The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this p...The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.展开更多
This paper reported a 25-year-old hospitalized woman complained of recurrent chest tightness and dyspnea for 3 months.The electrocardiogram showed pre-excitation and the echocardiogram showed left ventricular wall con...This paper reported a 25-year-old hospitalized woman complained of recurrent chest tightness and dyspnea for 3 months.The electrocardiogram showed pre-excitation and the echocardiogram showed left ventricular wall contraction reduced diffusely and moved asynchronously.In the systolic period,the regional septum basal segment moved to the right ventricle like an aneurysm.In cardiac magnetic resonance imaging examination,there was no significant myocardial fibrosis.The patient further had an endomyocardial biopsy and pathological examination showed nonspecific changes,only with mild interstitial edema.After an electrophysiological study,the patient was finally diagnosed with pre-excitation cardiomyopathy with a right anteroseptal para-hisian manifest accessory pathway.Radiofrequency catheter ablation was then performed to block the advanced pathway.6 months after ablation,the left ventricular systolic function and synchrony improved significantly,and the symptoms were alleviated.展开更多
基金Project(50375139) supported by the National Natural Science Foundation of ChinaProject(NCET-04-0545) supported by the New Century Excellent Talent Plan of the Ministry of Education of China
文摘The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.
文摘This paper reported a 25-year-old hospitalized woman complained of recurrent chest tightness and dyspnea for 3 months.The electrocardiogram showed pre-excitation and the echocardiogram showed left ventricular wall contraction reduced diffusely and moved asynchronously.In the systolic period,the regional septum basal segment moved to the right ventricle like an aneurysm.In cardiac magnetic resonance imaging examination,there was no significant myocardial fibrosis.The patient further had an endomyocardial biopsy and pathological examination showed nonspecific changes,only with mild interstitial edema.After an electrophysiological study,the patient was finally diagnosed with pre-excitation cardiomyopathy with a right anteroseptal para-hisian manifest accessory pathway.Radiofrequency catheter ablation was then performed to block the advanced pathway.6 months after ablation,the left ventricular systolic function and synchrony improved significantly,and the symptoms were alleviated.
