The traffic congestion has become an urgent problem to be solved,which appears in the domestic and foreign large and medium-sized cities.Intelligent transportation is one of the important applications of ubiquitous co...The traffic congestion has become an urgent problem to be solved,which appears in the domestic and foreign large and medium-sized cities.Intelligent transportation is one of the important applications of ubiquitous computing.And it＇s an important way to ease the traffic congestion of the city.Intelligent navigation system is an important embodiment of intelligent transportation.So far,there have been many kinds of traditional vehicle navigation systems.But when they are in use,drivers will pay extra attention to get the path information through the visual and auditory cues.It＇s dangerous for drivers when they drive.At the same time,with the development of science and technology,mobile navigation system has been widely used.The mobile navigation system is a comprehensive system which relates to the field of mobile communication and GPS.The objective of this paper is to develop a smart phone and interaction navigation system based on the feedback of vibration and micro programmed control unit（MCU）control system.When drivers are in the driving process,the new navigation system can avoid the same sense of multiple tasks,which makes each sensory focus on only one independent task.Through the analysis,the system is demonstrated to improve the driving safety.展开更多
The traditional passive absorber is fully effective within a narrow and certain frequency band.To solve this problem,a time-delayed acceleration feedback is introduced to convert a passive absorber into an active one....The traditional passive absorber is fully effective within a narrow and certain frequency band.To solve this problem,a time-delayed acceleration feedback is introduced to convert a passive absorber into an active one.Both the inherent and the intentional time delays are included.The former mainly comes from signal acquiring and processing,computing,and applying the actuation force,and its value is fixed.The latter is introduced in the controller,and its value is actively adjustable.Firstly,the mechanical model is established and the frequency response equations are obtained.The regions of stability are delineated in the plane of control parameters.Secondly,the design scheme of control parameters is performed to help select the values of the feedback gain and time delay.Thirdly,the experimental studies are conducted.Effects of both negative and positive feedback control are investigated.Experimental results show that the proper choices of control parameters may broaden the effective frequency band of vibration absorption.Moreover,the time-delayed absorber greatly suppresses the resonant response of the primary system when the passive absorber totally fails.The experimental results are in good agreement with the theoretical predictions and numerical simulations.展开更多
A new type of robust traje ctory tracking control for harmonic using joint torque sensor and joint acceleration sensor information is concerned with.Joint torque sensor information is used to compensate the uncertaint...A new type of robust traje ctory tracking control for harmonic using joint torque sensor and joint acceleration sensor information is concerned with.Joint torque sensor information is used to compensate the uncertainty of link and load parameters. Joint acceleration feedback control will enhace the robustness of the driving system, resist the dynamic uncertainties and disturbing torque acted on the joint axis within definite bandwidth, improve the joint tracking performance, and resist the vibration of the load side of the harmonic drive system. Experimental studies are carried out and comparison of several controllers , such as PD and sensor- based control, the experimental results clearly illustrate the effectiveness of the proposed methods.展开更多
基金Supported by the National High Technology Research and Development Program of China(863 Program)(2013AA013704)the National Youth Natural Science Foundation of China(61300145,61332017)+2 种基金the Postdoctoral Science Foundation of China(2014M561294)the Science and Technology Development Program Funded Projects of Jilin Province(20150520065JH)the National Key Technology Support Program(2015BAK04B00)
文摘The traffic congestion has become an urgent problem to be solved,which appears in the domestic and foreign large and medium-sized cities.Intelligent transportation is one of the important applications of ubiquitous computing.And it＇s an important way to ease the traffic congestion of the city.Intelligent navigation system is an important embodiment of intelligent transportation.So far,there have been many kinds of traditional vehicle navigation systems.But when they are in use,drivers will pay extra attention to get the path information through the visual and auditory cues.It＇s dangerous for drivers when they drive.At the same time,with the development of science and technology,mobile navigation system has been widely used.The mobile navigation system is a comprehensive system which relates to the field of mobile communication and GPS.The objective of this paper is to develop a smart phone and interaction navigation system based on the feedback of vibration and micro programmed control unit（MCU）control system.When drivers are in the driving process,the new navigation system can avoid the same sense of multiple tasks,which makes each sensory focus on only one independent task.Through the analysis,the system is demonstrated to improve the driving safety.
基金supported by the State Key Program of National Natural Science Foundation of China(grant No. 11032009)National Natural Science Foundation of China(grant No.11272236)
文摘The traditional passive absorber is fully effective within a narrow and certain frequency band.To solve this problem,a time-delayed acceleration feedback is introduced to convert a passive absorber into an active one.Both the inherent and the intentional time delays are included.The former mainly comes from signal acquiring and processing,computing,and applying the actuation force,and its value is fixed.The latter is introduced in the controller,and its value is actively adjustable.Firstly,the mechanical model is established and the frequency response equations are obtained.The regions of stability are delineated in the plane of control parameters.Secondly,the design scheme of control parameters is performed to help select the values of the feedback gain and time delay.Thirdly,the experimental studies are conducted.Effects of both negative and positive feedback control are investigated.Experimental results show that the proper choices of control parameters may broaden the effective frequency band of vibration absorption.Moreover,the time-delayed absorber greatly suppresses the resonant response of the primary system when the passive absorber totally fails.The experimental results are in good agreement with the theoretical predictions and numerical simulations.
文摘A new type of robust traje ctory tracking control for harmonic using joint torque sensor and joint acceleration sensor information is concerned with.Joint torque sensor information is used to compensate the uncertainty of link and load parameters. Joint acceleration feedback control will enhace the robustness of the driving system, resist the dynamic uncertainties and disturbing torque acted on the joint axis within definite bandwidth, improve the joint tracking performance, and resist the vibration of the load side of the harmonic drive system. Experimental studies are carried out and comparison of several controllers , such as PD and sensor- based control, the experimental results clearly illustrate the effectiveness of the proposed methods.
