仿肌肉驱动器及其在仿生机器人中的应用

仿肌肉驱动器是模拟动物肌肉工作原理的新型驱动装置,因其和动物肌肉相似的特点,得到了广泛的应用.对国内外仿肌肉驱动器的研究和开发,从制作材料和机械装置、结构仿生、控制仿生和在不同类型运动仿生机器人中的应用等方面进行总结和概述,并提出仿肌肉驱动器未来的发展趋势.     

类骨骼肌电磁直线驱动器设计

分析哺乳动物骨骼肌构成和驱动机理,模拟骨骼肌肌小节驱动特性及空间串并联阵列结构,设计类肌小节直线电磁驱动器串并联阵列人工肌肉。利用Solidworks建立类肌小节直线电磁驱动器样机模型,应用Ansoft Maxwell对类肌小节直线驱动器样机进行电磁分析,确定类肌小节直线电磁驱动器参数。样机测试有加速度大、能量密度高等优势。     

基于 ATV930变频器的同步电机控制的设计

在国内某核电厂装卸料控制系统中,原电机驱动器采用GES2K系列伺服驱动器, 但该驱动器目前已经停产,需要寻求相应的替代产品。文章介绍了基于施耐德变频器ATV930的测试台设计过程,针对测试台的控制设计进行了详细的说明,特别对 ATV930变频器的应用进行了深入的阐述。该试验台可应 用到核电厂装卸料控制系统中。     

电动车用感应电动机驱动系统设计

根据电动车对电机驱动控制系统的技术要求,设计了一套三相感应电动机驱动器.该驱动器利用一种含微分运算的矢量控制方法,提高了控制系统的鲁棒性.实验表明:控制器可满足电动车的高功率密度、高转速、快速动态调速性能等技术指标.     

数据驱动型状态机伺服控制系统的设计和实现

针对电动缸数字驱动控制系统的开发,采用数据驱动状态机设计模式,设计控制系统的软件结构,以适应不同品牌和型号数字驱动器的功能控制.分析了数字驱动器的功能和共有特点.介绍了数据驱动状态机设计模式设计数字驱动器功能模块的具体过程.实现了通用电动缸伺服控制系统数据驱动状态机控制系统的软件结构,对类似项目软件开发可大幅提高软件设...     

仿肌肉驱动器设计与仿真

仿肌肉驱动器是模拟动物肌肉工作原理的新型驱动装置,通过分析模仿动物骨骼肌的结构和运动形式,设计了一种基于电磁场的新型仿肌肉驱动器,并通过有限元分析软件ANSYS对驱动器的电磁场进行了分析,得到了仿肌肉驱动器特性参数。     

基于DSP的小功率无刷直流电动机驱动器设计

现在家电行业对小功率无刷直流电动机的需求日见增多,为了满足用户对电机控制系统产品性能的更高要求。采用TI公司的数字信号处理器TMS320F2812专用电机控制芯片,设计了一种小功率无刷直流电动机的驱动器。详细介绍了该驱动器的硬件电路组成和软件结构及控制策略,通过实验结果表明该系统响应时间短,稳态性能好,抗干扰能力强等特点。     

波形板生产线电气控制系统设计

介绍了波形板生产线电气控制系统的设计方案。该设备工艺过程和控制功能非常有特点,其控制系统涉及到PLC、A/D转换、D/A转换、触摸屏、伺服驱动器、变频器、激光位移传感器、超声波位移传感器及总线通信技术等。本设计方案对类似的工业控制场合具有一定的参考意义。     

大型镗铣床电气控制系统设计

以W220落地镗铣床电气控制系统设计项目为依托,详细描述了先进的自动控制技术在大型镗铣床控制系统中的具体应用.该控制系统采用三菱Q02H PLC作为控制器,模块化的590+直流调速器为电机驱动器,配合各种检测和控制设备完成镗铣床的控制功能及状态的检测功能.     

