A multivariable proportional-plus-integral (PI) feedback controller for control of endpoint stiffness in a multijoint limb is presented. The controller, operating in the joint coordinate system, uses a driving error v...
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A multivariable proportional-plus-integral (PI) feedback controller for control of endpoint stiffness in a multijoint limb is presented. The controller, operating in the joint coordinate system, uses a driving error vector formed in the endpoint Cartesian coordinates, so that endpoint stiffness at the limb can be regulated. Experimental tests demonstrate stable control of endpoint position and isometric force with zero steady-state error.< >
Coactivation of electrically antagonistic muscles provides resistance to external disturbances and continuity of bidirectional activation. A closed-loop controller for simultaneous pulse-width (PW) and stimulus-period...
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Coactivation of electrically antagonistic muscles provides resistance to external disturbances and continuity of bidirectional activation. A closed-loop controller for simultaneous pulse-width (PW) and stimulus-period (SP) modulation during cocontraction of antagonists has been developed. This PW+SP controller consists of a modified proportional-plus-integral (PI) control law and an SP modulation algorithm that modulates the stimulus frequency of the antagonists in a push-pull manner. The control algorithm is evaluated for the control of joint position and load transition using a cat hindlimb. Faster net force production in the desired direction and improved performance were achieved when compared with the PI controller with PW modulation alone.< >
Lower bounds are given on the attainable mean-square performance in causally tracking the phase and frequency of a subcarrier that modulates an optical carrier in a direct-detection opticalcommunication system.
Lower bounds are given on the attainable mean-square performance in causally tracking the phase and frequency of a subcarrier that modulates an optical carrier in a direct-detection opticalcommunication system.
A bound is derived on the accuracy in causally estimating a Gaussian process from nonlinear observations. Both additive Gaussian noise and Poisson observations are included. The bound is used to study the control of a...
A bound is derived on the accuracy in causally estimating a Gaussian process from nonlinear observations. Both additive Gaussian noise and Poisson observations are included. The bound is used to study the control of a stochastic linear dynamical system with nonlinear observations of either type and an average quadratic cost. An asymptotic Separation Theorem is established showing that a linear feedback control law, involving a state estimate, is asymptotically optimum as the accuracy of the state estimate approaches the bound. On dérive une limite sur la précision dans l'estimation causale d'un processus gaussien à partir d'observations non-linéaires. Le bruit additif Gaussien aussi bien que les observations de Poisson sont incluses. La limite est utilisée pour étudier le contrôle d'un système dynamique stochastique linéaire avec observations non-linéaires d'un genre ou d'un autre, et un coût moyen quadratique. Un Théorême de Séparation asymptotique est établi montrant qu'une loi de contrôle de rétroaction linéaire impliquant une estimation d'état, est asymptotiquement optimum à mesure que la précision de l'estimation d'état approche la limite. Abgeleitet wird eine Schranke für die Genauigkeit bei der kausalen Schätzung eines Gauß'schen Prozesses aus nichtlinearen Beobachtungen. Sowohl additives Gauß'sches Rauschen als auch Poisson'sche Beobachtungen sind eingeschlossen. Die Schranke wird benutzt, um die Steuerung eines linearen stochastischen dynamischen systems mit nichtlinearen Beobachtungen beider Typen und durchschnittlichen quadratischen Kosten zu studieren. Ein asymptotisches Separationstheorem wird eingeführt, das zeigt, daß ein eine Zustandsschätzung einschließendes lineares Regelungsgesetz asymptotisch optimal ist, so wie sich die Genauigkeit der Zustandsschätzung der Schranke nähert. Бывeдeнa гpaницa тoчнocти пyтeм кayзaльнoй oцeнки гayccoвcкoгo пpoцecca нa ocнoвe нeлинeйныч нaблюдeний. Бключeны aддитивныe вeличины яayccoвcкoгo шyмa и нaблюдeний Пyaccoнa.
This book introduces the cutting-edge technology of micro/nano structure fabrication from precision machining, electrical discharge machining (EDM) and precision grinding and injection molding, the contents of the pre...
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ISBN:
(数字)9789819913381
ISBN:
(纸本)9789819913374;9789819913404
This book introduces the cutting-edge technology of micro/nano structure fabrication from precision machining, electrical discharge machining (EDM) and precision grinding and injection molding, the contents of the presented book includes but not limited to the machining process, cutting tool preparation, tool path generation, and surface evaluation. This book provides a variety of feasible fabrication methods and advanced manufacturing techniques for the precision fabrication of micro/nano-structures, especially for complex micro/nano-structures. Since the book focuses on the micro/nano-structure fabrication methods including hieratical micro/nano-structures, graduate students, engineering technicians, and researchers in related areas will benefit from this book; also, someone in related application fields such as biomedicine, communication, optics may be the potential readers of this book.
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