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Study on the Humanoid Robot Arm Actuated by Pneumatic Muscle

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Study on the Humanoid Robot Arm Actuated by Pneumatic Muscle

第五届流体传动与控制国际会议

作者： Wang Yifeng~* Peng Guangzheng Yang Yugui department of Automatic control School of information Science and technology Beijing institute of technology Beijing 100081 china

＜正＞Pneumatic Muscle Actuator（PMA）is a novel pneumatic flexible actuator with high power-weight ratio,compliance nature and easy operation,and is widely used as the actuator of robots. In this paper,pneumatic muscle actuators are applied to a 7 degree of freedom（DOF）humanoid robot *** humanoid robot arm consists of the muscle assembly of the shoulder joint,elbow joint and wrist *** arm is divided into upper arm and *** the muscles for the elbow joint and wrist joint are placed on the upper *** it can easily form a whole humanoid arm by combining with human-like dexterous *** the kinematics analysis of the mechanism model of the humanoid robot arm is *** dealing with the complexity in gaining inverse kinematics solution of 7-DOF manipulator,a new approach based on genetic algorithm（GA）and BP neural network is proposed. Simulation shows that the method proposed in the paper is practicable,provides a complete new approach for inverse kinematics solution of manipulator of any redundancy.

关键词： Pneumatic Muscle Actuator Humanoid Robot Arm Kinematics Redundancy

POWER-AWARE ROUTING BASED ON DSR FOR MOBILE AD HOC NETWORKS

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Journal of Electronics(china) 2007年第2期24卷 167-173页

作者： Huang Jingbo Hong Peilin Li Jinsheng department of Electronic engineering and information Science University of Science and Technology of China Hefei 230027 China

Energy consumption is a crucial design concern in Mobile Ad hoc NETworks (MANETs) since nodes are powered by batteries with limited energy, whereas Dynamic Source Routing (DSR) protocol does not take the energy limitation of MANET nodes into account. This paper proposes an energy-saving routing algorithm based on DSR: Power Aware Routing protocol based on DSR (PAR-DSR). The design objective of PAR-DSR is to select energy-efficient paths. The main features of PAR-DSR are: (1) Nodes use the Signal Attenuation Rate (SAR) to conduct power control operations; (2) Minimum path cost as metric to balance the traffic and energy consumption of wireless nodes. The simulation results show that PAR-DSR can greatly reduce the energy consumption of MANET nodes. The average node lifetime of PAR-DSR is 50%-77% longer than that of DSR.

关键词： Ad hoc Energy consumption Cost function Signal Attenuation Rate (SAR) PowerAware Routing based on Dynamic Source Routing (PAR-DSR)

Vibrational relaxation dynamics in transient grating spectroscopy studied by rate equations based on time-dependent correlation function

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Chinese Physics B 2012年第4期21卷 245-248页

作者：于国洋宋云飞何兴郑贤旭谭多旺陈军杨延强 Center for Condensed Matter Science and technology Department of PhysicsHarbin Institute of TechnologyHarbin 150001China National Key Laboratory of Shock Wave and Detonation Physics Institute of Fluid PhysicsChina Academy of Engineering PhysicsMianyang 621900China

A modified model, a set of rate equations based on time-dependent correlation function, is used to study vibrational relaxation dynamics in transient grating spectroscopy. The dephasing, the population dynamics, and the vibrational coherence concerning two vibrational states are observed respectively in organic dye IR780 perchlorate molecules doped polyvinyl alcohol matrix. The result shows that in addition to the information concerning system-environment interaction and vibrational coherence, the vibrational energy transfer can be described by this modified model.

关键词： transient grating population dynamics vibrational energy transfer

information DESIGN OF UNIVERSAL ADJUSTMENT PROGRAM OF PLANE control NETWORKS

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中国有色金属学会会刊：英文版 1994年第2期4卷 95-97,102页

作者： Xiang,Nanping(department of Resources Exploitation engineering,Central South University of technology,Changsha 410083)

ＩＮＦＯＲＭＡＴＩＯＮＤＥＳＩＧＮＯＦＵＮＩＶＥＲＳＡＬＡＤＪＵＳＴＭＥＮＴＰＲＯＧＲＡＭＯＦＰＬＡＮＥＣＯＮＴＲＯＬＮＥＴＷＯＲＫＳＩＮＦＯＲＭＡＴＩＯＮＤＥＳＩＧＮＯＦＵＮＩＶＥＲＳＡＬＡＤＪＵＳＴＭＥＮＴＰＲＯ... 详细信息

ＩＮＦＯＲＭＡＴＩＯＮＤＥＳＩＧＮＯＦＵＮＩＶＥＲＳＡＬＡＤＪＵＳＴＭＥＮＴＰＲＯＧＲＡＭＯＦＰＬＡＮＥＣＯＮＴＲＯＬＮＥＴＷＯＲＫＳＩＮＦＯＲＭＡＴＩＯＮＤＥＳＩＧＮＯＦＵＮＩＶＥＲＳＡＬＡＤＪＵＳＴＭＥＮＴＰＲＯＧＲＡＭＯＦＰＬＡＮＥＣＯＮＴＲＯ...