一种基于PLC的新型变压器风冷控制方法

针对传统变压器冷却器控制方案响应慢、中间继电器多、故障率高的问题,提出了一种基于PLC控制的新型变压器冷却控制系统,从系统功能设计、冷却系统设计等方面对该系统进行分析,并通过实际应用证明该系统可完美代替传统继电器式的风冷控制系统的功能,并且该控制系统能有效避免传统风冷控制系统存在的问题。     

Neurovisceral integration in cardiac and emotional regulation

The utility of heart-rate variability (HRV) to index important aspects of neural control of the heart has made it one of the most valuable tools for researchers interested in health and behavior. However, most of the literature and extant data on the central origins of HRV have been derived from animal models. As yet little is known about the central nervous system (CNS) origins and concomitants in humans. In the following we will briefly detail a set of neural structures that have been associated with important CNS functions including cardiac regulation and emotional regulation. We will briefly summarize recent data using pharmacological, neuroimaging, and psychophysiological techniques that have examined CNS concomitants of HRV especially during emotion. Based on these and other data will we report the results of a computational model that examined the interactions of several neural structures and their effect on emotion-related HRV.     

神经网络在永磁同步电机模型预测控制参数寻优中的应用

提出了一种使用神经网络来实现永磁同步电机模型预测控制参数寻优的方法.首先,使用不同参数组合进行多次仿真,并提取逆变器平均开关频率、总谐波畸变等系统关键性能指标数据.然后,用获取的数据训练神经网络、训练好的神经网络可以作为仿真模型的替代,根据任意参数组合的输入,快速、精确地估计系统相应的性能指标.针对3种不同用户定义的适...     

Laparoscopic implant instrument for the placement of intramuscular electrodes in the diaphragm.

We have developed an endoscopic instrument that will allow a surgeon to safely, dependably and accurately place intramuscular (IM) electrodes in the diaphragm. This instrument has been used to implant 28 IM electrodes in the diaphragms of eleven acute and four chronic dogs. All electrodes achieved full activation of the diaphragm muscle, producing tidal volumes up to 130% V(TCRIT), the critical volume necessary for basal ventilatory support, with unilateral stimulation. The surgeon is able to control the angle of the IM electrode insertion needle, which enables the needle to approach the diaphragm at an angle that is parallel to the surface of the muscle. This insures good control over the depth of needle penetration into the muscle, which greatly reduces the risk of accidentally passing the needle through the diaphragm and entering the thorax. Endoscopic placement of IM electrodes into the diaphragm opens opportunities to provide cost effective negative pressure ventilation to patients who are unable to effect sufficient ventilation by central nervous system (CNS) control of respiration.     

Directional aspects of balance corrections in man

This article attempts to highlight the new insights into balance control that have been gained by using multidirectional perturbations and to demonstrate how this new focus enables a better understanding of how the central nervous system (CNS) malfunctions in patients with balance disorders. Multidirectional perturbations have proven to be a valuable tool to better understand dynamic postural control in normal and balance-deficient populations. The advantages gained by using multidirectional perturbations to exert joint displacement profiles at different levels and in different directions has allowed greater insight into how passive joint characteristics and active muscle synergies are triggered and shaped by peripheral and central sensory systems to elicit directionally specific postural responses to avoid a fall.     

变电站巡检机器人软件系统的设计

变电站巡检机器人主要应用于室外变电站的设备巡视检查,一定程度上代替了人工巡检,提高了变电站的自动化程度。其软件系统包括移动站、基站、集控站,为了适应整个系统不断变化的要求,软件系统需要具有很好的灵活性和可扩展性。采用代理机制,将具体的设备屏蔽,可以很好的应对物理设备的变化。在此基础上给出了移动站、机器人代理、基站、集控站的设计和实现,并将基站和集控站作为后台软件进行统一设计和实现。     

Feasibility of Neural Stimulation With Floating-Light-Activated Microelectrical Stimulators

