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Research on Miniature Hexapod Bio-robot

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Journal of Shanghai Jiaotong university(Science) 2005年第3期10卷 226-230页

作者：宋一然颜国正徐小云 dept. of Electronic and Information eng. Putian Univ. Putian 351100 China School of Electronic Information and Electrical Eng. Shanghai Jiaotong Univ . Shanghai 200030

This paper described the structure and control of a new kind of miniature hexap od bio-robot, analyzed the moving principle of the robot. The robot is based on the principle of bionics, its structure is simple, design novel, unique. It can mov e forwards and backwards. The external dimensions of bio-robot is: leng.h 30 mm , width 40 mm, height 20 mm, weight 6.3 g. Some tests about the model robot were made. The experimental results show that the robot has good mobility.

关键词： hexapod robot bionic robot link curve atlas gait control interface

Research on a Fast-Closing Switch Based Fault Current Limiter with Series Compensation

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Journal of Donghua University(eng.ish Edition) 2002年第3期19卷 23-27页

作者：陈金祥邹积岩董恩源石晶 dept. of Elec. eng. Huazhong Univ. of Sci. and Technol. Wuhan 430070 China dept. of Elec. and Electron. eng. Dalian Univ. of Technol. Dalian 116023 China

A new type of fault current limiter (FCL) with series compensation based fast-closing switch is proposed. It is composed of a capacitor bank and a reactor in series. The main control component is a fast-closing switch connected in parallel with the capacitors, which is driven by the electromagnetic repulsion force. When fault occurs, the switch closes and bypasses the capacitors, and the fault is limited by the reactor then. Simulated analysis and experiments show that it is feasible to develop the FCL with low cost and high reliability. The effectiveness of transient stability for power system is evaluated by digital simulation.

关键词： fault current limiter(FCL), series compensation,fast-closing switch, system stability.

Starting of HPS lamps driven by electronic ballast

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Journal of Harbin Institute of Technology(New Series) 2001年第4期8卷 353-356页

作者：张伟强王卫徐殿国 dept. of Elec. eng. Harbin Inst. of Technol. Harbin 150001 China

A complete research of two different starting techniques for HPS lamps driven by electronic ballast is presented while a traditional starting technique based on the series resonant theory which is used widely for fluorescent lamps starting is analyzed in detail. An improved nth harmonic resonant technique is also simulated. Furthermore, a novel starting technique based on a pulse transformer is proposed, which still offer the automatic switch off capability. The differences between two starting techniques are explained. The experimental results from a lab prototype are used to verify the design.

关键词： electronic ballast HPS lamp starting technique

High temperature brushless DC motor system and its operation mode control

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Journal of Harbin Institute of Technology(New Series) 2001年第4期8卷 320-323页

作者：邹继斌胡建辉徐永向 dept. of Elec. eng. Harbin Inst. of Technol. Harbin 150001 China

The high temperature (175 ℃) operation of a motor spells out special requirements for control algorithms, materials and elements. The stability of motor characteristic is guaranteed by the digital control strategy. Constant velocity operation is achieved by phase locked loop (PLL), and constant power operation is achieved by a current restricting circuit. A motor for constant speed and constant power operation has been built and the speed control system is tuned by MATLAB simulation. Experimental and simulation results for operation mode control of brushless DC motor are presented.

关键词： brushless DC motor high temperature PLL PWM

HELICOPTER VIBRATION REDUCTION TECHNIQUE WITH HARMONIC ACTIVE control

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Chinese Journal of Aeronautics 1996年第3期9卷 204-210页

作者： Yang Yidong Yuan Suozkong Yuan Weidong(dept. of automatic control, Nanjng University of Aeronautics and Astronautics, Nanjing, China, 210016) dept. of automatic control Nanjng Univ. of Aero. and Astronaut. Nanjng 210016 China

In forward flight, the helicopter performance is seriously affected by the airframe vibration caused by asymmetrical airflow through the rotor disk. so the higher harmonic rotor blade pitch control technique is becoming an active subject in the 1980's, which is one of the active control techniques of helicopter vibration reduction and whose effectivity has been demonstrated by flight testing. In the view of control theory, this paper interprets the basic principles of higher harmonic control(HHC) and proposes mathematical models of the rotor and of airframe vibration, as well as methods for identification of the parameters. A higher harmonic controller is designed and the results of numerical simulation show that the vibration level is reduced effectively.

