A compound controller is proposed to alleviate the considerable chattering in output of zero phase error tracking controller （ZPETC）, when the flight simulator losses command data of simulation signal. Besides, the ...A compound controller is proposed to alleviate the considerable chattering in output of zero phase error tracking controller （ZPETC）, when the flight simulator losses command data of simulation signal. Besides, the shortcomings, caused by conventional differential methods in retrieving velocity and acceleration signals, are avoided to a certain extent. The compound controller based on disturbance observer （DOB） is composed of a feed-forward controller and a feedback controller. It estimates velocity and acceleration of unknown tracking signal, and also velocity response with an approximate method for differential. The experiments on a single-axis flight simulator show that the proposed method has strong robustness against parameter perturbations and external disturbances, owing to the introduced DOB. Compared with the scheme with ZPETC, the proposed scheme possesses more simple design and better tracking performance. Moreover, it is less sensitive to position command distortion of flight simulator.展开更多
The use of simulators as educational tools for medical procedures is spreading rapidly and many efforts have been made for their implementation in gastrointestinal endoscopy training. Endoscopy simulation training has...The use of simulators as educational tools for medical procedures is spreading rapidly and many efforts have been made for their implementation in gastrointestinal endoscopy training. Endoscopy simulation training has been suggested for ascertaining patient safety while positively influencing the trainees' learning curve. Virtual simulators are the most promising tool among all available types of simulators. These integrated modalities offer a human-like endoscopy experience by combining virtual images of the gastrointestinal tract and haptic realism with using a customized endoscope. From their first steps in the 1980s until today, research involving virtual endoscopic simulators can be divided in two categories: investigation of the impact of virtual simulator training in acquiring endoscopy skills and measuring competence. Emphasis should also be given to the financial impact of their implementation in endoscopy, including the cost of these state-of-theart simulators and the potential economic benefits from their usage. Advances in technology will contribute to the upgrade of existing models and the development of new ones; while further research should be carried out to discover new fields of application.展开更多
基金Program for New Century Excellent Talents in University (NCET-07-0044)
文摘A compound controller is proposed to alleviate the considerable chattering in output of zero phase error tracking controller （ZPETC）, when the flight simulator losses command data of simulation signal. Besides, the shortcomings, caused by conventional differential methods in retrieving velocity and acceleration signals, are avoided to a certain extent. The compound controller based on disturbance observer （DOB） is composed of a feed-forward controller and a feedback controller. It estimates velocity and acceleration of unknown tracking signal, and also velocity response with an approximate method for differential. The experiments on a single-axis flight simulator show that the proposed method has strong robustness against parameter perturbations and external disturbances, owing to the introduced DOB. Compared with the scheme with ZPETC, the proposed scheme possesses more simple design and better tracking performance. Moreover, it is less sensitive to position command distortion of flight simulator.
文摘The use of simulators as educational tools for medical procedures is spreading rapidly and many efforts have been made for their implementation in gastrointestinal endoscopy training. Endoscopy simulation training has been suggested for ascertaining patient safety while positively influencing the trainees' learning curve. Virtual simulators are the most promising tool among all available types of simulators. These integrated modalities offer a human-like endoscopy experience by combining virtual images of the gastrointestinal tract and haptic realism with using a customized endoscope. From their first steps in the 1980s until today, research involving virtual endoscopic simulators can be divided in two categories: investigation of the impact of virtual simulator training in acquiring endoscopy skills and measuring competence. Emphasis should also be given to the financial impact of their implementation in endoscopy, including the cost of these state-of-theart simulators and the potential economic benefits from their usage. Advances in technology will contribute to the upgrade of existing models and the development of new ones; while further research should be carried out to discover new fields of application.
