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1.
随着微创手术的发展,虚拟手术的应用前景越来越广阔.力反馈作为虚拟手术的核心技术,其实现的效果直接影响了虚拟手术的沉浸感.通过对经典包围盒碰撞检测算法进行研究比对,选择了球包围盒的碰撞检测算法,并建立了精确的反馈力计算模型,实现了介入血管中的柔性碰撞仿真.该仿真具有很高的实时性和精度. 相似文献
2.
移动载人月球车相关技术的研究是我国未来载人登月探测的重要任务.根据载人月球车的需求,本文从航天员操作舒适度和操作工作空间出发,设计了一种面向载人月球车操作的力反馈手柄,在具体的场景设计下可以带给航天员力触觉感受,辅助航天员进行安全、有效的驾驶行为.基于力反馈手柄的移动载人月球车操作控制系统包含力反馈手柄、硬件系统、软件系统.力反馈手柄主要由二自由度旋转机构、手杆、带光编码器的直流电机组成;硬件系统为STM32单片机及相关接口电路,STM32作为下位机接收来自上位机的指令信号和力反馈信息,并且向上位机反馈手柄位置信息;为完成移动载人月球车操作控制系统的仿真测试,软件系统是基于unity3D所开发的月球车驾驶场景,搭载使用虚拟传感器,做出驾驶行为决策解算出相应的力反馈信息.实验结果表明,力反馈手柄能较好地辅助航天员操纵载人月球车,有效提升了载人月球车的驾驶效率和安全性. 相似文献
3.
智能肌电假手研究作为康复医疗领域中的重要研究内容,始终是国内外研究的热点.随着机器人技术的进步,假手正往仿人型、灵巧性、直觉控制、智能感知方向发展.智能肌电假手应当具有与人手相近的功能,其不仅能通过运动功能重建辅助残疾人进行日常生活,而且还应通过感知反馈功能重建让残疾人产生人机共融的本体感.本文通过对国内外多年的肌电假手研究成果进行分析比较,从质量、灵巧程度、抓取性能、设计原理等多角度分析了假手的机械结构设计要素;另外,本文还较系统地对基于肌电信号的手势识别研究现状进行概述,介绍了目前基于残肢生物信号识别的多种研究思路,并分析了多种基于不同原理的假手信息感知技术,介绍了利用指尖力触觉传感器实现对假手的自适应控制和用户的感知反馈.最后总结了未来假手的研究发展过程中面临的问题与挑战,提出了肌电假手的未来研究方向. 相似文献
4.
针对现有人工混响方法中反馈延迟网络方法存在延迟线的个数选择受限和无法设定子带混响时间的不足,本文设计了一种基于Householder反馈矩阵和Butterworth滤波器组的反馈延迟网络人工混响器.Householder反馈矩阵有助于最大化回声密度,延迟线个数的选择相对自由,Butterworth滤波器组便于设定子带混响时间.仿真实验中分别利用语谱图、语音质量感知评价和主观评价验证了本文方法的有效性. 相似文献
5.
现有基于Kinect构建的康复训练系统,大多以患者自行开展主动康复训练为主,未能充分利用康复医师的临床经验且很少用于机器人辅助康复训练系统,具有一定的局限.针对此问题,提出一种基于Kinect的机器人辅助上肢被动康复训练方法.首先,开展基于Kinect的上肢骨骼点跟踪与逆运动学计算;其次,基于Linux/QT及Kinect设计三维虚拟康复训练环境;再次,在康复医师示教训练任务并通过Kinect获取示教任务参考轨迹基础上,根据训练过程中Kinect实时捕获的患肢运动位置反馈,设计基于模糊推理的机器人辅助被动康复训练控制器;最后,基于Kinect及Barrett公司4自由度WAMTM康复机器人构建试验统平台,对方法有效性进行试验验证.实验结果表明,所提方法能有效利用医师的临床康复经验,并使机器人较平稳地牵引受试者上肢沿示教任务轨迹进行训练,较好地实现了"医师-机器人-患者"之间的人机协同康复训练. 相似文献
6.
本文研究了一类具有随机时滞的受扰马尔科夫跳变线性系统的有限时间稳定性问题.通过引入服从伯努利分布的随机变量刻画了时滞变化的随机特性.本文首先分析了系统的随机有限时间稳定性,基于分析结果设计了反馈控制器,使得系统状态在马尔科夫跳变、随机时滞和外界扰动等并存时,在给定时间内收敛于某一区域而不超过指定的上界值,并可获得该上界的具体值.最后通过数值仿真验证了所提算法的有效性. 相似文献
7.
本文主要开展多智能系统领导者-跟随一致性分析,其中每个智能体的动态性能描述为分数阶奇异线性系统.基于系统的输出信息,设计一个输出反馈的控制协议.通过有效的证明,推导出多智能体系统领导者-跟随一致性的充分条件.采用奇异值分解（SVD）技巧,可将一致性条件进一步转换为易于求解的线性矩阵不等式.当通信拓扑图假设为无向连通图时,一致性条件可以简化为相对简单的多个线性矩阵不等式.最后给出一个实例,演示如何求取反馈增益,通过仿真图可以发现本文结果正确、有效. 相似文献
8.
