A mathematical model was developed combining the dynamics of an Euler-Bernoulli beam, described by the assumed-mode method and hydraulic circuit dynamics. Only one matrix, termed drive Jacobian, was needed in the mode...A mathematical model was developed combining the dynamics of an Euler-Bernoulli beam, described by the assumed-mode method and hydraulic circuit dynamics. Only one matrix, termed drive Jacobian, was needed in the modeling of interaction between hydraulic circuit and flexible manipulator mechanism. Furthermore, a new robust controller based on mentioned above dynamic model was also considered to regulate both flexural vibrations and rigid body motion. The proposed controller combined sliding mode and backstepping techniques to deal with the nonlinear system with uncertainties. The sliding mode control was used to achieve an asymptotic joint angle and vibration regulation by providing a virtual force while the backstepping technique was used to regulate the spool position of a hydraulic valve to provide the required control force. Simulation results are presented to show the stabilizing effect and robustness of this control strategy.展开更多
Laser-assisted machining has been considered as a new alternative machining method of difficult-to-cut materials. A laser module with one-axis manipulator is developed to focus on preheating laser beam effectively. Fi...Laser-assisted machining has been considered as a new alternative machining method of difficult-to-cut materials. A laser module with one-axis manipulator is developed to focus on preheating laser beam effectively. First of all, the thermal characteristic analysis was performed to verify the importance of laser module location. Laser module should be moved within 1 mm. Analysis conditions of three positions in driving range of the one-axis manipulator are selected. And a C coupling is used as a connection device for spindle and laser module. An initial model has one C coupling, and the number of C coupling has been increased from 1 to 2 in an improved model. And the analysis is carried out again for the one-axis manipulator. The results of the static analysis, the maximum displacement and the maximum stress are decreased by 22% and 11%, respectively, for the improved model when the laser module is located at farthest away from the spindle unit. As a result of the modal analysis, the first natural frequency mode is increased by 13%, 18% and 12% at these positions of the improved model, respectively. The harmonic analysis of the improved model was performed by analyzing the results of the modal analysis. The maximum deformation was 0.33 mm in driving unit at 222 Hz. And the maximum compliance of the ISO axis direction was 0.23 mm/N. Finally, the one-axis manipulator has been fabricated successfully using the analysis result.展开更多
A premium composite grey element model is established and used for objective evaluation of fabric hand. Fabric hand is regarded as a grey system and the model is composed of fabric mechanical properties, which are pri...A premium composite grey element model is established and used for objective evaluation of fabric hand. Fabric hand is regarded as a grey system and the model is composed of fabric mechanical properties, which are primary hand attributes. Based on comparison with a standard model, fabric hand can be objectively evaluated.展开更多
Digital low-density parity-check(LDPC) decoders can hardly meet the power-limits brought by the new application scenarios. The analog LDPC decoder, which is an application of the analog computation technology, is cons...Digital low-density parity-check(LDPC) decoders can hardly meet the power-limits brought by the new application scenarios. The analog LDPC decoder, which is an application of the analog computation technology, is considered to have the potential to address this issue to some extent. However, due to the lack of automation tools and analog stopping criteria, the analog LDPC decoders suffer from costly handcraft design and additional decoding delay, and are not feasible to practical applications. To address these issues, a decoder architecture using reusable building blocks is designed to lower the handcraft design, and a probability stopping criterion that is specially designed for analog decoder is further planned and implemented to reduce the decoding delay. Then, a(480,240) CMOS analog LDPC decoder is designed and fabricated in a 0.35-μm CMOS technology. Experimental results show that the decoder prototype can achieve 50 Mbps throughput when the power consumption is about 86.3m W, and the decoding delay can be reduced by at most 93% compared with using the preset maximum decoding delay in existing works.展开更多
文摘A mathematical model was developed combining the dynamics of an Euler-Bernoulli beam, described by the assumed-mode method and hydraulic circuit dynamics. Only one matrix, termed drive Jacobian, was needed in the modeling of interaction between hydraulic circuit and flexible manipulator mechanism. Furthermore, a new robust controller based on mentioned above dynamic model was also considered to regulate both flexural vibrations and rigid body motion. The proposed controller combined sliding mode and backstepping techniques to deal with the nonlinear system with uncertainties. The sliding mode control was used to achieve an asymptotic joint angle and vibration regulation by providing a virtual force while the backstepping technique was used to regulate the spool position of a hydraulic valve to provide the required control force. Simulation results are presented to show the stabilizing effect and robustness of this control strategy.
基金Project(2012-0005688) supported by the National Research Foundation of Korea (NRF) Grant funded by the Korea Government (MEST)
文摘Laser-assisted machining has been considered as a new alternative machining method of difficult-to-cut materials. A laser module with one-axis manipulator is developed to focus on preheating laser beam effectively. First of all, the thermal characteristic analysis was performed to verify the importance of laser module location. Laser module should be moved within 1 mm. Analysis conditions of three positions in driving range of the one-axis manipulator are selected. And a C coupling is used as a connection device for spindle and laser module. An initial model has one C coupling, and the number of C coupling has been increased from 1 to 2 in an improved model. And the analysis is carried out again for the one-axis manipulator. The results of the static analysis, the maximum displacement and the maximum stress are decreased by 22% and 11%, respectively, for the improved model when the laser module is located at farthest away from the spindle unit. As a result of the modal analysis, the first natural frequency mode is increased by 13%, 18% and 12% at these positions of the improved model, respectively. The harmonic analysis of the improved model was performed by analyzing the results of the modal analysis. The maximum deformation was 0.33 mm in driving unit at 222 Hz. And the maximum compliance of the ISO axis direction was 0.23 mm/N. Finally, the one-axis manipulator has been fabricated successfully using the analysis result.
文摘A premium composite grey element model is established and used for objective evaluation of fabric hand. Fabric hand is regarded as a grey system and the model is composed of fabric mechanical properties, which are primary hand attributes. Based on comparison with a standard model, fabric hand can be objectively evaluated.
基金supported in part by the National Natural Science Foundation of China(No.61601027)the Opening Fund of the Space Objective Measure Key Laboratory(No.2016011)
文摘Digital low-density parity-check(LDPC) decoders can hardly meet the power-limits brought by the new application scenarios. The analog LDPC decoder, which is an application of the analog computation technology, is considered to have the potential to address this issue to some extent. However, due to the lack of automation tools and analog stopping criteria, the analog LDPC decoders suffer from costly handcraft design and additional decoding delay, and are not feasible to practical applications. To address these issues, a decoder architecture using reusable building blocks is designed to lower the handcraft design, and a probability stopping criterion that is specially designed for analog decoder is further planned and implemented to reduce the decoding delay. Then, a(480,240) CMOS analog LDPC decoder is designed and fabricated in a 0.35-μm CMOS technology. Experimental results show that the decoder prototype can achieve 50 Mbps throughput when the power consumption is about 86.3m W, and the decoding delay can be reduced by at most 93% compared with using the preset maximum decoding delay in existing works.