Compared with wheeled or tracked robots,legged robots exhibit advantages on agile locomotion and higher survival chance for deadly impacts. A buffering strategy is proposed for quadruped robots with non-extreme initia...Compared with wheeled or tracked robots,legged robots exhibit advantages on agile locomotion and higher survival chance for deadly impacts. A buffering strategy is proposed for quadruped robots with non-extreme initial attitudes from the end of air-righting to the steady standing on the ground.This approach consists of landing phase,buffering phase and recovering phase. The variable stiffness control,proportional-derivative( PD) force control and foot trajectory planning are applied to the joints of quadruped robots until the end of the recovering phase. The PD parameters are tuned according to the desired performance of each phase. The above approach is verified on a virtual platform.展开更多
Available Bit Rate (ABR) service has been developed to support data applications to asynchronous transfer mode (ATM) networks.Since a ratebased feedback flow control mechanism has been selected as a standard by ATM Fo...Available Bit Rate (ABR) service has been developed to support data applications to asynchronous transfer mode (ATM) networks.Since a ratebased feedback flow control mechanism has been selected as a standard by ATM Forum,buffering becomes an issue that needs intensive study.In this paper,the queuing performance in a switch is studied in detail.It is theoretically proven that the goals of no cell loss and full utilization of link capacity can be achieved by choosing an appropriate buffersize and threshold of the switch buffer which is supported by our simulation results of a complex network.展开更多
The research on the form and control method of impact load arresting buffer has been an active topic in the field of buffer arresting system(BAS).It becomes significant on reducing the weight of arresting system,impro...The research on the form and control method of impact load arresting buffer has been an active topic in the field of buffer arresting system(BAS).It becomes significant on reducing the weight of arresting system,improving the hindered efficiency,and guaranteeing the security of BAS.The hydraulic hindered device of impact load is currently used in BAS.There are some problems.For example,the system needs large power sources.However,once the power of active hydraulic control system is turned off,there arise unpredictable security risks.An arresting form of semi-active control based on magneto-rheological damper(MRD) is proposed,and the mechanical model of the BAS is established.Meanwhile,the state equation of impact load BAS is established according to the characteristics of impact load buffer arresting,and its sliding model buffer control is achieved.Due to the chattering characteristic of the output signal of sliding mode controller,the method to prevent chattering is designed based on short-term energy and zero-crossing rate detection.For the model and chattering suppression of sliding model buffer control algorithms,simulation results show that the proposed state equation and the arresting model are reasonable,and the design of semi-active control algorithm is effective.On the condition of the buffer control system requirement and the accuracy,the proposed algorithms effectively control the chattering of sliding mode control algorithms,and improve the security of the BAS.展开更多
Transmission Control Protocol (TCP) is the most important transport layer protocol being used nowadays. It suffers from many problems over mobile networks especially over Cognitive Radio (CR). CR is one of the latest ...Transmission Control Protocol (TCP) is the most important transport layer protocol being used nowadays. It suffers from many problems over mobile networks especially over Cognitive Radio (CR). CR is one of the latest mobile technologies that brings its own share of problems for TCP. The buffer overflow for CR secondary network relay node can affect the performance of TCP. The contribution of this paper is the novel cross-layer model being used to evaluate the effect of the TCP congestion control on the secondary relay node buffer size in Cognitive Radio Network (CRN). The performance has been assessed by buffer overflow probability.展开更多
针对容迟网络中节点存储空间有限从而出现大量丢包情况的问题,本文提出了一种适用于节点环境状态的拥塞控制管理策略(congestion control management strategy suitable for the state of the node environment,NEMS):该策略由节点间位...针对容迟网络中节点存储空间有限从而出现大量丢包情况的问题,本文提出了一种适用于节点环境状态的拥塞控制管理策略(congestion control management strategy suitable for the state of the node environment,NEMS):该策略由节点间位置差异相关的控制保留策略和节点自差异相关的丢包策略构成.首先根据节点剩余缓存空间的大小判断节点是处于忙碌状态(BS)还是崩溃状态(CS),当节点处于BS状态时,节点间位置差异相关的控制保留策略结合门限度和连接活跃值的概念分析是否留存新消息.节点自差异相关的丢包策略利用熵权法动态计算各个节点中不同消息属性权重,得到消息丢弃优先级.当拥塞发生,优先删除丢弃优先级大的消息.同时,引入ACK反馈机制,消除网络中已成功投递的冗余消息.仿真结果表明,与无缓存管理的路由策略相比,加入NEMS后使得消息成功投递率增加了约100.93%~200.67%,网络负载降低了约76.05%~81.42%.展开更多
The dynamic math model of shift clutch in engagement process was determined on the basis of hydraulic buffering valve and shift clutch of a power shift steering transmission. The influence of buffering pressure chara...The dynamic math model of shift clutch in engagement process was determined on the basis of hydraulic buffering valve and shift clutch of a power shift steering transmission. The influence of buffering pressure characteristic on shift clutch engagement process was analyzed. The study results could be used to the characteristics match of the shift clutch with the hydraulic system of the high speed tracked vehicle power shift steering transmission and the performance prediction.展开更多
基金Supported by the National High Technology Research and Development Program of China(No.2015AA042201)the National Natural Science Foundation of China(No.61233014,61305130)+1 种基金the Shandong Provincial Natural Science Foundation(No.ZR2013FQ003,ZR2013EEM027)China Postdoctoral Science Foundation(No.2013M541912)
文摘Compared with wheeled or tracked robots,legged robots exhibit advantages on agile locomotion and higher survival chance for deadly impacts. A buffering strategy is proposed for quadruped robots with non-extreme initial attitudes from the end of air-righting to the steady standing on the ground.This approach consists of landing phase,buffering phase and recovering phase. The variable stiffness control,proportional-derivative( PD) force control and foot trajectory planning are applied to the joints of quadruped robots until the end of the recovering phase. The PD parameters are tuned according to the desired performance of each phase. The above approach is verified on a virtual platform.
