索控式手部康复训练器设计

为了解决脑卒中、手部骨折等疾病导致的手部功能障碍问题,本研究设计了一款便携式索控手部康复训练器。通过对人手骨骼特征、自由度和运动学的分析,利用SolidWorks软件设计了索控康复训练器的结构零件,并将它们组装成完整的装配体。随后,使用Motion插件进行运动仿真实验,分析手指屈曲/伸展角度和线性位移的可靠性。最终的运动学仿真曲线结果证实了该手部康复训练器能够平稳地完成预定的轨迹动作,验证了机械结构设计的合理性和方案的可行性。综上所述,索控式手部康复训练器具有轻便、经济、安静和结构简单的优点,可以有效辅助患者进行各种康复运动。

索控式三自由度上肢康复训练机器人

目的设计一种用于上肢功能障碍康复训练的索控式机械装置。方法利用钢丝绳索传递动力;电机驱动设备集中安装在底座。建立装置的三维模型并利用运动分析软件对设计进行仿真分析。设计驱动-控制电路,对样机进行验证。结果和结论该装置能很好完成规划的训练动作,满足设计要求。利用实验样机实现了肩关节的助力训练。将样机的自主运动触发级别设置为3.6°以上能获得较好响应效果,并且能准确地识别使用者的运动意图。

索控式中央驱动上肢康复机器人

目的根据居家康复的要求与趋势,针对国内外上肢康复机器人体积庞大、传动链复杂以及驱动噪声大的缺点,设计了一款索控式中央驱动上肢康复机器人。方法首先采用钢丝绳和同步带组成的传动系统进行动力传递,并采用中央驱动式设计,即将电机驱动设备统一安置于远离患者的底座上;然后通过Solidworks建立三维模型,并设计动力传递系统的总体方案;最后通过Solidworks中的Motion模块对机器人肩关节屈曲/伸展运动、肩关节内收/外展运动、肘关节屈曲/伸展运动以及肩肘关节联动运动进行运动学仿真,验证所设计的上肢康复机器人机械臂结构的合理性及设定轨迹的可行性。结果肩关节、肘关节以及腕关节运动学仿真曲线证实了该上肢康复机器人能够平稳地完成规划的轨迹动作,从而验证了机械结构设计合理,方案可行。结论索控式中央驱动上肢康复机器人具有动力传递系统轻便以及结构简单的优点,可以协助患者完成各种康复运动。

索控式前臂假肢对前臂截肢者上肢功能重建的影响

目的:探索索控式前臂假肢对前臂截肢者上肢功能重建的影响。方法:随机选取23名符合条件的截肢者,先进行康复训练,再装配索控式前臂假肢,之后参照Carroll量表进行上肢功能试验(UEFT),对截肢者上肢功能进行评定,对所得数据进行分析。结果:装配后上肢功能评分有显著提高,可以实现抓握、捏、侧捏、放置等上肢功能。结论:索控式前臂假肢的装配能有效重建前臂截肢者的上肢功能。

海底大地电磁探测仪器的投放与回收实验

将探测仪器投放到海底,并在数据采集完成后实施设备回收,是海洋地质勘探的关键技术之一。进行海底大地电磁探测在国内尚无前人经验。针对上述问题,经过实验研究,探索出一套较为实用可靠的技术方案。即采用索控脱钩和声学释放的方法,达到预期的科学目的。该技术方案已在海洋实验中获得成功。

Theoretical Study of Double Cost Function Linear Quadratic Regulator(LQR)

Double cost function linear quadratic regulator (DLQR) is developed from LQR theory to solve an optimal control problem with a general nonlinear cost function. In addition to the traditional LQ cost function, another free form cost function was introduced to express the physical need plainly and optimize weights of LQ cost function using the search algorithms. As an instance, DLQR was applied in determining the control input in the front steering angle compensation control (FSAC) model for heavy duty vehicles. The brief simulations show that DLQR is powerful enough to specify the engineering requirements correctly and balance many factors effectively. The concept and applicable field of LQR are expanded by DLQR to optimize the system with a free form cost function.

Control mesh representation of a class of minimal surfaces

Minimal surface is extensively employed in many areas. In this paper, we propose a control mesh representation of a class of minimal surfaces, called generalized helicoid minimal surfaces, which contain the right helicoid and catenoid as special examples. We firstly construct the Bézier-like basis called AHT Bézier basis in the space spanned by {1, t, sint, cost, sinht, cosht}, t∈[0,α], α∈[0,5π/2]. Then we propose the control mesh representation of the generalized helicoid using the AHT Bézier basis. This kind of representation enables generating the minimal surfaces using the de Casteljau-like algorithm in CAD/CAGD mod- elling systems.

Niche Genetic Algorithm with Accurate Optimization Performance

Based on crowding mechanism, a novel niche genetic algorithm was proposed which can record evolution- ary direction dynamically during evolution. After evolution, the solutions’s precision can be greatly improved by means of the local searching along the recorded direction. Simulation shows that this algorithm can not only keep population diversity but also find accurate solutions. Although using this method has to take more time compared with the standard GA, it is really worth applying to some cases that have to meet a demand for high solution precision.