本文考虑了领队车控制输入未知的情况,提出一种多车辆纵向协作控制方法.首先,通过采用精确反馈线性化技术,得到了线性的车辆的动力学模型.然后,采用双向领队跟随通信策略,基于邻居车辆的状态信息,为每辆跟随车设计分布式控制律.考虑在领队车输入有界的情况下,提出了一种有效的多车辆协作控制算法,能够保证多车辆系统以最大的收敛速率达到内部稳定.最后,仿真结果展示了所提出控制器设计算法的有效性和优越性. 相似文献
9.
针对一类输入受限的非匹配不确定非线性系统,提出了一种抗饱和自适应反步控制方法.利用模糊干扰观测器在线逼近系统的未知非匹配不确定及干扰,采用反步控制方法设计自适应控制器.控制系统设计中引入限幅滤波器,有效降低了控制输入饱和对系统稳定性的影响,并且控制器设计无需对虚拟控制律进行重复求导.利用李亚普诺夫稳定性定理,证明了闭环系统渐近稳定.仿真结果表明了该方法的有效性. 相似文献
10.
基于移动台的位置信息,提出了基于移动台与基站之间的距离信息的多用户调度算法.针对特定的信道模型,分析了所提出的调度方法所需的吞吐量、反馈开销以及计算复杂度.理论和仿真结果表明:该调度方法所需反馈量明显降低且其所需计算量明显小于基于最大信干噪比的调度方法. 相似文献
11.
The spatial and temporal variations of daily maximum temperature(Tmax), daily minimum temperature(Tmin), daily maximum precipitation(Pmax) and daily maximum wind speed(WSmax) were examined in China using Mann-Kendall test and linear regression method. The results indicated that for China as a whole, Tmax, Tmin and Pmax had significant increasing trends at rates of 0.15℃ per decade, 0.45℃ per decade and 0.58 mm per decade,respectively, while WSmax had decreased significantly at 1.18 m·s~(-1) per decade during 1959—2014. In all regions of China, Tmin increased and WSmax decreased significantly. Spatially, Tmax increased significantly at most of the stations in South China(SC), northwestern North China(NC), northeastern Northeast China(NEC), eastern Northwest China(NWC) and eastern Southwest China(SWC), and the increasing trends were significant in NC, SC, NWC and SWC on the regional average. Tmin increased significantly at most of the stations in China, with notable increase in NEC, northern and southeastern NC and northwestern and eastern NWC. Pmax showed no significant trend at most of the stations in China, and on the regional average it decreased significantly in NC but increased in SC, NWC and the mid-lower Yangtze River valley(YR). WSmax decreased significantly at the vast majority of stations in China, with remarkable decrease in northern NC, northern and central YR, central and southern SC and in parts of central NEC and western NWC. With global climate change and rapidly economic development, China has become more vulnerable to climatic extremes and meteorological disasters, so more strategies of mitigation and/or adaptation of climatic extremes,such as environmentally-friendly and low-cost energy production systems and the enhancement of engineering defense measures are necessary for government and social publics. 相似文献
12.
Yuepeng PAN Mengna GU Yuexin HE Dianming WU Chunyan LIU Linlin SONG Shili TIAN Xuemei Lü Yang SUN Tao SONG Wendell W. WALTERS Xuejun LIU Nicholas A. MARTIN Qianqian ZHANG Yunting FANG Valerio FERRACCI Yuesi WANG 《大气科学进展》2020,37(9):933-938
正While China’s Air Pollution Prevention and Control Action Plan on particulate matter since 2013 has reduced sulfate significantly, aerosol ammonium nitrate remains high in East China. As the high nitrate abundances are strongly linked with ammonia, reducing ammonia emissions is becoming increasingly important to improve the air quality of China. Although satellite data provide evidence of substantial increases in atmospheric ammonia concentrations over major agricultural regions, long-term surface observation of ammonia concentrations are sparse. In addition, there is still no consensus on 相似文献
13.
