Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) w...Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.展开更多
Ground taxiing is the key process of take-off and landing for a tricycle-undercarriage unmanned aerial vehicle( UAV). Nonlinear model of a sample UAV is established based on stiffness and damping model of landing gear...Ground taxiing is the key process of take-off and landing for a tricycle-undercarriage unmanned aerial vehicle( UAV). Nonlinear model of a sample UAV is established based on stiffness and damping model of landing gears and tires taken into account. Then lateral nonlinear model is linearized and state space equations are deduced by using nose wheel and ruder as inputs and lateral states as outputs. Adaptive internal model control( AIMC) is proposed and applied to lateral control based on decoupled and linearized dynamic model during ground taxiing process. Different control strategies are analyzed and compared by simulations,and then a combined control strategy of nose wheel steering with holding and rudder control is given. Hardware in loop simulations( HILS) proves the validity of the controller designed.展开更多
Taking 8 parks in Xihu Scenic Area as the survey objects, this study found that there are 77 kinds of shade-tolerant lawns and ground cover plants under the forest in good growth condition, and there are 3 types of ap...Taking 8 parks in Xihu Scenic Area as the survey objects, this study found that there are 77 kinds of shade-tolerant lawns and ground cover plants under the forest in good growth condition, and there are 3 types of application forms: dense forest, sparse forest and forest edge. In response to the existing problems, it is proposed that it is necessary to adhere to principles of ecology, adapt to local conditions and plant suitable varieties in accordance with local conditions, develop and use new varieties of wild shade-tolerant lawns and ground cover plants, and strengthen the promotion of the mixed planting model of shade-tolerant lawns and ground cover plants, so as to provide guidance for the better use of shade-tolerant lawns and ground cover under the forest in the West Lake Scenic Area in the future.展开更多
基金Project(61175128) supported by the National Natural Science Foundation of ChinaProject(2008AA040203) supported by the National High Technology Research and Development Program of China
文摘Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.
基金Sponsored by the Knowledge Innovation Project of Chinese Academy of Sciences(Grant No.YYJ-1122)
文摘Ground taxiing is the key process of take-off and landing for a tricycle-undercarriage unmanned aerial vehicle( UAV). Nonlinear model of a sample UAV is established based on stiffness and damping model of landing gears and tires taken into account. Then lateral nonlinear model is linearized and state space equations are deduced by using nose wheel and ruder as inputs and lateral states as outputs. Adaptive internal model control( AIMC) is proposed and applied to lateral control based on decoupled and linearized dynamic model during ground taxiing process. Different control strategies are analyzed and compared by simulations,and then a combined control strategy of nose wheel steering with holding and rudder control is given. Hardware in loop simulations( HILS) proves the validity of the controller designed.
基金Supported by the Study on Screening and Application of Shade-tolerant Lawn Plants(S202210341019)。
文摘Taking 8 parks in Xihu Scenic Area as the survey objects, this study found that there are 77 kinds of shade-tolerant lawns and ground cover plants under the forest in good growth condition, and there are 3 types of application forms: dense forest, sparse forest and forest edge. In response to the existing problems, it is proposed that it is necessary to adhere to principles of ecology, adapt to local conditions and plant suitable varieties in accordance with local conditions, develop and use new varieties of wild shade-tolerant lawns and ground cover plants, and strengthen the promotion of the mixed planting model of shade-tolerant lawns and ground cover plants, so as to provide guidance for the better use of shade-tolerant lawns and ground cover under the forest in the West Lake Scenic Area in the future.
