At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length ...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length and proportion of Chinese human lower limbs,as well as the range of extreme motion and comfortable motion of each joint of human lower *** on the error transfer matrix of rigid body connecting rod,the three-DOF lower limb rehabilitation robot human lower limb static pose error model and human/machine integration model are *** D-H method was used to solve the kinematic function between the angle of each joint and the position of the end of human lower *** analysis of the kinematics of human lower limbs is to calculate its inverse kinematics *** the motion control of rehabilitation robots,the inverse kinematics is more important than the forward kinematics,which is the basis for rehabilitation robot to realize trajectory planning under the training mode of passive trajectory traction,as well as the basis for compliant ***,a simulation model is established with Matlab software,and the simulation results show the feasibility and safety of the rehabilitation training process.
Ultra-wideband(UWB) positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the er...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
Ultra-wideband(UWB) positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the error caused by non-line-of-sight(NLOS) and multi-path *** present,the Chan-Taylor(C-T) combination algorithm proposed by scholars can achieve a good positioning effect in the line-of-sight(LOS) environment,but in the NLOS environment,positioning deviation of this algorithm is large .Aiming at the problem of low localization accuracy in NLOS environment,this paper presents a Chan-Taylor-Kalman(CTK) joint positioning algorithm based on UWB and adapted to NLOS *** basic idea of CTK joint positioning algorithm is to introduce weight coefficients on the basis of C-T combination algorithm to reduce the situation of non-convergence of positioning results;then combined with the improved Kalman filter to eliminate outliers and eliminate the influence of the non-line-of-sight *** show that under the same NLOS environment,the probability of the positioning error of the C-T combination positioning algorithm greater than 20 cm is about 60%,while the probability of the positioning error of the CTK joint positioning algorithm greater than 10 cm is only about 10%.
Quadruped robot is considered to be the most practical locomotion machine to negotiate uneven terrain, and shows superb stability during static walking. To improve the ability to go over rough terrain, this paper is f...
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Quadruped robot is considered to be the most practical locomotion machine to negotiate uneven terrain, and shows superb stability during static walking. To improve the ability to go over rough terrain, this paper is focused on the stable walking and balance control of quadruped robots. 24 kinds of walking gaits are analyzed in order to derive the most stable and smoothest walking gait. Considering the inefficiency to model a terrain by its specified appearance, a uniform terrain model is established and by means of kinematic analysis, a method to adjust the body posture and center of gravity (COG) height is presented. Simulations demonstrate the effectiveness of the proposed meth- od and the improvement of the adaptation of quadruped robots on rough terrain.
作者:
Yuanqing XiaSchool of Automation
Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology
The concept of cloud controlsystems is discussed in this paper, which is an extension of networked controlsystems (NCSs). With the development of internet of things (IOT), the technology of NCSs has played a key rol...
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This paper concerns the stability problem of systems with time-varying delay. A single integral of the second-order derivative is introduced to Lyapunov-Krasovskii functional for considering more delay-cross relations...
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This study aims to investigate the problem of attitude control for a spacecraft with inertial uncertainties, external disturbances, and communication restrictions. An event-triggered active disturbance rejection contr...
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This study aims to investigate the problem of attitude control for a spacecraft with inertial uncertainties, external disturbances, and communication restrictions. An event-triggered active disturbance rejection control approach is proposed for attitude tracking of the spacecraft. An event-triggered mechanism is introduced together with an extended state observer to jointly monitor the system states and total disturbances. The observation error is proved to be uniformly bounded. Based on the proposed control scheme,the integrated tracking system is shown to be asymptotically stable, implying successful attitude tracking of the spacecraft for the desired motion. Numerical results illustrate the effectiveness of the control strategy in achieving satisfactory tracking performance with a reduced data-transmission cost.
This paper presents a disturbance rejection method that is based on the equivalent-inputdisturbance approach for uncertain fractional-order(FO) systems. An FO observer is used to reconstruct the plant states and estim...
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This paper presents a disturbance rejection method that is based on the equivalent-inputdisturbance approach for uncertain fractional-order(FO) systems. An FO observer is used to reconstruct the plant states and estimate the disturbances. A disturbance estimator is incorporated in the construction of the FO control system to actively compensate for the entire disturbance. A robust stability condition for the control system and the parameters of the controller are derived using an indirect Lyapunov *** presented method effectively rejects disturbances and handles modeling uncertainties without requiring prior knowledge of the disturbance. Comparison simulations on both numerical and practical examples demonstrate the effectiveness of the proposed method.
The performance of phase-locked loop(PLL) severely affects the system's stability in a three-phase *** methods tend to adopt the idea of single synchronous coordinate transformation,which implements the phase sync...
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ISBN:
(纸本)9781538629185
The performance of phase-locked loop(PLL) severely affects the system's stability in a three-phase *** methods tend to adopt the idea of single synchronous coordinate transformation,which implements the phase synchronization through controlling the q-axis voltage to zero.A novel three-phase PLL is proposed in this paper based on this *** order to obtain better convergence rate near zero,the input of closed-loop PLL is replaced by the ratio of q-axis voltage and d-axis *** fastness and convergence of the system are further analyzed in *** and experiment results show that proposed method can lead to better rapidity,and the phase-locked process is superior to traditional digital PLL methods.
We consider an optimal denial-of-service(DoS) attack scheduling problem of N independent linear time-invariant processes, where sensors have limited computational capability. Sensors transmit measurements to the remot...
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We consider an optimal denial-of-service(DoS) attack scheduling problem of N independent linear time-invariant processes, where sensors have limited computational capability. Sensors transmit measurements to the remote estimator via a communication channel that is exposed to DoS attackers. However,due to limited energy, an attacker can only attack a subset of sensors at each time step. To maximally degrade the estimation performance, a DoS attacker needs to determine which sensors to attack at each time step. In this context, a deep reinforcement learning(DRL) algorithm, which combines Q-learning with a deep neural network, is introduced to solve the Markov decision process(MDP). The DoS attack scheduling optimization problem is formulated as an MDP that is solved by the DRL algorithm. A numerical example is provided to illustrate the efficiency of the optimal DoS attack scheduling scheme using the DRL algorithm.
Speed control mode of a DC motor without knowing the specific parameters of the motor is *** approximate mathematical model of the control system is obtained by the system identification when the output of the system ...
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ISBN:
(纸本)9781538629185
Speed control mode of a DC motor without knowing the specific parameters of the motor is *** approximate mathematical model of the control system is obtained by the system identification when the output of the system is measured by loading the specific input *** PID control algorithm is adopted and the P,I,and D parameters are obtained by auto *** in the loop(HIL) experiments are carried out on MATLAB and Arduino platform,in which the experimental results demonstrate the feasibility of the proposal.
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