Application of Public Telephone Network for Intelligent Home

利用单片机控制技术实现一种新的智能家居远程控制系统。该系统以公共电话网络为主要的信号载体,采用密码验证方式识别用户的合法身份,利用电话机上的按键作为控制命令键实现对家用电器的控制。在对家用电器进行控制的过程中,采用电力载波调制解调的方式,达到在对家用电器控制时无需单独布线的优点。同时当系统识别到用户家里有特殊情况时,如火灾、被盗、煤气泄漏等,可以实现自动拨号报警。系统会自动根据用户预先设定的拨号号码,发出报警信息,达到向用户报警的目的。Single chip computer control technology is applied to design a new intelligent home remote control system which uses the public telephone network as a key signal carrier and identifies the user′s legal status with password verification method.It uses the telephone button to control the household appliances.In the control process it uses power line carrier modem to control the household appliances,so it has the advantage of no separate wiring.At the same time,if the house occurs some special circumstances such as fire,theft,gas leak,etc,it can automatically sends the alarm information to users

三自由度冗余驱动并联机构的奇异性和工作空间分析

基于4-SPS/S三自由度冗余驱动并联机构的位置逆解模型,运用微分法推导出了该并联机构的雅可比矩阵,结合Gosselin奇异性分析法和数值分析法,分析了该并联机构的奇异性。随后分析了影响4-SPS/S三自由度冗余驱动并联机构工作空间的主要因素,并对其各支链的行程限制、各球铰副的转角限制和各支链间的尺寸干涉限制等影响因素进行了解析化分析。最后,基于4-SPS/S三自由度冗余驱动并联机构的位置正解模型,设计了该并联机构回转工作空间的求解算法。该算法避免了数值方法及几何方法的复杂性和不确定性,实现了回转工作空间的直观性表达。厦门大学“985工程”专项资金资助项目(0000-X07204);福建省自然科学基金资助项目(2010J05141);南昌航空大学博士启动基金资助项目(EA201204428

Acceleration Performance Index Analysis of Spatial 3-Dof Parallel Manipulator with Redundant Actuator

在建立空间三自由度冗余驱动并联机构HESSIAn矩阵的基础上,研究空间三自由度冗余驱动并联机构的加速度全域性能指标。在预设工作空间内,绘制加速度全域性能指标图谱。通过观察图谱,分析加速度全域性能指标随并联机构尺寸参数变化的分布规律。结果表明:ηA的最大值为0.803 7,即加速度性能指标最优,对应的结构参数为l_1=3.0 M,l_2=4.0 M,l_3=0.5 M,l_4=3.0 M;加速度性能指标好的空间三自由度冗余驱动并联机构组型主要集中在2.5 M≤l_1≤3.0 M,3.5 M≤l_2≤4.0 M,0.5 M≤l_3≤1.0 M,2.5 M≤l_4≤3.0 M的区域。The acceleration global performance index of spatial three degree-of-freedom parallel manipulator with redundant actuator was researched by Hessian matrix.The performance atlas was drawn in the default workspace.The geometry size distribution law of spatial three degree-of-freedom parallel manipulator with redundant actuator was analyzed,and the optimal size range under acceleration global performance index was established by the performance atlas.The results show that the best acceleration global performance indexηais 0.803 7 and the corresponding structure parameters are l_1= 3.0 m,l_2= 4.0 m,l_3= 0.5 m,l_4= 3.0 m,furthermore the good acceleration global performance areas are 2.5 m≤l_1≤3.0 m,3.5 m≤l_2≤4.0 m,0.5 m≤l_3≤1.0 m,2.5 m≤l_4≤3.0 m.江西省青年自然科学基金项目(20151BAB217022); 江西省教育厅青年科学基金项目(GJJ14549); 南昌航空大学博士启动金项目(EA201204428

机器人舞蹈浅议

舞蹈,作为一种社会文化形态,同时也是一种以丰富的肢体语言所呈现的动觉艺术。在人类社会中,舞蹈贯穿于整个人类文明之中,在运动、社交、求偶、祭祀、礼仪等各个方面起着无可替代的作用。不同的地域、民族以及文化衍生出各种各样的舞蹈种类与形式,无一不体现着人类对其涉身环境的认识与探索。从本质上来看,舞蹈是一系列变化的人体动作姿态,它以这些动作姿态来表现人类的情感乃至整个精神世界,用动作姿态来展现它所国家重点基础研究发展计划(973)项目(2013CB329502);; 国家自然科学基金面上项目(61273338);; 国家社会科学基金重大项目(11&ZD088)阶段性成

Kinematics Analysis of Spatial 3-Dof Parallel Manipulator with Redundant Actuator

