Keeping balance is the premise of human walking. ZMP(zero moment point) is a point where total torque achieves balance. It is an important evaluation parameter of balance ability in walking, since it can be used to be...Keeping balance is the premise of human walking. ZMP(zero moment point) is a point where total torque achieves balance. It is an important evaluation parameter of balance ability in walking, since it can be used to better reflect the dynamic balance during walking. ZMP can be used in many applications, such as medical rehabilitation, disease diagnosis, treatment and etc. In this paper, wearable inertial sensors system based on MEMS is used to measure ZMP(zero moment point) during walking, which is cheap, convenient, and free from the restriction of lab. Our wearable ZMP measurement system consists of inertial measurement subsystem and PC real-time monitoring station. Inertial measurement subsystem includes 9-axis inertial sensing nodes, the body communication network and the central node. Inertial sensing nodes are mounted on different parts of the body to collect body posture information in real-time, and then the best estimation of current posture are obtained by Kalman filter. The data from sensors is aggregated to the central node through the CAN bus, and then ZMP is calculated. Finally, it can be showed in the PC monitoring station. Experiments prove the system can achieve real-time ZMP detection during walking.展开更多
This paper first establishes the prior globe dynamical model by geophysics,which is a solid earth elastic deformation model.Then,the parameters of the globe dynamic model can be obtained by inverting the geodetic data...This paper first establishes the prior globe dynamical model by geophysics,which is a solid earth elastic deformation model.Then,the parameters of the globe dynamic model can be obtained by inverting the geodetic data.The inverse method can be used in seismology and geology,and to make earthquake prediction.展开更多
This paper proposes an assessment framework for branch parameter estimation of power systems,based on which the estimation accuracy can be improved and the estimation reliability can be ensured.The proposed framework ...This paper proposes an assessment framework for branch parameter estimation of power systems,based on which the estimation accuracy can be improved and the estimation reliability can be ensured.The proposed framework comprises three parts:1) Parameter credibility assessment to evaluate the credibility of original parameters in the case that their true values are unknown;2) estimation accuracy assessment to provide quantitative information about the validity of the estimation;3) parameter dominance assessment to find out the key parameters for the estimation.This framework can be incorporated into the conventional parameter estimation process easily such that the accuracy and reliability of the estimation are improved.The implementation problems are addressed in details.Tests are carried out on the IEEE 14-bus system,IEEE 30-bus system,and IEEE 300-bus system to show the correctness and effectiveness of the proposed assessment framework.展开更多
基金supported by "the Fundamental Research Funds for the Central Universities" ZYGX2013J123
文摘Keeping balance is the premise of human walking. ZMP(zero moment point) is a point where total torque achieves balance. It is an important evaluation parameter of balance ability in walking, since it can be used to better reflect the dynamic balance during walking. ZMP can be used in many applications, such as medical rehabilitation, disease diagnosis, treatment and etc. In this paper, wearable inertial sensors system based on MEMS is used to measure ZMP(zero moment point) during walking, which is cheap, convenient, and free from the restriction of lab. Our wearable ZMP measurement system consists of inertial measurement subsystem and PC real-time monitoring station. Inertial measurement subsystem includes 9-axis inertial sensing nodes, the body communication network and the central node. Inertial sensing nodes are mounted on different parts of the body to collect body posture information in real-time, and then the best estimation of current posture are obtained by Kalman filter. The data from sensors is aggregated to the central node through the CAN bus, and then ZMP is calculated. Finally, it can be showed in the PC monitoring station. Experiments prove the system can achieve real-time ZMP detection during walking.
文摘This paper first establishes the prior globe dynamical model by geophysics,which is a solid earth elastic deformation model.Then,the parameters of the globe dynamic model can be obtained by inverting the geodetic data.The inverse method can be used in seismology and geology,and to make earthquake prediction.
基金supported by the National Natural Science Foundation of China (Grant Nos. 50977047,51007041)
文摘This paper proposes an assessment framework for branch parameter estimation of power systems,based on which the estimation accuracy can be improved and the estimation reliability can be ensured.The proposed framework comprises three parts:1) Parameter credibility assessment to evaluate the credibility of original parameters in the case that their true values are unknown;2) estimation accuracy assessment to provide quantitative information about the validity of the estimation;3) parameter dominance assessment to find out the key parameters for the estimation.This framework can be incorporated into the conventional parameter estimation process easily such that the accuracy and reliability of the estimation are improved.The implementation problems are addressed in details.Tests are carried out on the IEEE 14-bus system,IEEE 30-bus system,and IEEE 300-bus system to show the correctness and effectiveness of the proposed assessment framework.
