Adaptive backstepping control of wheeled inverted pendulum with velocity estimator

In this paper, we introduce a backstepping control design of a wheeled inverted pendulum. Based on a second-order motion equation of the body angle, an adaptive integral backstepping controller is designed to stabilize the body angle. It is shown that the σ-modification rule in the adaptive update law guarantees the boundedness of the errors in estimating the time-varying signal that is an output of a linear system with every bounded input signal. Then, the stabilizing controller for the wheel angle is constructed by a PD-type positive feedback. The derived controller requires the full-state measurements. In the output feedback case, the K filter or the observer backstepping is needed. However, the structure of the controller becomes complicated. We propose a non-model-based differentiator based on the adaptive update law. Since the non-model-based differentiator does not require any knowledge of the dynamic structure of the signal, we can use it as a velocity estimator for unknown nonlinear systems. Therefore, we replaced the velocity measurement with the estimates by the non-model-based differentiator. Finally, simulation results for the proposed controller are presented.     

Z-type jump in electrical conductivity of samarium manganite

The electrical conductivities of non-stoichiometric samarium manganites were measured as a function of temperature and the existence of a Z-type jump in the conductivity curve was found near 1300 K, and a heat anomaly was also observed by differential thermal analysis, which should reflect the same phase transition as in LaMnO₃.     

基于计算机视觉的人体内腔三维重建技术综述

医生通过内窥镜观察的人体内腔显示为二维图像,不能立体地展现内腔环境中病灶、血管及邻近组织的关系,而内腔三维重建及可视化技术能够清晰、全面地展现病灶及其他组织的三维形态,更好地辅助医生进行精准的手术判断.将人体内腔环境中的三维重建技术分为主动式测量方法与被动式测量方法,分类综述基于结构光、飞行时间、双目立体视觉、单目视觉...     

Performance evaluation of immunity-based statistical en-route filtering in wireless sensor networks

Statistical en-route filtering (SEF) schemes can detect and eliminate false data injection attacks in wireless sensor networks. However, SEF does not address the identification of the compromised nodes which are injecting false reports. Therefore, we have proposed an immunity-based SEF to identify compromised nodes and achieve earlier detection of false reports. In the proposed scheme, each node has a list of neighborhood nodes and assigns credibility to each neighboring node. Each node can update the credibility of a neighboring node based on the success or failure of filtering and communication, and can then use the updated credibility as the probability of the next communication. In this article, some simulation results show that the immunity-based SEF outperforms the original SEF.     

Nonlinear control for rotational movement of cart-pendulum system using homoclinic orbit

In this paper, we deal with the control method for rotational movements of a pendulum using a separatrix. We design a controller that attains a homoclinic motion or a heteroclinic motion of the pendulum and the asymptotic stability of the cart by using a kind of forwarding control design. First, we derive a controller that converges to a homoclinic orbit via a Lyapunov function of the pendulum subsystem. Next, we give a nonlinear stabilizing controller via another Lyapunov function of the cart subsystem. Moreover, using the third Lyapunov function and adding a complementary control input, we guarantee that the pendulum converges to the homoclinic orbit and the cart is stabilized. Finally, the simulation and the experiment using the rapid controller prototyping system based on MATLAB/Simulink are performed to demonstrate the forward upward circling and the giant swing of the pendulum.     

基于6-DOF解耦操作臂的空间遥操作控制及运动学分析

针对由6-DOF解耦操作臂及其末端手爪组成的操作臂系统,设计了符合工程实际的遥操作控制策略,并提出了一种简单的运动学解算方法.采用Motoman工业操作臂,对提出的方法进行了实验验证.实验结果证明了所提方法的可行性.     

Evaluation of Young’s modulus of imprinted hydrogen silsesquioxane pillar after residual layer removal by reactive ion etching

Nanoimprint lithography has two basic steps. The first is the imprint step in which a mold with nanostructures on its surface is pressed into a resin film on a substrate, followed by removal of the mold. The second step is the residual layer removal by a reactive ion etching (RIE). There is no report whether the properties of the imprinted structure after RIE change or not. In this work, the authors evaluated the Young’s modulus of the imprinted pillar after residual layer removal by RIE. In this experiment, hydrogen silsesquioxane (HSQ), a type of spin-on-glass, was used as an imprint material. The residual layer was etched by RIE using CHF₃ gas. The Young’s modulus of imprinted pillar after RIE was measured via cantilever method. The Young’s modulus of HSQ pillar after RIE was twice as much as that of HSQ pillar before RIE. From the Fourier transform infrared measurement, it was founds the chemical structure of HSQ was changed by forming network structure due to heating by RIE plasma energy. These results indicate that the mechanical property of imprinted structure was changed in the residual layer removal step by using RIE.     

Tritium depth profile in matter using an imaging plate

A method to detect tritium non-destructively in regions deeper than the escape depth of beta rays is being developed using bremsstrahlung induced by beta rays with an imaging plate (IP). An IP made of europium-doped BaFBr(I), a photostimulated luminescence (PSL) material, is a two-dimensional radiation sensor. The bremsstrahlung energy spectrum is a continuum with photon energies, varying based on the atomic number and thickness of the target (or absorbing) material. When tritium migrates into matter, the bremsstrahlung energy spectrum distribution would change. The PSL intensity of the IP is affected by this energy spectrum variation. In order to quantify the amount of tritium in deeper regions with the IP technique, a tritium depth profile is required.In this study, a new method of obtaining a tritium depth profileusing the combined technique of the IP and thin absorbers is presented.     

Efficiency analysis of telescopic-legged bipedal robots

This paper investigates the stability of underactuated bipedal walking incorporating telescopic-leg actuation. In human walking, knee joints of swing and support legs are bent and stretched. The telescopic legs mimic the motion of the center of mass of human legs via their telescopic motion during the stance phase. First, underactuated telescopic-legged biped robot models are introduced. Second, an output-following control law is applied to the linearized equation of motion of the robot, and the controlled robot’s equation is then specified as a linear time-varying system. The error transition equation is developed to evaluate the stability during the stance phase. Numerical calculations are performed to show the influences of leg telescopic motion on the stability.