Design of a slave arm of a surgical robot system to estimate the contact force at the tip of the employed instruments

Acquisition of the contact force at the instrument tip can enable better performance, e.g. transparency of the haptic feedback in the surgical robot systems. It is, however, difficult to measure the contact force directly due to technical limitations in attaching sensors to the tip of the instruments. This paper proposes a method to estimate the forces by installing the sensors away from the instrument tip. The proposed method employs specially designed mechanical parts of the slave robot, i.e. a slider cover plate for the z-axis translational force along the insertion direction, and docking clamps for the rotational pivot torques around the fulcrum point. Strain gauges are attached to specially designed places with enhancing shapes. The simulation results of the force estimation are presented to confirm the strain concentration area. The proposed method is validated with quantitative experimental results. Calibrated weights are determined upon the comparison of the strain value with a calibrated 6-axis force/torque sensor. The percentage error in the force calibration is about 5~8% calculated by the root mean square error (RMSE) of force-sensing performance. In addition, it can be computed by considering only the bending phase of each sensor although the hysteresis is observed from the calibration graph.     

A new calculation method of feedback controller gain for bilinear paper-making process with disturbance

This paper presents a new method to calculate the feedback control gain for a class of multivariable bilinear system, and also applied this method on the control of two sections of paper-making process with disturbance. The robust H∞ control problem is to design a state feedback controller such that the robust stability and a prescribed H∞ performance of the resulting closed-loop system are ensured. The controller turns out to be robust with respect to the disturbance in the plant. Utilizing the Schur complement and some variable transformations, the stability conditions of the multivariable bilinear systems are formulated in terms of Lyapunov function via the form of linear matrix inequality (LMI). The gain of controller will be calculated via LMI. Finally, the application examples of a headbox section and a dryer section of paper-making process are used to illustrate the applicability of the proposed method.     

一种降压型开关电源芯片电路的研究与设计

设计了一款PWM控制模式降压式（buck）直流一直流转换器芯片。该芯片为电压反馈控制模式,内部补偿使得反馈控制有很好的线性和很快的负载响应而无需通过外部设计。芯片采用CMSC0．5μm BCD工艺实现。PSPICE仿真结果表明,输出电压只有大约50mY的纹波,静态电流为3mA左右。输出电压在低于0．5V时,芯片具有短路降频功能,工作频率由81KHz降到23KHz左右,输出负载由0．2A跳变到2A时具有很好的负载调整率,大约为0．2％,转换效率可以达到85％以上。     

磁悬浮系统的控制方法研究

对于电磁吸浮型磁浮列车,悬浮控制是其关键部分,由于该系统的非线性和不稳定性,需要通过主动控制使其稳定悬浮。建立了磁悬浮列车悬浮系统模型,针对模型的非线性问题,采用精确反馈线性化将悬浮系统的非线性模型线性化,然后用闭环增益成形算法设计出非线性鲁棒控制器。用MATLAB的Simulink对具有扰动的非线性模型进行仿真,仿真结果表明控制效果没有静差和超调,调节时间快。     

电子教室在高职计算机实践教学中的应用

计算机实践教学是高职教育的重要环节,传统的多媒体教学手段已经无法满足现代计算机实践教学的需求。电子教室是现代信息技术的产物,也是现代计算机实践教学过程中重要的工具,倡导电子教室与传统教学手段相结合,既能提升学生获取知识的便捷性,又能激发学生的学习兴趣。     

一种单片称重系统电子设计与实现

国内从20世纪60年代中期开始模拟指针式电子秤的研制和生产,经历了模拟式电子秤、数字式电子秤和微机式电子秤三个阶段,功能上包括各种参数的设定、自动处理及毛重、净重、皮重和累加值的显示等。为了管理和参数设置的方便,还配有与上位计算机的串行通信接口。面向定量包装称量控制领域,借鉴国内外可编程称重控制器的设计,给出了可编程称重控制器的主要设计方案和技术指标,开发了一款基于C8051F020增强型单片机的可编程称重控制器,详细给出了称重控制器的设计方法,根据配料生产的工艺要求,采用单片微机设计,集测量控制一体化的新型称重控制器,可实现自动称重、配料控制和联机测控,具有较高的性能价格比,并具备了完善的可编程功能,是一款集称重控制、可编程控制、称重变送于一体,可准确方便的实现各种复杂控制的多功能称重控制器。设计的配料控制器具有可靠性高、抗干扰能力强、性价比高和体积小巧、功能全面等特点,它既可以作为单机仪表使用,也可以作为嵌入式仪表通过RS-232或RS-485标准接口与上位工控机组网联用。     