关键词： information design universal adjustment plane control networks

Modeling the control mechanism for generating the rise-fall patterns in FO contours

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Chinese Journal of Acoustics 1997年第4期16卷 339-349页

作者： NI Jinfu and WANG Renhua(department of Electronic engineering and information Science, University of Science and technology of china Hefei 230027)

The strategy of modeling the control mechanism for generating F0 contour of speech signal is studied in this paper. Based on some dynamic characteristics of vocal cord strain, the complex laryngeal mechanism relative to local F0 regulation is simplified to be a feasible physical model. Furthermore, a model function is deduced as the control mechanism for the generation process of local rise-fall patterns, and two kinds of basic feature patterns result with so called rise-fall commands defined by model parameters. on the logarithmic scale of F0 versus time the local characteristics of an F0 contour are approximated by the sum of these patterns generated by appropriate commands. The experimenial results in analyzing and synthesizing the F0 contours of spoken Chinese utterances indicate that the observed F0 contours can be always approximated well by the model, and a good correlation exists between some model parameters and the transition duration of local F0 rising or falling. The model lays a foundation for Chinese F0 contour synthesis by rule.

关键词： Modeling the control mechanism for generating the rise-fall patterns in FO contours

Robust adaptive fuzzy backstepping output feedback tracking control for nonlinear system with dynamic uncertainties

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Science china(information Sciences) 2010年第2期53卷 307-324页

作者： TONG ShaoCheng & LI YongMing department of Basic Mathematics, Liaoning University of technology, Jinzhou 121001, china department of Basic Mathematics Liaoning University of Technology

In this paper, an adaptive fuzzy output feedback control approach based on backstepping design is proposed for a class of SISO strict feedback nonlinear systems with unmeasured states, nonlinear uncertainties, unmodeled dynamics, and dynamical disturbances. Fuzzy logic systems are employed to approximate the nonlinear uncertainties, and an adaptive fuzzy state observer is designed for the states estimation. By combining backstepping technique with the fuzzy adaptive control approach, a stable adaptive fuzzy output feedback robust control is constructed recursively, in which nonlinear damping terms and a dynamical signal are introduced to counteract the nonlinear uncertainties and dominate the dynamic disturbances, respectively. It is proved that the proposed adaptive fuzzy control approach guarantees that all the signals of the closed-loop system are semi-globally uniformly bounded, and the tracking error converges to a small neighborhood of the origin. Simulation studies are included to illustrate the effectiveness of the proposed approach.

关键词： nonlinear systems fuzzy control adaptive control backstepping technique adaptive state observer stability analysis

Feedback Linearization control in AC Servo System

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Feedback Linearization Control in AC Servo System

11th International Conference on Electrical Machines and Systems

作者： Tao Zhang~(1*) Jingping Jiang~2 1 Electric and information engineering department North china institute of Science and technology china 2 Electric engineering institute Zhejiang University china

＜正＞This paper propose a control project using adaptive feedback linearization on the AC servo *** derivation and computer simulation proved that the project can implement robust control of parameters and has the ac...

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Realization of USB/SD Card Data Acquisition Device Based on CH376S

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Realization of USB/SD Card Data Acquisition Device Based on ...

第三届国际自动化测试与仪器仪表学术会议

作者： Huang Yi Du Zhiwei Zhang Xiaoyu (department of Electronic and information engineering North china institute of Science and technology Beijing 101601 china)

＜正＞In this paper,a USB/SD Card data sampling device is realized based on file control and administration IC CH376S. Firstly,the control core unit is selected as Mega32 of AVR which communicates to CH376S by SPI and parallel port with *** then the keyboard is designed as solely *** functions of device include FAT file control and administration, data uploading real-time,data backup-transport and data *** power dissipation and low cost features are achieved that consist with the popular technical trends for the industry control system..

关键词： USB SD file control and administration data acquisition

Review of Channel Characterization for Power Line Communications

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Review of Channel Characterization for Power Line Communicat...

2010 International Conference on Advanced Measurement and Test (AMT 2010)

作者： Nantian Huang 1,2,a,Xiaosheng Liu 1,b and Dianguo Xu 1,c 1 department of Electrical engineering,Harbin institute of technology,Harbin,china 2 College of information and control engineering,Jilin institute of Chemical technology,Jilin,china

The power line communication(PLC)channel has been a transmission medium that enables to transfer high-speed digital data through the classical electrical *** characteristics of power lines are very important for communications systems *** order to get the suitable model for power line communications analysis and improve the PLC communication quality,researchers do lots of study about the PLC channel characterizations based on actual measurement and theoretical *** paper reviews the conclusions of recent studies,summaries the characteristics of PLC channel for medium voltage power lines and low voltage power *** further research is also put forward.

关键词： power line communication,channel,channel characterization,measurement