Differential evolution with controlled search direction

A novel and simple technique to control the search direction of the differential mutation was proposed.In order to verify the performance of this method,ten widely used benchmark functions were chosen and the results were compared with the original differential evolution(DE)algorithm.Experimental results indicate that the search direction controlled DE algorithm obtains better results than the original DE algorithm in term of the solution quality and convergence rate.

Parametrically excited oscillation of stay cable and its control in cable-stayed bridges＂

This paper presents a nonlinear dynamic model for simulation and analysis of a kind of parametrically excited vibration of stay cable caused by support motion in cable-stayed bridges. The sag, inclination angle of the stay cable are considered in the model, based on which, the oscillation mechanism and dynamic response characteristics of this kind of vibration are analyzed through numerical calculation. It is noted that parametrically excited oscillation of a stay cable with certain sag, inclination angle and initial static tension force may occur in cable-stayed bridges due to deck vibration under the condition that the natural frequency of a cable approaches to about half of the first model frequency of the bridge deck system. A new vibration control system installed on the cable anchorage is proposed as a possible damping system to suppress the cable parametric oscillation. The numerical calculation results showed that with the use of this damping system, the cable oscillation due to the vibration of the deck and/or towers will be considerably reduced.

A Wireless Communication Method with Dynamic Adding Nodes for the Underground Search and Rescue Robot

A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed： fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway where radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolved by the communication direction priority and response signal mechanism, to enhance the reliability of communication. Finally, a sample is designed and an experiment is conducted to verify the efficiency of the method.

Surrounding rock control mechanism of deep coal roadways and its application

Aiming at the surrounding rock control problem of mining and preparation entries in Xingdong mine with large mining depth, and the comprehensive control countermeasures including high pre-stress cable truss system, this study put forward powerful anchor support system and anchor cable adaption technology to surrounding rock deformation. Furthermore, the control measures possess the supporting performance with ‘‘primary rigid-following flexible-new rigid, and primary resistance-following yield-new resistance'', which suits deep roadway surrounding rock control. The mechanical model of truss anchor supporting roof beams was established, and the inverted arch deflection produced by the cable pre-stress with stress increment effect and roof beam deflection were obtained. And then the system working mechanism was illustrated. Finally, the surrounding rock support parameters were determined by means of comprehensive methods, and put into practice. The results show that surrounding rock deformation realized secondary stability after three months. The roadway sides convergence value was less than 245mm, and roof subsidence was less than 124mm. In addition, there was no expansion and renovation during service period.

Adaptive fuzzy design of a rope attitude adjustment system

The attitude adjustment of rope system faces the challenging due to the difficulty in obtaining accurate three-dimensional(3D)mathematical model and solving by traditional methods.A set of adjustment systems is designed and used to investigate the automatic control for level or preset attitude adjustment of unknown weights and eccentric loads.The system principle and characteristics are analyzed.The 3D model is decomposed into two two-dimensional(2D)subsystems,and an adaptive fuzzy controller based on BP neural network and least squares(LSE)is designed.The simulation experiment uses MATLAB to train the level-adjustment data for testing algorithm,and a small load is used to verify the effectiveness of the system.The experimental results show that precise attitude adjustment can be achieved within the system load range,and the response speed is fast.This adjustment method provides a fast and effective method for precise adjustment of the load attitude.

Passive Velocity Field Control of a Redundant Cable-Driven Robot with Tension Limitations

This paper proposes a novel dynamic control approach for a cable-driven robot with high redundant actuation and cable tension limitations to perform tracking task while interacting with environment. In order for a cable-driven exoskeleton robot to execute the task smoothly and safely, it is necessary to consider the tracking motion performance as well as passivity when interacting with the environment under the conditions of the actuation cables＇ redundancy and the pulling limitation. With the additional consideration of the maximum limitation of the cable tension, cable-driven robot actually can only apply a certain range of feasible wrench on the external environment, which makes the task executed by robot be restricted. In order to make designed wrench be feasible and keep the desired trajectory tracking ability, we present a new control method by extending PVFC （passive velocity field control） method considering tracking stability and passivity. The approach augmented a higher dimensional virtual flywheel dynamics in a specific orthogonal complement space of the cable＇s actuation space. After the final adjustment of the designed wrench with respect to the cable＇s constraint, this method is capable of driving the cable robot to complete the trajectory tracking task and realize the passivity.

Faults and Claims about Thermal Environments in Relation to Energy Saving Measures in Smaller Office Buildings

Building equipment, energy-saving systems, and claims of inappropriate indoor thermal environments were analyzed in relation to the floor area using responses to a questionnaire survey of service managers of 157 buildings built in Osaka, Kyoto and Hyogo prefectures in Kinki area of Japan. Results show the following： （1） In smaller buildings （〈 5,000 m2）, setting temperatures are higher in summer and lower in winter, effects of ＂uncomfortable radiation from windows＂ are greater, energy-saving systems decrease indoor thermal comfort, but claims of ＂hot＂ and ＂cold＂ are fewer; （2） Claims of ＂hot＂ and ＂cold＂ are unrelated to the setting temperature and whether the air-conditioning control system is central or local; （3） The adoption rates of mitigation of dress codes （＂COOL-BIZ＂ and ＂WARM-BIZ＂） are higher than those of temperature mitigation of air conditioning.

