Virtual Model Reduction-based Control Strategy of Planar Three-link Underactuated Manipulator with Middle Passive Joint

This paper presents a position control strategy for a planar active-passive-active (APA) underactuated manipulator with second-order nonholonomic characteristics. According to the structural characteristics of the planar APA system, we divide the system into two parts: a planar virtual Pendubot (PVP) and a planar virtual Acrobot (PVA). For the PVP, we mainly fulfill the target angle of the first link, which is calculated through the geometry method, and make the system stable. In this stage, via keeping the states of the third link being zero, the system is reduced to the PVP. Meanwhile, we design an open-loop control law based on the nilpotent approximation (NA) model of the PVP to make the second link stable and the first link stabilize at its target angle. Then, the planar APA system is reduced to a PVA with all links’ angular velocities being zero. For the PVA, we mainly realize the other two links’ target angles obtained via the particle swarm optimization (PSO) algorithm. Thus, the control objective of the planar APA system is achieved. Finally, above control strategy is verified by simulation results.

     

Chaos-PSO-based Motion Planning and Accurate Tracking for Position-posture Control of a Planar Underactuated Manipulator with Disturbance

Unlike a fully-actuated manipulator, the position-posture control of a planar underactuated manipulator (PUM) is more difficult, but the research on it is significant due to the wide practical applications. The existing control methods consider no external disturbance and are involved in the staged control idea, bringing the problems of nonsmooth control torque and time-consuming. A novel one-stage control approach is proposed in this paper for the position-posture control of a three-link PUM with the first free joint under the external disturbance. By analyzing the coupling relationship between its active joints and free joint, the position-posture control is transformed into the trajectory tracking control. Unlike the general trajectory planning, the trajectories of the active joints are planned to include several parameters. Meanwhile, the parameters are solved using a chaos particle swarm optimization algorithm to guarantee that all joint angles can reach to their desired angles. Then, to obtain the high trajectory tracking accuracy at every moment under the external disturbance, the nonlinear disturbance observer is constructed and a nonlinear fast terminal sliding mode tracking controller is designed. Finally, the feasibility and superiority of this strategy are verified via two simulations.

     

TWO KINDS OF VARIANT IN SHAPE MEMORY MATERIAL

In shape memory materials,that have been trained to have a two way shape memory effect(TWSM),themartensitic variants are classified into two groups,i.e.,preferentially oriented variants and self-accommodatingvariants.Applied stress may promote or constrain the transition of preferentially oriented variants and so changetransformation temperatures but has no essential effect on self-accommodating variants.According to the pointof view mentioned above,some experimental phenomena during thermocycling of a TWSM device may be ex-plained,such as the absence of synchronization between the plot of resistance change.temperature and the plotof memory strain vs.temperature.     

Effect of binder-phase modification and Cr3C2 addition on properties of WC-IOC0 cemented carbide

For production of fine-grained and corrosion-resistant tungsten carbide (WC) based cemented carbides, addition of chromium carbide (Cr₃3C₂) in small amounts is standard practice. No systematic study, however, has been made of the effects of large additions (maximum 6 wt % ) of Cr₃C₂ as a substitute for tungsten carbide. This study focuses on the effect of hard-phase substitution by C₃C₂ in WC-1OCo cemented carbide. An attempt is also made to modify the binder metal cobalt by partial or complete substitution of nickel. Specimens were prepared using the standard liquid-phase sintering process and were tested for sintered porosity, mechanical properties, corrosion resistance, and microstructural parameters. Results confirm the findings of earlier workers regarding grain refinement and improvement of mechanical properties upon the addition of small amounts (<2 wt%) of Cr₃C₂. Modification of the binder phase improves indentation fracture toughness and corrosion resistance. Addition of Cr₃C₂ independent of the binder type improves corrosion resistance.     