由n(n<6)条SPS主动支链和一条被动约束支链构成的并联机构结构简单而且承载能力更强,具有非常广泛的应用前景。以4-SPS/S结构的并联机构为研究对象,实现模拟船舶在海浪中的3自由度摇摆运动功能。运用螺旋理论分析4-SPS/S并联机构真实的自由运动特性。运用坐标旋转矩阵变换和矢量导数法,推导出并联机构位置逆解的解析表达式以及各主动支链和动平台的微分运动特性。运用杆长约束条件和SylVESTEr结式消元法,推导出该机构位置正解的解析解。仿真研究和实例验证结果表明,该机构具有4组位置正解,其中2组为实解,另外2组为虚解,验证了位置正解求解算法的正确性。The parallel manipulators with n<6 spherical joint-prismatic joint-spherical joint(SPS) type active limbs and one passive constrained limb have attracted more attention and been used in many practical applications.The 4-SPS /S parallel manipulator was proposed and used to simulate ship swaying motion in the sea.Real mobility property of the 4-SPS /S parallel manipulator was analyzed by using screw theory.The inverse position kinematics model and the differential motion characteristics of the SPS active limbs and moving platform were established by coordinating rotation matrix transformation and vector derivative.The analytical solution of forward position kinematics was established by rod length constraint equations and Sylvester resultant elimination.The result of simulation and analysis showed that the parallel manipulator has four forward position solutions including two real solutions and two imaginary solutions,and the algorithm of forward position solution is correct.国家“985”计划资助项目(0000-X07204);福建省自然科学基金资助项目(2010J05141

An improved sen sorless d irect torque con trol for surface permanen tmagnet synchronousmachine

摘要: 为改进永磁同步电机无位置传感器直接转矩控制, 提出一种结合扩展卡尔曼滤波和滑模观测器的PMSM速度及位置估算方法. 使用Matlab /Simulink建立PMSM的无位置传感器直接转矩控制系统, 实现无位置传感器情况下的PMSM启动与调速仿真. 仿真结果表明, 该方法具有较令人满意的效果.英文摘要：To imp rove the performance of sensorless direct torque control of permanent magnet synchronousmotor, a method integrating extended Kalman filter and sliding mode observer for PMSM speed and position estimation is p roposed in this paper. AndMatlab /Simulink is used to establish the speed control system used sensorless direct torque controlmethod, and achieve the simulatioin of jump - start and speed control. The simulation results show that the method has more satisfactory performance

Multi-loop control of inertial platform servo loop

摘要: 稳定回路在惯性平台工作过程中起着重要的作用 , 它的精度直接影响着惯性平台的精度. 稳定回路是通过控制直流力矩电机的工作来实现系统的控制 , 通常稳定回路都是通过在系统中加位置控制环的方式达到控制的性能要求. 本文采用多环控制的方式来设计稳定回路 , 并且针对实际工程应用的直流力矩电机 , 利用MATLAB进行仿真 , 验证了其设计的性能. Abstract: The servo loop plays important role in the work process of inertial platform, so its accuracy directly affects the accuracy of the inertial platform. The servo loop uses the direct currentmomentmot or to carry out the control of the system, and it used to add the positi on control to enhance the performance of the system. The article usesmulti- loop control to design the servo l oop and makes use of MATLAB to simulati on which verifies the performance of the system.国家 985工程资助项目 (0000 - X07204

Inhibitory effect of NRP-1mAb on the growth of gastric cancer cell BGC-823

目的观察自主研发的抗NRP-1b1/b2IgG单克隆抗体（NRP-1mAb）对胃癌BGC-823细胞生长的影响,并初步探讨可能的作用机制。方法实验室制备NRP-1mAb,采用SDS-PAGE检测纯度。采用0、25、100、200、400μg/ml NRP-1mAb培养胃癌BGC-823细胞,光学显微镜下观察细胞形态学变化;采用MTT法、集落形成实验、流式细胞术观察胃癌细胞BGC-823的增殖、集落形成和凋亡的情况;Western blotting法检测NRP-1mAb作用后Akt、p38、ERK、JNK信号蛋白磷酸化情况。结果SDS-PAGE检测显示,NRP-1mAb的纯度在95%以上。光学显微镜观察显示,NRP-1mAb作用后,BGC-823细胞形态呈凋亡改变。MTT实验显示,NRP-1mAb抑制BGC-823细胞的增殖作用呈浓度和时间依赖性（P〈0.01）。集落形成实验显示,不同浓度NRP-1mAb均能显著抑制BGC-823细胞的集落形成,其抑制率呈浓度依赖性（P〈0.01）。流式细胞术检测显示,不同浓度NRP-1mAb均明显促进BGC-823细胞凋亡,且大部分集中在早期凋亡。Western blotting检测显示,BGC-823细胞的Akt磷酸化受到抑制,ERK、p38、JNK的磷酸化水平无明显变化。结论NRP-1mAb能抑制胃癌细胞BGC-823的生长、促进凋亡,可能与抑制Akt磷酸化有关。Objective To observe the effect of NRP-1b1/b2 IgG monoclonal antibody（ NRP-1） on the growth of gastric cancer cell BGC-823,and to explore the possible mechanism of the antibody. Methods NRP-1mAb was prepared in laboratory,and the purity of antibody was detected by SDS-PAGE. Gastric cancer BGC-823 cells were cultured by 0,25,100,200,400 μg/ml NRP-1 mAb. The morphological changes of BGC-823 cells were observed by microscope. The proliferation,colony formation and apoptosis of gastric cancer BGC-823 cells were observed by MTT assay,colony forming assay and flow cytometry. The phosphorylation of related signal proteins was detected by Western blotting analysis. Results SDS-PAGE test showed that the purity of NRP-1mAb was above95%. Microscopy showed apoptotic changes of BGC-823 cells treated by NRP-1mAb. MTT assay showed that NRP-1mAb could inhibit the proliferation of BGC-823 cells in a time and dose dependent manner（ P〈0. 01）. Colony forming assay showed that different doses of NRP-1mAb could inhibit the colony formation of BGC-823 cells in a dose dependent manner（ P〈0. 01）. Flow cytometry showed that different doses of NRP-1mAb could promote the apoptosis of BGC-823 cells mainly at early apoptosis stage. It was found that the level of Akt phosphorylation was decreased after treated by NRP-1mAb,and there was no significant phosphorylation of ERK,p38 and JNK protein. Conclusion NRP-1mAb can inhibit the growth of gastric cancer cell BGC-823 and promote apoptosis,which may be related to the inhibition of Akt phosphorylation.厦门市科技计划创新资助项目（3502z20134026,3502z20144034

