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This paper focuses on chaos control of a seven-link torque-stiffness-controlled dynamic walking model, actuated by a bio-inspired control system. The biped consists of compliant hip, knee and ankle joints and flat feet. We employed Ott–Grebogi–Yorke and delayed feedback control methods, responsible for small errors around the equilibrium solution and large errors far away, respectively. In simulation,...
In this paper, we investigate the local stability of a flat-foot limit cycle walking model with compliant ankle joints, and analyze the effects of ankle stiffness and foot inertial and geometric parameters on disturbance rejection. These results can provide a further understanding of local behaviors of different phases in one step and guidelines for stiffness control and flat foot design towards stable...
Underwater vehicles have been developed over the last six decades for potential uses in scientific, commercial, environmental, and military purposes, and always utilized to perform difficult tasks in cluttered environments such as deep-sea mining, underwater sampling and oceanic investigations. Since underwater vehicles have nonlinear and highly coupled dynamics, motion control can be difficult when...
It is very important for searcher to predict the lost plane falling rang. The motion equation of lost plane is built with additional mass and random force, and solved by using difference method abd random number, the trajectory is calculated by using integral method, the lost plane falling rang is determined by using probability distribution contour map.
The term "indoor" here refers generally to enclosed space partitioned into subspaces with connecting doors or gates. Examples include the inside of office buildings, amusement parks, and indoor shopping malls. In many applications, it is desirable to keep track of the distribution of people within the enclosed space. These applications range from smart house with automatically controlled...
Basing on the sample of typhoon from 2001 to 2010 for 10 years in the Northwest Pacific (NP), setting up the genetic-neural network prediction (GNNP) model which input predictors is using the methods of multidimensional scaling analysis (MDS) and Stepwise regression basing the predictors of climatology persistance to predict the typhoon intensity for 12, 24, 36, 48, 60 and 72 hour. The experimental...
Base bleed propellant is an important component of the increasing rang projectile using base bleed technology. Unsteady strongly combustion leads to extinguish, reignition or critical state which produce an effect on rang dispersion. The burning behavior is determined by the initial pressure of combustion chamber and the maximum pressure decay rate, which was investigated by simulation experimental...
This paper presents a bio-inspired below-knee exoskeleton to assist human walking. Different from the passive orthotic devices, the proposed exoskeleton includes powered compliant ankle and toe joints, which can output sufficient power to help the one with exoskeleton relearn normal walking gaits. We first propose a passivity-based dynamic bipedal model to analyze the effects of segmented foot and...
This paper presents a seven-link dynamic walking model that is more close to human beings. We add hip actuation, upper body, flat feet and compliant ankle joints to the model. Walking sequence of the flat-foot walker has several sub-streams that form bipedal walking with dynamic series of phases, which is different with the motion of round-foot and point-foot models. We investigate the characteristics...
A new removing of the mixed Gaussian and salt-pepper noise algorithm is proposed based on median filtering and grey relational analysis. At first, a median pixel is determined in the filter window. Then the coefficient of the proposed method can be varied adaptively based on degree of the grey relational analysis. Finally, the values of the processed pixel can be calculated. The calculation results...
This paper presents a passive dynamic walking model with segmented feet. The model extends the Simplest Walking Model with the addition of flat feet and torsional springs based compliance on ankle joints and toe joints, to achieve stable walking on a slope driven by gravity. The push-off phase includes foot rotations around toe joint and around toe tip, which shows a great resemblance to human normal...
According to the advantage of median filter and total variation algorithm, a new median filter adaptive total variation model based on part gradient of image pixels is established in the paper. At first, the new model uses the gradient information of every pixel of the image to find out the isolated noise point and then uses the median filter to remove it. Second, the adaptive total variation algorithm...
This paper introduces the broadband wireless access technology which is applied in WMAN. And the design of Reed-Solomon (RS (255, 239)) in IEEE802.16a/d FEC based on time-domain Berlekamp-Massey (BM) algorithm is implemented. In this decoder pipeline architecture is adopted. Furthermore, finite-field constant multipliers and specially the time-division- multiplex structure used for key equation solution...
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