By determining the state variables of a fuze safety system,some mathematical models——the system of ordinary differential and functional differential equations about the system's arming process are founded in a s...By determining the state variables of a fuze safety system,some mathematical models——the system of ordinary differential and functional differential equations about the system's arming process are founded in a state space.Also,the arming states and restricted relations of the safety factors are described and some demonstrations are presented.展开更多
A Bayesian method is used to evaluate the component safety failure model parameter of the safe arming system of an air faced missile in flight. It was proved that Bayes estimation of the model parameter is coinciden...A Bayesian method is used to evaluate the component safety failure model parameter of the safe arming system of an air faced missile in flight. It was proved that Bayes estimation of the model parameter is coincident with the physical explanation of the prior probability density distribution of the random parameter.展开更多
Disturbance specific force caused by the lever arm ef-fects in integration navigation system is investigated,Navigation errors eaused by the lever arm effects have been demonstrated under three flinght scenarios of th...Disturbance specific force caused by the lever arm ef-fects in integration navigation system is investigated,Navigation errors eaused by the lever arm effects have been demonstrated under three flinght scenarios of the air-craft.Analytical under three flight scenarios of the ari-craft.Analytical results show that disturbance specific force resulted from lever arm effects may become one of the major error sources while an aircraft undertakes the maneuvers,and mavigation errors caused by the lever arm effects accumulate rapidly with time.Therefore,a com-pensation method must be taken into account to eliminate the disturbance specific force caused by the lever arm ef-fects in integration navigation system.展开更多
Research for detecting or obtaining radionuclide by gamma energy spectrum data acquisition and process system is one of the key issues about intelligent measurement of gamma-ray spectrum. For this reason, a software a...Research for detecting or obtaining radionuclide by gamma energy spectrum data acquisition and process system is one of the key issues about intelligent measurement of gamma-ray spectrum. For this reason, a software and hardware implementation schematic design based on ARM ( Advanced RISC Machines) + DSP ( Digital Signal Processor) architecture for gamma energy spectrum data acquisition and processing system is proposed. The paper discusses in detail some key technologies such as communication interface design between microcontroller ARM and digital signal processor DSP,distribution scheduling under multi-task in the ARM-Linux,DSP handling procedures for multi-channel A / D high-speed sample. At the same time,because the traditional Gaussian fitting to determine the boundary of peak is not ideal,it puts forward a weighting factor of Gaussian function least squares fitting realize boundary determined. Finally gamma-spectrum data from sodium iodide NaI( TI) scintillation detector is tested and processed in the new system. The results show that gamma energy spectrum data acquisition and process system is perfect functionality, stable and convergence in unimodal. Compared with data from conventional energy spectrometers,the system can keep better energy resolution in a wide range of pulse pass rate.展开更多
In inertial navigation system(INS) and global positioning system(GPS) integrated system, GPS antennas are usually not located at the same location as the inertial measurement unit(IMU) of the INS, so the lever arm eff...In inertial navigation system(INS) and global positioning system(GPS) integrated system, GPS antennas are usually not located at the same location as the inertial measurement unit(IMU) of the INS, so the lever arm effect exists, which makes the observation equation highly nonlinear. The INS/GPS integration with constant lever arm effect is studied. The position relation of IMU and GPS's antenna is represented in the earth centered earth fixed frame, while the velocity relation of these two systems is represented in local horizontal frame. Due to the small integration time interval of INS, i.e. 0.1 s in this work, the nonlinearity in the INS error equation is trivial, so the linear INS error model is constructed and addressed by Kalman filter's prediction step. On the other hand, the high nonlinearity in the observation equation due to lever arm effect is addressed by unscented Kalman filter's update step to attain higher accuracy and better applicability. Simulation is designed and the performance of the hybrid filter is validated.展开更多
The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum wit...The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the ann. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 mieroeontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.展开更多
With the widespread application of WIFI networks and embedded system technology, the device monitoring system based on Embedded System and wireless network came into being. In this paper, we introduce a device monitor...With the widespread application of WIFI networks and embedded system technology, the device monitoring system based on Embedded System and wireless network came into being. In this paper, we introduce a device monitoring system based on ARM upper computer and WIFI transmission, and we tested this system on workshop equipment. The hardware adopts ARM Cortex-A8 processor architecture of TI company as the main control chip, using IAC-335X-Kit development board for system design, external USB camera module and WIFI wireless module for video capture and data transmission. The software is based on embedded Linux as the platform. The system will collect production data accurately and objectively, and the statistical analysis. At the same time, the system uses QT to develop the upper computer software GUI interface. Compared with the traditional system based on the wired network, our design is more convenient and flexible, which reduces the implementation restriction and maintenance cost of traditional network cabling.展开更多
