Arm motion control model based on central pattern generator

According to the theory of Matsuoka neural oscillators and with the con- sideration of the fact that the human upper arm mainly consists of six muscles, a new kind of central pattern generator （CPG） neural network consisting of six neurons is pro- posed to regulate the contraction of the upper arm muscles. To verify effectiveness of the proposed CPG network, an arm motion control model based on the CPG is established. By adjusting the CPG parameters, we obtain the neural responses of the network, the angles of joint and hand of the model with MATLAB. The simulation results agree with the results of crank rotation experiments designed by Ohta et al., showing that the arm motion control model based on a CPG network is reasonable and effective.

Recent Progress of the HL-2A Multi-Channel HCOOH Laser Interferometer/Polarimeter

A multichannel methanoic acid （HCOOH, λ=432.5 μm） laser interferometer/polarimeter is being developed from the previous eight-channel hydrogen cyanide （HCN, λ=337 μm） laser interferometer in the HL-2A tokamak. A conventional Michelson-type interometer is used for the electron density measurement, and a Dodel-Kunz-type polarimeter is used for the Faraday rotation effect measurement, respectively. Each HCOOH laser can produce a linearly polarized radiation at a power lever of -30 mW, and a power stability 〈10% in 50 rain. A beam waist （diameter d0 ≈12.0 mm, about 200 mm away from the outlet） is finally determined through a chopping modulation technique. The latest optical layout of the interferometer/polarimeter has been finished, and the hardware data processing system based on the fast Fourier transform phase- comparator technique is being explored. In order to demonstrate the feasibility of the diagnostic scheme, two associated bench simulation experiments were carried out in the laboratory, in which the plasma was simulated by a piece of polytetrafluoroethene plate, and the Faraday rotation effect was simulated by a rotating half-wave plate. Simulation results agreed well with the initial experimental conditions. At present, the HCOOH laser interferometer/polarimeter system is being assembled on HL-2A, and is planned to be applied in the 2014-2015 experimental campaign.

Some Effects of Rotation Rate on Planetary-Scale Wave Flows

A series of experiments were performed in a rotating annulus of fluid to study effects of rotation rate on pianeta ry-scale baroclinic wave flows. The experiments reveal that change in rotation rate of fluid container causes variation in Rossby number and Taylor number in flows and leads to change in flow patterns and in phase and amplitude of quasi-stationary waves. For instance, with increasing rotation rate, amplitude of quasi-stationary waves increases and phase shifts upstream. On the contrary, with decreasing rotation rate, amplitude of quasi-stationary waves de creases and phase shifts downstream. In the case of the earth's atmosphere, although magnitude of variation in earth's rotation rate is very small, yet it causes a very big change in zonal velocity component of wind in the atmosphere and of currents in the ocean, and therefore causes a remarkable change in Rossby number and Taylor number determining regimes in planetary-scale geophysical flows. 1 he observation reveals that intensity and geographic location of subtropic anticyclones in both of the Northern and Southern Hemispheres change consistently with the variation in earth's rotation rate. The results of fluid experiments are consistent, qualitatively, with observed phenomena in the atmospheric circulation.

Effects of rotational speeds on the performance of a centrifugal pump with a variable-pitch inducer

The centrifugal pumps usually work at various rotational speeds. The variation in the rotational speeds will affect the internal flow, the external performance, and the anti-cavitation performance of the pump. In order to improve the anti-cavitation performance of the centrifugal pumps, variable-pitch inducers are placed upstream of the impeller. Because the rotational speeds directly affect the flow and the performance of the pump, it is essential to characterize the performance of the pump with a variable-pitch inducer at various rotational speeds. In this paper, the simulations and the experimental tests of a centrifugal pump with a variable-pitch inducer are designed and carried out under various rotational speed conditions. Navier-Stokes equations, coupled with a Reynolds average simulation approach, are used in the simulations. In the experimental tests, the external and anti-cavitation performances of the pump are investigated in a closed system. The following results are obtained from the simulations. Firstly, the velocity in the passage of the inducer rises with the increase of the rotational speed. Secondly, the static pressure escalates on the inducer and the impeller with the increase of the rotational speed. Thirdly, the static pressure distribution on the inducer and the impeller is asymmetric. Fourthly, the anti-cavitation performance of the pump deteriorates with the increase of the rotational speed. Additional results are gathered from an analysis of the experiments. H-Q curves are similar parabolas at various rotational speeds, while η-Q curves are similar parabolas only when n ≤6 000 r/min. The anti-cavitation performance of the pump deteriorates with the increase of the rotational speed. Finally, the simulation results are found to be consistent with the experimental results.