基于ADAMS和MATLAB的双足机器人运动轨迹规划和控制的联合仿真

相比ADAMS仿真的不稳定性,利用ADAMS和MATLAB联合仿真对双足机器人运动轨迹规划和控制设计的可靠性及高效性进行了研究。首先绘制双足机器人三维参数模型进行逆运动学分析,验证其合理性后导入ADAMS中添加约束,进行动力学仿真。基于此,在MATLAB中使用多项式插值法完成模型的步态规划。最后利用Simulink试验台建立控制系统的框图,由ADAMS输入关节角之后控制台输出关节的驱动力矩,完成双足机器人ADAMS和MATLAB的联合仿真。仿真结果显示,联合仿真相较于ADAMS仿真的波动性所获得的数据更加稳定,此法高效可行,可作为下一步设计双足机器人的控制系统电机选型的重要理论依据。     

Impacts of slip and mass transpiration on Newtonian liquid flow over a porous stretching sheet

This article focuses on analytic solutions for Newtonian fluid flow with slip and mass transpiration on a porous stretching sheet using the differential transform method and Pade approximants of an exceptionally nonlinear differential equation. The impacts of different parameters including mass transpiration (suction/injection), Navier's slip, and Darcy number parameters on the velocity of the liquid and tangential stress are discussed. A comprehensive comparison of our results with the previous one in the literature is made, and the results showed good agreement. An investigation is conducted of a combination of magnetic liquids that are conceivably pertinent for wound medicines, skin repair, and astute coatings for natural gadgets. It is found that there is a decrease in the velocity profiles and the boundary layer thickness for the case of suction.     

Piecewise constant strain kinematic model of externally loaded concentric tube robots

This paper presents a piecewise constant strain kinematic model for concentric tube robots (CTR) in externally loaded conditions. It discretizes the pre-curved tubes comprising the robot into a finite number of pieces and involves external effects as a set of wrench vectors exerted along the robot backbone. Constant strain lets us describe the pieces with helices in which shear deformation and elongation are neglected. The resulting piecewise helix is the simplest curve that can catch the torsion of tubes that play a crucial role in kinematic behavior. This approximation transforms the conventional boundary value problem (BVP) of CTRs models into a set of nonlinear equations that drastically decreases the model resolution time. The present method uses a Lyapunov function and torsional Jacobian to ensure the distal torsion constraint consistently and, as a result, the solution’s convergence. The paper’s primary purpose is to present a fast, numerically stable, and relatively accurate kinematic model not reliant on measurement data. Experimental results on a two-tube prototype and provided for different tip loading conditions reveal maintaining a balance between adequate accuracy and reasonable running time, about 7 ms for five pieces per section, for real-time applications in the presence of external load.     

A new linearly constrained minimum variance beamformer for reconstructing EEG sparse sources

Brain source imaging based on EEG aims to reconstruct the neural activities producing the scalp potentials. This includes solving the forward and inverse problems. The aim of the inverse problem is to estimate the activity of the brain sources based on the measured data and leadfield matrix computed in the forward step. Spatial filtering, also known as beamforming, is an inverse method that reconstructs the time course of the source at a particular location by weighting and linearly combining the sensor data. In this paper, we considered a temporal assumption related to the time course of the source, namely sparsity, in the Linearly Constrained Minimum Variance (LCMV) beamformer. This assumption sounds reasonable since not all brain sources are active all the time such as epileptic spikes and also some experimental protocols such as electrical stimulations of a peripheral nerve can be sparse in time. Developing the sparse beamformer is done by incorporating L1-norm regularization of the beamformer output in the relevant cost function while obtaining the filter weights. We called this new beamformer SParse LCMV (SP-LCMV). We compared the performance of the SP-LCMV with that of LCMV for both superficial and deep sources with different amplitudes using synthetic EEG signals. Also, we compared them in localization and reconstruction of sources underlying electric median nerve stimulation. Results show that the proposed sparse beamformer can enhance reconstruction of sparse sources especially in the case of sources with high amplitude spikes.     

Classic and inverse compositional Gauss-Newton in global DIC

Today, effective implementations of digital image correlation (DIC) are based on iterative algorithms with constant linear operators. A relevant idea of the classic finite element (or, more generally, global) DIC solver consists in replacing the gradient of the deformed state image with that of the reference image, so as to obtain a constant operator. Different arguments (small strains, small deformations, equality of the two gradients close to the solution, etc) have been given in the literature to justify this approximation, but none of them are fully accurate. Indeed, the convergence of the optimization algorithm has to be investigated from its ability to produce descent directions. Through such a study, this paper attempts to explain why this approximation works and what is its domain of validity. Then, an inverse compositional Gauss-Newton implementation of finite element DIC is proposed as a cost-effective and mathematically sound alternative to this approximation.     

An inverse problem for non-selfadjoint Sturm–Liouville operator with discontinuity conditions inside a finite interval

This paper is concerned with the inverse problem for non-selfadjoint Sturm–Liouville operator with discontinuity conditions inside a finite interval. Firstly, we give the definitions of generalized weight numbers for this operator which may have the multiple spectrum and then investigate the connections between the generalized weight numbers and other spectral characteristics. Secondly, we obtain the generalized spectral data, which consists of the generalized weight numbers and the spectrum. Then the operator is determined uniquely by the method of spectral mappings. Finally, we give an algorithm for reconstructing the potential function and the coefficients of the boundary conditions and the coefficients of the discontinuity conditions.     

New approach to identify the initial condition in degenerate hyperbolic equation

This paper deals with the determination of an initial condition in degenerate hyperbolic equation from final observations. With the aim of reducing the execution time, this inverse problem is solved using an approach based on double regularization: a Tikhonov’s regularization and regularization in equation by viscose-elasticity. So, we obtain a sequence of weak solutions of degenerate linear viscose-elastic problems. Firstly, we prove the existence and uniqueness of each term of this sequence. Secondly, we prove the convergence of this sequence to the weak solution of the initial problem. Also we present some numerical experiments to show the performance of this approach.     

Engineering the Structure of Mesoporous Bioactive Glass Microspheres by the Surface Effect of Inverse Opal Templates and Temperature

The interactions of ions and molecules with material surface are highly dependent on the surface properties of the material. Therefore, the distribution of ions or molecules near the material surface may be affected by the surface properties. This phenomenon can be significant enough for controlling the structure of a material synthesized in the sub‐micrometer scale confinement space of a template. This work confirms that inverse opals are perfect templates for offering confinement space, while their different surface properties can strongly affect ion and block copolymer distribution in the confinement space. This surface effect principle can be used for the controlled synthesis of colloids with complex composition. As an example, four kinds of mesoporous magnetic bioactive glass colloids with ordered mesopores, core–shell structure, open surface pores, or disordered mesopores are prepared by using polystyrene and carbon inverse opal templates. This work reveals that inverse opal templates possess great advantage in controlled synthesizing colloidal structures due to their surface effect on ions and molecules and confinement space.