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考虑5指差异化的外骨骼康复机械手结构设计
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作者 宋栓军 郭晓虎 曹佳豪 《轻工机械》 CAS 2023年第6期1-8,共8页
针对传统外骨骼康复机械手结构臃肿、适配性低的问题,课题组设计了一款考虑人手5指差异化的连杆滑槽式外骨骼康复机械手。课题组根据人手生物学特征设计了单根手指的结构,并通过分析各关节间的运动关系,构建了单根手指的数学模型;以机... 针对传统外骨骼康复机械手结构臃肿、适配性低的问题,课题组设计了一款考虑人手5指差异化的连杆滑槽式外骨骼康复机械手。课题组根据人手生物学特征设计了单根手指的结构,并通过分析各关节间的运动关系,构建了单根手指的数学模型;以机械手指关节和人手指关节的旋转中心在运动过程中始终保持重合,及人手运动特性为约束,把机械手指各杆长之和最短作为优化目标,设计了求解该模型的粒子群算法,得到满足康复训练需求且结构紧凑的手指尺寸最优解;在单指优化的基础上改变近端指节长度,保持各手指运动特性不变前提下做出5指差异化设计,经过多次算例计算后得到5指尺寸最优解;最后根据优化结果构建了样机模型,并对模型进行运动学仿真。仿真结果表明:设计的外骨骼机械手指的运动参数符合设计要求,指间运动轨迹特征符合人手运动规律。该机械手满足康复训练要求。 展开更多
关键词 康复训练 外骨骼 连杆滑槽 粒子群算法 单指优化
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Accelerating f inite difference wavef ield-continuation depth migration by GPU
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作者 刘国峰 孟小红 刘洪 《Applied Geophysics》 SCIE CSCD 2012年第1期41-48,115,共9页
The most popular hardware used for parallel depth migration is the PC-Cluster but its application is limited due to large space occupation and high power consumption. In this paper, we introduce a new hardware archite... The most popular hardware used for parallel depth migration is the PC-Cluster but its application is limited due to large space occupation and high power consumption. In this paper, we introduce a new hardware architecture, based on which the finite difference (FD) wavefield-continuation depth migration can be conducted using the Graphics Processing Unit (GPU) as a CPU coprocessor. We demonstrate the program module and three key optimization steps for implementing FD depth migration: memory, thread structure, and instruction optimizations and consider evaluation methods for the amount of optimization. 2D and 3D models are used to test depth migration on the GPU. The tested results show that the depth migration computational efficiency greatly increased using the general-purpose GPU, increasing by at least 25 times compared to the AMD 2.5 GHz CPU. 展开更多
关键词 Wavefield-continuation depth migration finite difference Graphic Processing Unit EFFICIENCY
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Optimizing pipeline for a RISC processor with multimedia extension ISA 被引量:1
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作者 肖志斌 刘鹏 +1 位作者 姚英彪 姚庆栋 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2006年第2期269-274,共6页
The 32-bit extensible embedded processor RISC3200 originating from an RTL prototype core is intended for low-cost consumer multimedia products. In order to incorporate the reduced instruction set and the multimedia ex... The 32-bit extensible embedded processor RISC3200 originating from an RTL prototype core is intended for low-cost consumer multimedia products. In order to incorporate the reduced instruction set and the multimedia extension instruction set in a unifying pipeline, a scalable super-pipeline technique is adopted. Several other optimization techniques are proposed to boost the frequency and reduce the average CPI of the unifying pipeline. Based on a data flow graph (DFG) with delay information, the critical path of the pipeline stage can be located and shortened. This paper presents a distributed data bypass unit and a centralized pipeline control scheme for achieving lower CPI. Synthesis and simulation showed that the optimization techniques enable RISC3200 to operate at 200 MHz with an average CPI of 1.16. The core was integrated into a media SOC chip taped out in SMIC 0.18-micron technology. Preliminary testing result showed that the processor works well as we expected. 展开更多
关键词 PIPELINE RISC Single-instruction-multiple-data (SIMD) Instruction set architecture (ISA) Multimedia extension
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