This paper mainly presents a PM multi-DOF actuator for robot in-wheels drive applications and its control method. The torque model is established based on the finite-element model of the single pair poles in 3D finite...This paper mainly presents a PM multi-DOF actuator for robot in-wheels drive applications and its control method. The torque model is established based on the finite-element model of the single pair poles in 3D finite element method software. Due to the special structure of the actuator,the Euler angles are adopted for deriving the kinematics and dynamic model. To reduce the effects of uncertainties of modeling error,nonlinear friction and external disturbances in the system,an approximation of neural network adaptive control method is applied to the actuator. The computation and simulation results show that the proposed analysis and control method can effectively derive the characteristics and improve the motion performance,which provides the primary theoretical guide for the configuration design,optimization and control research of multi-DOF deflection type actuators.展开更多
A flexible two degrees of freedom (2-DOF) steering model of multi-axlevehicle (MAV) is presented with considering the effect of frame flexibility based on the classic2-DOF model. A method to calculate the frame flexib...A flexible two degrees of freedom (2-DOF) steering model of multi-axlevehicle (MAV) is presented with considering the effect of frame flexibility based on the classic2-DOF model. A method to calculate the frame flexibility is derived by using three moments equation.The steering stability of MAV is analyzed. The steering performance of MAV is also researched infrequency domain. Simulation results show that the dynamic effects of flexible model are more severethan rigid model and the flexible effect of frame will weaken the steering stability of MAV.Different disposals of steering axles lead to different steering characteristics of MAV. Thein-phase steering mode improves the steering characteristics and stability at high speed. Theanti-phase steering mode increases the steering mobility at low vehicle speed.展开更多
Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years...Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom,high flexibility,environmental adaptability,and extended manipulation capability.However,these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals,which hinders their applications.In this paper,a flexible bio-tensegrity manipulator,inspired by the longitudinal and transversal muscles of octopus tentacles,was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each segment.Such proposed manipulator uses the elastic spring as the backbone,which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each segment.The variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each segment.After the kinematic modeling and analysis,one prototype of such bionic flexible manipulator was built and the open-loop control method was proposed.Some proof-of-concept experiments,including the shrinking motion,bending motion,and variable structure motion,were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism,which validate the feasibility and validity of our proposed prototype.Meanwhile,the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8%through the simple independent control of each segment using the variable structure mechanism.This proposed manipulator has the features of controllable degree-of-freedom in each segment,which extend their environmental adaptability,and manipulation capability.展开更多
To research the effect of the selection method of multi-objects genetic algorithm problem on optimizing result, thismethod is analyzed theoretically and discussed by using an autonomous underwater vehicle(AUV) as an o...To research the effect of the selection method of multi-objects genetic algorithm problem on optimizing result, thismethod is analyzed theoretically and discussed by using an autonomous underwater vehicle(AUV) as an object. A changingweight vtlue method is put forward and a selection formula is modified. Some experiments were implemented on an AUV.TwinBurger. The results shows that this method is effective and feasible.展开更多
In the video-based surveillance application, moving shadows can affect the correct localization and detection of moving objects. This paper aims to present a method for shadow detection and suppression used for moving...In the video-based surveillance application, moving shadows can affect the correct localization and detection of moving objects. This paper aims to present a method for shadow detection and suppression used for moving visual object detection. The major novelty of the shadow suppression is the integration of several features including photometric invariant color feature, motion edge feature, and spatial feature etc. By modifying process for false shadow detected, the averaging detection rate of moving object reaches above 90% in the test of Hall-Monitor sequence.展开更多
