基于表面肌电信号的上肢康复训练技术研究

为辅助上肢受损患者实现自主康复训练,促使肌肉信号与脑意识的再生通信,设计一种机械臂辅助式离散动作康复训练识别方法。受试者进行康复训练时,采集其肩关节4处肌肉群的表面肌电信号,提取时域特征,并采用BP神经网络分类算法对六种上肢肩关节动作意图进行模式识别。该方法能够准确建立表面肌电信号特征值与六种上肢康复动作之间关系映射模型,平均识别率高达90.27%。为基于表面肌电信号的外骨骼式自主康复训练系统提供一种可行的人机交互方案。     

三自由度比例控制肌电假手的设计

针对电动假手的仿生控制问题,给出了一种三自由度实时比例控制肌电假手的设计方案。通过采集残臂上的4路表面肌电信号（SEMG）,采用能量时域分析法对信号进行了特征提取,并采用二叉决策树模式分类方法识别得到了手部3个自由度7个动作模式。由单片机构成的信号处理和控制电路,实现了三自由度电动假手的实时仿生控制;并根据表面肌电信号的强弱,采用多路SEMG能量加权法来求取多自由度假手的比例控制系数,实现了对电动假手的比例控制。试验结果表明,基于表面肌电信号的三自由度肌电假手响应速度快。动作准确率达到96％以上。     

基于LabVIEW的正弦响应法状态滤波器动态特性测试研究

利用图形化编程软件LabVIEW,对实验改进,开发了基于虚拟仪器的滤波器特性分析系统.系统硬件部分的改进:信号发生器产生的信号输入二阶跟踪滤波器,利用采集卡将滤波器的输出信号转化成能被计算机识别的数字信号.增加了基于计算机的LabVIEW的信号采集、显示及分析的软件部分,能够实现数据采集、波形复现、数据处理、幅相频特性曲线及二阶系统的动态特性分析.改进了实验数据的采集、显示及处理方法及效率,提高了测试系统的精确性和稳定性.     

基于DFC的肌电控制假肢手实时控制算法

介绍了一种新型的连续控制算法在肌电控制假肢手上的应用.控制系统搭载了一块TMS320F2812DSP作为主控芯片,系统通过采集人体表面肌电信号来控制假肢手完成相应的动作.重点介绍硬件系统的设计及控制算法在该平台上的实现情况.在特征提取过程中应用了离散傅里叶变换和离散余弦变换(DFC).Fisher投影算法(FLD)用于...     

基于Matlab的6种上肢动作肌电信号识别

表面肌电(surface eIectromyogram,sEMG)信号的去噪处理和特征提取的效果好坏直接关系到识别的准确率.以获得较高的识别准确率为目标,对肌电信号的去噪处理和特征提取展开研究.先对表面肌电信号进行小波阈值去噪;再分别运用时域、频域和时频分析对去噪后的信号进行特征提取;最后利用BP神经网络对肌电信号进行...     

发动机缸盖振动信号采集系统设计

基于LabVIEW图形化编程语言,实现了发动机缸盖表面振动信号采集系统的设计,该系统包括信号采集调理模块和LabVIEW虚拟仪器处理模块两部分。信号采集调理模块主要实现对采集到的传感器信号进行放大、滤波等信号调理,并把调理后的信号通过DAQ板卡输入计算机;LabVIEW虚拟仪器处理模块实现对DAQ板卡的驱动支持及通过驱动程序对板卡进行合理设置并对输入计算机的信号进行虚拟处理。     

基于虚拟仪器的表面肌电信号的采集

表面肌电信号（SEMG）的检测分析对临床诊断及康复医学、运动医学等具有重要意义;但是表面肌电信号幅度较小,频率较低,信号的提取比较困难。文章采用虚拟仪器技术构建肌电信号的采集系统,并利用LabWindows／CVI对信号进行处理,利用功率谱K值法对信号进行动作识别,准确度可达85％以上。该研究可作为虚拟仪器的一个开发方向,具有广泛的应用前景。     

脑电信号的混沌分析和小波包变换特征提取算法

针对脑电(EEG)信号的手部动作模式信息处理,提出一种混沌分析和小波包变换相结合的特征提取方法.用眼动辅助来采集手部动作时的脑电信号,对采集的C3、C4 、P3和P4脑电信号消噪后分别用混沌分析和小波包变换的方法进行特征提取,前者提取混沌特征的最大Lyapunov指数和关联维数,组成8维向量;后者提取脑电信号的4种特征节律波,分别计算其相对能量,组成16维向量;最后把两种方法提取的向量组成24维特征向量,输入SVM分类器,实现基于EEG信号的手部动作模式的识别.对不同个体上翻、下翻、展拳、握拳4种手部动作的识别实验表明,平均识别率均在80%以上,明显优于其他方法识别的结果.     

