摘要：In this paper, modeling, locomotion generation, motion library design and path planning for a real prototype of an Anguilliform robotic fish are presented. The robotic fish consists of four links and three joints, and the driving forces are the torques applied to the joints. Considering kinematic constraints and hydrodynamic forces, Lagrangian formulation is used to obtain the dynamic model of the fish. Using this model, three major locomotion patterns of Anguilliform fish, including forward locomotion, backward locomotion and turning locomotion are investigated. It is found that the fish exhibits different locomotion patterns by giving different reference joint angles, such as adding reversed phase difference, or adding deflections to the original reference angles. The results are validated by both simulations and experiments. Furthermore, the relations among the speed of the fish, angular frequency, undulation amplitude, phase difference, as well as the relationship between the turning radius and deflection angle are investigated. These relations provide an elaborated motion library that can be used for motion planning of the robotic fish.

摘要：In this paper,the modeling and control design of a biomimetic robotic fish is *** Anguilliform robotic fish consists of N links and N−1 joints,and the driving forces are the torques applied to the *** kinematic constraints,Lagrangian formulation is used to obtain the dynamics of the fish *** computed torque control method is applied first,which can provide satisfactory tracking responses for fish *** this robotic fish is essentially an underactuated system,the reference trajectories for the orientation of the N links are planned in such a way that,at a neighborhood of the equilibrium point,the tracking task of N angles can be achieved by using N−1 joint *** deal with parameter uncertainties that exist in the actual environment,sliding mode control is *** feasibility and complexity issues,a simplified sliding mode control algorithm is given.A four-link robotic fish is modeled and simulated,and the results validate the effectiveness of reference planning and the proposed controllers.

摘要：In this paper, we summarize some recent activities in the field of metamaterial research at the national university of singapore (NUS). Integral equations are applied for electromagnetic modelling of supernatural materials. Some special charac- teristics of the metamaterials are shown. Moreover, quasi-static Lorentz theory and numerical method (i.e., the method of moments for solving the electric field integral equation) and the transmission line theory are both presented to obtain the effective consti- tutive relations of metamaterials, respectively. Finally, feasibility of fabricating metamaterials based on analysis of equivalent transmission line model in the microwave spectrum and even higher is also shown and correspondingly some broad-bandwidth and low-loss metamaterial structures are designed and synthesized.

摘要：In this paper, control design is investigated for hard disk drives in mobile applications with unknown external arbitrarily fast time-varying disturbances. The disturbances can be estimated with exponential accuracy using the proposed disturbance observer based on a series of integral filters. The position error signal will converge to zero with the proposed control technique for systems subjected to the unknown disturbances. The effectiveness of the proposed method is demonstrated by extensive simulation studies.

摘要：Real-time multi-media applications are increasingly mapped on modern embedded systems based on multiprocessor systems-on-chip （MPSoC）. Tasks of the applications need to be mapped on the MPSoC resources efficiently in order to satisity their performance constraints. Exploring all the possible mappings, i.e., tasks to resources combinations exhaustively may take days or weeks. Additionally, the exploration is performed at design-time, which cannot handle dynamism in applications and resources＇ status. A runtime mapping technique can cater for the dynamism but cannot guarantee for strict timing deadlines due to large computations involved at run-time. Thus, an approach performing feasible compute intensive exploration at design-time and using the explored results at run-time is required. This paper presents a solution in the same direction. Communicationaware design space exploration （CADSE） techniques have been proposed to explore different mapping options to be selected at run-time subject to desired performance and available MPSoC resources. Experiments show that the proposed techniques for exploration are faster over an exhaustive exploration and provides almost the same quality of results.

