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As a general advanced plateform of performance test and quantitative estimation for prosthetic leg, biped robot with heterogeneous legs (BRHL) simulates the amputee-prosthesis coupling system. To generate the walking gait trajectories of artificial leg, linear inverted pendulum model combining with ZMP stability criterion was employed and the reference angle of joints was calculated by establishing...
Different from the traditional layer protocols, layering optimization can improve QoS of the whole wireless sensor network (WSN). Therefore, a novel power-aware layering optimization scheme is proposed to balance network lifetime and communication reliability. In the scheme, a directed spanning tree routing algorithm is discussed to resolve unnecessary energy consumption during data transmission....
In this paper the path planning for obstacle-avoided pursuit problem (OAP) is studied. The OAP models based on the mixed integer linear programming (MILP) is presented. In the OAP models, the dynamic equation of mass point with linear damping is taken as the state equation of vehiclepsilas motion. Integer variables are used to describe the relative position of vehicle and obstacles. ldquoExpansible...
As one of the renewable energy, the absorption and utilization of wave energy is always an important research field home and abroad, and energy absorption efficiency is the key. A wave energy absorption system based on inertial pendulum is presented, and dynamics equations are established. Neural network with learning rate adaptation is adopted to model in time domain. The results obtained by simulation...
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