Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

Minimum switching control for adaptive tracking

The switching adaptive control method has been used for quite a few years to solve the adaptive stabilization and model reference adaptive control problems. However, a serious problem with the switching control method is that the number of ‘candidate’ controllers can potentially be very large, especially for multi‐input–multi‐output systems. In this paper, we consider a class of minimum‐phase multi‐input–multi‐output plants with some mild compactness assumptions. Given any polynomial reference input, we provide a switching control law which guarantees exponentially stability of the closed‐loop system with exponential tracking performance. The main contribution of the paper is that we give the minimum number of candidate controllers required for switching. In particular, the number is equal to 2 for single‐input–single‐output plants (one for each sign of the high‐frequency gain), and is equal to 2^m for m‐input–m‐output plants. That is, the number is independent of the degree and the relative degree of the plant. Copyright © 2006 John Wiley & Sons, Ltd.     

Dynamical adaptive synchronization

The notions of dynamical synchronization and adaptive dynamical synchronization problems are introduced. The algorithm solving adaptive synchronization problem for a subclass of Lurie systems with exciting input is proposed. The performance and potentialities of proposed solutions are demonstrated by two examples related to formation control and self‐organization of swarm systems. Copyright © 2006 John Wiley & Sons, Ltd.     

用户无功功率低压集中补偿方式探讨

主要研究了用户无功功率低压集中补偿的问题,简单介绍了目前国内普遍采用的低压集中补偿方式的基本原理及技术特点,着重分析了在设计、安装、调试、维护等方面需注意的问题及处理措施。     

A novel robust current control approach using adaptive line enhancer for three‐phase current‐source active power filter

An effective system control method is presented for applying a three‐phase current‐source PWM converter with a deadbeat controller to active power filters (APFs). In the shunt‐type configuration, the APF is controlled such that the current drawn by the APF from the utility is equal to the current harmonics and reactive current required for the load. To attain the time‐optimal response of the APF supply current, a two‐dimensional deadbeat control scheme is applied to APF current control. Furthermore, in order to cancel both the delay in the two‐dimensional deadbeat control scheme and the delay in DSP control strategy, an Adaptive Line Enhancer (ALE) is introduced in order to predict the desired value three sampling periods ahead. ALE has another function of bringing robustness to the deadbeat control system. Due to the ALE, settling time is made short in a transient state. On the other hand, total harmonic distortion (THD) of source currents can be minimized compared to the case where ideal identification of the controlled system can be made. The experimental results obtained from the DSP‐based APF are also reported. The compensating ability of this APF is very high in accuracy and responsiveness although the modulation frequency is rather low. © 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 150(1): 50–61, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20014     

叠后高分辨率资料处理方法及应用效果

高分辨率勘探是一项系统工程，它由多个环节组成。甚至叠后高发辨率资料处理也是由多个环节组成。本文介绍的叠后高分辨率资料处理流程主要包括Ｌｐ模自适应预测统计反褶积，高频成分补偿，振幅补偿及有色成分校正。文中还就处理流程中各种方法的合理组合，各种方法自身参数的合理选取作了试验和探讨，最后给出了处理实例。     

精密扇形扫描稳速控制

在扇形扫描中，马达稳速的控制是通过相位补偿实现的。本文提出一种新的稳速控制方法、相位补偿控制，并介绍了相位补偿电路的设计。     

高层建筑损伤识别中的补偿算法

本文在已有研究工作的基础上，提出了处理激励测量信息不完备情况下的补偿算法。此方法主要针对高层建筑动力检测中强迫激励的情况，是一种基于时域的识别方法，该方法实际上是利用客观工程实际中结构系统激励所具有的物理持征作为识别计算的辅助条件，来解决测量信息的不完备性问题。算例分析表明了该方法的可行性。     

补偿元件对载体催化元件输出特性的影响

阐述了矿井瓦斯传感器－载体催化元件在应用中，补偿元件发挥的作用和工作原理，着重分析了补偿元件对载体催化元件输出特性的影响，探讨了提高线性补偿效果的方法。     

新型可控电抗器大幅度限制操作过电压功能的研究

通过数值计算和模拟研究,本文叙述了新型可控电抗器的广泛的无功调节功能,揭示了它所具有的大幅度限压的能力,并在理想数学模型的基础上分析了电抗器的限压机理。