (60173058)Biography: ZHOU Bing (1975-), male, Ph. D candidate, reseach direction: data mining, content-based image retrieval.展开更多
针对Stewart平台的六自由度(six degrees of freedom,6-DOF)轨迹跟踪问题,提出一种基于神经网络的非奇异终端滑模控制方法并应用于Stewart平台的位置姿态控制中。通过分析Stewart平台的位置反解和速度反解,建立运动学方程,利用牛顿-欧...针对Stewart平台的六自由度(six degrees of freedom,6-DOF)轨迹跟踪问题,提出一种基于神经网络的非奇异终端滑模控制方法并应用于Stewart平台的位置姿态控制中。通过分析Stewart平台的位置反解和速度反解,建立运动学方程,利用牛顿-欧拉方程建立动力学方程,并结合加速度反解得到了平台的状态空间表达式;基于非奇异滑模面函数,设计非奇异终端滑模控制律。考虑到径向基函数(radial Basis function,RBF)神经网络的逼近特性,采用RBF神经网络对模型未知部分进行自适应逼近,并利用Lyapunov第二法设计了自适应律;通过仿真证明控制器设计的有效性。仿真结果表明,相比于比例积分微分(proportional integral derivative,PID)控制器,提出的RBF神经网络非奇异终端滑模控制器具有更好的轨迹跟踪精度和动态特性。展开更多
基金This project is supported by International Cooperation with Festo.
文摘A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on dynamic response and open-loop gain are analyzed including the supply pressure, the initial pressure and the volume of pneumatic muscle. A sliding-mode controller with a nonlinear switching function is applied to control posture, which adopts the combination of a main method that separates control of each muscle and an auxiliary method that postures error evaluation of multiple muscles, especially adopting the segmented and intelligent adjustments of sliding-mode parameters to fit different expected postures and initial states. Experimental results show that this control strategy not only amounts to the steady-state error of 0. 1° without overshoot, but also achieves good trajectory tracking.
文摘This paper proposes the new cascaded series parallel design for improved dynamic performance of DC-DC buck boost converters by a new Sliding Mode Control (SMC) method. The converter is controlled using Sliding Mode Control method that utilizes the converter’s duty ratio to determine the skidding surface. System modeling and simulation results are presented. The results also showed an improved overall performance over typical PID controller, and there was no overshoot or settling time, tracking the desired output nicely. Improved converter performance and robustness were expected.
文摘Supersonic viscous flows past blunt bodies is calculated with TVD difference scheme and implicit Lower Upper Symmetric Gauss Seidel (LU SGS) method, and parallel programming designing software platform PVM is used based on message passing to distribute a large task according to some patching strategies to a large number of processors in the network. These processors accomplish this large task together. The marked improvement of computational efficiency in networks, especially in MPP system, demonstrates the potential vitality of CFD in engineering design.
文摘We propose a content-based parallel image retrieval system to achieve high responding ability. Our system is developed on cluster architectures. It has several retrieval. servers to supply the service of content-based image retrieval. It adopts the Browser/Server (B/S) mode. The users could visit our system though web pages. It uses the symmetrical color-spatial features (SCSF) to represent the content of an image. The SCSF is effective and efficient for image matching because it is independent of image distortion such as rotation and flip as well as it increases the matching accuracy. The SCSF was organized by M-tree, which could speedup the searching procedure. Our experiments show that the image matching is quickly and efficiently with the use of SCSF. And with the support of several retrieval servers, the system could respond to many users at mean time. Key words content-based image retrieval - cluster architecture - color-spatial feature - B/S mode - task parallel - WWW - Internet CLC number TP391 Foundation item: Supported by the National Natural Science Foundation of China (60173058)Biography: ZHOU Bing (1975-), male, Ph. D candidate, reseach direction: data mining, content-based image retrieval.
文摘针对Stewart平台的六自由度(six degrees of freedom,6-DOF)轨迹跟踪问题,提出一种基于神经网络的非奇异终端滑模控制方法并应用于Stewart平台的位置姿态控制中。通过分析Stewart平台的位置反解和速度反解,建立运动学方程,利用牛顿-欧拉方程建立动力学方程,并结合加速度反解得到了平台的状态空间表达式;基于非奇异滑模面函数,设计非奇异终端滑模控制律。考虑到径向基函数(radial Basis function,RBF)神经网络的逼近特性,采用RBF神经网络对模型未知部分进行自适应逼近,并利用Lyapunov第二法设计了自适应律;通过仿真证明控制器设计的有效性。仿真结果表明,相比于比例积分微分(proportional integral derivative,PID)控制器,提出的RBF神经网络非奇异终端滑模控制器具有更好的轨迹跟踪精度和动态特性。
