Compliant actuator is widely accepted for physical human-robot interaction due to its safety aspect, dynamic performance improvements and energy saving abilities. In this paper, based on the variable ratio lever mechanism, a new kind of Serial Variable Stiffness Actuator (SVSA) is proposed by using an Archimedean Spiral Relocation Mechanism (ASRM) to change the position of the pivot, implementing large range of adjustable stiffness. The ASRM introduced here makes the SVSA design has continuous stiffness adjustment ability and simply mechanical structure. Within the Variable Stiffness Mechanism (VSM), two linear springs are assembled antagonistically on a spring shaft. Their displacements are perpendicular to the output link to transmit the spring force more efficiently. Stiffness modeling and analysis of the SVSA are carried out to cover large deflection angle. The physical implementation of the SVSA shows that the output stiffness of the VSM is changed from 1.72 to 150.56 Nm/rad using a linear spring with stiffness 1882 N/m, working range covered from 0 to 360°. Control experiments also proved the wide range of stiffness adjustment ability of the SVSA.

In this letter, a new 3-D imaging algorithm is proposed for forward-looking synthetic aperture radar based on the imaging geometry and the characteristic of the echo signal. The key point of the proposed algorithm is the introduction of the nonlinear frequency modulation scaling in along-track processing to obtain accurate focusing. As the method needs only Fourier transform and multiplication operations, it is computationally efficient. Simulations with point scatterers are used to validate the method.

The Terrain Observation by Progressive Scans (TOPS) mode is a novel spaceborne imaging mode which can be used to obtain wide-swath coverage and overcome major drawbacks in conventional ScanSAR. An efficient full-aperture imaging approach, which takes advantage of the two-step focusing technique and the azimuth baseband scaling operation, is presented for processing the TOPS-mode synthetic aperture radar (SAR) data. First, the proposed two-step focusing technique for spotlight and sliding spotlight SAR data focusing is adopted to resolve the aliased Doppler spectrum. Afterward, the following extended chirp scaling processing procedure with azimuth scaling factors is used to implement the residual TOPS raw-data focusing. Since the use of subapertures is avoided and only a limited azimuth-data extension is required, this algorithm is highly efficient. Simulation results validate the proposed imaging approach.