一个分布式K互斥算法的概率模型检测

传统的验证方法难以保证分布式K互斥算法的有效性和安全性.为解决这一问题,给出了进一步的研究,提出一种基于概率模型检测器PRISM的方法,对Kerry Raymond的分布式K互斥算法进行形式化建模与分析验证.通过设置算法中各个进程进入临界区的时间而得出的结果中发现,改变临界区的数目K,对于某一进程进入临界区的平均及时时间的影响并不大.如果某一进程的执行时间比其他进程大很多,则K的增加可以提高运行效率.最后证明了这一结论.     

A sensor-based feet motion recognition of graphical user interface controls

Motion sensing has now become one of the crucial parts of modern life. The tech products for entertainment create huge competition in the modern market, with the front runners such as game and handset manufacturers. Users can use their own bodies to control the systems without Conversational User Interfaces (CUIs) and Graph User Interfaces (GUIs). With many benefits, the technologies of NUI is getting more and more important, which also are usually accompanied by the sensor developments. Hence, system designers uses the sensors on the embedded platforms used to develop the system devices for different body movement control interfaces, such as using the gravitational sensor to control the systems or using touchscreen detection. However most of the body movement is restricted to the hand portion for the system platform, making it not as dynamic as the traditional monitor consoles. Thus, this restriction decreases the multitude and availability of controlling modes in system devices. In this study, a sensor-based gait recognition was proposed, in order to provide a novel natural user interface for control systems except the operating modes of gesture.     

Performance of estimating depth in projection based stereoscopic virtual display

Accurate distance estimation is essential for effective user interaction with objects appearing in the virtual space. Research has shown that the distance estimation in the virtual space is not as accurate as that in the real world. The inaccuracy phenomenon is almost exclusively documented for estimating objects appearing straight ahead of the eye. A collection of the accuracy data for targets located in different angles of view in the visual field may be useful in aiding the design of user‐virtual object interaction. This study collected the object to object distance estimation accuracy for targets displayed stereoscopically. There are five horizontal and two vertical viewing angles and three depths, resulting in a total of 30 locations in the virtual space. The distance estimation for any of the 30 object pairs were performed with or without the aid of spatial cues. Significant factors influencing the accuracy and time of distance estimation were identified. Implications of the finding were discussed with respect to the stereoscopic display environment.     

3D resistive RAM cell design for high-density storage class memory—a review

In this article, we comprehensively review recent progress in the ReRAM cell technology for 3D integration focusing on a material/device level. First we briefly mention pioneering work on high-density crossbar ReRAM arrays which paved the way to 3D integration. We discuss the two main proposed 3D integration schemes—3D horizontally stacked ReRAM vs 3D Vertical ReRAM and their respective advantages and disadvantages. We follow with the detailed memory cell design on important work in both areas, utilizing either filamentary or interface-limited switching mechanisms. We also discuss our own contributions on HfO₂-based filamentary 3D Vertical ReRAM as well as TaO_x/TiO₂ bilayer-based self-rectifying 3D Vertical ReRAM. Finally, we summarize the present status and provide an outlook for the nearterm future.     

Can Convenience and Effectiveness Converge in Mobile Web? A Critique of the State-of-the-Art Adaptation Techniques for Web Navigation on Mobile Handheld Devices

Proliferation of mobile handheld devices and the significant advancement of wireless technologies and infrastructures have become a strong driving force of many mobile applications, including ubiquitous web information access through those devices. Despite the tremendous flexibility, accessibility, and convenience, rendering and navigating Web content on handheld devices suffer from significant usability problems attributable to their physical constraints, especially the small screen size, restricted interaction mechanisms, and low memory. Therefore, improving the effectiveness of web content navigation on those devices is crucial and has attracted increasing attention from both academics and industry. One of the promising solutions is adaptation, which focuses on the content restructuring, rearranging, and visualization. This article attempts to provide a comprehensive review of the state-of-the-art approaches to web adaptation for mobile handheld devices. The study not only categorizes, synthesizes, and compares the pros and cons of major adaptation methods but also discusses the observed problems in research methodology adopted in related studies and highlights future research directions. The article provides an important road map to the researchers and practitioners in this field.