The Large Sky Area Multi-Object Fiber Spectroscopic Telescope (LAMOST, also called the Guo Shou Jing Telescope) is a special reflecting Schmidt telescope. LAMOST’s special design allows both a large aperture (effecti...The Large Sky Area Multi-Object Fiber Spectroscopic Telescope (LAMOST, also called the Guo Shou Jing Telescope) is a special reflecting Schmidt telescope. LAMOST’s special design allows both a large aperture (effective aperture of 3.6 m–4.9 m) and a wide field of view (FOV) (5°). It has an innovative active reflecting Schmidt configuration which continuously changes the mirror’s surface that adjusts during the observation process and combines thin deformable mirror active optics with segmented active optics. Its primary mirror (6.67m×6.05 m) and active Schmidt mirror (5.74m×4.40 m) are both segmented, and composed of 37 and 24 hexagonal sub-mirrors respectively. By using a parallel controllable fiber positioning technique, the focal surface of 1.75 m in diameter can accommodate 4000 optical fibers. Also, LAMOST has 16 spectrographs with 32 CCD cameras. LAMOST will be the telescope with the highest rate of spectral acquisition. As a national large scientific project, the LAMOST project was formally proposed in 1996, and approved by the Chinese government in 1997. The construction started in 2001, was completed in 2008 and passed the official acceptance in June 2009. The LAMOST pilot survey was started in October 2011 and the spectroscopic survey will launch in September 2012. Up to now, LAMOST has released more than 480 000 spectra of objects. LAMOST will make an important contribution to the study of the large-scale structure of the Universe, structure and evolution of the Galaxy, and cross-identification of multiwaveband properties in celestial objects.展开更多
Objective To compare the acute hemodynamic effects of five different pacing modes in patients with cardiac function NYHA class Ⅰ to Ⅱ without bundle branch block (BBB). Methods This study included 12 patients (SSS ...Objective To compare the acute hemodynamic effects of five different pacing modes in patients with cardiac function NYHA class Ⅰ to Ⅱ without bundle branch block (BBB). Methods This study included 12 patients (SSS 7, Ⅲ°AVB 5) undergoing pacemaker implantation. Right ventricular apex (RVA), right ventricular outflow tract (RVOT), right ventricular bifocal (RV-Bi), left ventricular base (LVB) and bi -ventricular (Bi-Ⅴ) pacing at 60 -80 ppm were done in VVI mode prior to implantation of DDD pacemaker. The cardiac index (CI), mean pulmonary artery pressure (mPAP) and pulmonary capillary wedge pressure (PCWP) were measured with Swan - Ganz thermodilution catheter after 5 minutes of each pacing mode. Results (1) Comparing to pacing at RVA (CI: 2. 41± 0. 38 L/min per m2, PCWP: 16. 7 ±3.3 mmHg), the CI increased and the PCWP decreased significantly in pacing at RVOT(CI: 2. 63 ± 0.46, PCWP: 13. 8±2. 3), LVB(CI: 2. 78±0.52, PCWP: 14. 4±3.1), RV-Bi(CI: 2. 83±0.57, PCWP: 12. 8± 2. 5) and Bi -Ⅴ pacing (CI: 2. 94± 0.60, PCWP: 12. 7±2. 5), P < 0. 01, respectively. (2) The CI of RV-Bi and Bi-Ⅴ pacing was higher than that of RVOT and LVB pacing, the PCWP was lower, P < 0. 05, respectively. (3) There was no significant difference between RV - Bi pacing and Bi-Ⅴ pacing in CI and PCWP. Conclusion There is no significant difference between RV - Bi pacing and Bi -V pacing in the acute hemodynamic effects; however,dual - site pacing is much better than single site pacing in that aspect for patients with cardiac function NYHA class Ⅰ to Ⅱ without BBB. Among single site pacing, the RVOT and LVB pacing is better than RVA pacing in cardiac function.展开更多
In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardwar...In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardware construction, is introduced. Spinning experiments show that the system achieves satisfactory result. This system can solve the diftkultles of mechatronical fusion between domestic hollow splndk fancy yarn spuming muchine and its microcomputer control technology.展开更多
A quantitative method is developed to identify the structures of multi-layer woven fabric in this study. Six structural parameters are selected to represent the fabric structure. With some design criteria for the rein...A quantitative method is developed to identify the structures of multi-layer woven fabric in this study. Six structural parameters are selected to represent the fabric structure. With some design criteria for the reinforcement of textile composites, the relationships among the structural parameters are derived for different binding patterns of the fabric structure. The conditions, which meet the requirements of structural cell stability,are also discussed.展开更多
To meet the development trend of multi-bar warp knit-ting machine towards high-speed,advanced technologyand computer control and the requirements of variousproducts with small quantity,there are many researcheson the ...To meet the development trend of multi-bar warp knit-ting machine towards high-speed,advanced technologyand computer control and the requirements of variousproducts with small quantity,there are many researcheson the computer-aided pattern design of multi-barwarp knitted fabrics.In terms of the special propertiesof the computer-aided pattern design of multi-barwarp knitted fabrics,the Object Oriented Program(OOP)programming-Object Windows class Library(OWL)programming is selected.According to thecharacters of the OWL programming,various functionsare defined.Pattern design and technical parameters canbe output,which offers a great convenience for the fac-tory.展开更多
