Due to the dynamic stiffness characteristics of human joints, it is easy to cause impact and disturbance on normal movements during exoskeleton assistance. This not only brings strict requirements for exoskeleton cont...Due to the dynamic stiffness characteristics of human joints, it is easy to cause impact and disturbance on normal movements during exoskeleton assistance. This not only brings strict requirements for exoskeleton control design, but also makes it difficult to improve assistive level. The Variable Stiffness Actuator (VSA), as a physical variable stiffness mechanism, has the characteristics of dynamic stiffness adjustment and high stiffness control bandwidth, which is in line with the stiffness matching experiment. However, there are still few works exploring the assistive human stiffness matching experiment based on VSA. Therefore, this paper designs a hip exoskeleton based on VSA actuator and studies CPG human motion phase recognition algorithm. Firstly, this paper puts forward the requirements of variable stiffness experimental design and the output torque and variable stiffness dynamic response standards based on human lower limb motion parameters. Plate springs are used as elastic elements to establish the mechanical principle of variable stiffness, and a small variable stiffness actuator is designed based on the plate spring. Then the corresponding theoretical dynamic model is established and analyzed. Starting from the CPG phase recognition algorithm, this paper uses perturbation theory to expand the first-order CPG unit, obtains the phase convergence equation and verifies the phase convergence when using hip joint angle as the input signal with the same frequency, and then expands the second-order CPG unit under the premise of circular limit cycle and analyzes the frequency convergence criterion. Afterwards, this paper extracts the plate spring modal from Abaqus and generates the neutral file of the flexible body model to import into Adams, and conducts torque-stiffness one-way loading and reciprocating loading experiments on the variable stiffness mechanism. After that, Simulink is used to verify the validity of the criterion. Finally, based on the above criterions, the signal mean value is removed using feedback structure to complete the phase recognition algorithm for the human hip joint angle signal, and the convergence is verified using actual human walking data on flat ground.展开更多
The presented work examines the mechanism and conditions of self-motion in bodies as systems of interacting elements. It is shown how the oscillation parameters of these elements determine the mode of motion of the sy...The presented work examines the mechanism and conditions of self-motion in bodies as systems of interacting elements. It is shown how the oscillation parameters of these elements determine the mode of motion of the system (body). In this case, the motion is considered as a consequence of symmetry breaking of forces in the systems themselves, and not as a reaction of individual elements to external influences. It is shown that such a violation takes place both in the gravitational field and when the system moves by inertia. Examples of the influence of changes in phase (φ) and frequency (f) parameters of the system elements on the velocity mode of its motion in space are considered. The identity of the causes of self-motion is revealed both in the case of gravitation and inertial motion.展开更多
The equation governing the motion of a quantum particle is considered in nonrelativistic non-commutative phase space. For this aim, we first study new Poisson brackets in non-commutative phase space and obtain the mod...The equation governing the motion of a quantum particle is considered in nonrelativistic non-commutative phase space. For this aim, we first study new Poisson brackets in non-commutative phase space and obtain the modified equations of motion. Next, using novel transformations, we solve the equation of motion and report the exact analytical solutions.展开更多
It is widely believed that the matter created in p-p collisions exhibits a similar collective behavior as that formed in heavy ion collisions. In this paper, by taking into account the effects of thermal motion, the t...It is widely believed that the matter created in p-p collisions exhibits a similar collective behavior as that formed in heavy ion collisions. In this paper, by taking into account the effects of thermal motion, the transverse momentum distributions of identified charged particles are discussed in the scope of the hydrodynamic model including phase transition. The theoretical model gives a good description to the data collected in p-p collisions at LHC energies for the transverse momentum up to about .展开更多
The notion of equivalent dispersion of strong seismic waves is further illuminated and a frequency-dependentstochastic model of the Fourier phase of strong earthquake ground motion is presented for use in statistical ...The notion of equivalent dispersion of strong seismic waves is further illuminated and a frequency-dependentstochastic model of the Fourier phase of strong earthquake ground motion is presented for use in statistical estimates of the Fourier phase. The non-stationary features of design ground motions synthesized using the phasemodel in combination with the empirical attenuation model of amplitude spectra of strong ground motion are ableto be consistent with those of observed records in the sense of statistics.展开更多
