Periodic Motion Planning and Control for Double Rotary Pendulum via Virtual Holonomic Constraints

Periodic motion planning for an under-actuated system is rather difficult due to differential dynamic constraints imposed by passive dynamics, and it becomes more difficult for a system with higher underactuation degree, that is with a higher difference between the number of degrees of freedom and the number of independent control inputs. However, from another point of view, these constraints also mean some relation between state variables and could be used in the motion planning.We consider a double rotary pendulum, which has an underactuation degree 2. A novel periodic motion planning is presented based on an optimization search. A necessary condition for existence of the whole periodic trajectory is given because of the higher underactuation degree of the system. Moreover this condition is given to make virtual holonomic constraint(VHC) based control design feasible. Therefore, an initial guess for the optimization of planning a feasible periodic motion is based on this necessary condition. Then, VHCs are used for the system transformation and transverse linearization is used to design a static state feedback controller with periodic matrix function gain. The controller gain is found through another optimization procedure. The effectiveness of initial guess and performance of the closed-loop system are illustrated through numerical simulations.

Detection of Stiff Nodules Embedded in Soft Tissue Phantoms,Mimicking Cancer Tumours,Using a Tactile Resonance Sensor

Background: Prostate cancer (PCa) is the most common form of cancer among males in Europe and in the USA and the most common curative treatment is removal of the prostate, i.e. prostatectomy. After the removal, the prostate is histopathologically analysed. One area of interest is to examine the perifery of the prostate, as tumours on and near the surface can indicate that the PCa has spread to other parts of the body. There are no current methods to examine the surface of the prostate at the time of surgery. Tactile resonance sensors can be used for detecting areas of different stiffness in soft tissue. Human prostate tissue affected by cancer is usually stiffer than healthy tissue, and for this purpose, a tactile resonance sensor was developed. The aim of this study was to investigate the depth at which embedded stiffer volumes could be detected, using soft tissue phantoms. Methods: With the tactile resonance sensor used in this study, the shift of the resonance frequency and the force at contact with tissue can be measured, and combined into a tissue stiffness parameter. The detection sensitivity of the sensor at impression depths, 0.4 and 0.8 mm, was measured for detection of inserted nodules of stiff silicone in softer silicone and in chicken muscle tissue, mimicking prostate tissue with cancer tumours. Results: Measurements on the silicone samples detected the hidden stiffer object at a depth of 1 - 4 mm with a difference in the stiffness parameter of 80 - 900 mN/kHz (p < 0.028, n = 48). At the depth 5 - 6 mm the difference was smaller but still significant < 30 mN/kHz (p < 0.05, n = 24). For the measurements on chicken muscle, the detectable depth was 4 mm (p < 0.05, n = 24). Conclusion: This model study suggests that, with only a small impression depth of ≤1 mm, the resonance sensor system described here can detect stiffness variations located at least 4 mm in silicone and chicken muscle, mimicking tumours in prostate tissue.

音频编解码技术及应用

首先分析了在各个不同的历史阶段为满足不同的需求而提出的各种音频编解码器,讨论了最常见编解码器的特征和性能。然后考虑了它们对当前和未来移动通信需求的适应性,比较了各种音频编解码器的性能。最后给出了一些音频编解码器在移动通信系统中的应用。

High-throughput screening and machine learning for the efficient growth of high-quality single-wall carbon nanotubes

It has been a great challenge to optimize the growth conditions toward structure-controlled growth of single-wall carbon nanotubes(SWCNTs).Here,a high-throughput method combined with machine learning is reported that efficiently screens the growth conditions for the synthesis of high-quality SWCNTs.Patterned cobalt(Co)nanoparticles were deposited on a numerically marked silicon wafer as catalysts,and parameters of temperature,reduction time and carbon precursor were optimized.The crystallinity of the SWCNTs was characterized by Raman spectroscopy where the featured G/D peak intensity(IG/ID)was extracted automatically and mapped to the growth parameters to build a database.1,280 data were collected to train machine learning models.Random forest regression(RFR)showed high precision in predicting the growth conditions for high-quality SWCNTs,as validated by further chemical vapor deposition(CVD)growth.This method shows great potential in structure-controlled growth of SWCNTs.

