最优控制具有非完整性的两轮驱动机器人小车

研究了移动机器人反馈控制问题．这里所考虑的机器人是一个两轮驱动的具有非完整性的移动机器人小车．考虑了笛卡儿空间中轨线跟踪问题的扩展．且表明只要参考小车保持运动，在虚设的参考小车位形周围的小车位形的稳定成为可能．提出了最优控制律并给出了仿真结果。

工业机器人机械手的小脑模型自适应控制

本文为动力学控制工业机器人机械手提出一种综合控制算法。该控制算法,利用小脑模型算术计算机模块模拟机器人机械手的动力学方程并计算实现期望运动所需力矩作为前馈力矩控制项;利用自适应控制器实现反馈控制,以消除由输入扰动和参数变化而引起的机器人机械手运动误差。这种控制方法在时间上是有效的,且很适合于定点实现。控制方法的有效性通过四自由度的直接驱动机器人前两个关节的计算机仿真实验得到验证。

运动距离效应的认知编码机制

Among the cognitive studies of action, an important behavioral method is used to observe Reaction Time (RT) and Movement Time (MT) as the functions of motor parameters. RT is measured from the beginning of target presentation to the initiation of a movement, which is regarded as the programming of the ongoing movement. MT is measured from the initiation to the end of the movement, which is regarded as the execution of the movement. However, the relationship between RT and motor parameters remains uncertain till now. Under the uncertainty many related issues cannot be settled for long period, especially the issues as whether the amplitude effect appears during RT, or what should the amplitude effect be during RT. The present study aimed to find out the amplitude effect and the related cognitive process under different experimental conditions. First, we discussed the potential composition of RT and suggested that RT that normally measured in previous experiments might not reflect motor programming very well. Then we designed a series experiments to observe the relationship between RT and motor programming by using different Index of Difficulty (ID), different instructions in which speed and accuracy were emphasized respectively, different vision condition during movement execution and Go/NoGo paradigm. Meanwhile, we compared the amplitude effect under the respective RT to make the specific conclusion about the amplitude effect, and the relationship between RT and MT as well. The main findings are showed as following. 1) Because of the existing of “preview”, “visual feedback control” and “speed-accuracy tradeoff”, RT reflects motor programming differently under different experimental conditions. 2) Under different experimental conditions, the amplitude effect on RT varies. RT could be too short to exhibit the amplitude effect. Or the amplitude effect could be that more RT is needed for shorter movement when RT is prolonged. Or the amplitude effect could be that more RT is needed for longer movement when RT is further prolonged. 3) Under the present experimental conditions, the amplitude effect on MT showed consistently that longer movement needs longer MT. 4) Under the present experimental conditions, the relationship between RT and MT is a kind of compensation. The present study has important theoretic significance. The cognitive process of action is an important part of human cognitive behavior. The related studies could be very helpful for human people to know about themselves and the relation between themselves and the surroundings as well. Keywords motor programming; amplitude effect; Reaction Time (RT); Movement Time (MT)

Quantum coherence control of solid-state charge qubit by means of a suboptimal feedback algorithm

The quantum coherence control of a solid-state charge qubit is studied by using a suboptimal continuous feedback algorithm within the Bayesian feedback scheme. For the coherent Rabi oscillation, the present algorithm suggests a simple bang-bang control protocol, in which the control parameter is modulated between two values. For the coherence protection of the idle state, the present approach is applicable to arbitrary states, including those lying on the equator of the Bloch sphere which are out of control in the previous Markovian feedback scheme.

Intelligent control of avalanched photodiode to get optimal state

To improve the sensitivity of our laser radar system, we provided a set of control method for APDs (Avalanched Photodiodes) based on single-chip computer together with the circuits dealing with noise and temperature. It adjusts the voltages intelligently and maintains the APD's optimal working status.

A low noise charge sensitive preamplifier with switch control feedback resistance

In this paper, the design and analysis of a new low noise charge sensitive preamplifier for silicon strip, Si(Li), CdZnTe and CsI detectors etc. with switch control feedback resistance were described, the entire system to be built using the CMOS transistors. The circuit configuration of the CSP proposed in this paper can be adopted to develop CMOS-based Application Specific Integrated Circuit further for Front End Electronics of read-out system of nuclear physics, particle physics and astrophysics research, etc. This work is an implemented design that we succeed after a simulation to obtain a rise time less than 3ns, the output resistance less than 94 Omega and the linearity almost good.

a state-adaptive access control model for web-based idrs system

Huazhong Univ Sci & Technol, Natl Tech Univ Ukraine, Huazhong Normal Univ, Harbin Inst Technol, IEEE Ukraine Sect, I& M/CI Joint Chapter