The FRF estimator based on the errors-in-variables (EV) model of multi-input multi-output (MIMO) system is presented to reduce the bias error of FRF HI estimator. The FRF HI estimator is influenced by the noises i...The FRF estimator based on the errors-in-variables (EV) model of multi-input multi-output (MIMO) system is presented to reduce the bias error of FRF HI estimator. The FRF HI estimator is influenced by the noises in the inputs of the system and generates an under-estimation of the true FRF. The FRF estimator based on the EV model takes into account the errors in both the inputs and outputs of the system and would lead to more accurate FRF estimation. The FRF estimator based on the EV model is applied to the waveform replication on the 6-DOF (degree-of-freedom) hydraulic vibration table. The result shows that it is favorable to improve the control precision of the MIMO vibration control system.展开更多
基金Sponsored by the National Natural Science Foundation of China(Grant No.51107031,50677013)the Natural Science Foundation of Hebei Province of China(Grant No.E2009000703)
文摘This paper mainly presents a PM multi-DOF actuator for robot in-wheels drive applications and its control method. The torque model is established based on the finite-element model of the single pair poles in 3D finite element method software. Due to the special structure of the actuator,the Euler angles are adopted for deriving the kinematics and dynamic model. To reduce the effects of uncertainties of modeling error,nonlinear friction and external disturbances in the system,an approximation of neural network adaptive control method is applied to the actuator. The computation and simulation results show that the proposed analysis and control method can effectively derive the characteristics and improve the motion performance,which provides the primary theoretical guide for the configuration design,optimization and control research of multi-DOF deflection type actuators.
文摘A flexible two degrees of freedom (2-DOF) steering model of multi-axlevehicle (MAV) is presented with considering the effect of frame flexibility based on the classic2-DOF model. A method to calculate the frame flexibility is derived by using three moments equation.The steering stability of MAV is analyzed. The steering performance of MAV is also researched infrequency domain. Simulation results show that the dynamic effects of flexible model are more severethan rigid model and the flexible effect of frame will weaken the steering stability of MAV.Different disposals of steering axles lead to different steering characteristics of MAV. Thein-phase steering mode improves the steering characteristics and stability at high speed. Theanti-phase steering mode increases the steering mobility at low vehicle speed.
基金Supported by National Natural Science Foundation of China(Grant Nos.51705066,51805128)Sichuan Science and Technology Program(Grant No.2019YFG0343)Fundamental Research Funds for the Central Universities of China(Grant Nos.ZYGX2019J041,ZYGX2016KYQD137).
文摘Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom,high flexibility,environmental adaptability,and extended manipulation capability.However,these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals,which hinders their applications.In this paper,a flexible bio-tensegrity manipulator,inspired by the longitudinal and transversal muscles of octopus tentacles,was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each segment.Such proposed manipulator uses the elastic spring as the backbone,which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each segment.The variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each segment.After the kinematic modeling and analysis,one prototype of such bionic flexible manipulator was built and the open-loop control method was proposed.Some proof-of-concept experiments,including the shrinking motion,bending motion,and variable structure motion,were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism,which validate the feasibility and validity of our proposed prototype.Meanwhile,the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8%through the simple independent control of each segment using the variable structure mechanism.This proposed manipulator has the features of controllable degree-of-freedom in each segment,which extend their environmental adaptability,and manipulation capability.
文摘To research the effect of the selection method of multi-objects genetic algorithm problem on optimizing result, thismethod is analyzed theoretically and discussed by using an autonomous underwater vehicle(AUV) as an object. A changingweight vtlue method is put forward and a selection formula is modified. Some experiments were implemented on an AUV.TwinBurger. The results shows that this method is effective and feasible.
文摘In the video-based surveillance application, moving shadows can affect the correct localization and detection of moving objects. This paper aims to present a method for shadow detection and suppression used for moving visual object detection. The major novelty of the shadow suppression is the integration of several features including photometric invariant color feature, motion edge feature, and spatial feature etc. By modifying process for false shadow detected, the averaging detection rate of moving object reaches above 90% in the test of Hall-Monitor sequence.