Background Globally,populations afflicted by armed conflict are known to have high rates of mental health disorders.Aims This meta-analysis aims to estimate the prevalence of post-traumatic stress disorder(PTSD)and de...Background Globally,populations afflicted by armed conflict are known to have high rates of mental health disorders.Aims This meta-analysis aims to estimate the prevalence of post-traumatic stress disorder(PTSD)and depressive symptoms among civilians residing in armed conflictaffected regions.Methods This meta-analysis was conducted in accordance with the Preferred Reporting Items forSystematic Reviews and Meta-Analyses.A literature search employing MEDLINE(R),Embase Classic+Embase,APA PsyclNFO,Ovid Healthstar,Journal@Ovid Full Text,Cochrane,PTSDpubs and CINAHL was conducted from inception until 19 March 2024 to identify relevant studies.Quality assessment was performed using the Joanna Briggs Institute Critical Appraisal Checklist for Prevalence Studies,and a Comprehensive Meta-Analysiswas usedto conduct the statistical analysis.Results The search yielded 38595 articles,of which 57 were considered eligible for inclusion.The included studies comprised data from 64596 participants.We estimated a prevalence of 23.70%(95%CI 19.50%to28.40%)forPTSD symptomsand 25.60%(95%Cl 20.70%to 31.10%)for depressive features among war-afflicted civilians.The subgroup analysis based on time since the war and the country's economic status revealed the highest prevalence for both PTSD and depressive symptoms was present during the years of war and in low/middle-incomecountries.Conclusions The results of this study provide conclusive evidence of the detrimental impacts of armed conflict on mental health outcomes.Hence,it is crucial to emphasise the significance of both physical and mental health in the aftermath of war and take appropriate humanistic measures to overcome challenges in the management of psychiatric illnesses.展开更多
This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each jo...This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each joint. To lighten the weight, almost all mechanical parts are made of aluminum and the robot control system is placed outside. The modular concept is adopted during the robot design process for time and cost saving. Considering the much greater torque acted on the two shoulder joints, the joint shells are strengthened in the design to increase joint stiffness and suppress system vibration. Meanwhile, to simplify the maintenance, a new spring pins electronic connector is designed to disassemble every joint, connector and link independently without cutting any cables. The teleoperation technology enables the robot to offer more convenient service definitely for people＇ s daily life. Virtual reality technology is used to solve the time delay problem during teleoperation. Finally, two typical daily chore experiments are implemented to prove the manipulation ability of the dexterous robot arm.展开更多
In response to the frequent safety accidents of industrial robots, this paper designs and implements a safety detection system for robot control. It can perform real-time security detection of robot operations on indu...In response to the frequent safety accidents of industrial robots, this paper designs and implements a safety detection system for robot control. It can perform real-time security detection of robot operations on industrial production lines to improve the security and reliability of robot control systems. This paper designs and implements a robot control system based Snort-BASE for real-time online detection of DoS attacks. The system uses a six-degree-of-freedom robotic arm as an example, uses Snort to record the network communication data of the robot arm control system in real time, and filters the network traffic through self-defined rules, and then uses the BASE analysis platform to achieve security analysis of the network traffic. The solution verifies the effectiveness of online real-time detection of attacks and visualisation of attack records by designing simulated robotic arm and real robotic arm attack experiments respectively, thus achieving the security of network communication of the robot remote control system.展开更多
文摘By determining the state variables of a fuze safety system,some mathematical models——the system of ordinary differential and functional differential equations about the system's arming process are founded in a state space.Also,the arming states and restricted relations of the safety factors are described and some demonstrations are presented.
文摘A Bayesian method is used to evaluate the component safety failure model parameter of the safe arming system of an air faced missile in flight. It was proved that Bayes estimation of the model parameter is coincident with the physical explanation of the prior probability density distribution of the random parameter.
文摘Disturbance specific force caused by the lever arm ef-fects in integration navigation system is investigated,Navigation errors eaused by the lever arm effects have been demonstrated under three flinght scenarios of the air-craft.Analytical under three flight scenarios of the ari-craft.Analytical results show that disturbance specific force resulted from lever arm effects may become one of the major error sources while an aircraft undertakes the maneuvers,and mavigation errors caused by the lever arm effects accumulate rapidly with time.Therefore,a com-pensation method must be taken into account to eliminate the disturbance specific force caused by the lever arm ef-fects in integration navigation system.
基金Sponsored by the Natural Science Fundation of Jiangxi Province(Grant No.20114BAB211026 and No.20122BA-B201028)Open Science Fund from Key Laboratory of Radioactive Geology and Exploration Technology Fundamental Science for National Defense,East China Institute of Technology(Grant No.2010RGET11)
文摘Research for detecting or obtaining radionuclide by gamma energy spectrum data acquisition and process system is one of the key issues about intelligent measurement of gamma-ray spectrum. For this reason, a software and hardware implementation schematic design based on ARM ( Advanced RISC Machines) + DSP ( Digital Signal Processor) architecture for gamma energy spectrum data acquisition and processing system is proposed. The paper discusses in detail some key technologies such as communication interface design between microcontroller ARM and digital signal processor DSP,distribution scheduling under multi-task in the ARM-Linux,DSP handling procedures for multi-channel A / D high-speed sample. At the same time,because the traditional Gaussian fitting to determine the boundary of peak is not ideal,it puts forward a weighting factor of Gaussian function least squares fitting realize boundary determined. Finally gamma-spectrum data from sodium iodide NaI( TI) scintillation detector is tested and processed in the new system. The results show that gamma energy spectrum data acquisition and process system is perfect functionality, stable and convergence in unimodal. Compared with data from conventional energy spectrometers,the system can keep better energy resolution in a wide range of pulse pass rate.