Steganography in low bit-rate speech streams based on quantization index modulation controlled by keys

Since low bit-rate speech codecs used for voice over internet protocol （VolP）, such as iLBC （internet low bit-rate codec）, G.723.1 and G.729A, have less redundancy due to high compression, it is more challenging to embed information in low bit-rate speech streams of VolP. In this study, a new method is proposed for steganography in low bit-rate speech streams of VolP. The core idea of this method is setting up a graph model for the codebook space of the quantizer. Based on the graph model, the method realises a quantization index modulation （QIM）-controlled algorithm for partitioning the codebook space. It can be proved that this method can minimize signal distortion while steganography taking place. Taking into account codeword partition balance and partition diversity, the proposed steganographic algorithm was based on QIM controlled by secret keys, i.e., mapping the ways of codebook division into secret keys, thereby significantly improving the undetectability and robustness of VolP steganography. Performance measurements and steganalysis experiments showed that the proposed QIM-controlled steganographic algorithm was more secure and robust than the QIM algorithm, the conventional RANDOM algorithm and the original codebook algorithm.

Basin flood control system risk evaluation based on variable sets

Flood control system risk evaluation is an effective measure for flood risk management and decisions.In order to make better flood risk decisions and thereby improve social and economic benefits,the flood control risk evaluation index system should be built to quantify and normalize flood risk effectively and efficiently.Because the current evaluation index has the binary miscibility characteristic of fuzziness and clarity,this paper establishes a new flood control system risk evaluation method based on the theory of variable sets(VS).Through a comparison of flood control risk evaluation with variable fuzzy sets(VFS) in the same basin flood control system risk evaluation,it is revealed that the new method,i.e.,flood control risk evaluation with variable fuzzy/clear mixture sets(variable sets),will be reasonable in all cases.Finally,in one case study,i.e.,the flood control system risk evaluation of Fengman Reservoir Basin,which is located in the southeast central of Jilin Province in China,the risk evaluation levels for each county in the basin as well as the whole flood risk distribution map of the basin could be provided with the new method.This provides useful information for basin flood control planning and design.

Positioning of the CE-1's impact site based on CCD image data photographed during the controlled impact on the Moon

Up to now, many lunar explorations concluded their scientific mission through the impact on the lunar surface. The prediction and positioning of impact sites are based on the extrapolated orbiting data together with the real time orbiting data and observations from ground based telescope provided by TT ＆ C System. As most lunar missions carded cameras onboard, a new method of positioning of CE-1 impact site is put forward. It is based on the CCD image data photographed during the con- trolled impact and the existing lunar terrain data. Test results from this new method also validate the published impact site po sition.

Optimal reduction of anthropogenic emissions for air pollution control and the retrieval of emission source from observed pollutants Ⅰ. Application of incomplete adjoint operator

The ultimate solution to anthropogenic air pollution depends on an adjustment and upgrade of industrial and energy structures. Before this process can be completed, reducing the anthropogenic pollutant emissions is an effective measure. This is a problem belonging to "Natural Cybernetics", i.e., the problem of air pollution control should be solved together with the weather prediction; however, this is very complicated. Considering that heavy air pollution usually occurs in stable weather conditions and that the feedbacks between air pollutants and meteorological changes are insufficient, we propose a simplified natural cybernetics method. Here, an off-line air pollution evolution equation is first solved with data from a given anthropogenic emission inventory under the predicted weather conditions, and then, a related "incomplete adjoint problem" is solved to obtain the optimal reduction of anthropogenic emissions. Usually, such solution is sufficient for satisfying the air quality and economical/social requirements. However, a better solution can be obtained by iteration after updating the emission inventory with the reduced anthropogenic emissions. Then, this paper discusses the retrieval of the pollutant emission source with a known spatio-temporal distribution of the pollutant concentrations, and a feasible mathematical method to achieve this is proposed. The retrieval of emission source would also help control air pollution.

Study on seismic response control of a single-tower self-anchored suspension bridge with elastic-plastic steel damper

Elastic-plastic steel damper(EPSD) is a new device controlling seismic responses.The mechanical principle of EPSD was presented and a comparison was conducted between the theoretical formulas and finite element(FE) simulation of damper units.The verified force-displacement hysteretic curve of the damper system was obtained with reference to tests.The Nanjing Jiangxinzhou Bridge(NJB) was subsequently taken as the case to investigate the seismic response control effect of EPSDs on single-tower self-anchored suspension bridges.A 3-dimensional FE model of the bridge was established in ANSYS and the dynamic and static analyses of the bridge were conducted,the control effect of EPSDs under different seismic waves was further investigated through nonlinear time-history analysis based on the validated model.Results showed that both the simplified theoretical and FE simulation methods can preferable reflect the mechanical performance of EPSD,and that seismic responses of NJB with EPSDs are better than those with elastic connection device or fluid viscous damper.However,the control effect of EPSDs is influenced by seismic wave characteristics.