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A new 3-DOF ankle rehabilitation robot was studied in this paper which can meet the requirements of ankle rehabilitation motions for inversion/eversion, dorsiflexion/ plantar flexion, adduction/ abduction. Dynamic equations of the ankle rehabilitation robot and mathematic model of the friction, partial load and idle were established. By simulation and open-loop experiment, the mathematic model of...
Artificial Bee Colony(ABC) algorithm is a biological-inspired optimization algorithm, which has been shown to be compared with some conventional biological-inspired algorithms, such as Genetic Algorithm(GA), Particle Swarm Optimization(PSO) and Differential Evolution(DE). However, there exists problems such as premature convergence and trapping in local optimal. Inspired by DE, we propose an improved...
The Lower-limb Power Assisted Robot is a typical exoskeleton power assistance device, which is worn on the user's lower extremities. It can help the elderly and the infirm walk independently. According to the characteristics of human lower extremity joints, a robot with four-bar knee joint whose pelvis and knee joint are driven by the motor-driven screw-nut body is designed. Employing the Denanit-Hartenberg...
A digital image forgery forensics scheme by using blur estimation and abnormal hue is proposed in this paper. For blur operation is a commonly used means to retouch in image forgery, detection of artificial blur is essential to the forensics of image forgery. Moreover, the blur operation also destroys the joint consistency of color channels in the image. Based on this principles, blur estimation is...
With the rising of the power system voltage level, the traditional electromagnetic current transformer can no longer meet the power system transient current measurement requirements. Magnetic Array transient current measurement method was one of the major development directions of the power system transient huge current measurement. The paper establishes the relationship between magnetic fields and...
Weighted fair queueing (WFQ) is a practical scheduling discipline for supporting differentiated quality-of-service (QoS) in computer networks and communication systems. Analytical models are important tools for system performance evaluation and resource optimization. However, there is not any comprehensive model reported in the open literature for analytically investigating the performance behaviors...
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