Adaptive Wall-Based Attachment Ventilation:A Comparative Study on Its Effectiveness in Airborne Infection Isolation Rooms with Negative Pressure

The transmission of coronavirus disease 2019(COVID-19)has presented challenges for the control of the indoor environment of isolation wards.Scientific air distribution design and operation management are crucial to ensure the environmental safety of medical staff.This paper proposes the application of adaptive wall-based attachment ventilation and evaluates this air supply mode based on contaminants dispersion,removal efficiency,thermal comfort,and operating expense.Adaptive wall-based attachment ventilation provides a direct supply of fresh air to the occupied zone.In comparison with a ceiling air supply or upper sidewall air supply,adaptive wall-based attachment ventilation results in a 15%–47%lower average concentration of contaminants,for a continual release of contaminants at the same air changes per hour(ACH;10 h^(-1)).The contaminant removal efficiency of complete mixing ventilation cannot exceed 1.For adaptive wall-based attachment ventilation,the contaminant removal efficiency is an exponential function of the ACH.Compared with the ceiling air supply mode or upper sidewall air supply mode,adaptive wall-based attachment ventilation achieves a similar thermal comfort level(predicted mean vote(PMV)of0.1–0.4;draught rate of 2.5%–6.7%)and a similar performance in removing contaminants,but has a lower ACH and uses less energy.

Restricted Hysteresis Reduce Redundancy in Edge Detection

In edge detection algorithms, there is a common redundancy problem, especially when the gradient direction is close to -135°, -45°, 45°, and 135°. Double edge effect appears on the edges around these directions. This is caused by the discrete calculation of non-maximum suppression. Many algorithms use edge points as feature for further task such as line extraction, curve detection, matching and recognition. Redundancy is a very important factor of algorithm speed and accuracy. We find that most edge detection algorithms have redundancy of 50% in the worst case and 0% in the best case depending on the edge direction distribution. The common redundancy rate on natural images is approximately between 15% and 20%. Based on Canny’s framework, we propose a restriction in the hysteresis step. Our experiment shows that proposed restricted hysteresis reduce the redundancy successfully.

Fuzzy Tuned PID Controller for Envisioned Agricultural Manipulator

The implementation of image-based phenotyping systems has become an important aspect of crop and plant science research which has shown tremendous growth over the years. Accurate determination of features using images requires stable imaging and very precise processing. By installing a camera on a mechanical arm driven by motor, the maintenance of accuracy and stability becomes non-trivial. As per the state-of-the-art, the issue of external camera shake incurred due to vibration is a great concern in capturing accurate images, which may be induced by the driving motor of the manipulator. So, there is a requirement for a stable active controller for sufficient vibration attenuation of the manipulator. However, there are very few reports in agricultural practices which use control algorithms. Although, many control strategies have been utilized to control the vibration in manipulators associated to various applications, no control strategy with validated stability has been provided to control the vibration in such envisioned agricultural manipulator with simple low-cost hardware devices with the compensation of non-linearities. So, in this work, the combination of proportional-integral-differential(PID) control with type-2 fuzzy logic(T2-F-PID) is implemented for vibration control. The validation of the controller stability using Lyapunov analysis is established. A torsional actuator(TA) is applied for mitigating torsional vibration, which is a new contribution in the area of agricultural manipulators. Also, to prove the effectiveness of the controller, the vibration attenuation results with T2-F-PID is compared with conventional PD/PID controllers, and a type-1 fuzzy PID(T1-F-PID) controller.

QoS-guaranteed packet scheduling in wireless networks

To guarantee the quality of service （QoS） of a wireless network, a new packet scheduling algorithm using cross-layer design technique is proposed in this article. First, the demand of packet scheduling for multimedia transmission in wireless networks and the deficiency of the existing packet scheduling algorithms are analyzed. Then the model of the QoS-gnaranteed packet scheduling （QPS） algorithm of high speed downlink packet access （HSDPA） and the cost function of packet transmission are designed. The calculation method of packet delay time for wireless channels is expounded in detail, and complete steps to realize the QPS algorithm are also given. The simulation results show that the QPS algorithm that provides the scheduling sequence of packets with calculated values can effectively improve the performance of delay and throughput.