文摘The Large Sky Area Multi-Object Fiber Spectroscopic Telescope (LAMOST, also called the Guo Shou Jing Telescope) is a special reflecting Schmidt telescope. LAMOST’s special design allows both a large aperture (effective aperture of 3.6 m–4.9 m) and a wide field of view (FOV) (5°). It has an innovative active reflecting Schmidt configuration which continuously changes the mirror’s surface that adjusts during the observation process and combines thin deformable mirror active optics with segmented active optics. Its primary mirror (6.67m×6.05 m) and active Schmidt mirror (5.74m×4.40 m) are both segmented, and composed of 37 and 24 hexagonal sub-mirrors respectively. By using a parallel controllable fiber positioning technique, the focal surface of 1.75 m in diameter can accommodate 4000 optical fibers. Also, LAMOST has 16 spectrographs with 32 CCD cameras. LAMOST will be the telescope with the highest rate of spectral acquisition. As a national large scientific project, the LAMOST project was formally proposed in 1996, and approved by the Chinese government in 1997. The construction started in 2001, was completed in 2008 and passed the official acceptance in June 2009. The LAMOST pilot survey was started in October 2011 and the spectroscopic survey will launch in September 2012. Up to now, LAMOST has released more than 480 000 spectra of objects. LAMOST will make an important contribution to the study of the large-scale structure of the Universe, structure and evolution of the Galaxy, and cross-identification of multiwaveband properties in celestial objects.
文摘Objective To compare the acute hemodynamic effects of five different pacing modes in patients with cardiac function NYHA class Ⅰ to Ⅱ without bundle branch block (BBB). Methods This study included 12 patients (SSS 7, Ⅲ°AVB 5) undergoing pacemaker implantation. Right ventricular apex (RVA), right ventricular outflow tract (RVOT), right ventricular bifocal (RV-Bi), left ventricular base (LVB) and bi -ventricular (Bi-Ⅴ) pacing at 60 -80 ppm were done in VVI mode prior to implantation of DDD pacemaker. The cardiac index (CI), mean pulmonary artery pressure (mPAP) and pulmonary capillary wedge pressure (PCWP) were measured with Swan - Ganz thermodilution catheter after 5 minutes of each pacing mode. Results (1) Comparing to pacing at RVA (CI: 2. 41± 0. 38 L/min per m2, PCWP: 16. 7 ±3.3 mmHg), the CI increased and the PCWP decreased significantly in pacing at RVOT(CI: 2. 63 ± 0.46, PCWP: 13. 8±2. 3), LVB(CI: 2. 78±0.52, PCWP: 14. 4±3.1), RV-Bi(CI: 2. 83±0.57, PCWP: 12. 8± 2. 5) and Bi -Ⅴ pacing (CI: 2. 94± 0.60, PCWP: 12. 7±2. 5), P < 0. 01, respectively. (2) The CI of RV-Bi and Bi-Ⅴ pacing was higher than that of RVOT and LVB pacing, the PCWP was lower, P < 0. 05, respectively. (3) There was no significant difference between RV - Bi pacing and Bi-Ⅴ pacing in CI and PCWP. Conclusion There is no significant difference between RV - Bi pacing and Bi -V pacing in the acute hemodynamic effects; however,dual - site pacing is much better than single site pacing in that aspect for patients with cardiac function NYHA class Ⅰ to Ⅱ without BBB. Among single site pacing, the RVOT and LVB pacing is better than RVA pacing in cardiac function.
文摘In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardware construction, is introduced. Spinning experiments show that the system achieves satisfactory result. This system can solve the diftkultles of mechatronical fusion between domestic hollow splndk fancy yarn spuming muchine and its microcomputer control technology.
文摘A quantitative method is developed to identify the structures of multi-layer woven fabric in this study. Six structural parameters are selected to represent the fabric structure. With some design criteria for the reinforcement of textile composites, the relationships among the structural parameters are derived for different binding patterns of the fabric structure. The conditions, which meet the requirements of structural cell stability,are also discussed.
文摘To meet the development trend of multi-bar warp knit-ting machine towards high-speed,advanced technologyand computer control and the requirements of variousproducts with small quantity,there are many researcheson the computer-aided pattern design of multi-barwarp knitted fabrics.In terms of the special propertiesof the computer-aided pattern design of multi-barwarp knitted fabrics,the Object Oriented Program(OOP)programming-Object Windows class Library(OWL)programming is selected.According to thecharacters of the OWL programming,various functionsare defined.Pattern design and technical parameters canbe output,which offers a great convenience for the fac-tory.
基金This project is supported by Program for New Century Excellent Talents in University,China(No.NCET-04-0325).
文摘The FRF estimator based on the errors-in-variables (EV) model of multi-input multi-output (MIMO) system is presented to reduce the bias error of FRF HI estimator. The FRF HI estimator is influenced by the noises in the inputs of the system and generates an under-estimation of the true FRF. The FRF estimator based on the EV model takes into account the errors in both the inputs and outputs of the system and would lead to more accurate FRF estimation. The FRF estimator based on the EV model is applied to the waveform replication on the 6-DOF (degree-of-freedom) hydraulic vibration table. The result shows that it is favorable to improve the control precision of the MIMO vibration control system.