Synthesis and characterization of a new water-soluble endohedral metallofullerene for MRI contrast agents

Water-soluble amino acid derivatives of gadolinium (Gd) endohedral metallofullerenes (AAD-EMFs), Gd@C₈₂O_m(OH)_n(NHCH₂CH₂COOH)_l (m ≈ 6, n ≈ 16 and l ≈ 8) are synthesized by a direct reaction of the pure endohedral metallofullerene Gd@C₈₂ with an excess of alkaline solution of β-alanine. The structure of the AAD-EMFs is characterized by FTIR, XPS and laser-desorption time-of-flight (LD-TOF) mass spectrometries. Water proton relaxivity analysis indicates that the longitudinal relaxivity R₁ (the effect on 1/T₁, 9.1 mM⁻¹ s⁻¹) of AAD-EMFs is higher than that of the commercial MRI contrast agent, Magnevist (gadolinium-diethylenetriaminepentaacetic acid, Gd-DTPA, 5.6 mM⁻¹ s⁻¹). The MRI phantom studies are performed to confirm the high efficiency of this sample as MRI contrast agents.     

Dynamic output feedback control of a flexible air-breathing hypersonic vehicle via T–S fuzzy approach

By utilising Takagi–Sugeno (T–S) fuzzy set approach, this paper addresses the robust H_∞ dynamic output feedback control for the non-linear longitudinal model of flexible air-breathing hypersonic vehicles (FAHVs). The flight control of FAHVs is highly challenging due to the unique dynamic characteristics, and the intricate couplings between the engine and fight dynamics and external disturbance. Because of the dynamics’ enormous complexity, currently, only the longitudinal dynamics models of FAHVs have been used for controller design. In this work, T–S fuzzy modelling technique is utilised to approach the non-linear dynamics of FAHVs, then a fuzzy model is developed for the output tracking problem of FAHVs. The fuzzy model contains parameter uncertainties and disturbance, which can approach the non-linear dynamics of FAHVs more exactly. The flexible models of FAHVs are difficult to measure because of the complex dynamics and the strong couplings, thus a full-order dynamic output feedback controller is designed for the fuzzy model. A robust H_∞ controller is designed for the obtained closed-loop system. By utilising the Lyapunov functional approach, sufficient solvability conditions for such controllers are established in terms of linear matrix inequalities. Finally, the effectiveness of the proposed T–S fuzzy dynamic output feedback control method is demonstrated by numerical simulations.     

Feedback nonlinear discrete-time systems

In this paper, we design an adaptive iterative learning control method for a class of high-order nonlinear output feedback discrete-time systems with random initial conditions and iteration-varying desired trajectories. An n-step ahead predictor approach is employed to estimate future outputs. The discrete Nussbaum gain method is incorporated into the control design to deal with unknown control directions. The proposed control algorithm ensures that the tracking error converges to zero asymptotically along the iterative learning axis except for the beginning outputs affected by random initial conditions. A numerical simulation is carried out to demonstrate the efficacy of the presented control laws.     

Observation of single-walled carbon nanotubes by photoemission microscopy

Single-walled carbon nanotube networks grown on SiO₂ pillars were studied by means of scanning photoemission microscopy. The individual nanotubes or nanotube bundles growing from the pillar tops were observed in C 1s images. Band bending near catalytic Fe/nanotube contacts in an end-bonded configuration was studied by measuring C 1s spectra along the tube axes. Within our experimental resolution, no band bending was observed. This implies that the depletion width is less than the spatial resolution of the scanning photoemission microscope (90 nm) or that the amount of the band bending is less than 0.1 eV.