|
|
|
题名
|
作者
|
年代
|
出处
|
被引量
|
| 1 | STUDY ON SENSOR-BASED CONTROL METHOD FOR HARMONIC DRIVE SYSTEM显示文摘A new type of robust traje ctory tracking control for harmonic using joint torque sensor and joint acceleration sensor information is concerned with.Joint torque sensor information is used to compensate the uncertainty of link and load parameters. Joint acceleration feedback control will enhace the robustness of the driving system, resist the dynamic uncertainties and disturbing torque acted on the joint axis within definite bandwidth, improve the joint tracking performance, and resist the vibration of the load side of the harmonic drive system. Experimental studies are carried out and comparison of several controllers , such as PD and sensor- based control, the experimental results clearly illustrate the effectiveness of the proposed methods. | Tan Dalong, Qiu Zhicheng, Han Jianda (Shenyang Institute of Automation, Chinese Academy of Sciences) | 2000 | Chinese Journal of Mechanical Engineering2000，13，3： | 12 |
| 2 | Center-configuration selection technique for the reconfigurable modular robot显示文摘The reconfigurable modular robot has an enormous amount of configurations to adapt to various environments and tasks. It greatly increases the complexity of configuration research in that the possible configuration number of the recon-figurable modular robot grows exponentially with the increase of module number. Being the initial configuration or the basic configuration of the reconfigurable robot, the center-configuration plays a crucial role in system’s actual applications. In this paper, a novel center-configuration selection technique has been proposed for re-configurable modular robots. Based on the similarities between configurations’ transformation and graph theory, configuration network has been applied in the modeling and analyzing of these configurations. Configuration adjacency matrix, reconfirmation cost matrix, and center-configuration coefficient have been defined for the configuration network correspondingly. Being similar to the center-location problem, the center configuration has been selected according to the largest cen-ter-configuration coefficient. As an example of the reconfigurable robotic system, AMOEBA-I, a three-module reconfigurable robot with nine configurations which was developed in Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), has been introduced briefly. According to the numerical simulation result, the center-configuration coefficients for these nine configurations have been calculated and compared to validate this technique. Lastly, a center- configu-ration selection example is provided with consideration of the adjacent configura-tions. The center-configuration selection technique proposed in this paper is also available to other reconfigurable modular robots. | LIU JinGuo WANG YueChao LI Bin MA ShuGen TAN DaLong | 2007 | Science in China(Series F)2007，50，5： | 7 |
| 3 | An LMI approach to stability of systems with severe time-delay显示文摘 | JIANG Xingjian TAN Dalong WANG Yuechao | 2004 | IEEE Transactions on Automatic Control2004，49，7： | 1 |
| 4 | Characteristics of a Large-Scale Deep Foundation Pit Excavated by the Central-Island Technique in Shanghai Soft Clay. I: Bottom-Up Construction of the Central Cylindrical Shaft显示文摘 | Yong Tan Dalong Wang | 2013 | Journal of Geotechnical and Geoenvironmental Engineering2013，，11： | 1 |
| 5 | An LMI approach to stability of systems with severe time-delay显示文摘 | JING Xingjian TAN Dalong WANG Yuechao | 2004 | IEEE Trans Automat Contr2004，49，7： | 1 |
| 6 | An LMI approach to stability of systems with severe time-delay显示文摘 | JING Xing TAN Dalong WANG Yuechao | 2004 | IEEE Transactions On Automatic Control2004，49，7： | 1 |
| 7 | An LMI approach to stability of systems with severe tims-delay显示文摘 | JING Xinghan TAN Dalong WANG Yuechao | 2004 | IEEE Trans Automal Contr2004，49，7： | 1 |
| 8 | An LMI approach to stability of systems with severe time-delay 显示文摘 | Xingjian Jing Dalong Tan Yuechao Wang | 2004 | IEEE Transactions on Automatic Control2004，49，7： | 1 |
| 9 | Characteristics of a large- scale deep foundation pit excavated by the central-island technique in Shanghai soft clay, II: top-down construction of the peripheral rectangular pit 显示文摘 | Tan Yong Wang Dalong | 2013 | Journal of Geotechnical and Geoenviromental Engineering2013，139，： | 1 |
| 10 | An LMI approach to stability of systems with severe time-delay显示文摘 | JING Xing TAN Dalong WANG Yuechao | 2004 | IEEE Transactions On Automatic Control2004，49，7： | 1 |
| 11 | Vision-based formation control of mobile robots显示文摘In this paper,a formatio n control algorithm and an obstacle avoidance control algorithm for mobile robots are developed based on a relative motion sensory system such as a pan/tilt camera vision system,without the need for global sensing and communication between robots.This is achieved by e mploying the velocity variation,instead of actual ve locities,as the control inputs.Simulation and experi mental results have demonstrated the effectiveness of the proposed control methods. | Shicai LIU Dalong TAN Guangjun LIU | 2005 | 控制理论与应用(英文版)2005，3，2： | 0 |
| 12 | Spectral computed tomography-guided photothermal therapy of osteosarcoma by bismuth sulfide nanorods显示文摘Osteosarcoma(OS)is the most normally primary malignant bone cancer in adolescents.Due to their analogous X-ray attenuation properties,healthy bones and malignancies with iodine enhancement cannot be distinguished by conventional computed tomography(CT).As one kind of spectral CT,dual-energy CT(DECT)offers multiple functions for material separation and cancer treatments.Herein,bismuth sulfide(Bi_(2)S_(3))nanorods(NRs)were synthesized as special contrast agents(CAs)for DECT,which have superior imaging properties than clinical iodine CAs.At the same time,the high photothermal conversion rates of Bi_(2)S_(3)NRs can be used for DECT-guided photothermal therapy(PTT)to destroy OS and inhibit tumor growth under the guidance of DECT imaging.Importantly,DECT imaging real-timely monitored that PTT could accelerate the diffusion of Bi2S3 NRs in the tumor,obtaining detailed information on the internal distribution of nanomaterials in tumors around the bone to avoid injury to normal tissues by PTT.Overall,the proposed strategy of DECT imaging-guided PTT appears enormous promise for bone disease treatment. | Yuhan Li Xiaoxue Tan Han Wang Xiuru Ji Zi Fu Kai Zhang Weijie Su Jian Zhang Dalong Ni | 2023 | Nano Research2023，16，7： | 0 |
您所在的机构暂未开通此部分的功能，请联系管理员