A phase-derived velocity measurement method is proposed in a wideband coherent system,based on a precise echo model considering the inner pulse Doppler effect caused by fast moving targets.The Cramer-Rao low band of v...A phase-derived velocity measurement method is proposed in a wideband coherent system,based on a precise echo model considering the inner pulse Doppler effect caused by fast moving targets.The Cramer-Rao low band of velocity measurement precision is deduced,demonstrating the high precision of the proposed method.Simulations and out-field experiments further validate the effectiveness of the proposed method in high-precision measurement and micro-motion extraction for targets with weak reflection intensity.Compared with the long-time integration approaches for velocity measurement,the phase-derived method is easy to implement and meets the requirement for high data rate,which makes it suitable for micro-motion feature extraction in wideband systems.展开更多
Existing linkage-optimization methods are designed for mechanical presses; few can be directly used for servo presses, so development of the servo press is limited. Based on the complementarity of linkage opti- mizati...Existing linkage-optimization methods are designed for mechanical presses; few can be directly used for servo presses, so development of the servo press is limited. Based on the complementarity of linkage opti- mization and motion planning, a phase-division-based linkage-optimization model for a drawing servo press is established. Considering the motion-planning principles of a drawing servo press, and taking account of work rating and efficiency, the constraints of the optimization model are constructed. Linkage is optimized in two modes： use of either constant eccentric speed or constant slide speed in the work segments. The performances of optimized link- ages are compared with those of a mature linkage SL4- 2000A, which is optimized by a traditional method. The results show that the work rating of a drawing servo press equipped with linkages optimized by this new method improved and the root-mean-square torque of the servo motors is reduced by more than 10%. This research pro- vides a promising method for designing energy-saving drawing servo presses with high work ratings.展开更多
The relation between the phase difference spectrum and the response spectrum is studied in this paper. It is found that the phase difference spectrum influences the response spectrum through affecting the response ...The relation between the phase difference spectrum and the response spectrum is studied in this paper. It is found that the phase difference spectrum influences the response spectrum through affecting the response motion′s envelope function shape of a single degree of freedom system. Decreasing the variance of phase difference spectrum causes the increasing of response spectrum when its mean value curve keeps the same, otherwise the situation is opposite. As the increase of the tangent of the mean value curve, the response spectrum decreases, otherwise it increases. The damping plays an important role while the phase difference spectrum influences the response spectrum. The effect of the phase difference spectrum on the absolute acceleration response spectrum becomes more and more obvious with the increase of the damping. On the other hand, the increase of damping weakens the effect of the phase difference spectrum on the amplification factor spectrum.展开更多
MOtion COmpensation(MOCO) is an essential step in high resolution airborne Synthetic Aperture Radar(SAR) imaging. Generally, a reference altitude level is assumed and external Digital Elevation Model(DEM) is required ...MOtion COmpensation(MOCO) is an essential step in high resolution airborne Synthetic Aperture Radar(SAR) imaging. Generally, a reference altitude level is assumed and external Digital Elevation Model(DEM) is required for the scene topography heavily varied. To overcome the shortcoming, we propose a MOCO method based on Phase Gradient Autofocus(PGA) which can obtain well focused images without DEM. In the implementation, we first compensate the normal range-invariant term. Then the data are divided into strips in range-compressed domain and PGA is applied to each substrip to extract the phase errors. Finally, the phase error surface is obtained using interpolation and then compensated. Real airborne SAR data of a UAV-SAR system experiments and comparisons demonstrate the validity and effectiveness of the proposed algorithm. The results show that our algorithm is effective.展开更多
This paper, using Karnopp's model of friction force and phase plane method, studies the stick-slip motion of the flexible drive mechanism. It is explained that a sudden drop of friction force is the essential sour...This paper, using Karnopp's model of friction force and phase plane method, studies the stick-slip motion of the flexible drive mechanism. It is explained that a sudden drop of friction force is the essential source of stick-slip motion when the sliding is impending. A new criterion for occurrence of stick-slip motion is established. The stick-slip region and the stable region in a parameter plane are separated by a critical parameter curve. Moreover, for the stick-slip motion of the flexible drive mechanism without viscous damping, a parameter expression is obtained. The results may be used in design of the flexible drive mechanism.展开更多
The averaging analysis was carried out to study the motion of a quasi axisymmetrical gyrostat under a small magnitude self excited control torque. The common approach to investigating the problem of rigid body rot...The averaging analysis was carried out to study the motion of a quasi axisymmetrical gyrostat under a small magnitude self excited control torque. The common approach to investigating the problem of rigid body rotation under the action of a small torque known in the body frame was described. Using this approach, the problem (Grammel's problem for the case of small torque) that is maintaining the angular velocity of a quasi axisymmetrical gyrostat using a control torque quadratic in the angular velocity was solved.展开更多