Neural microstimulation is becoming a powerful tool for the restoration of impaired functions in the central nervous system. Microelectrode arrays with fine wire interconnects have traditionally been used in the development of these neural prosthetic devices. However, these interconnects are usually the most vulnerable part of the neuroprosthetic implant that can eventually cause the device to fail. In this paper, we investigate the feasibility of floating-light-activated microelectrical stimulators (FLAMES) for wireless neural stimulation. A computer model was developed to simulate the micro stimulators for typical requirements of neural activation in the human white and gray matters. First, the photon densities due to a circular laser beam were simulated in the neural tissue at near-infrared (NIR) wavelengths. Temperature elevation in the tissue was calculated and the laser power was retrospectively adjusted to 325 and 250 mW/cm(2) in the gray and white matters, respectively, to limit ΔT to 0.5 °C. Total device area of the FLAMES increased with all parameters considered but decreased with the output voltage. We conclude that the number of series photodiodes in the device can be used as a free parameter to minimize the device size. The results suggest that floating, optically activated stimulators are feasible at submillimeter sizes for the activation of the brain cortex or the spinal cord.     

Neural Prostheses: Electrophysiological and Histological Evaluation of Central Nervous System Alterations Due to Long-Term Implants of Sieve Electrodes to Peripheral Nerves in Cats

We have investigated the alterations that the long-term implant of sieve electrodes to the peripheral nerves could evoke in the central nervous system by studying the neural activity at various levels of the somatosensory system [the implanted nerves, the dorsal column nuclei (DCN), and the primary somatosensory cortex (SI)] up to 30 months after implantation of the electrode in the distal median nerve in adult cats. This long survival period, which could correspond to 15 years within a human lifespan, enabled us to confirm the biocompatibility of the electrode. We also performed histological and molecular studies on sections of the spinal cord, DCN, and SI and electrophysiological recordings on of DCN and SI. Although in the ldquoimplantedrdquo regions (ipsilateral nerve, ipsilateral DCN, and contralateral SI) there was apparently a good recovery of a number of molecular markers, mostly related to local metabolism and neurotransmission in central relay structures, the expression of calcium-binding proteins in the cortex, which identifies inhibitory interneurons, remained clearly abnormal, although they were never as altered as in case of irreversible, chronic denervations. Also, prominent anatomical disorganization was detected in the normal spatial arrangement of neural clusters within the DCN. With respect to the electrical activity the ldquoimplanted siderdquo showed minor changes in response latency, intensity, and somatotopy, compared to control recordings. These findings show that central sensory-processing structures achieve fair, but not complete, levels of structural and functional reorganization following chronic intraneural implants of sieve electrodes.     

基于ControlNet现场总线的反应堆功率数字冗余控制系统

介绍了在ControlNet现场总线网络环境下,采用数字化控制器、网络技术、热备冗余等技术对反应堆控制棒的控制与棒位监测系统(简称棒控棒位系统)原有的CMOS电路进行数字化设计,实现反应堆功率控制,提高了系统的可靠性及数据处理能力、集中监控能力.此外,模块化的硬件与软件设计,既使得故障定位更加方便,又增强了程序的可读性和实用性,减少了程序扫描时间,保证了系统响应速度.     

基于模糊RBF神经网络自学习的不确定机器人模糊自适应控制

针对机器人系统的不确定、非线性特点，设计了模糊RBF神经网络控制器学习机器人系统的不确定性上界，并利用模糊推理机产生的分目标学习误差进行训练，避免了采用系统直接输出反馈误差进行训练所存在的权值饱和与过调整问题。此外，在反馈回路还设计了固定比例增益控制器FC，起着监督的作用，对系统实施渐近稳定的控制。仿真结果表明这种控制方案实现了对机器人系统的高精度控制。     

中央制冷空调冷冻水系统模糊RBF控制研究

针对中央空调冷冻水系统回水温度快速准确调节问题,提出基于模糊径向基函数(radial basis function,RBF)网络的变流量回水温度智能控制方法。首先,对冷冻水系统旁通阀门的水量开度、泵组转速等输入量,按照模糊控制理论,进行模糊化与反模糊化处理,获得归一化的输入信息向量;然后,利用能够全局寻优的RBF网络进行温度预测,不断迭代预测产生理想的预测温度;最后,当期望温度与预测迭代的温度残差小于门限值时,停止迭代,输出并记录温度,完成冷冻水系统的非线性温度控制。仿真实验表明,相比于传统反向神经(back propagation,BP)网络控制,RBF控制方法迭代次数更少且精度更高,能够提高系统的整体性能。