Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) w...Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.展开更多
An abstraction and an investigation to the worth of dendritic cells (DCs) ability to collect, process and present antigens are presented. Computationally, this ability is shown to provide a feature reduction mechanism...An abstraction and an investigation to the worth of dendritic cells (DCs) ability to collect, process and present antigens are presented. Computationally, this ability is shown to provide a feature reduction mechanism that could be used to reduce the complexity of a search space, a mechanism for development of highly specialized detector sets as well as a selective mechanism used in directing subsets of detectors to be activated when certain danger signals are present. It is shown that DCs, primed by different danger signals, provide a basis for different anomaly detection pathways. Different antigen-peptides are developed based on different danger signals present, and these peptides are presented to different adaptive layer detectors that correspond to the given danger signal. Experiments are then undertaken that compare current approaches, where a full antigen structure and the whole repertoire of detectors are used, with the proposed approach. Experiment results indicate that such an approach is feasible and can help reduce the complexity of the problem by significant levels. It also improves the efficiency of the system, given that only a subset of detectors are involved during the detection process. Having several different sets of detectors increases the robustness of the resulting system. Detectors developed based on peptides are also highly discriminative, which reduces the false positives rates, making the approach feasible for a real time environment.展开更多
Micro-grids comprise low voltage distribution systems with distributed energy resources(DERs) and controllable loads which can operate connected to the medium voltage grid or islanded in a controlled coordinated way. ...Micro-grids comprise low voltage distribution systems with distributed energy resources(DERs) and controllable loads which can operate connected to the medium voltage grid or islanded in a controlled coordinated way. This concept aims to move from "connect and forget" philosophy towards a full integration of DERs. Micro-grids can provide numerous economic and environmental benefits for end-customers, utilities and society. However, their implementation poses great technical challenges, such as a new philosophy in design of protection systems. In this work, a micro-grid protection scheme is presented based on positive-sequence component using phasor measurement units(PMUs) and a central protection unit(CPU). The salient feature of the proposed scheme in comparison with the previous works is that it has the ability to protect both radial and looped micro-grids against different types of faults with the capability of single-phase tripping. Furthermore, since the CPU is capable of updating its pickup values(upstream and downstream equivalent positive-sequence impedances of each line) after the first change in the micro-grid configuration(such as transferring from grid-connected to islanded mode and or disconnection of a line, bus, or DER either in grid-connected mode or in islanded mode), it can protect micro-grid against subsequent faults. Finally, in order to verify the effectiveness of the suggested scheme and the CPU, several simulations have been undertaken by using DIg SILENT Power Factory and MATLAB software packages.展开更多
基金Project(61175128) supported by the National Natural Science Foundation of ChinaProject(2008AA040203) supported by the National High Technology Research and Development Program of China
文摘Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.
基金Project(50275150) supported by the National Natural Science Foundation of ChinaProjects(20040533035, 20070533131) supported by the National Research Foundation for the Doctoral Program of Higher Education of China
文摘An abstraction and an investigation to the worth of dendritic cells (DCs) ability to collect, process and present antigens are presented. Computationally, this ability is shown to provide a feature reduction mechanism that could be used to reduce the complexity of a search space, a mechanism for development of highly specialized detector sets as well as a selective mechanism used in directing subsets of detectors to be activated when certain danger signals are present. It is shown that DCs, primed by different danger signals, provide a basis for different anomaly detection pathways. Different antigen-peptides are developed based on different danger signals present, and these peptides are presented to different adaptive layer detectors that correspond to the given danger signal. Experiments are then undertaken that compare current approaches, where a full antigen structure and the whole repertoire of detectors are used, with the proposed approach. Experiment results indicate that such an approach is feasible and can help reduce the complexity of the problem by significant levels. It also improves the efficiency of the system, given that only a subset of detectors are involved during the detection process. Having several different sets of detectors increases the robustness of the resulting system. Detectors developed based on peptides are also highly discriminative, which reduces the false positives rates, making the approach feasible for a real time environment.
文摘Micro-grids comprise low voltage distribution systems with distributed energy resources(DERs) and controllable loads which can operate connected to the medium voltage grid or islanded in a controlled coordinated way. This concept aims to move from "connect and forget" philosophy towards a full integration of DERs. Micro-grids can provide numerous economic and environmental benefits for end-customers, utilities and society. However, their implementation poses great technical challenges, such as a new philosophy in design of protection systems. In this work, a micro-grid protection scheme is presented based on positive-sequence component using phasor measurement units(PMUs) and a central protection unit(CPU). The salient feature of the proposed scheme in comparison with the previous works is that it has the ability to protect both radial and looped micro-grids against different types of faults with the capability of single-phase tripping. Furthermore, since the CPU is capable of updating its pickup values(upstream and downstream equivalent positive-sequence impedances of each line) after the first change in the micro-grid configuration(such as transferring from grid-connected to islanded mode and or disconnection of a line, bus, or DER either in grid-connected mode or in islanded mode), it can protect micro-grid against subsequent faults. Finally, in order to verify the effectiveness of the suggested scheme and the CPU, several simulations have been undertaken by using DIg SILENT Power Factory and MATLAB software packages.