关键词： helicopters vibration harmonics active control

Natural frequencies and damping estimation based on continuous wavelet transform

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Journal of Harbin Institute of Technology(New Series) 2008年第6期15卷 794-800页

作者：代煜孙和义李慧鹏唐文彦 dept.of automatic Measurement and control Harbin Institute of Technology

The continuous wavelet transform(CWT)based method was improved for estimating the natural frequencies and damping ratios of a structural system in this *** appropriate scale of CWT was selected by means of the least squares method to identify the systems with closely spaced *** important issues related to estimation accuracy such as mode separation and end effect,were also *** issues were associated with the parameter selection of wavelet function based on the fitting error of least *** efficiency of the method was confirmed by applying it to a simulated 3dof damped system with two close modes.

关键词： modal parameters continuous wavelet transform least squares method

A Model-Based, Aspiration-Led Decision Support System NY-IEDSS

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Journal of Systems eng.neering and Electronics 1991年第2期2卷 34-43页

作者： Feng.Shandept. of Aut. control eng. Huazhong Univ. of Sci. and Tech. Wuhan, 430074, China dept. of Aut. control eng. Huazhong Univ. of Sci and Tech. Wuhan 430074. China

An AI-aided simulation system embedded in a model-based, aspiration-led decision support system NY-IEDSS is reported. The NY-IEDSS is designed for mid-term development strategic study of the Nanyang Region in Henan, China, and is getting beyond its prototype stage under the decision maker's (the end user) orientation. The integration of simulation model system, decision analysis and expert system for decision support in the system implementation was reviewed. The intent of the paper is to provide insight as to how system capability and acceptability can be enhanced by this integration. Moreover, emphasis is placed on problem orientation in applying the method.

关键词： Decision making process Decision support system Aspiration-led DSS Intelligent front end Integrated knowledge base management system.

Three-dimensional motion parameters estimation from stereo image sequences based on infrared reflective markers

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Journal of Harbin Institute of Technology(New Series) 2011年第4期18卷 139-143页

作者：张灵飞陈刚叶东车仁生 dept.of automatic Measurement and control Harbin Institute of Technology

In this paper,an innovative 3D motion parameters estimation method from stereo image sequences based on infrared(IR) reflective markers is *** was assumed that two high speed CCD cameras had been calibrated *** method consists of the following steps:1) the coordinate of several markers and dept. map for each stereo pair was determined from the sequences of stereo images by relations of markers' coordinate the correspondence between markers was established,2) the 3D motion parameters of the target was computed based upon the matched markers' coordinate,and 3) translated 3D motion parameters estimation into the problem of least square according to the movement model of the object to be *** using line,curve or corner correspondence,this method can calculate the dept. of these markers feature easily and quickly in contrast to traditional *** two CCD cameras work on 200 f/s,and each processing cost time is about 3 *** was found that,by using several markers and a large number of stereo images,this method can improve the computational speed,robustness and numerical accuracy of the motion parameters in comparison with traditional *** virtual simulation experiment was conducted using synthesized stereo image sequences based on 6-DOF motion platform and the experimental results proved the validity of our approach and showed that the translation and rotation precision is up to 0.1 mm and 0.1°.

关键词： IR reflective marker 3D motion parameters stereo vision image sequence high speed CCD camera,IR filter

Multilayered feed forward neural network based on particle swarmopti mizer algorithm

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Journal of Systems eng.neering and Electronics 2005年第3期16卷 682-686页

作者：潘峰陈杰涂序彦付继伟 dept..of automatic control School of Information Science and Technology Beijing Inst .of Technology

BP is a commonly used neural network training method, which has some disadvantages, such as local minima, sensitivity of initial value of weights, total dependence on gradient information. This paper presents some methods to train a neural network, including standard particle swarm optimizer （PSO）, guaranteed convergence particle swarm optimizer （GCPSO）, an improved PSO algorithm, and GCPSO-BP, an algorithm combined GCPSO with BP. The simulation results demonstrate the effectiveness of the three algorithms for neural network training.

关键词： BP PSO guaranteed convergence particle swarm optimizer (GCPSO) GCPSO-BP.