Design of a Sliding Mode Controller with Fuzzy Rules for a 4-DoF Service Robot

In this study, a novel control strategy that combines a fuzzy system and the sliding mode controller is proposed for improving stability and achieving high-accuracy control in service robots. Based on the kinematic and dynamic models of a 4-degrees of freedom manipulator, and the observed tracking error using a low-cost inertial sensor, the proposed fuzzy sliding mode controller (FSMC(IMU)) is designed to generate appropriate torques at robot joints. The FSMC(IMU) controller parameters are adjusted through a fuzzy rule that determines the state of the system. The error in trajectory tracking is reduced through this. The gain value K can be finely adjusted by fuzzy control by observing the degree of vibration after entering the sliding mode surface. The larger the observed vibration value, the faster the fuzzy controller follows the given input trajectory by selecting a smaller gain value K and reducing jitter due to the sliding mode control’s discontinuous switch characteristics. When the degree of error is small, it achieves faster and more accurate control performance than when the observer is not used. The stability of the FSMC(IMU) system is verified via disturbance experiments. The experimental data are compared with the conventional sliding mode controller and proportional-derivative control. The experimental results demonstrate that the proposed FSMC(IMU) controller is stable, fast, and highly accurate in controlling service robots.

     

A novel ADRC‑based design for a kind of fexible aerocraft

The paper presents a novel control design, which is based on the idea of active disturbance rejection control (ADRC), for a kind of fexible aerocraft whose controlled variable cannot be measured directly. Since the original frame of ADRC cannot be directly applied, the paper puts forward a new extended state observer (ESO) and the corresponding ADRC law. In order to assign the poles of the closed-loop system to ideal positions such that the vibration can be quickly suppressed, an elastic damping term is added into feedback law. The advantages of the new ESO for efectively estimating both the rigid mode and elastic mode from the measurements are discussed. Moreover, the analysis on the stability, the relative stability and the steady state of the closed-loop system is given. Finally, the efectiveness and robustness of the proposed ADRC are verifed by simulations.     

面向安全的轮流中继选择方案

针对多中继轮流中继系统被窃听的问题,提出面向安全的轮流中继选择方案。首先提出了遍历的最优中继选择方案,并推导得到了保密速率的理论值;之后为降低复杂度,分别从降低计算复杂度和信道估计开销的角度设计了两种两阶段的次优中继选择方案,先缩小中继选择范围再进行搜索。仿真结果表明K-最大主信道中继选择方案能够以较低的复杂度实现最优保密速率。     

Bone Tissue Response to the Bone-like Tissue Coating on Titanium

The objective of this study was to investigate the effects of mineralized bone nodules, formed in vitro by bone marrow stromal cells(BMSCs), on the new bone formation in bone defect and on implant surface. The mineralized bone nodules were generated by culture of Lewis rats BMSCs on titanium disks in osteogenic induction medium. The gap-healing animal model was used to create the bone defect facing the disk. The titanium disks in the presence of B group or in the absence of NB group bone nodules were randomly placed into one of the rat distal femurs. This self-control design was used to compare the bone formation in defects and on titanium surface, by Micro-CT, fluorescence staining, histological and histomorphometric analysis. The new bone formation parameters in bone defect area of B group were significantly higher than those of NB group at 2 weeks, including bone volume fraction, trabecular thickness and bone area ratio. The bone nodules pre-stained with Alizarin red disappeared mostly at 2 weeks, while the red fluorescence reappeared in the newly formed bone away from the disk surface. For the bone-implant contact, B group showed lower values than NB group at 2 weeks, but no significant difference was found at 4 weeks. Our results indicate that the mineralized bone nodules can be resorbed in vivo and promote the early osteogenesis in the bone defects, and bone nodules may be applicable for new bone generation in bone defect or modification of tissue engineering scaffold.     

Formation and thermal stability of amorphous Ni-Mo-P alloys

The experimental researches on the chemical deposition of Ni-Mo-P amorphous alloys were carried out by adding Na2 MoO4 into acidic solutions. The optimum technology conditions were obtained by orthogonal design experiments. The structures and the relationship between compositions and their thermal stability were studied by energy spectrum (EC), scanning electron micrograph and X-ray diffraction spectrum. Compared with Ni-P amorphous alloys, the Ni-Mo-P amorphous alloys have high crystallization temperature and thermal stability, and the hardness reaches its peak when the annealing temperature is 500 ℃. With the increase of the heat treatment temperature, the surface morphology of the alloys changes.     

CA6140车床数控改造中机械装置设计技巧

介绍了普通车床数控改造中机械装置的几个独特设计，使得数控车床纵向进给系统结构更简单、性能更可靠、装拆更方便。     

CAS wavelet method for solving the fractional integro-differential equation with a weakly singular kernel

In this paper, a computational method for numerical solution of a class of integro-differential equations with a weakly singular kernel of fractional order which is based on Cos and Sin (CAS) wavelets and block pulse functions is introduced. Approximation of the arbitrary order weakly singular integral is also obtained. The fractional integro-differential equations with weakly singular kernel are transformed into a system of algebraic equations by using the operational matrix of fractional integration of CAS wavelets. The error analysis of CAS wavelets is given. Finally, the results of some numerical examples support the validity and applicability of the approach.     

基于SystemVerilog可重用测试平台的实现

对于中小型设计,传统的验证效率低、可重用性差,而基于方法学的高级验证测试平台搭建较繁琐,验证流程不太灵活。以ARINC429收发器IP核为验证对象,采用System Verilog语言,通过层次化设计,改善工程组织架构,运用虚接口与回调等关键技术,实现了一种可重用测试平台。将不同的测试案例在测试平台上运行,结合断言与覆盖率驱动等验证技术完成了对ARINC429收发器IP核的功能验证,代码覆盖率和功能覆盖率均达到100%。实践表明,该测试平台具有良好的可重用性、易操作性,验证效率较高。     

基于FPGA的高速时间交替采样系统

提出了一种高速高精度数据采集系统的设计。ADC高速采样基于时间交替采样结构实现,以FPGA为逻辑控制芯片,DSP为误差矫正算法处理中心。在对系统总体设计各模块进行介绍的基础上,重点分析了系统存在的偏移误差、时延误差和增益误差,并描述了一种误差矫正方法。通过实验测试,结果表明该设计能够实现1 GS/s的高速采样,并能完成明显的误差矫正。