基于力反馈的手部康复训练装置研究进展

携带力反馈功能的装置进行训练已经成为手功能康复训练的重要手段.详细介绍了典型的用于手部康复训练的力反馈装置,通过对其优缺点进行比较,发现手部康复训练力反馈装置存在安全性要求高、重量较大、功能比较欠缺和实时性差的问题,并提出了相应的解决思路.最后展望了手部康复训练力反馈装置的发展趋势.     

Self-Smart, Part I: Work Smart

This article discusses the following mantras that help us become work "smart": perfect is the enemy of the good; when things go wrong, blame yourself; and overconfidence is a deal breaker.     

防止暴力破解的可信网络通信系统研究简

本文提出了一种具备持久性防御暴力破解能力的RSA体系可信网络通信系统,其在经典的RSA可信通信系统基础上改进了通信性能,并且具备RSA层面和AES层面的防暴力破解能力,尤其适用于移动智能终端。     

Staff Smart, Part 1: Motivation

If you're a manager, for the most part, you can only be as capable and productive as your staff. It thus behooves you to develop skills to make your staff as capable and as productive as they can reasonably be. How do you do this? It depends to a large extent on your skills in recruiting, your artistry in motivating, and your knack in delegating.     

Self-Smart, Part II: Career Smart

In the last issue, the author described how to be self-smart, with an emphasis on being work smart. In this issue, we focus on being career smart, which consists of the following mantras: "a big fish in a small pond beats the reverse," "hop to a more opportune pond," and "don't polish a sneaker." The aim is to find organizations and specialties in which your strength gives you the opportunity to jump onto a career fast track.     

一类具有应力相关迟滞非线性智能结构的建模与跟踪控制研究

智能结构在变化的负载下产生的应力相关迟滞非线性严重影响了其在亚微米级跟踪控制中的应用. 因此, 本文提出了一种应力相关Preisach算子用以描述当输入信号与应力同时变化时, 智能结构所产生的迟滞非线性特性. 该应力相关Preisach算子是在经典Preisach算子的基础上, 通过将应力相关项引入密度函数所得到的. 此外, 为了实现逆补偿控制器的设计, 本文提出了应力相关Preisach算子的性质与基于模糊树方法的辨识方案. 继而, 本文设计了一种基于所提算子的前馈逆补偿与反馈控制器结合的复合控制方案, 并将其应用于一类超磁致伸缩智能结构的实时跟踪控制实验中. 实验证明, 与经典Preisach算子相比, 所提出的算子和相应的控制方案能够较好的消除应力相关迟滞非线性的影响并使控制效果显著提高.     

Adaptive Motion/Force Tracking Control for a Class of Mobile Manipulators

In this paper, modeling and adaptive motion/force tracking control is considered for a class of mobile manipulators under the holonomic and affine constraints with the presence of uncertainties and disturbances. Based on a suitable reduced dynamic model, adaptive controllers are proposed to ensure that the states of a closed‐loop system asymptotically track desired trajectories while the constraint force remains bounded by tuning design parameters. Detailed simulation results confirm the effectiveness of the control strategy.     

有环境约束时完成一族跟踪任务的力控制

本文为工业机器人提出了一种极点配置控制法，这种控制方法的优点有：一是它的积分作用消除了机器人的微小扰动和稳态误差；二是能任意设置系统的极点，因此能保证闭环系统的稳定性和规定状态变量的暂态响应；三是加入了加速度反馈，抑制了由电枢电感所引起的机械手的振动，最后，给出了ＰＵＭＡ５６２机器人的计算机仿真和实验结果验证了此控制法的有效性。     

基于STM32的力反馈型康复机器人控制系统设计

研究了一种基于STM32的力反馈型康复机器人控制系统的设计。采用位置传感器和扭矩传感器检测康复机器人机械臂的位置信息以及机械臂与患者的相互作用力信息,将位置信息与作用力信息送入基于ARM-M3内核的STM32微控制器进行处理,从而实现康复机器人中驱动电机的控制。该系统硬件处理电路包括了扭矩信号的信号调理单元、微控制器控制单元、电机驱动单元以及USB接口单元。经实验验证,本系统可以实现康复机器人的平稳安全的控制。     

Admittance Force Tracking Control Schemes for Robot Manipulators under Uncertain Environment and Dynamics

International Journal of Control, Automation and Systems - Force control for robot manipulators is increasingly demanded for stable and desired interaction between robots and environments. In this...     