Observed daily precipitation data from the National Meteorological Observatory in Hainan province and daily data from the National Centers for Environmental Prediction/National Center for Atmospheric Research (NCEP/NCAR) reanalysis-2 dataset from 1981 to 2014 are used to analyze the relationship between Hainan extreme heavy rainfall processes in autumn (referred to as EHRPs) and 10–30 d low-frequency circulation. Based on the key low-frequency signals and the NCEP Climate Forecast System Version 2 (CFSv2) model forecasting products, a dynamical-statistical method is established for the extended-range forecast of EHRPs. The results suggest that EHRPs have a close relationship with the 10–30 d low-frequency oscillation of 850 hPa zonal wind over Hainan Island and to its north, and that they basically occur during the trough phase of the low-frequency oscillation of zonal wind. The latitudinal propagation of the low-frequency wave train in the middle-high latitudes and the meridional propagation of the low-frequency wave train along the coast of East Asia contribute to the ‘north high (cold), south low (warm)’ pattern near Hainan Island, which results in the zonal wind over Hainan Island and to its north reaching its trough, consequently leading to EHRPs. Considering the link between low-frequency circulation and EHRPs, a low-frequency wave train index (LWTI) is defined and adopted to forecast EHRPs by using NCEP CFSv2 forecasting products. EHRPs are predicted to occur during peak phases of LWTI with value larger than 1 for three or more consecutive forecast days. Hindcast experiments for EHRPs in 2015–2016 indicate that EHRPs can be predicted 8–24 d in advance, with an average period of validity of 16.7 d. 相似文献
14.
Based on the measurements obtained at 64 national meteorological stations in the Beijing–Tianjin–Hebei (BTH) region between 1970 and 2013, the potential evapotranspiration (ET0) in this region was estimated using the Penman–Monteith equation and its sensitivity to maximum temperature (Tmax), minimum temperature (Tmin), wind speed (Vw), net radiation (Rn) and water vapor pressure (Pwv) was analyzed, respectively. The results are shown as follows. (1) The climatic elements in the BTH region underwent significant changes in the study period. Vw and Rn decreased significantly, whereas Tmin, Tmax and Pwv increased considerably. (2) In the BTH region, ET0 also exhibited a significant decreasing trend, and the sensitivity of ET0 to the climatic elements exhibited seasonal characteristics. Of all the climatic elements, ET0 was most sensitive to Pwv in the fall and winter and Rn in the spring and summer. On the annual scale, ET0 was most sensitive to Pwv, followed by Rn, Vw, Tmax and Tmin. In addition, the sensitivity coefficient of ET0 with respect to Pwv had a negative value for all the areas, indicating that increases in Pwv can prevent ET0 from increasing. (3) The sensitivity of ET0 to Tmin and Tmax was significantly lower than its sensitivity to other climatic elements. However, increases in temperature can lead to changes in Pwv and Rn. The temperature should be considered the key intrinsic climatic element that has caused the "evaporation paradox" phenomenon in the BTH region. 相似文献
15.
Storms that occur at the Bay of Bengal (BoB) are of a bimodal pattern, which is different from that of the other sea areas. By using the NCEP, SST and JTWC data, the causes of the bimodal pattern storm activity of the BoB are diagnosed and analyzed in this paper. The result shows that the seasonal variation of general atmosphere circulation in East Asia has a regulating and controlling impact on the BoB storm activity, and the “bimodal period” of the storm activity corresponds exactly to the seasonal conversion period of atmospheric circulation. The minor wind speed of shear spring and autumn contributed to the storm, which was a crucial factor for the generation and occurrence of the “bimodal pattern” storm activity in the BoB. The analysis on sea surface temperature (SST) shows that the SSTs of all the year around in the BoB area meet the conditions required for the generation of tropical cyclones (TCs). However, the SSTs in the central area of the bay are higher than that of the surrounding areas in spring and autumn, which facilitates the occurrence of a “two-peak” storm activity pattern. The genesis potential index (GPI) quantifies and reflects the environmental conditions for the generation of the BoB storms. For GPI, the intense low-level vortex disturbance in the troposphere and high-humidity atmosphere are the sufficient conditions for storms, while large maximum wind velocity of the ground vortex radius and small vertical wind shear are the necessary conditions of storms. 相似文献
16.
《大气和海洋科学快报》2013,(4):227
正AIMS AND SCOPE Atmospheric and Oceanic Science Letters (AOSL) publishes short research letters on all disciplines of the atmosphere sciences and physical oceanography. 相似文献
17.
《大气和海洋科学快报》2014,7(6):F0003-F0003
AIMS AND SCOPE
Atmospheric and Oceanic Science Letters （AOSL） publishes short research letters on all disciplines of the atmosphere sciences and physical oceanography. Contributions from all over the world are welcome. 相似文献
Atmospheric and Oceanic Science Letters （AOSL） publishes short research letters on all disciplines of the atmosphere sciences and physical oceanography. Contributions from all over the world are welcome. 相似文献
18.
《大气和海洋科学快报》2014,(5):F0003-F0003
AIMS AND SCOPE Atmospheric and Oceanic Science Letters （AOSL） pub- lishes short research letters on all disciplines of the atmos- phere sciences and physical oceanography. Contributions from all over the world are welcome. 相似文献
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《大气科学进展》2014,(6)
正Aims Scope Advances in Atmospheric Sciences(AAS)is an international journal on the dynamics,physics,and chemistry of the atmosphere and ocean with papers across the full range of the atmospheric sciences,co-published bimonthly by Science Press and Springer.The journal includes Articles,Note and Correspondence,and Letters.Contributions from all over the world are welcome. 相似文献