In this paper,according to the old people's physical characteristics and their technical requirements for comfort and mastery when operating the robot,a control approach driven by tactile and slip senses is invest...In this paper,according to the old people's physical characteristics and their technical requirements for comfort and mastery when operating the robot,a control approach driven by tactile and slip senses is investigated to control the elderly-assistant & walking-assistant robot. First,on the basis of the proposed driving control system program of tactile and slip,a detection system of tactile and slip senses are designed. Based on the tactile and slip feature representation and extraction,an improved classification and recognition method is proposed which combines K-nearest neighbor (KNN) algorithm and K-means algorithm. And then,a robot control system based on TMS320F2812 is designed in this paper,including its hardware and software design. Then,a moving control method including the fuzzy adaptive control algorithm is presented for the walking-assistant robot to realize some different moving properties. At last,by the experimental verification in the walking-assistant robot,the research results show that the tactile and slip senses detection and recognition method is effective,and the whole control system has good feasibility and adaptability.展开更多
Sutong Bridge is a cable-stayed steel box girder bridge with a main span of 1 088 m. The erection of upper structure adopts geometry control method and requires no change to the unit＇ s size and the structure＇ s non...Sutong Bridge is a cable-stayed steel box girder bridge with a main span of 1 088 m. The erection of upper structure adopts geometry control method and requires no change to the unit＇ s size and the structure＇ s none-stress geometry. Before main span closure, the cantilever of girder reaches 540.8 m, the structure state is noticeably influenced by extemal circumstances, the main span closure face great difficulty. By abstracting the advantage of the pullback method abroad and the domestic temperature-cutting method, a new assistant pullback method have put forward and bring into practice actually. In this paper, the analysis key point of practice conditions, key parameter of practice, main measures of the method and the performance is introduced.展开更多
Electrical power assisted steering (EPAS) is one of the key components, especially for electrical vehicle. It has attracted much attention for their advantages with respect to improved fuel economy and has been widely...Electrical power assisted steering (EPAS) is one of the key components, especially for electrical vehicle. It has attracted much attention for their advantages with respect to improved fuel economy and has been widely adopted as automotive power-steering equipment in recent years. EPS (electrical power steering) controllers contain MCU (microprocessor control unit) to implement the complex control algorithms. EPS control strategy development is the core technology of the whole system. To achieve the better performance of driving, both mechanical structures and electrical structures are totally designed as a whole. Model-based development is recommended to software design. There are several trends about EPS’ future, such as high power EPS development, high voltage EPS development and steering-by-wire technology.展开更多
Based on Edong Yangtze River Bridge, which is the second longest hybrid girder cable stayed bridge with 926 m long main span, the influencing factors and crucial techniques of the main span closure method for long spa...Based on Edong Yangtze River Bridge, which is the second longest hybrid girder cable stayed bridge with 926 m long main span, the influencing factors and crucial techniques of the main span closure method for long span hybrid girder cable stayed bridge are studied. After theoretical analysis, numerical evaluation and practical test, the loading assistant closure method is employed in Edong Yangtze River Bridge. The loading assistant closure method, with better thermal adaptability and less influence on bridge line and the forced status, can meet the requirements of the unstressed state control method. Based on the mentioned advantages, the loading assistant closure method is applicable to long span hybrid girder cable stayed bridges. The conclusion can provide a reference for the further design of the similar brid^es.展开更多
基金State Key Laboratory of Robotics and System(HIT) in China(No.SKLRS-2009-MS-02)
文摘In this paper,according to the old people's physical characteristics and their technical requirements for comfort and mastery when operating the robot,a control approach driven by tactile and slip senses is investigated to control the elderly-assistant & walking-assistant robot. First,on the basis of the proposed driving control system program of tactile and slip,a detection system of tactile and slip senses are designed. Based on the tactile and slip feature representation and extraction,an improved classification and recognition method is proposed which combines K-nearest neighbor (KNN) algorithm and K-means algorithm. And then,a robot control system based on TMS320F2812 is designed in this paper,including its hardware and software design. Then,a moving control method including the fuzzy adaptive control algorithm is presented for the walking-assistant robot to realize some different moving properties. At last,by the experimental verification in the walking-assistant robot,the research results show that the tactile and slip senses detection and recognition method is effective,and the whole control system has good feasibility and adaptability.
基金National Science and Technology Support Program of China(No.2006BAG04B03)
文摘Sutong Bridge is a cable-stayed steel box girder bridge with a main span of 1 088 m. The erection of upper structure adopts geometry control method and requires no change to the unit＇ s size and the structure＇ s none-stress geometry. Before main span closure, the cantilever of girder reaches 540.8 m, the structure state is noticeably influenced by extemal circumstances, the main span closure face great difficulty. By abstracting the advantage of the pullback method abroad and the domestic temperature-cutting method, a new assistant pullback method have put forward and bring into practice actually. In this paper, the analysis key point of practice conditions, key parameter of practice, main measures of the method and the performance is introduced.
基金The Innovation and Technology Fund of Hong Kong Government ( No. ITP/042 /08AP &No. ITP/003 /10AP)
文摘Electrical power assisted steering (EPAS) is one of the key components, especially for electrical vehicle. It has attracted much attention for their advantages with respect to improved fuel economy and has been widely adopted as automotive power-steering equipment in recent years. EPS (electrical power steering) controllers contain MCU (microprocessor control unit) to implement the complex control algorithms. EPS control strategy development is the core technology of the whole system. To achieve the better performance of driving, both mechanical structures and electrical structures are totally designed as a whole. Model-based development is recommended to software design. There are several trends about EPS’ future, such as high power EPS development, high voltage EPS development and steering-by-wire technology.
文摘Based on Edong Yangtze River Bridge, which is the second longest hybrid girder cable stayed bridge with 926 m long main span, the influencing factors and crucial techniques of the main span closure method for long span hybrid girder cable stayed bridge are studied. After theoretical analysis, numerical evaluation and practical test, the loading assistant closure method is employed in Edong Yangtze River Bridge. The loading assistant closure method, with better thermal adaptability and less influence on bridge line and the forced status, can meet the requirements of the unstressed state control method. Based on the mentioned advantages, the loading assistant closure method is applicable to long span hybrid girder cable stayed bridges. The conclusion can provide a reference for the further design of the similar brid^es.
