In this paper, a novel control scheme is developed for teleoperation system, combining the radial basis function (RBF) neural networks (NNs) and wave variable technique to simultaneously compensate effects caused by communication delays dynamics uncertainties. The system set up with TouchX joystick as master device simulated Baxter robot arm slave robot. haptic feedback provided human operator sense interaction force between environment when manipulating stylus of joystick. To utilize...

An aviation hydraulic axial piston pump's degradation from comprehensive wear is a typical gradual failure model. Accurate prediction difficult as random and uncertain characteristics must be factored into the estimation. The internal status of pump characterized by return oil flow based on fault mechanism analysis main frictional pairs in pump. performance model described Wiener process to predict remaining useful life (RUL) Maximum likelihood estimation (MLE) performed utilizing...

Inspired by the flow perception ability of underwater organisms' lateral line system (LLS), recently, artificial (ALLS) has shown highly competitive application prospects in AUVs. However, existing ALLS contains lots movable parts, which are easily damaged and entangled will generate resistance to AUV carrier. Moreover, mainly focus on vibration object detection, while studies more common valuable translational moving objects relatively less. In this article, a novel practical theory for...

Lower limb exoskeletons are becoming increasingly popular for aiding individuals with disabilities or limited locomotion abilities. Existing lower mainly focus on walking gait to perform medical rehabilitation training; however, the behavior patterns of patients diverse, and a single cannot satisfy demands daily life. In order promote assisting performance subject various types gaits, this article proposes policy improvement path integrals ( <inline-formula...

Hydraulic piston pumps are commonly used in aircraft. In order to improve the viability of aircraft and energy efficiency, intelligent variable pressure pump systems have been hydraulic more widely. Efficient fault diagnosis plays an important role improving reliability performance systems. this paper, a method system (IHPS) based on nonlinear unknown input observer (NUIO) is proposed. Different from factors full-order Luenberger-type observer, IHPS considered NUIO. Firstly, new type...

Mechanical systems could be severely damaged by loose debris generated through wear processes between contact surfaces. Hence, detection is necessary for effective fault diagnosis, life prediction, and prevention of catastrophic failures. This paper presents a new in-line sensor hydraulic based on dual excitation sources. The proposed makes magnetic lines more concentrated while at the same time improving field uniformity. As result has higher sensitivity improved precision. develops model,...

Superficial flow velocity perception is inspired by aquatic organisms and has become increasingly important for underwater robots vehicles. Existing marine electromagnetic velometers require very large AC coils with high power consumption excitation, limiting their mobility applications. Permanent magnet excitation preferable miniature sensors because of low consumption, small size, sensitivity. However, permanent not been applicable due to the output drift caused electrode polarization...

LuGre dynamic friction model has been widely used in servo system for compensation, but it increases the difficulty of controller design because its parameters are difficult to be identified and internal state is immeasurable. This paper presents a parameter identification technique based on novel evolutionary algorithm (NEA) model. In order settle practical digital implementation problem model, this also proposes modified dual-observer with discontinuous mapping smooth transfer function. On...

A spontaneous late-ripening mutant of 'Jincheng' (C. sinensis L. Osbeck) sweet orange exhibited a delay fruit pigmentation and harvesting. In this work, we studied the processes ripening through comparative analysis between Jincheng its wild type. This study revealed that quality began to differ on 166th days after anthesis. At stage, fruits were subjected transcriptome by RNA sequencing. 13,412 differentially expressed unigenes (DEGs) found. Of these unigenes, 75.8% down-regulated in type,...

This paper proposes an active fault-tolerant control strategy for aircraft with dissimilar redundant actuation system (DRAS) that has suffered from vertical tail damage. A damage degree coefficient based on the effective area is introduced to parameterize damaged flight dynamic model. The nonlinear relationship between and corresponding stability derivatives considered. Furthermore, performance degradation of new input channel electro-hydrostatic actuator (EHA) also taken into account in...

Catechins are crucial in determining the flavour and health benefits of tea, but it remains unclear that how light intensity regulates catechins biosynthesis. Therefore, we cultivated tea plants a phytotron to elucidate response mechanism biosynthesis changes.In 250 μmol·m- 2·s- 1 treatment, contents epigallocatechin, epigallocatechin gallate total were increased by 98.94, 14.5 13.0% respectively, compared with those 550 treatment. Meanwhile, photosynthetic capacity was enhanced including...

In this article, an adaptive switching controller based on the dynamic zero-moment point for versatile hip exoskeleton is proposed. The linear finite hysteretic state machine designed to recognize hybrid motion phases. torque planning strategy deployed obtain assistant adaptively under different locomotion. Experiments are carried out verify performance of controller, confirming stability and accuracy phase recognition, which also demonstrates excellent kinematic performance. net metabolic...

Hierarchical frameworks-a special class of directed frameworks with a layer-by-layer architecture-can be an effective mechanism to coordinate robot swarms. Their effectiveness was recently demonstrated by the mergeable nervous systems paradigm (Mathews et al., 2017), in which swarm can switch dynamically between distributed and centralized control depending on task, using self-organized hierarchical frameworks. New theoretical foundations are required use this for formation large In...

Epigallocatechin-3-gallate (EGCG), a flavoured and healthy compounds in tea, is affected by the ecological factors. However, biosynthetic mechanisms of EGCG response to factors remian unclear. In this study, surface method with Box-Behnken design was used investigate relationship between accumulation factors; further, integrative transcriptome metabolome analyses were performed explore mechanism underlying biosynthesis environmental The optimal conditions obtained for as follows: 28℃, 70 %...

This paper employs the Simulink simulation method based on Matlab to model and study subsystems of an electric pump-driven liquid rocket engine in cryogenic environments. Firstly, mathematical models for key components such as permanent magnet synchronous motor, centrifugal pump, pipelines, turbine combustion chamber are established. Then, specific constructed environment, with individual component configured interconnected, resulting overall model. Simulation tests under different operating...

As the core component of rudder system a multi-electric aircraft, electric servo has high requirements for reliability. component, electrical characteristics wound double-recession brushless DC motor are complex, and incidence faults is high. However, there lack research on effects dynamics system. The studied in this paper mainly include winding turn-to-turn short circuit irreversible demagnetisation permanent magnets. In paper, firstly, finite element transient calculations carried out two...

This paper studied the actuation system form used in near space vehicle, based on vehicle design demanding of high power/weight ratio and reliability, this proposes a new type dissimilar redundant (NT-DRAS). It is composed with electro-hydrostatic actuator (EHA) electro-mechanical (EMA), followed by this, aiming at an multi-constraint model given first, then reliability optimization process given. Finally, results three dimensional are to show analyze that NT-DRAS can have mission compared...