网络系统的构建中期报告

2013年中期报告报告人：孙建IIM2013-6-28工作简介工作内容总结与展望PARTIIPARTIII双向密封门专利与文章报告结构PARTI假想柔顺控制方法（改进型）工作简介ResearchonthePowerAssistMethodofWPAL/WREHTASBasedontheInteractionForceInformationITER转运车整体控制系统设计ITER转运车双向密封门控制系统设计、专利和文章撰写主要工作-WREHTAS

简介b.手臂震颤信号检测装置WearableRoboticExoskeletonforHandTremorAssessmentandSuppression（WREHTAS），可穿戴式手臂震颤抑制与评估机器人系统c.震颤信号采集与处理帕金森患者、生理性震颤患者，医生精密手术、老年人日常生活等1989年首次报道，1998年后引起关注；1999年开始相关工作~2007了解调研～2008.1获所知识创新基金资助～2008.6安徽省自然科学基金资助，～2012.1获国家自然科学青年基金资助原理应用历程a.帕金森病患者

d.手臂震颤抑制实验与仿真基于机器人技术的手臂震颤抑制原理与流程Thepliancecontrolstrategyhassomeweaknesses（假想柔顺控制策略及其改进）ThepliancecontrolstrategyhassomeweaknessesImprovedpliancecontrolstrategyImprovedpliancecontrolstrategyExperimentswithpliancecontrolstrategyFig.6.TherightlegtrajectoryofWPALandtheoperator(ThehipandkneeangletrajectoriesoftheoperatorandWPALaredepictedseparatelybythebluecurveandtheredcurveandthebiggestdifferencesaredepictedbythepurpleoval).Theexperimentresultsshowthatthese”disturbance”points(purpleovalmarkerinFig.6)arebasicallysettledinthemomentswhentheoperatormovementschangeddistinctlysuchas“droppingthefoot”or“liftingthefoot”.Itisillustratedfromtheaboveexperimentresultsthatduetotheinherentproblemofthecontrolstrategyandtheinevitabletime-delayproblemofthecontrolsystem,itisdifficultforWPAL/WREHTAStotracktherapidchangingtrajectoriesoftheoperator.Tosolvetheproblem,the“disturbance”timeshouldbedeterminedsothatthese“disturbance”motionsofWPAL/WREHTAShavetobecompensated.ExperimentwithimprovedpliancecontrolstrategyAsshowninFig.7,thedifferencesofthetrajectoriesbetweenWPALandthehumaninthe“disturbance”timesesmaller,andtheoperatornolongerfeelsunnaturalorfortable.Itisilluminatedfromtheaboveexperimentresultsthatthenewimprovedpowerassistmethodcandeterminethe“disturbance”pointscorrectlyandconductperiodiccompensationtothese“disturbance”pointssothatWPAL/WREHTAScantracktherapidchangingtrajectoryinthe“disturbance”pointsandmaketheoperatorfeelnaturalandcomfortable.Fig.7TheexperimentresultswithimprovedpliancecontrolstrategyExperimentwithimprovedpliancecontrolstrategy部件转运车关键技术研究孙建，李涛，向馗部件转运车器件和控制原理与流程主要工作-ITER转运车控制系统主要工作-ITER转运车双向密封门主要工作-ITER转运车双向密封门主要工作-ITER转运车双向密封门主要工作-ITER转运车双向密封门工作成果-论文