文摘Available Bit Rate (ABR) service has been developed to support data applications to asynchronous transfer mode (ATM) networks.Since a ratebased feedback flow control mechanism has been selected as a standard by ATM Forum,buffering becomes an issue that needs intensive study.In this paper,the queuing performance in a switch is studied in detail.It is theoretically proven that the goals of no cell loss and full utilization of link capacity can be achieved by choosing an appropriate buffersize and threshold of the switch buffer which is supported by our simulation results of a complex network.
基金the National Natural Science Foundation of China(Nos.61074090 and 60804025)the Innovation Funds of Aviation Industry Corporation of China(No.cxy2013SH16)the Natural Science Foundation of Liaoning(Nos.2015020061 and 2015020069)
文摘The research on the form and control method of impact load arresting buffer has been an active topic in the field of buffer arresting system(BAS).It becomes significant on reducing the weight of arresting system,improving the hindered efficiency,and guaranteeing the security of BAS.The hydraulic hindered device of impact load is currently used in BAS.There are some problems.For example,the system needs large power sources.However,once the power of active hydraulic control system is turned off,there arise unpredictable security risks.An arresting form of semi-active control based on magneto-rheological damper(MRD) is proposed,and the mechanical model of the BAS is established.Meanwhile,the state equation of impact load BAS is established according to the characteristics of impact load buffer arresting,and its sliding model buffer control is achieved.Due to the chattering characteristic of the output signal of sliding mode controller,the method to prevent chattering is designed based on short-term energy and zero-crossing rate detection.For the model and chattering suppression of sliding model buffer control algorithms,simulation results show that the proposed state equation and the arresting model are reasonable,and the design of semi-active control algorithm is effective.On the condition of the buffer control system requirement and the accuracy,the proposed algorithms effectively control the chattering of sliding mode control algorithms,and improve the security of the BAS.
文摘Transmission Control Protocol (TCP) is the most important transport layer protocol being used nowadays. It suffers from many problems over mobile networks especially over Cognitive Radio (CR). CR is one of the latest mobile technologies that brings its own share of problems for TCP. The buffer overflow for CR secondary network relay node can affect the performance of TCP. The contribution of this paper is the novel cross-layer model being used to evaluate the effect of the TCP congestion control on the secondary relay node buffer size in Cognitive Radio Network (CRN). The performance has been assessed by buffer overflow probability.
文摘针对容迟网络中节点存储空间有限从而出现大量丢包情况的问题,本文提出了一种适用于节点环境状态的拥塞控制管理策略(congestion control management strategy suitable for the state of the node environment,NEMS):该策略由节点间位置差异相关的控制保留策略和节点自差异相关的丢包策略构成.首先根据节点剩余缓存空间的大小判断节点是处于忙碌状态(BS)还是崩溃状态(CS),当节点处于BS状态时,节点间位置差异相关的控制保留策略结合门限度和连接活跃值的概念分析是否留存新消息.节点自差异相关的丢包策略利用熵权法动态计算各个节点中不同消息属性权重,得到消息丢弃优先级.当拥塞发生,优先删除丢弃优先级大的消息.同时,引入ACK反馈机制,消除网络中已成功投递的冗余消息.仿真结果表明,与无缓存管理的路由策略相比,加入NEMS后使得消息成功投递率增加了约100.93%~200.67%,网络负载降低了约76.05%~81.42%.
文摘The dynamic math model of shift clutch in engagement process was determined on the basis of hydraulic buffering valve and shift clutch of a power shift steering transmission. The influence of buffering pressure characteristic on shift clutch engagement process was analyzed. The study results could be used to the characteristics match of the shift clutch with the hydraulic system of the high speed tracked vehicle power shift steering transmission and the performance prediction.
