|
|
|
|
|
|
|
投稿须知
稿件处理流程
在线投稿
文章状态查询
过刊浏览
作者登录
用户名:
密  码:
 
申请成为本刊评审人
 
《高技术通讯》创刊于1991年,是由国家科技部高技术研究发展计划(863计划)联合办公室创办、中国科学技术信息研究所主办的综合性学术刊物,是国内高技术领域的高层次刊物之一。。。
快速检索提供对题目、关键词、作者姓名及单位进行模糊检索
当期目录 2017,Vol.23,No2  刊出日期  2017-6-20
简明目录 摘要目录
2804  
  目录
  目录
  2017-6-20 15:18:58 [摘要] [HTML] [PDF]
2803  Lei Jingtao (雷静桃)*, Zhu Jianmin**, Wu Jiandong*
  Trajectory tracking control of the bionic joint of the musculoskeletal leg mechanism
 

Abstract
Pneumatic artificial muscles (PAMs) have properties similar to biological muscles, which are widely used in robotics as actuators. It is difficult to achieve highprecision position control for robotics system driven by PAMs. A 3DOF musculoskeletal bionic leg mechanism is presented, which is driven by PAMs for quadruped robots. PAM is used to simulate the compliance of biological muscle. The kinematics of the leg swing is derived, and the foot desired trajectory is planned as the sinusoidal functions. The swing experiments of the musculoskeletal leg mechanism are conducted to analyse the extension and flexion of joints. A proportional integral derivative (PID) algorithm is presented for controlling the flexion/extension of the joint. The trajectory tracking results of joints and the PAM gas pressure are obtained. Experimental results show that the developed leg mechanism exhibits good biological properties.

Key words: musculoskeletal leg mechanism, swing, bionic joint, trajectory tracking, proportional integral derivative (PID) control

  2017-6-20 15:17:14 [摘要] [HTML] [PDF]
2802  Xu Yougen (徐友根), Yin Bingjie, Liu Zhiwen
  Robust adaptive beamforming for constant modulus signal of interest
 

Abstract
It is required in the diagonally loaded robust adaptive beamforming the automatic determination of the loading level which is practically a challenging problem. A constant modulus restoral method is herein presented to choose the diagonal loading level adaptively for the extraction of a desired signal with constant modulus (a common feature of the phase modulation signals). By introducing the temporal smoothing technique, the proposed constant modulus restoral diagonally loaded robust adaptive beamformer provides increased capability compared with some existing robust adaptive beamformers in rejecting interferences and noise while protecting the signalofinterest. Simulation results are included to illustrate the performance of the proposed beamformer.

Key words: array signal processing, robust adaptive beamforming, diagonal loading, constant modulus

  2017-6-20 15:15:47 [摘要] [HTML] [PDF]
2801  Liu Yuzhe (刘宇哲)* **, Wu Jun* **, Wang Liping***, Zhao Jingshan*, Wang Jinsong* **, Yu Guang* **
  A novel symmetrical 3DOF PKM and its performance comparison with 3PRS PKM
 

Abstract
A novel symmetrical 3degreeoffreedom (DOF) parallel kinematic manipulator (PKM) is firstly presented, which is named 3P (Qu) RU. According to the structure feature, a double closed loop vector method is proposed to investigate this PKM.Based on this method, kinematic, velocity and error models of this manipulator are established respectively. Since3PRS PKM has been applied successfully in practice and its structure is similar to the 3P (Qu) RU PKM, corresponding models of a 3PRS PKM are given and a performance comparison study between them is investigated on workspace, manipulator dexterity, position error and error sensitivity. The comparison results reveal that the 3P (Qu) RU PKM has the advantage on velocity performance and the disadvantage on accuracy performance. This novel 3P (Qu) RU PKM is an available selection for a tool head of a hybrid machine tool and the analysis is greatly helpful for the further applications of this manipulator.

Key words: comparison study, parallel kinematic manipulator(PKM), kinematics, velocity, error

  2017-6-20 15:13:05 [摘要] [HTML] [PDF]
最新消息
 
撰文基本要求
投稿声明
写作规范
制图要求
参考文献格式
文章模板下载
 
版权所有:中国科学技术信息研究所《高技术通讯》编辑部
地址:北京市西城区三里河路54号272 室 邮编:100045
E-mail:hitech@istic.ac.cn 电话:(010)68514060/68598272