The effect of waist twisting on walking speed of an amphibious salamander like robot

Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion.A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems（ADAMS） and physical experiments verify the rationality and validity of this expression.

NOVEL FIBER GRATING SENSOR DEMODULATION TECHNIQUE BASED ON OPTICAL WAVELET FILTERING

The optical wavelet filter is designed. It can filter and choose frequency swiftly. It can realize demodulation of distributed fiber Bragg grating（FBG） measurement system. Its scanning resolution and scanning period depend on wavelet function. Wavelet function is controlled by computer. Compared to conventional scan filter, optical wavelet filtering has some advantages such as simple structure, high scan frequency, high resolution and good linearity. At last, the error of optical wavelet filter scanning procedure is analyzed. Scanning step length refers to the shifting of optical wavelet window＇s central frequency. It affects system precision directly. If scanning step length is different, the measured signal is different. The methods of reducing step length guarantee scanning periodic time are presented.

Simultaneous inversion of velocity distribution and interface positions

This paper deals with the simultaneous inversion of velocity distribution and interface positions in a laterally heterogeneous medium using seismic travel time data. Due to the application of variable step length and linear interpolation techniques (for both theoretical travel times and the partial derivative matrix), the computing speed is increased greatly. As compared with other domestic computing programs of this kind, it is five times or more faster than others. Besides reflected waves, the transmitted waves can also be used to form the partial derivative matrix of travel times with respect to interface positions. So this method can make full use of the information about interface positions contained in various transmitted waves and speed up the convergence rate. Digital tests and processing results of real data indicate the feasibility and effectiveness of the method and its program.

Optimization of satellite searching strategy of the non-stationary antenna

The tiny searching step length and the satellite distribution density are the major factors to influence the efficiency of the satellite finder,so a scientific and reasonable method to calculate the tiny searching step length is proposed to optimize the satellite searching strategy. The pattern clustering and BP neural network are applied to optimize the tiny searching step length. The calculated tiny searching step length is approximately equal to the theoretic value for each satellite. In application,the satellite searching results will be dynamically added to the training samples to re-train the network to improve the generalizability and the precision. Experiments validate that the optimization of the tiny searching step length can avoid the error of locating target satellite and improve the searching efficiency.

ADAPTIVE STRATEGIES FORNC MACHINING COMPOUND FREE-FORM SURFACES

This paper treats adaptation to the machining precision and productivity of compound free-form surfaces. The principle of a mixed NC machining method (surface direct interpolating (SDI[1])and discrete NC programming) is introduced- Three adaptive procedures are discussed : ( 1 ) adaptivedivision of the machining areas, (2) adaptive triangulation for generating interference-free tool pathsfrom compound surfaces, (3) machining along surface/surface intersection (SSI ) curves with anadaptive step length. They upgrade the intelligence of machining compound surfaces.