The forces on rigid particles moving in relation to fluid having been studied and the equation of modifications of their expressions under different flow conditions discussed, a general form of equation for discrete p...The forces on rigid particles moving in relation to fluid having been studied and the equation of modifications of their expressions under different flow conditions discussed, a general form of equation for discrete particles' motion in arbitrary flow field is obtained. The mathematical features of the linear form of the equation are clarified and analytical solution of the linearized equation is gotten by means of Laplace transform. According to above theoretical results, the effects of particles' properties on its motion in several typical flow field are studied, with some meaningful conclusions being reached.展开更多
Phase noise has a great influence on the performance of coherent optical communication. In this paper, martingale theory is introduced to analyze the phase noise effect for the first time as far as we know. Through Fu...Phase noise has a great influence on the performance of coherent optical communication. In this paper, martingale theory is introduced to analyze the phase noise effect for the first time as far as we know. Through Fubini’s Theory and martingale representation theory, we proved that , which denotes the phase noise effect, is a predictable martingale. Then Ito’s formula for solution to stochastic differential equation is utilized for the analysis of phase noise effect. Using our method, a nonrecursive formula for the moments of phase noise is derived and signal-noise-ratio (SNR) degradation in coherent optical OFDM due to phase noise is calculated with our method.展开更多
文摘Due to the dynamic stiffness characteristics of human joints, it is easy to cause impact and disturbance on normal movements during exoskeleton assistance. This not only brings strict requirements for exoskeleton control design, but also makes it difficult to improve assistive level. The Variable Stiffness Actuator (VSA), as a physical variable stiffness mechanism, has the characteristics of dynamic stiffness adjustment and high stiffness control bandwidth, which is in line with the stiffness matching experiment. However, there are still few works exploring the assistive human stiffness matching experiment based on VSA. Therefore, this paper designs a hip exoskeleton based on VSA actuator and studies CPG human motion phase recognition algorithm. Firstly, this paper puts forward the requirements of variable stiffness experimental design and the output torque and variable stiffness dynamic response standards based on human lower limb motion parameters. Plate springs are used as elastic elements to establish the mechanical principle of variable stiffness, and a small variable stiffness actuator is designed based on the plate spring. Then the corresponding theoretical dynamic model is established and analyzed. Starting from the CPG phase recognition algorithm, this paper uses perturbation theory to expand the first-order CPG unit, obtains the phase convergence equation and verifies the phase convergence when using hip joint angle as the input signal with the same frequency, and then expands the second-order CPG unit under the premise of circular limit cycle and analyzes the frequency convergence criterion. Afterwards, this paper extracts the plate spring modal from Abaqus and generates the neutral file of the flexible body model to import into Adams, and conducts torque-stiffness one-way loading and reciprocating loading experiments on the variable stiffness mechanism. After that, Simulink is used to verify the validity of the criterion. Finally, based on the above criterions, the signal mean value is removed using feedback structure to complete the phase recognition algorithm for the human hip joint angle signal, and the convergence is verified using actual human walking data on flat ground.
文摘The presented work examines the mechanism and conditions of self-motion in bodies as systems of interacting elements. It is shown how the oscillation parameters of these elements determine the mode of motion of the system (body). In this case, the motion is considered as a consequence of symmetry breaking of forces in the systems themselves, and not as a reaction of individual elements to external influences. It is shown that such a violation takes place both in the gravitational field and when the system moves by inertia. Examples of the influence of changes in phase (φ) and frequency (f) parameters of the system elements on the velocity mode of its motion in space are considered. The identity of the causes of self-motion is revealed both in the case of gravitation and inertial motion.
基金Supported by the China Scholarship Councilthe Hanjiang Scholar Project of Shaanxi University of Technology
文摘The equation governing the motion of a quantum particle is considered in nonrelativistic non-commutative phase space. For this aim, we first study new Poisson brackets in non-commutative phase space and obtain the modified equations of motion. Next, using novel transformations, we solve the equation of motion and report the exact analytical solutions.
文摘It is widely believed that the matter created in p-p collisions exhibits a similar collective behavior as that formed in heavy ion collisions. In this paper, by taking into account the effects of thermal motion, the transverse momentum distributions of identified charged particles are discussed in the scope of the hydrodynamic model including phase transition. The theoretical model gives a good description to the data collected in p-p collisions at LHC energies for the transverse momentum up to about .
文摘The notion of equivalent dispersion of strong seismic waves is further illuminated and a frequency-dependentstochastic model of the Fourier phase of strong earthquake ground motion is presented for use in statistical estimates of the Fourier phase. The non-stationary features of design ground motions synthesized using the phasemodel in combination with the empirical attenuation model of amplitude spectra of strong ground motion are ableto be consistent with those of observed records in the sense of statistics.