基金Project(41374018)supported by the National Natural Science Foundation of ChinaProject(J13LN74)supported by the Shandong Province Higher Educational Science and Technology Program,China
文摘In inertial navigation system(INS) and global positioning system(GPS) integrated system, GPS antennas are usually not located at the same location as the inertial measurement unit(IMU) of the INS, so the lever arm effect exists, which makes the observation equation highly nonlinear. The INS/GPS integration with constant lever arm effect is studied. The position relation of IMU and GPS's antenna is represented in the earth centered earth fixed frame, while the velocity relation of these two systems is represented in local horizontal frame. Due to the small integration time interval of INS, i.e. 0.1 s in this work, the nonlinearity in the INS error equation is trivial, so the linear INS error model is constructed and addressed by Kalman filter's prediction step. On the other hand, the high nonlinearity in the observation equation due to lever arm effect is addressed by unscented Kalman filter's update step to attain higher accuracy and better applicability. Simulation is designed and the performance of the hybrid filter is validated.
文摘The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the ann. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 mieroeontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.
文摘With the widespread application of WIFI networks and embedded system technology, the device monitoring system based on Embedded System and wireless network came into being. In this paper, we introduce a device monitoring system based on ARM upper computer and WIFI transmission, and we tested this system on workshop equipment. The hardware adopts ARM Cortex-A8 processor architecture of TI company as the main control chip, using IAC-335X-Kit development board for system design, external USB camera module and WIFI wireless module for video capture and data transmission. The software is based on embedded Linux as the platform. The system will collect production data accurately and objectively, and the statistical analysis. At the same time, the system uses QT to develop the upper computer software GUI interface. Compared with the traditional system based on the wired network, our design is more convenient and flexible, which reduces the implementation restriction and maintenance cost of traditional network cabling.
文摘Background Globally,populations afflicted by armed conflict are known to have high rates of mental health disorders.Aims This meta-analysis aims to estimate the prevalence of post-traumatic stress disorder(PTSD)and depressive symptoms among civilians residing in armed conflictaffected regions.Methods This meta-analysis was conducted in accordance with the Preferred Reporting Items forSystematic Reviews and Meta-Analyses.A literature search employing MEDLINE(R),Embase Classic+Embase,APA PsyclNFO,Ovid Healthstar,Journal@Ovid Full Text,Cochrane,PTSDpubs and CINAHL was conducted from inception until 19 March 2024 to identify relevant studies.Quality assessment was performed using the Joanna Briggs Institute Critical Appraisal Checklist for Prevalence Studies,and a Comprehensive Meta-Analysiswas usedto conduct the statistical analysis.Results The search yielded 38595 articles,of which 57 were considered eligible for inclusion.The included studies comprised data from 64596 participants.We estimated a prevalence of 23.70%(95%CI 19.50%to28.40%)forPTSD symptomsand 25.60%(95%Cl 20.70%to 31.10%)for depressive features among war-afflicted civilians.The subgroup analysis based on time since the war and the country's economic status revealed the highest prevalence for both PTSD and depressive symptoms was present during the years of war and in low/middle-incomecountries.Conclusions The results of this study provide conclusive evidence of the detrimental impacts of armed conflict on mental health outcomes.Hence,it is crucial to emphasise the significance of both physical and mental health in the aftermath of war and take appropriate humanistic measures to overcome challenges in the management of psychiatric illnesses.
文摘This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each joint. To lighten the weight, almost all mechanical parts are made of aluminum and the robot control system is placed outside. The modular concept is adopted during the robot design process for time and cost saving. Considering the much greater torque acted on the two shoulder joints, the joint shells are strengthened in the design to increase joint stiffness and suppress system vibration. Meanwhile, to simplify the maintenance, a new spring pins electronic connector is designed to disassemble every joint, connector and link independently without cutting any cables. The teleoperation technology enables the robot to offer more convenient service definitely for people＇ s daily life. Virtual reality technology is used to solve the time delay problem during teleoperation. Finally, two typical daily chore experiments are implemented to prove the manipulation ability of the dexterous robot arm.
文摘In response to the frequent safety accidents of industrial robots, this paper designs and implements a safety detection system for robot control. It can perform real-time security detection of robot operations on industrial production lines to improve the security and reliability of robot control systems. This paper designs and implements a robot control system based Snort-BASE for real-time online detection of DoS attacks. The system uses a six-degree-of-freedom robotic arm as an example, uses Snort to record the network communication data of the robot arm control system in real time, and filters the network traffic through self-defined rules, and then uses the BASE analysis platform to achieve security analysis of the network traffic. The solution verifies the effectiveness of online real-time detection of attacks and visualisation of attack records by designing simulated robotic arm and real robotic arm attack experiments respectively, thus achieving the security of network communication of the robot remote control system.
