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This work presents an electroencephalography (EEG)-based Brain-computer Interface (BCI) that decodes cerebral activities to control a lower-limb gait training exoskeleton. Motor imagery (MI) of flexion and extension of both legs was distinguished from the EEG correlates. We executed experiments with 5 able-bodied individuals under a realistic rehabilitation scenario. The Power Spectral Density (PSD)...
This paper proposes a method to calculate the lift force of propeller using simulation software FLUENT. And on the basis of this, a certain degree of applicability of the formula from blade element theory is verified. It also presents suggestions for the analysis of the lift force of the propeller in the case of the impact of the incoming flow.
In this paper, a four-rotor UAV is built as the control object. The paper comes up with a mixed agricultural plant protection UAV designation with high precision positioning system based on accelerometer and laser range finder in order to solve the problem of poor stability, limited positioning precision and being unable to provide high accurate and stable height data for agricultural plant protection...
This article proposes a numerical method based on equivalent model (NEM) for 6-3 Stewart platform forward kinematics problem (FKP). The NEM translates the forward kinematics problem into a ternary nonlinear equations system. Newton method was then used to solve the equations system. Simulations were conducted with different trajectories and allowable errors to compare the performance of NEM with traditional...
In this paper, we use the five-degrees-of-freedom spraying robot as the research object which is in the process of development in our laboratory. Robot kinematics is analyzed in order to solve the control problem. Each link coordinate system is established using the D-H method. The transformation matrix between the connecting links is calculated. Then we get the kinematics equations of the robot,...
A lower extremity exoskeleton is designed and a novel control method based on RBF neural network identification is proposed to guarantee the exoskeleton identifies the pilot's motion intention independently. The propose method considers the pilot wearing assistance exoskeleton as an unknown system, and the RBF neural network is employed to identify the system's motion trajectories and the identification...
The structure and working principle of Electro-hydrostatic Actuator was analyzed in this paper. And a mathematical model based on the transfer function was given. The paper analyzed the influence of the electric motor and hydraulic section on the EHA system performance. A nonlinear block diagram model based on the Simulink was established in this paper. A nonlinear PID controller was designed. The...
According to the work features and requirements of SCARA robot, a motion trajectory is planed following the request of speed and acceleration at the starting point and termination point. The planning uses the joint spatial method based on genetic-algorithms. The objective function is the moving time and mechanical impact. The target is a high-profile on the joint angles.
Hydraulic intelligent power system can adjust the pressure or flow in real-time to match the load. It will reduce the production of heat, and greatly improve the efficiency of the pump. This paper introduced the operating principle of the system. Based on the software platform of AMESim (Advanced Modeling Environment for Simulation of engineering systems), the modeling of hydraulic intelligent power...
This paper focuses on the control of hexapod locomotion based on a model of artificial central pattern generators (CPGs). CPG-based controllers are capable of producing coordinated patterns in open loops and rhythmic activities in certain joints. However, existing methods usually have too many parameters to set and lack unified expressions to achieve desired gaits for multiple legged robots. In this...
Human Lower-limb Exoskeleton has recently received a great deal of attention, because of providing motion similar to human walking and reducing burden on both patients and therapists. In this paper the design of the control system for HLE which is actuated by electro-hydraulic servo system is presented. To improve the flexibility of the system, a control algorithms called sliding mode variable structure...
Biocybernetics method is developed to solve robot motion control problem in recent years. Biocybernetics method can realize the robot's rhythmic movement by simulating, simplifying and improving rhythmic movement control area of animal. The rhythmic movement has many advantages, such as regular expression form, high stability and adaptability, so it is always used to control the motion of legged robots...
Intelligent home is an important application of wireless sensor network. This paper introduces a remote wireless acquisition and control system based on Zigbee and GPRS. The system is a star network and includes environment monitoring sensors, intelligent appliances, terminal acquisition and control nodes, family gateway and data display platform. This system is low cost, low power consumption, more...
To the strong nonlinearity and parameter uncertainty in robot manipulator control, a novel self-adaptive PID controller based on RBF neural network on-line identification for the robot manipulator is proposed in this paper, which has solved the weak adaptive ability and poor robustness of the conventional PID control. The control scheme designed in this paper is realized by two kinds of neural networks,...
Because the flight simulator works in different environment for simulating various flight attitudes, the different control algorithm is used for improving the dynamic and static performance. The neural network has good self-learning and self-adaptive, and PID has good robustness, so the adaptive controller based on neural network and PID is used to overcome the coupling inertia and imbalance torque...
In this paper, to improve the control performance of hydraulic parallel robot, we develop a model reference adaptive PID control based on radial basis function (RBF) neural network. To compensate for the asymmetry of the hydraulic actuator, we adopt model reference adaptive control strategy. Moreover, a RBF neural network is used to identify the hydraulic servo system on-line and then regulate the...
Soccer robot is one of the primary factors that effect the performance of robotic soccer system. When soccer robot that has two independent wheel control systems ran linearly, the different load and parameters would influence the accuracy and stability, especially in the centralized robotic soccer system. In order to overcome the limitation of traditional compensation control, a synchronous control...
Rotating arm basin was used to do the hydrodynamic performance simulation experiments of model vessel. As an important parts of the rotating arm basin, the simulation platform is one of the primary factors that effect the accuracy of the experimental result. A kind of simulation platform for performance analyses of model vessel was introduced in this paper. Because this system has a strong disturbance...
Accelerated life testing (ALT) for the airborne hydraulic pump is a good way to obtain the reliability of airborne hydraulic pump under a more severe environment in a short period of test time. For fully thinking of energy saving, a new kind of technique taking hydraulic motor to recover energy that exists in traditional load subsystem is adopted. The possibility and performance of the ALT system,...
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