摘要：In this paper, we present a full scheme for the cooperative control of multiple unmanned aerial vehicle （UAV） helicopters. We adopt the leader-follower pattern to maintain a fixed geometrical formation while navigating the UAVs following certain trajectories. More specifically, the leader is commanded to fly on some predefined trajectories, and each follower is controlled to maintain its position in formation using the measurement of its inertial position and the information of the leader position and velocity, obtained through a wireless modem. More specifications are made for multiple UAV formation flight. In order to avoid possible collisions of UAV helicopters in the actual formation flight test, a collision avoidance scheme based on some predefined alert zones and protected zones is employed. Simulations and experimental results are presented to verify our design.

摘要：An adaptive neuro-fuzzy control is investigated for a class of non-affine nonlinear *** do so,rigorous description and quantification of the approximation error of the neuro-fuzzy controller are firstly *** this result and Lyapunov stability theory,a novel updating algorithm to adapt the weights,centers,and widths of the neuro-fuzzy controller is ***,the proposed design method is able to guarantee the stability of the closed-loop system and the convergence of the tracking *** results illustrate the effectiveness of the proposed adaptive neuro-fuzzy control scheme.

摘要：For human beings of different ages and physical abilities, the inherent balance control system is ubiquitous and active to prevent falling, especially in motion states. A hybridized electromagnetic-triboelectric nanogenerator (HETNG) is prepared to harvest biomechanical energy during human balance control processes and achieve significant monitoring functions. The HETNG is composed of a symmetrical pendulum structure and a cylinder magnet rolling inside. Four coils are divided into two groups which form into two electromagnetic generators (EMGs). Besides, two spatial electrodes attached to the inner wall constitute a freestanding mode triboelectric nanogenerator (TENG). With a rectification circuit, the HETNG presents a high output power with a peak value of 0.55 W at a load of 160 Ω. Along with human balance control processes during walking, the HETNG can harvest biomechanical energy at different positions on the trunk. Moreover, the HETNG applied in artificial limb has been preliminarily simulated with the positions on thigh and foot, for monitoring the actions of squat and stand up, and lifting the leg up and down. For the elder that walks slowly with a walking aid, the HETNG equipped on the walking aid can help to record the motions of forwarding and unexpected falling, which is useful for calling for help. This work shows the potential of biomechanical energy-driven HETNG for powering portable electronics and monitoring human motions, also shows significant concerns to people lacked action capability or disabled.

摘要：Sensitivity loop shaping using add-on peak filters is a simple and effective method to reject narrow-band disturbances in hard disk drive （HDD） servo systems. The parallel peak filter is introduced to provide high-gain magnitude in the concerned frequency range of open-loop transfer function. Different from almost all the known peak filters that possess second-order structures, we explore in this paper bow high-order peak filters can be designed to improve the loop shaping performance. The main idea is to replace some of the constant coefficients of common second-order peak filter by frequency-related transfer functions, and then differential evolution （DE） algorithm is adopted to perform optimal design. We creatively introduce chromosome coding and fitness function design, which are original and the key steps that lead to the success of DE applications in control system design. In other words, DE is modified to achieve a novel design for hard disk drive control. Owing to the remarkable searching ability of DE, the expected shape of sensitivity function can be achieved by incorporating the resultant high-order peak filter in parallel with baseline feedback controller. As a result, a seventh-order peak filter is designed to compensate for contact-induced vibration in a high-density HDD servo system, where the benefits of high-order filter are clearly demonstrated.

摘要：In this paper, iterative learning control （ILC） design is studied for an iteration-varying tracking problem in which reference trajectories are generated by high-order internal models （HOLM）. An HOlM formulated as a polynomial operator between consecutive iterations describes the changes of desired trajectories in the iteration domain and makes the iterative learning problem become iteration varying. The classical ILC for tracking iteration-invariant reference trajectories, on the other hand, is a special case of HOlM where the polynomial renders to a unity coefficient or a special first-order internal model. By inserting the HOlM into P-type ILC, the tracking performance along the iteration axis is investigated for a class of continuous-time nonlinear systems. Time-weighted norm method is utilized to guarantee validity of proposed algorithm in a sense of data-driven control.