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This paper is concerned with the sliding mode control of decaying-dimerizing system with three molecular species and four reaction channels. An integral sliding surface is designed, and the resulting dynamics is a nonlinear biochemical reaction system. By introducing some specified matrices, a sufficient condition is proposed in terms of strict linear matrix inequality (LMI), which guarantees the...
This paper investigates the distributed finite-time containment consensus problem of second-order multi-agent systems (MAS) with multiple leaders in the presence of bounded disturbances. Based on the continuous homogeneous finite-time consensus protocol for the nominal MAS, the discontinuous and continuous super-twisting protocols upon integral sliding mode (ISM) algorithm based on absolute information...
The technology of lower limb rehabilitation robot is a hot research topic in recent years, while the exoskeleton robot is a typical representative. Accurate trajectory tracking ability is the base of the exoskeleton mechanical leg to coordinately drive trainers to do rehabilitation training on the treadmill. In this paper, aiming at the existing exoskeleton body, taking into account the uncertain...
The rapid development of aerospace technology means that the roles of space robots are becoming important. In order to reduce fuel consumption and successfully accomplish on-orbit service tasks, the base attitude disturbance should be as small as possible. When the particle swarm optimization (PSO) algorithm based trajectory planning method is applied to solve the problem, it is falling into local...
The feedrate planning problem of robotics and computer numerical control (CNC) systems is discussed in this paper for realizing planar high precision contouring in minimum time. Besides of the usually considered velocity, acceleration and jerk constraints, a contour error estimation function is also introduced to drive the feedrate planning problem. By directly confining the estimated contour error...
A four channels Ka-band multi-in-multi-out (MIMO) integrated TWT was designed based on previous three channels Ku-band integrated TWT. This device integrates four helices in one periodical permanent magnet (PPM) system. Over 50W output power could be achieved for each channel with overall efficiency higher than 40%.
Approaches to abnormality detection in crowded scene largely rely on supervised methods using discriminative models. In this paper, we presents a novel and efficient unsupervised learning method for video analysis. We start from visual saliency, which has been used in several vision tasks, e.g., image classification, object detection, and foreground segmentation. To detect saliency regions in video...
The elliptical electrode collector has much smaller height comparing to traditional one with same inner surface area. Quadrupole lens which focus high-energy particles very effectively was used on the first electrode of collector to compress the electron beam in one dimension. Based on the simulation, the elliptical electrode collector was manufactured and tested. Experiment results show that the...
Integrated TWT based on the multi-beams interaction in the limited space is proposed in this paper. Four channels integrated TWT's electron gun and the beam transmission of the tube is simulated by software opera-3D. The design has been a viable integrated TWT electron optical system solutions,and the electron gun statics fluent can reach at least 99%, which provides the foundation for the design...
According to the original design of 30W level W-band folded waveguide CW traveling wave tube (TWT), a step-tapering structure was at the end of the uniform interaction circuit to improve the electron efficiency. Compared two kinds of tapering circuit, the results indicate that both circuits could achieve over 40W power at 91GHz∼97GHz. The electron efficiency could be improved from 3% to 4%. A collector...
Humanoid robots have been used in a wide range of applications including entertainment, healthcare, and assistive living. In these applications, the robots are expected to perform a range of natural body motions, which can be either preprogrammed or learnt from human demonstration. This paper proposes a strategy for imitating dynamic walking gait for a humanoid robot by formulating the problem as...
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