A novel initiative mating device, which has four 2-degree manipulators around the mating skirt, is proposed to mate between a skirt of AUV （autonomons underwater vehicle） and a disabled submarine. The primary functi...A novel initiative mating device, which has four 2-degree manipulators around the mating skirt, is proposed to mate between a skirt of AUV （autonomons underwater vehicle） and a disabled submarine. The primary function of the device is to keep exact mating between skirt and disabled submarine in a badly sub sea environment. According to the characteristic of rescue, an automaton model is brought forward to describe the mating proceed between AUV and manipulators. The coordinated control is implemented by the TDES （time discrete event system）. After taking into account the time problem, it is a useful method to control mating by sinmlation testing. The result shows that it reduces about 70 seconds after using intelligent co-ordinate control based on TDES through the whole mating procedure.展开更多
Focusing on the rehabilitation training of hemiplegia patients,this paper proposes a gait-planning strategy based on a central pattern generator and an adaptive time-delay control scheme that utilizes recursive termin...Focusing on the rehabilitation training of hemiplegia patients,this paper proposes a gait-planning strategy based on a central pattern generator and an adaptive time-delay control scheme that utilizes recursive terminal sliding mode for lower limb rehabilitation exoskeleton robots.The central pattern generator network plans a reference gait trajectory for the affected leg,synchronized with the movement of the healthy leg.The proposed adaptive time-delay control scheme possesses a model-independent property due to the mechanism of time-delay estimation,with adaptive control gains that enhance the resilience against system perturbations and a recursive terminal sliding mode control component to achieve a fast convergence rate.According to the Lyapunov stability criterion,it is proved that the gait trajectory-tracking error is uniformly ultimately bounded.Experiments are conducted on a lower limb exoskeleton experimental platform,and the experimental results demonstrate the effectiveness and superiority of the proposed strategies.展开更多
In cryptography, the Triple DES (3DES, TDES or officially TDEA) is a symmetric-key block cipher which applies the Data Encryption Standard (DES) cipher algorithm three times to each data block. Electronic payment syst...In cryptography, the Triple DES (3DES, TDES or officially TDEA) is a symmetric-key block cipher which applies the Data Encryption Standard (DES) cipher algorithm three times to each data block. Electronic payment systems are known to use the TDES scheme for the encryption/decryption of data, and hence faster implementations are of great significance. Field Programmable Gate Arrays (FPGAs) offer a new solution for optimizing the performance of applications meanwhile the Triple Data Encryption Standard (TDES) offers a mean to secure information. In this paper we present a pipelined implementation in VHDL, in Electronic Code Book (EBC) mode, of this commonly used cryptography scheme with aim to improve performance. We achieve a 48-stage pipeline depth by implementing a TDES key buffer and right rotations in the DES decryption key scheduler. Using the Altera Cyclone II FPGA as our platform, we design and verify the implementation with the EDA tools provided by Altera. We gather cost and throughput information from the synthesis and timing results and compare the performance of our design to common implementations presented in other literatures. Our design achieves a throughput of 3.2 Gbps with a 50 MHz clock;a performance increase of up to 16 times.展开更多
文摘A novel initiative mating device, which has four 2-degree manipulators around the mating skirt, is proposed to mate between a skirt of AUV （autonomons underwater vehicle） and a disabled submarine. The primary function of the device is to keep exact mating between skirt and disabled submarine in a badly sub sea environment. According to the characteristic of rescue, an automaton model is brought forward to describe the mating proceed between AUV and manipulators. The coordinated control is implemented by the TDES （time discrete event system）. After taking into account the time problem, it is a useful method to control mating by sinmlation testing. The result shows that it reduces about 70 seconds after using intelligent co-ordinate control based on TDES through the whole mating procedure.
基金supported by the National Natural Science Foundation of China(62473337,62003305)the Key Research and Development Program of Zhejiang Province(2024C03040,2022C03029)the funding of Leading Innovative and Entrepreneur Team Introduction Program of Zhejiang Province(2023R01006).
文摘Focusing on the rehabilitation training of hemiplegia patients,this paper proposes a gait-planning strategy based on a central pattern generator and an adaptive time-delay control scheme that utilizes recursive terminal sliding mode for lower limb rehabilitation exoskeleton robots.The central pattern generator network plans a reference gait trajectory for the affected leg,synchronized with the movement of the healthy leg.The proposed adaptive time-delay control scheme possesses a model-independent property due to the mechanism of time-delay estimation,with adaptive control gains that enhance the resilience against system perturbations and a recursive terminal sliding mode control component to achieve a fast convergence rate.According to the Lyapunov stability criterion,it is proved that the gait trajectory-tracking error is uniformly ultimately bounded.Experiments are conducted on a lower limb exoskeleton experimental platform,and the experimental results demonstrate the effectiveness and superiority of the proposed strategies.
文摘In cryptography, the Triple DES (3DES, TDES or officially TDEA) is a symmetric-key block cipher which applies the Data Encryption Standard (DES) cipher algorithm three times to each data block. Electronic payment systems are known to use the TDES scheme for the encryption/decryption of data, and hence faster implementations are of great significance. Field Programmable Gate Arrays (FPGAs) offer a new solution for optimizing the performance of applications meanwhile the Triple Data Encryption Standard (TDES) offers a mean to secure information. In this paper we present a pipelined implementation in VHDL, in Electronic Code Book (EBC) mode, of this commonly used cryptography scheme with aim to improve performance. We achieve a 48-stage pipeline depth by implementing a TDES key buffer and right rotations in the DES decryption key scheduler. Using the Altera Cyclone II FPGA as our platform, we design and verify the implementation with the EDA tools provided by Altera. We gather cost and throughput information from the synthesis and timing results and compare the performance of our design to common implementations presented in other literatures. Our design achieves a throughput of 3.2 Gbps with a 50 MHz clock;a performance increase of up to 16 times.