基金Supported by the National Natural Science Foundation of China(61301189)111 Project of China(B14010)
文摘A phase-derived velocity measurement method is proposed in a wideband coherent system,based on a precise echo model considering the inner pulse Doppler effect caused by fast moving targets.The Cramer-Rao low band of velocity measurement precision is deduced,demonstrating the high precision of the proposed method.Simulations and out-field experiments further validate the effectiveness of the proposed method in high-precision measurement and micro-motion extraction for targets with weak reflection intensity.Compared with the long-time integration approaches for velocity measurement,the phase-derived method is easy to implement and meets the requirement for high data rate,which makes it suitable for micro-motion feature extraction in wideband systems.
基金Supported by National Science and Technology Major Project of the Ministry of Science and Technology of China(Grant No.2015ZX04003004)
文摘Existing linkage-optimization methods are designed for mechanical presses; few can be directly used for servo presses, so development of the servo press is limited. Based on the complementarity of linkage opti- mization and motion planning, a phase-division-based linkage-optimization model for a drawing servo press is established. Considering the motion-planning principles of a drawing servo press, and taking account of work rating and efficiency, the constraints of the optimization model are constructed. Linkage is optimized in two modes： use of either constant eccentric speed or constant slide speed in the work segments. The performances of optimized link- ages are compared with those of a mature linkage SL4- 2000A, which is optimized by a traditional method. The results show that the work rating of a drawing servo press equipped with linkages optimized by this new method improved and the root-mean-square torque of the servo motors is reduced by more than 10%. This research pro- vides a promising method for designing energy-saving drawing servo presses with high work ratings.
文摘The relation between the phase difference spectrum and the response spectrum is studied in this paper. It is found that the phase difference spectrum influences the response spectrum through affecting the response motion′s envelope function shape of a single degree of freedom system. Decreasing the variance of phase difference spectrum causes the increasing of response spectrum when its mean value curve keeps the same, otherwise the situation is opposite. As the increase of the tangent of the mean value curve, the response spectrum decreases, otherwise it increases. The damping plays an important role while the phase difference spectrum influences the response spectrum. The effect of the phase difference spectrum on the absolute acceleration response spectrum becomes more and more obvious with the increase of the damping. On the other hand, the increase of damping weakens the effect of the phase difference spectrum on the amplification factor spectrum.
文摘MOtion COmpensation(MOCO) is an essential step in high resolution airborne Synthetic Aperture Radar(SAR) imaging. Generally, a reference altitude level is assumed and external Digital Elevation Model(DEM) is required for the scene topography heavily varied. To overcome the shortcoming, we propose a MOCO method based on Phase Gradient Autofocus(PGA) which can obtain well focused images without DEM. In the implementation, we first compensate the normal range-invariant term. Then the data are divided into strips in range-compressed domain and PGA is applied to each substrip to extract the phase errors. Finally, the phase error surface is obtained using interpolation and then compensated. Real airborne SAR data of a UAV-SAR system experiments and comparisons demonstrate the validity and effectiveness of the proposed algorithm. The results show that our algorithm is effective.
文摘This paper, using Karnopp's model of friction force and phase plane method, studies the stick-slip motion of the flexible drive mechanism. It is explained that a sudden drop of friction force is the essential source of stick-slip motion when the sliding is impending. A new criterion for occurrence of stick-slip motion is established. The stick-slip region and the stable region in a parameter plane are separated by a critical parameter curve. Moreover, for the stick-slip motion of the flexible drive mechanism without viscous damping, a parameter expression is obtained. The results may be used in design of the flexible drive mechanism.
文摘The averaging analysis was carried out to study the motion of a quasi axisymmetrical gyrostat under a small magnitude self excited control torque. The common approach to investigating the problem of rigid body rotation under the action of a small torque known in the body frame was described. Using this approach, the problem (Grammel's problem for the case of small torque) that is maintaining the angular velocity of a quasi axisymmetrical gyrostat using a control torque quadratic in the angular velocity was solved.
文摘The forces on rigid particles moving in relation to fluid having been studied and the equation of modifications of their expressions under different flow conditions discussed, a general form of equation for discrete particles' motion in arbitrary flow field is obtained. The mathematical features of the linear form of the equation are clarified and analytical solution of the linearized equation is gotten by means of Laplace transform. According to above theoretical results, the effects of particles' properties on its motion in several typical flow field are studied, with some meaningful conclusions being reached.
文摘Phase noise has a great influence on the performance of coherent optical communication. In this paper, martingale theory is introduced to analyze the phase noise effect for the first time as far as we know. Through Fubini’s Theory and martingale representation theory, we proved that , which denotes the phase noise effect, is a predictable martingale. Then Ito’s formula for solution to stochastic differential equation is utilized for the analysis of phase noise effect. Using our method, a nonrecursive formula for the moments of phase noise is derived and signal-noise-ratio (SNR) degradation in coherent optical OFDM due to phase noise is calculated with our method.