Forward Position Kinematics Analysis of Three Degree-of-Freedom Parallel Manipulator Based on Improved Iterative Neural Network

针对模拟船舶在海上运动的摇摆姿态及重载的要求,根据并联机器人机构综合理论,提出运用4SPS-1S结构的并联机构实现模拟船舶在重载情况下的摇摆运动。通过对该机构的运动学分析,推导出三自由度并联机构位置逆解的解析表达式。考虑到位置正解的解析解难以求出,运用一种改进型、高效率的迭代神经网络对其位置正解模型进行求解,最后借助MATlAb软件对位置正解模型进行了仿真研究。研究结果表明:该改进型迭代bP神经网络不但性能上优于普通的bP神经网络和误差补偿函数为f(ε)=ε的迭代bP神经网络,且所建立的位置正解模型可以满足实时控制要求。For the simulation of the ship swing orientation and heavy load demand,4 SPS-1S three degree-of-freedom parallel manipulator was used according to the theories of the structure synthesis of parallel robotic mechanisms to realize simulation of the ship's swing movement under heavy load.Through analysis of the kinematics to this mechanism,the inverse kinematics formula for its position was deduced.An efficient improved type of iterative neural network was used to research the forward kinematics problem,because the analytical solution of forward kinematics was difficult to be solved.The research results show:not only the improved iterative BP neural network is superior in performance than the common BP neural network and the iterative BP neural network with error compensation function as f(ε)=ε,but also the real-time control requirements can be met by the forward kinematics model.国家985工程资助项目(000-X07204);福建省自然科学基金资助项目(2010J05141

Initial rotor position estimation method for IPMSM

针对现有内置式永磁同步电机(IPMSM)转子初始位置估计方法设计复杂与计算量大的问题,提出了基于旋转高频信号注入和傅氏算法的改进方法。使用移相和傅氏算法从响应电流中提取转子位置初步估算值,利用磁路饱和特性获得转子磁极方向,综合其结果得到转子初始位置,并对死区效应等非线性因素对该方法的影响进行了分析。在此基础上提出使用移位代替移相滤波器(通过选择适当的PMW频率和注入信号频率)、平均滤波等方法改进算法实现。在实验平台上完成验证实验,实验结果表明本文提出的方法能够快速且准确地估算出IPMSM转子初始位置(误差小于6°电角度),并且该方法相比传统方法更容易实施、计算量更小,适合工程应用。Aiming at the complicated design and large computation problem of the present initial rotor position estimation method for interior permanent magnet synchronous motor(IPMSM),an improved initial rotor position estimation method based on rotating high-frequency signal injection and Fourier algorithm is proposed in this paper.Phase shift and Fourier algorithm were used to obtain the preliminary estimation of rotor position from the response current,and the nonlinear characteristic of magnetic saturation was utilized to identify the rotor pole polarity.Finally the initial rotor position was determined by synthesizing the results above,and furthermore the effect of the nonlinear factor such as dead-time was analyzed.On that basis,methods such as using displacement instead of phase-shift filter(by selecting proper frequencies of the pulse width modulation(PWM) and injected signal),using averaging filter was proposed to improve the realization process.In the end,the verification experiments were implemented on the experimental platform.The experimental results show that the proposed method obtains the initial rotor position quickly and accurately(the estimation error is less than 6 electrical degrees),and it is simpler to realize and needs less computation than the traditional methods,which makes it suitable for engineering applications.国家985工程(0000-x07204); 福建省自然科学基金(2010J05141); 福建省教育厅资助科技项目(JA12262