蓝牙无线表面肌电采集系统设计及应用

介绍一种基于MSP430的表面肌电蓝牙采集系统及其在膝关节病人肌肉功能检测中的应用。该系统包括信号采集与放大、A/D转换、蓝牙传输,实现了肌电信号采集与上位机的蓝牙通信,并成功用于采集膝关节病人下蹲动作的肌电信号。     

可穿戴心电监护设备设计与实现

为了满足心脏病患者日益增长的心电监护需求,设计了一种可穿戴式的心电监护设备来满足患者日常生活的心电监护功能。设备设计包括硬件和软件2部分,硬件方面采用柔性织物电极、AD8232芯片和STM32微控制器实现对心电信号的采集、A/D转换和传输功能;软件方面借用小波变换在心电信号去噪和识别方面的优势,获得清晰的心电信号和心率,并实现对症状的初步诊断;最后设计了基于LabVIEW平台的友好人机交互界面,可以直观、清楚的显示心电信号的实时波形,当前患者的R-R间期和心率参数。利用本设备对几位志愿者进行测试,得到了良好的结果,可以实现患者日常心电监护。     

Quantum Cooperative Robotics and Autonomy

The intersection of Quantum Technologies and Robotics Autonomy is explored in the present paper.The two areas are brought together in establishing an interdisci...     

考虑进油孔有限长滑动轴承油膜力的近似解析解

针对具有进油孔的有限长滑动轴承油膜力求解问题,采用变分原理和分离变量法,求得了有限长滑动轴承油膜压力分布的近似解析表达式。将油膜压力分布的近似解析表达式在油膜存在区域上进行积分,即得到了油膜力。将提出的计算有限长滑动轴承油膜力方法与无限长轴承模型、有限元方法的计算结果进行了比较,发现了提出的方法与有限元方法的计算结果很接近。最后,研究了进油孔位置和进油压力对油膜存在区域、油膜力等的影响,研究结果表明进油孔位置和进油压力对油膜存在区域和油膜力有较大的影响。     

三绕组变压器的双绕组等效建模及在Matpower中的应用

针对实际电网存在着大量的三绕组变压器,但国际上一些著名商业软件,如BPA仿真软件、Matpower这一权威潮流计算开源软件,均只提供双绕组变压器模型,限制了其在具有三绕组变压器的电力系统中的应用的问题,潮流计算是自主开发的电力系统各种应用软件的核心模块,因此依托国际权威开源程序进行二次开发,是一种较好的选择。对Matpower要求的数据格式进行了归纳,对变压器的一般的等值电路及带理想变压器的等值电路和带标幺值的等值电路进行了分析研究,提出了三绕组变压器转换为双绕组等效模型的建模方法,使得原先只适应双绕组变压器的潮流计算软件可以适用于三绕组变压器电网的潮流计算;最后以Matpower软件为例进行了案例计算,并用PSASP仿真软件进行对比验证。研究结果证明,所提出的建模方法是有效的。     

On the Relation of Load to Average Gap in the Contact Between Surfaces with Longitudinal Roughness

A computer simulation model for the contact between longitudinally-oriented rough surfaces has been formulated. This model closely duplicates the actual surf ace contact deformation behavior by taking into account the elastic interactions between the asperities. There were no assumptions made about the shapes, or any deformation behavior of the asperities, except for their obeying the laws of elasticity. The plastic deformations on the high asperity peaks were taken into account by setting a ceiling on their contact pressures at the material hardness value. The simulations used real surface profiles which were digitized from unworn circumferentially ground steel surfaces. Each pair of these profiles was mathematically combined to form an equivalent rough profile pressing against an infinitely rigid flat and having the appropriately adjusted elastic modulus. A total of 28 different pairs of profiles were used in the simulations. Each contacting pair was subjected to 30 different load levels and the local contact pressures and deformations were calculated. The contact simulations yielded some important mathematical relationships between parameters, such as the real area of contact, average gap, and average asperity load through statistical curve fitting. Two analytical functions were generated to relate the average load to average gap and the real area of contact to load.     

