In recent years, dynamics model and control of space robot system are the hot topics in the research field. In this paper, a new dynamics model and control strategy of space robotic system with a flexible manipulator ...
详细信息
In recent years, dynamics model and control of space robot system are the hot topics in the research field. In this paper, a new dynamics model and control strategy of space robotic system with a flexible manipulator and a liquid fuel tank are investigated. Based on Lagrange equation method, the dynamics model of the space robotic system coupling with liquid sloshing, flexibility vibration and base movement is derived. The elastic deflection of the flexible manipulator is described by the assumed mode method and equivalent mechanical model is adopted instead of liquid sloshing under the environment of low-gravity. The inverse dynamics control algorithm combined with PD control method is performed to solve the trajectory tracking problem. Some simulation results are given to verify the effectiveness of the proposed method.
This paper is devoted to robust adaptive sliding mode control for a class of nonlinear systems in the Takagi-Sugeno forms with mismatched parametric uncertainties. Sufficient conditions for the existence of linear sli...
详细信息
Bone is one of the most important anatomical structures in humans and osteoporosis is one of the major public health concerns in the world. Osteoporosis is a main target disease of bone, which can be detected by medic...
详细信息
Bone is one of the most important anatomical structures in humans and osteoporosis is one of the major public health concerns in the world. Osteoporosis is a main target disease of bone, which can be detected by medical image techniques. The purpose of this study is to develop a fully automated computer scheme to measure bone-mineral-density (BMD) values for vertebral trabecular bones. This scheme will aid osteoporosis diagnosis performed using computer tomography (CT) images. This scheme includes the following processing steps: segmentation of the bone region, recognition of the skeletal structures and measurement of the BMD value in vertebral trabecular bone of each vertebral body. The proposed scheme was applied to 20 X-ray torso CT cases to measure the BMD values for vertebral trabecular bones. The experimental results show that the mean and standard deviation of the difference between the BMD values measured by using the proposed method and those measured using a manual segmentation method were 6.93 mg/cm 3 and 6.82 mg/cm 3 respectively. The accuracy of the proposed scheme satisfied the requirement for a computer-aided system used in osteoporosis diagnosis.
Based on the weak conductor characteristics of the ice and the difference of the resistance value and capacity value of air, ice and water with varied temperature, a novel measure method for the circumstance of ice an...
详细信息
Based on the weak conductor characteristics of the ice and the difference of the resistance value and capacity value of air, ice and water with varied temperature, a novel measure method for the circumstance of ice and water is presented, which included resistance mode and capacity mode. The system has been applied to all-climate automation monitor and measurement for the circumstance of ice and water.
It is a new testing technology that ice thickness is measured by making use of electric conductivity in water and in ice. The electric conductivity in water gradually decrease from strong to weak during the state of w...
详细信息
ISBN:
(纸本)9806560612
It is a new testing technology that ice thickness is measured by making use of electric conductivity in water and in ice. The electric conductivity in water gradually decrease from strong to weak during the state of water changing from liquid into solid. Bases on this characteristics, a new sensor structure for measuring thickness of ice layer and its testing method are developed in the paper, and its application to hydrologic gauging is also briefly introduced.
暂无评论