This paper addresses the problem of optimizing the ultrasonic shock wave signal gain based on the Time - Reversal Mirror (TRM) technology. A method system combining channel modeling, Virtual Time - Reversal Mirror (VTRM) simulation, and adaptive frequency - domain modulation is proposed. The research estimates the transfer function of the dispersive waveguide, analyzes the signal transmission characteristics in complex media through VTRM simulation, and further designs two frequency - domain modulation methods: frequency - domain windowing and frequency - domain iterative weighting. These methods optimize the spectral characteristics of the TRM excitation signal, thereby enhancing the energy focusing effect of the shock wave. The simulation results show that the optimized TRM method can effectively improve the shock wave gain and has a stronger signal enhancement ability compared with the traditional method. This optimization method can effectively overcome the limitation of the focusing performance of the traditional TRM technology in complex media, providing theoretical support for the design and optimization of ultrasonic shock wave signal generation devices.

In the field of robotics, particularly in human–robot interaction, rapid and precise torque control is crucial. This study presents a closed-loop iterative optimized (CIO) approach designed to improve current tracking in servo systems, positioning it as a feasible alternative to traditional proportional-integral controllers. The proposed method innovatively combines a fractional-order proportional-integral-derivative (FOPID) controller with linear matrix inequality (LMI) technique and genetic algorithm in a closed-loop iterative setting. This integration not only boosts the FOPID controller's response speed, but also leverages the robustness of LMI, enhancing stability under various operating conditions. The inclusion of heuristic algorithms in this system enables a more dynamic and efficient search for optimal control parameters, aligning the controller's performance with the complex requirements of contemporary robotics. Experimental data underscore that this approach significantly increases torque response speed and the control system's bandwidth, vital for satisfying the dynamic needs of current robotic applications.

The permanent magnet synchronous motor (PMSM) is widely adopted in the industry. However, current testing systems for PMSM drives exhibit several limitations. This article proposes a quasi-Z source inverter (qZSI) based PMSM emulator, which can emulate a PMSM with different test schemes under different working conditions. The motor emulator (ME) proposed in this paper is able to solve the inherent defects of the traditional inverter. Improve the quality of output voltage and the reliability of inverter system. In this paper, the parameterized model of PMSM and mathematical model of the qZSI are established firstly. Based on that, the PMSM emulator is developed and tested for different operating conditions. Matlab simulations have been used to verify the viability and efficiency of the system.

This paper describes the control of a novel Magnetic Actuated Flexible-joint Robotic Surgical (MAFRS) camera system with four degrees of freedom (4-DOF) for single incision laparoscopic surgery. Based on the idea of motion decoupling, we designed a novel MAFRS system which is consists of an external driving device and a motor-free insertable wireless robotic device with a hollow flexible joint. Due to the problems of abdominal wall obstruction and variability in abdominal wall thickness during the actual application of the MAFRS system, as well as the existence of multiple permanent magnets and magnetically conductive media, high- precision position and attitude control of the insertable device without onboard motors has always been a challenge. We use the external driving device to generate a magnetic field to control the position and attitude of the internal robotic device. Aiming at the automatic precise tilt motion control of the novel MAFRS camera system, we have developed a closed-loop control scheme using the Deep Deterministic Policy Gradient (DDPG) algorithm. By referring to the damping characteristics of human muscles, a virtual-muscle method is proposed to eliminate the chattering problem of the MAFRS camera at specific angles. The experimental investigations indicate that the internal robotic device can be effectively controlled under different abdominal wall thicknesses. The tilt motion control accuracy is within 0.5°, and it has good adaptability and antiinterference performance.

This paper presents the design and implementation of a novel magnetic actuated flexible-joint robotic surgery (MAFRS) camera system with four-degree-of-freedom(4-DOF) for single incision laparoscopic surgery. The design is based on the idea of motion decoupling and consists of an external driving device and a motor-free insertable wireless camera device with a flexible joint. Meanwhile, the design features a unified mechanism for anchoring, navigating, and tilting an insertable camera by an externally generated magnetic field. The control of the insertable camera without onboard motors has always been a problem. We have creatively adopted flexible materials and the new magnetic circuit design. It not only simplifies the structural design of the insertable camera but also meets the requirements of application scenarios. The initial prototype results in a compact insertable camera robot with a 19mm diameter and a 108.5mm length. The design concepts are analyzed theoretically and verified experimentally. The experiments validate that the proposed capsule robot design provides reliable camera anchoring and translation capabilities under various testing conditions, and the tilt angle of the camera can meet the practical application requirements.

The increased requirement for visible light/infrared dual band imaging systems with compact structure, suitable field of view (FOV), high resolution coverage and without significantly complicates the optical design is increasing. Such systems are particularly desirable for unmanned aerial vehicle (UAV) remote sensing applications where increased levels of target reconnaissance, surveillance, precision target location and designation are required in cost-effective and light weight systems. Therefore, in this paper, a high resolution Electro-optical/infrared (EO/IR) sensor to simultaneously operate in the visible band and short wave infrared band (SWIR) band using ZEMAX software are presented. It has a common aperture using common refractive system and the spectrum is separated using a dichroic beam splitter. A long wave infrared (LWIR) imaging system based on uncooled microbolometer focal plane array (FPA) detector with pixel size equal to 17μm is presented. The results of the optical systems design indicated that our proposed approaches meet the technical performance requirements for high image performance and compact size. This system can be applied in UAV remote sensing applications.

I put forward a new interpolation called Adams-Bashforth interpolation of NURBS (Non-Uniform Rational B-Splines) curve in order to realize higher precision under the condition of satisfying the speed demand. IN this method, I calculated next parameter point by Adams-Bashforth equation and I used difference equation instead of derivation. I simplified and approximated the interpolation algorithm so that the speed and precision of interpolation could be ensured. Finally, we conducted simulations on this interpolation based on MATLAB and compared it with Taylor expansion algorithm so that we could prove its feasibility and correctness. We can conclude that it has a higher precision.

The propulsive efficiency is the key issue related to the practical application of the robotic fish. The negative work of the muscle of the biological fish reveals the efficient propulsion mechanism of swimming. In this paper, a distributed control system is presented for the robotic fish in an experiment platform. In order to study the relationship among the parameters, the negative work and the propulsive efficiency, this system can real time control each joint of the robotics fish and feedback the information. So the system is composed of three parts: the master-slave controller, the network and the driver of the joint motor. FPGA is chosen to accomplish the motor control and the data transition. Also the network based on LVDS has a high transfer rate to guarantee real-time and reliability of the system operation.

This paper presents a monitoring system of building electricity using IPv6 to establish a network. This smart metering system consists of three parts: the host software, the network and the sensor nodes. The network, whose data transmits via Zigbee wireless communication protocol, is designed based-on IPv6 protocol, and builds the IPv6 protocol on IEEE 802.15.4 wireless network. The Sensor node has a unique IP address and the sampling rate is set according to the host system. With real-time measurement of power, current and voltage values including RMS, instantaneous value and peak value, each node achieved accurate data sampling and communication stability. The host software is designed for building test characteristics, having a tree hierarchy and friendly interface to user. The reliability and accuracy of this monitoring system are verified in the experiment.