基于干扰力时间积分的悬吊漂浮物随动控制方法

为消除卫星6自由度失重模拟系统对悬吊式漂浮目标体的运动干扰,提出了干扰力的随动控制方法.首先提出随动控制策略:以吊索摆角对时间积分项、比例项和时间微分项分别表征模拟系统对失重对象的干扰冲量、系统位置跟踪误差和系统速度跟踪误差;要求三者趋向于0.然后建立控制模型:建立随动悬吊模块的3维动力学模型;根据线性简化后模型的对称性和解耦性,得出控制用的2维线性模型.构造基于吊索摆角调节的随动控制系统结构,根据经典控制理论设计调节控制器.另外,速率反馈方法被引入到控制模型中,避免在控制带宽内产生谐振现象.仿真结果表明零重力模拟系统能快速地跟上漂浮对象,且此过程中对漂浮对象的干扰冲量为0,验证了本文控制策略与控制器的可行性和有效性.     

Real-Time Camera Tracking for Mobile Devices: The VisiTrack System

This paper presents VisiTrack, a novel approach for video based incremental tracking in real-time. The major objectives in the development of VisiTrack was to design or select algorithms that are well suited for embedded real-time computation. We had a special focus on latency reduction and storage minimization since the algorithms should run on mobile devices like PDAs with the appropriate extension, i.e. mainly a camera, in real-time. The image analysis, camera localization and feature position approximation of VisiTrack are explained in detail. The CV-SDF model, an extension of Synchronous Dataflow graphs (SDF), supporting the principles of linear processing and fine-grained pipelining was defined and applied for the design of all VisiTrack modules in order to fulfill real-time constraints and reduce system latency. Furthermore the camera localization and position approximation include mechanisms for minimization of errors that may arise for instance due to measurement inaccuracies. Current applications of VisiTrack in the augmented reality domain and robotic self localization show its good performance. However VisiTrack is not limited to these application domains.     

智慧林带: 智慧城市运营管控平台

新一代科学技术的发展和跨学科跨领域的融合, 极大地提高了园区、交通、能源、安防等领域的智慧化程度. 但是, 由于数据壁垒的存在和缺乏跨业务、跨系统的协同协作, 城市运营管理的智慧化程度仍较低. 以幸福林带为例, 为了充分高效地利用林带内日常监管监测数据以满足服务、运营、管理、可视化展示与应急指挥辅助决策等基本的城市运营管理需求, 本文自上向下, 从顶层设计了系统架构、功能体系, 进而构建智慧化运营管控平台, 为城市的智慧化建设起到参考示范作用.     

基于机器人力控制表面跟踪的遥控焊接虚拟环境标定

提出了基于机器人力控制表面跟踪的遥控焊接虚拟环境标定方法．采用基于力觉传感器坐标系横切面轮廓线的力控制策略对工件表面进行跟踪,并精确测量接触点的空间位置．通过椭圆跟踪轨迹直接最小二乘拟合算法和T形管工件标定算法,解决了T形管工件的虚拟环境标定问题．实验结果表明,该方法可以实现高精度的虚拟环境标定,虚拟环境模型精度能够满足以被动柔顺方式完成遥控焊接接触任务的需要．     

Integrated Path Tracking Control of Steering and Differential Braking Based on Tire Force Distribution

International Journal of Control, Automation and Systems - The integrated path tracking control of steering and differential braking can significantly improve the tracking performance of autonomous...     

带有储能设备的智能电网电能迭代自适应动态规划最优控制

智能电网是新一代电网建设的目标,也是国际电力工业界的共同选择. 本文研究在储能设备接入电网情况下,建立一套基于自适应动态规划（Adaptive dynamic programming,ADP）的智能电网电能自适应优化控制的理论与方法,实现电网发电端以及用户端的智能交互,开辟对智能电网供需优化匹配与调控方法的新途径. 论文首先给出动态规划的最优性原理以及带有储能设备智能电网的运行方式并提出优化目标;然后,设计新型迭代自适应动态规划方法实现对储能 设备的最优控制,并证明自适应动态规划方法的收敛性,在理论上保证了对智能电网电能的优化;最后,给出仿真例子显示出所提出控制方法的有效性.     

基于动态投入产出控制系统的最优跟踪

研究动态投入产出系统的最优产出跟踪控制问题。根据实际产出需求,采用鲁棒消费策略,修正产出同时使消费过程中的目标函数达到最优。利用离散广义系统的控制的有关理论实现了产出的最优跟踪控制,并给出了具体的优化消费调整策略。算例表明:这种策略实现了对实际产出的渐近跟踪。