电站锅炉模糊风险评价方法研究与应用

针对电站锅炉风险等级评价问题,将模糊综合评价技术应用到电站锅炉风险等级评价中。开展了电站锅炉失效影响因素及模糊评价因素的重要程度分析,建立了一套科学合理适于在线评价的电站锅炉风险评价体系,提出了模糊综合评价技术与改进的模糊层次分析法相结合的模糊风险评价方法,利用改进的模糊层次分析法计算了指标体系中各层指标权重。对某一台电站锅炉的实际运行工况影响子因素进行了模糊风险评价,采用模糊合成算子进行模糊综合运算得到电了站锅炉运行工况影响子因素的评价向量。研究结果表明:电站锅炉的运行工况影响子因素的风险评价等级为第6级,失效可能性等级为小,该电站锅炉运行工况良好。     

交通荷载作用下桥梁结构参数识别方法

应用动力节点加载法,将作用在桥梁上的交通荷载转化为等效节点荷载,再用两步构造法识别结构物理参数.第1步,用Newmark-β方法变换结构运动方程,并用结构的加速度响应求得变换空间内的位移、速度和加速度响应;第2步,基于最小二乘原理,构造出变换空间内求解结构参数的递推式,进行结构物理参数识别.数值模拟结果表明,在交通荷载作用下,该方法能够快速、准确地进行桥梁结构参数识别.     

基于多目标非支配解提取法的电力系统无功优化

针对传统的电力系统多目标粒子群优化算法采用权重系数法将多目标转化为单目标,从而忽视了各目标函数间的竞争关系这一问题,提出将非支配解提取法运用到电力系统多目标无功优化中,并设定了一套提取规则,以电力系统中的有功网损、电压偏差和电压稳定裕度为目标,使目标在充分竞争的情况下得出Pareto最优解,利用IEEE-14节点系统对多目标非支配解提取法的电力系统无功优化进行了仿真测试。研究结果表明,该算法一次运行可以得出多组非支配解,既有偏向单个目标的解也有兼顾所有目标的解,克服了权重系数法的盲目性和单一性,可使电力决策者根据实际问题选择最优解,具有较好的灵活性与多样性。     

RLS and LMS blind adaptive multi-user detection method and comparison in acoustic communication

RLS and LMS blind adaptive multi-user detection algorithm and multi-user detector was proposed to solve the problem of multi-user signal detection problem encountered in underwater acoustic communication networks.In simulation analysis,RLS and the LMS blind adaptive multi-user detector were designed and tested for synchronous and asynchronous multi-user communication process.The results of SIR comparison and MMSE comparison show that,both of the two methods can realize blind adaptive detection when any user change in multi-user communication,during this process,the training communication sequences are not needed.The RLS algorithm has about 5 dB higher in SIR compared with LMS algorithm,and the convergence velocity of RLS algorithm is also higher than LMS algorithm when the communication users change.RLS algorithm has better ability in multi-user detection than that of LMS algorithm,and it has great attraction and guiding significance for solving the problem of multiple access interference(MAI) in multi-user communication.     

Robust Impedance Control of Robots Using an Adaptive Interaction Force Observer

For robot interaction control,the interaction force between the robot and the manipulated object or environment should be monitored.Impedance control is a type ...     

Research on key techniques of expendable conductivity temperature depth measuring system

This paper analysis the developing of expendable conductivity temperature depth measuring system(XCTD)and introduce its principle of measuring about temperature,salinity and depth of ocean.Some key techniques are put forward.According to the real needs of XCTD,conductivity sensor with high sensitivity is designed by principle of electromagnetic induce,the ocean conductivity from induced electromotive force has been calculated.Adding temperature correction circuit would help to reduce error of conductivity measurement because of sharply changing temperature.Advanced temperature measuring circuit of high precision and the constant current source is used to weaken effect of self-heating of resistance and fluctuation of the source.On respect of remote data transmission,LVDS is a good choice for the purpose of guarantee the quality of data transmitted and the transmission distance is reaching to thousand meters in the seawater.Modular programming method is also brought into this research aimed at improve the stability,reliability and maintainability of the whole measuring system.In February,2015,the trials in South China Sea demonstrate that the developed XCTD realize effective measurement at a speed of 6 knots and detection depth at 800 m.The consistency coefficient of the acquired data is greater than 0.99 and the success rate of probe launching is above 90%.