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This paper presents a lower limb rehabilitation robot based on free gait and virtual reality, which is intended to improve therapeutic efficacy. With the help of the robot, patients with motor disabilities can walk with free gait in a virtual environment and choose between passive and active training modes. So the impaired limbs can get appropriate exercise in all clinical stages and the motivation...
Aiming to solve the problem of the accuracy of the states and parameters estimation are greatly influenced by initial values in the polynomial systems, this paper proposes a nonlinear filtering based joint state estimation and parameter identification method in the polynomial systems. Using the results of the least square as the initial values in the Extended Kalman Filtering (EKF) algorithm for estimating...
Cyborg intelligence will integrate the best of both machine and biological intelligences via brain-machine integration. To make this integration effective and coadaptive, multiagents should work collaboratively. Here, three levels of computational cognitive models for brain-machine collaboration are presented--awareness-based, motivational-based, and joint-intention-based collaboration. Each collaboration...
In this paper, an underwater robot for inspecting and maintaining nuclear reactor vessel is developed. Based on the kinematics analysis of the robot, the workspace is obtained. In order to evaluate the influence of water environment to the robot, the hydrodynamic forces including water resistance and additional mass force are analyzed. Then some experiments including watertight test are performed...
There is an urgent need to check and salvage foreign objects for the nuclear power plant. A 4-DOF underwater manipulator served for nuclear power plant can complete the examination, salvage or other actions for the nuclear power station reactor core and foreign objects in the pool. In this paper, several researches on 4-DOF underwater manipulator served for nuclear power plant are carried out as follows:...
In this paper, an upper limb rehabilitation robot based on virtual reality is developed to improve therapeutic efficacy. With the help of the robot, the patients can reach virtual items appearing randomly with impaired limbs in a virtual environment. The kinematics of the robot is analyzed and the appearance rules are made to avoid mechanical interference between the arms. Both passive mode and active...
In this paper, we consider a four-node relay-based OFDMA system. The expression of the upper bound for the achievable rate in Successive Relaying (SUR) protocol is derived by using the cut-set theorem for half-duplex systems. Based on this expression, the near-optimal solution of the achievable rate is obtained in the joint power and subcarrier allocation constraint, according to the dual problem...
A novel control method is proposed for networked control systems with nonlinear process, probably non-Gaussian process noise and time delays. The performance index of closed loop control system consists of entropy, mean value and control energy constraint. Two stochastic control methods for networked control systems are given under the same general frame. One method utilizes gradient optimal techniques...
In this paper, we consider a two-hop orthogonal frequency division multiplexing (OFDM) relay link, and investigate the system capacity in hybrid forward (HF) relay through the power allocation (PA). The expression of the system capacity in HF relay is provided. Two situations about the power constraint are concerned, and under each situation, the selection criterion among different forwarding schemes...
A novel delay system approach to network-based control is presented in this paper. The induced delays in networked control systems (NCS) with random access networks are usually non-Gaussian random variables, in addition, the noises in NCSs are probably non-Gaussian random variables as well. Consequently, the controller is designed based on the recently developed stochastic distribution control strategies...
A joint timing synchronization and channel estimation algorithm is proposed for orthogonal frequency division multiplexing (OFDM) system. In the proposed scheme, the shift delay characteristic of synchronization sequence is revealed in channel estimation process. Through utilizing this characteristic, the correct symbol timing offset (STO) is jointly optimized with channel estimation via the minimum...
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