A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level contro...A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP＆FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current （DC） link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.展开更多
Wireless local area network(WLAN) is an indivisible part of the next generation wireless system. In this paper, an open Wi-Fi platform is designed and developed with special consideration of real-time signal processin...Wireless local area network(WLAN) is an indivisible part of the next generation wireless system. In this paper, an open Wi-Fi platform is designed and developed with special consideration of real-time signal processing. Such system can help accelerate research and development of future wireless network, especially in the case of cellular/Wi-Fi co-existing networks. This platform is based on the Intel general-purpose processor and the universal software radio peripheral(USRP) radio front end. The design including the physical layer implementations is purely software and is optimized for real-time signal processing on the general purpose processor. In the lab experiment, this platform supports baseband rate up to 700 Mbps with 2 transmitters in 80 MHz bandwidth. A cellular-Wi-Fi signaling interface between the Wi-Fi access point(AP) and the 5G core network is also developed and validated as an example for wireless resource allocation.展开更多
文摘A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP＆FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current （DC） link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.
基金supported in part by the National Natural Science Foundation of China under Grant No. 61671436the Science and Technology Commission Foundation of Shanghai under Grant No. 15511102602, 16511104204
文摘Wireless local area network(WLAN) is an indivisible part of the next generation wireless system. In this paper, an open Wi-Fi platform is designed and developed with special consideration of real-time signal processing. Such system can help accelerate research and development of future wireless network, especially in the case of cellular/Wi-Fi co-existing networks. This platform is based on the Intel general-purpose processor and the universal software radio peripheral(USRP) radio front end. The design including the physical layer implementations is purely software and is optimized for real-time signal processing on the general purpose processor. In the lab experiment, this platform supports baseband rate up to 700 Mbps with 2 transmitters in 80 MHz bandwidth. A cellular-Wi-Fi signaling interface between the Wi-Fi access point(AP) and the 5G core network is also developed and validated as an example for wireless resource allocation.
