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
Recently,real-time processing systems for bio-signal of the muscles generated by the movement of the user have been developed.Finite impulse response(FIR)filter for bio-signal processing in bio-signal process systems ...Recently,real-time processing systems for bio-signal of the muscles generated by the movement of the user have been developed.Finite impulse response(FIR)filter for bio-signal processing in bio-signal process systems is composed of multiple multiplier and adder of high-area.This makes the chip area increase significantly.To solve this problem,a low-area digital FIR filter is proposed in this paper,which can reduce the chip area.展开更多
We designed a universal digital energy spectroscopy based on online digital signal processing. A prototype system was built and tested. Signals from radiation detectors were processed via a digital filter whose coeffi...We designed a universal digital energy spectroscopy based on online digital signal processing. A prototype system was built and tested. Signals from radiation detectors were processed via a digital filter whose coefficients could be modified without changing the hardware. The paper introduces the hardware design of the digital energy spectroscopy system as well as the full set of software consisting of the selection of the coefficients of the finite impulse response (FIR) filter and the coding in the field-programmable gate array (FPGA). The system was tested with the high purity germanium (HPGe) detector. The results showed that this prototype can achieve an energy resolution close to that of a traditional multi-channel analyzer (MCA) with a much higher counting rate.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The MKE(the Ministry of Knowledge Economy),Korea,under the ITRC(Information Technology Research Center)support program supervised by the NIPA(National IT Industry Promotion Agency) (NIPA-2012-H0301-12-2006)the Seoul Metropolitan Government,under the Seoul R & BD Program supervised by Seoul Business Agency(ST110039)
文摘Recently,real-time processing systems for bio-signal of the muscles generated by the movement of the user have been developed.Finite impulse response(FIR)filter for bio-signal processing in bio-signal process systems is composed of multiple multiplier and adder of high-area.This makes the chip area increase significantly.To solve this problem,a low-area digital FIR filter is proposed in this paper,which can reduce the chip area.
基金supported by the National Natural Science Foundation of China (Grant No.10975132)
文摘We designed a universal digital energy spectroscopy based on online digital signal processing. A prototype system was built and tested. Signals from radiation detectors were processed via a digital filter whose coefficients could be modified without changing the hardware. The paper introduces the hardware design of the digital energy spectroscopy system as well as the full set of software consisting of the selection of the coefficients of the finite impulse response (FIR) filter and the coding in the field-programmable gate array (FPGA). The system was tested with the high purity germanium (HPGe) detector. The results showed that this prototype can achieve an energy resolution close to that of a traditional multi-channel analyzer (MCA) with a much higher counting rate.
