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士兵可穿戴下肢外骨骼机器人多元感知方法研究 被引量:3
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作者 王海莲 张小栋 李华聪 《计算机测量与控制》 2015年第10期3505-3507,共3页
下肢外骨骼机器人是一种可穿戴且融合了多种机器人技术的复杂人-机系统;它将人类的智慧与机器人强壮的能力有效地结合起来,最大限度地提高人体的机动力和耐力,这为提升单兵作战系统的能力创造了条件;鉴于下肢外骨骼机器人在作战、后勤... 下肢外骨骼机器人是一种可穿戴且融合了多种机器人技术的复杂人-机系统;它将人类的智慧与机器人强壮的能力有效地结合起来,最大限度地提高人体的机动力和耐力,这为提升单兵作战系统的能力创造了条件;鉴于下肢外骨骼机器人在作战、后勤保障时可能遇到的复杂地形、多变随机的任务等,仅通过基于既定的典型步态规划程序驱动执行已知的特定动作,难以保证人机间的耦合性和动作的高随意性切换;为此,模拟并提炼出士兵常见的六种下肢动作作为后续研究,然后分析了下肢外骨骼机器人的感知控制原理,并提出了基于脑电预判感知、肌电精确感知和光纤实时校正的多信息融合的感知方法,强调将人的智能参与到机器人控制中,以期推进士兵可穿戴下肢外骨骼机器人的实用化。 展开更多
关键词 下肢外骨骼机器人 多元感知 脑电感知 感知 光纤感知
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Effect of heartbeat perception on heartbeat evoked potential waves 被引量:1
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作者 袁辉 颜红梅 +2 位作者 许小刚 韩飞 晏青 《Neuroscience Bulletin》 SCIE CAS CSCD 2007年第6期357-362,共6页
Objective Early researches found that different heartbeat perceivers have different heartbeat evoked potential (HEP)waves.Two tasks were considered in our experiments to get more details about the differences betwee... Objective Early researches found that different heartbeat perceivers have different heartbeat evoked potential (HEP)waves.Two tasks were considered in our experiments to get more details about the differences between good and poor heartbeat perceivers at attention and resting state.Methods Thirty channels of electroencephalogram(EEG)were recorded in 22 subjects,who had been subdivided into good and poor heartbeat perceivers by mental tracking task. Principal component analysis(PCA)was applied to remove cardiac field artifact(CFA)from the HEP.Results(1)The good heart-beat perceivers showed difference between attention and resting state in the windows from 250 ms to 450 ms after R wave at C3 location and from 100 ms to 300 ms after R wave at C4 location;(2)The difference waveforms between good and poor heartbeat perceivers was a positive waveform at FZ from 220 ms to 340 ms after R wave,which was more significant in attention state.Conclusion Attention state had more effect on the HEPs of good heartbeat perceivers than that of poor heartbeat perceivers;and perception ability influenced HEPs more strongly in the attention state than in the resting state. 展开更多
关键词 heartbeat perception heartbeat evoked potential cardiac field artifact principal component analysis
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System Recovery-Aware Virus Propagation Model and Its Steady-State Analysis 被引量:1
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作者 Lin Sun Cai Fu +3 位作者 Ming Fu Deliang Xu Lansheng Han Deqing Zou 《China Communications》 SCIE CSCD 2016年第5期151-161,共11页
Network structures and human behaviors are considered as two important factors in virus defense currently. However, due to ignorance of network security, normal users usually take simple activities, such as reinstalli... Network structures and human behaviors are considered as two important factors in virus defense currently. However, due to ignorance of network security, normal users usually take simple activities, such as reinstalling computer system, or using the computer recovery system to clear virus. How system recovery influences virus spreading is not taken into consideration currently. In this paper, a new virus propagation model considering the system recovery is proposed first, and then in its steady-state analysis, the virus propagation steady time and steady states are deduced. Experiment results show that models considering system recovery can effectively restrain virus propagation. Furthermore, algorithm with system recovery in BA scale-free network is proposed. Simulation result turns out that target immunization strategy with system recovery works better than traditional ones in BA network. 展开更多
关键词 computer virus system recovery virus propagation model target immunization strategy
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