Bionic jumping robot can cross the obstacles by jumping, and it has a good application prospect in the unstructured com- plex environment. The less Degree of Freedom （DOF） jumping leg, which has the characteristics ...Bionic jumping robot can cross the obstacles by jumping, and it has a good application prospect in the unstructured com- plex environment. The less Degree of Freedom （DOF） jumping leg, which has the characteristics of simple control and high rigidity, and is very important in research. Based on the experimental observation of leg physiological structure and take-off process of locust, two 1 DOF jumping leg models, which includes four-bar jumping leg model and slider-crank jumping leg model, are established, and multi objective optimization is conducted to deduce the motion law of two 1 DOF jumping leg models and jumping leg of locust is closer. Then the jumping performance evaluation indices are proposed, which include the mechanical property, body attitude, jumping distance and jumping performances of the two jumping leg models environmental effect. According to these evaluation indices, the are analyzed and compared, and the simulation is conducted for further explanations. The analysis results show that the four-bar jumping leg has smaller structural size and its motion law is closer to the hindleg of locust. The slider-crank jumping leg has better mechanical property, stronger energy storage capacity and the rough ground has less effect on it. This study offers a quantitative analysis and comparison for different jumping leg models of bionic locust jumping robot. Furthermore, a theoretical basis for future research and engineering application is established.展开更多
This paper studies the nonstationary filtering problem of Markov jump system under <span style="white-space:nowrap;"><i>l</i><sub>2</sub> - <i>l</i><sub>...This paper studies the nonstationary filtering problem of Markov jump system under <span style="white-space:nowrap;"><i>l</i><sub>2</sub> - <i>l</i><sub>∞</sub> </span>performance. Due to the difference in propagation channels, signal strength and phase will inevitably change randomly and cause the waste of signals resources. In response to this problem, a channel fading model with multiplicative noise is introduced. And then a nonstationary filter, which receives signals more efficiently is designed. Meanwhile Lyapunov function is constructed for error analysis. Finally, the gain matrix for filtering is obtained by solving the matrix inequality, and the results showed that the nonstationary filter converges to the stable point more quickly than the traditional asynchronous filter, the stability of the designed filter is verified.展开更多
基金the National Natural Science Foundation of China （Grant No. 51375035）, and the Specialized Research Fund for the Doctoral Program of Higher Education of China （Grant No. 20121102110021）.
文摘Bionic jumping robot can cross the obstacles by jumping, and it has a good application prospect in the unstructured com- plex environment. The less Degree of Freedom （DOF） jumping leg, which has the characteristics of simple control and high rigidity, and is very important in research. Based on the experimental observation of leg physiological structure and take-off process of locust, two 1 DOF jumping leg models, which includes four-bar jumping leg model and slider-crank jumping leg model, are established, and multi objective optimization is conducted to deduce the motion law of two 1 DOF jumping leg models and jumping leg of locust is closer. Then the jumping performance evaluation indices are proposed, which include the mechanical property, body attitude, jumping distance and jumping performances of the two jumping leg models environmental effect. According to these evaluation indices, the are analyzed and compared, and the simulation is conducted for further explanations. The analysis results show that the four-bar jumping leg has smaller structural size and its motion law is closer to the hindleg of locust. The slider-crank jumping leg has better mechanical property, stronger energy storage capacity and the rough ground has less effect on it. This study offers a quantitative analysis and comparison for different jumping leg models of bionic locust jumping robot. Furthermore, a theoretical basis for future research and engineering application is established.
文摘This paper studies the nonstationary filtering problem of Markov jump system under <span style="white-space:nowrap;"><i>l</i><sub>2</sub> - <i>l</i><sub>∞</sub> </span>performance. Due to the difference in propagation channels, signal strength and phase will inevitably change randomly and cause the waste of signals resources. In response to this problem, a channel fading model with multiplicative noise is introduced. And then a nonstationary filter, which receives signals more efficiently is designed. Meanwhile Lyapunov function is constructed for error analysis. Finally, the gain matrix for filtering is obtained by solving the matrix inequality, and the results showed that the nonstationary filter converges to the stable point more quickly than the traditional asynchronous filter, the stability of the designed filter is verified.
