Jiang Shengtao

Adaptive Friction Compensation of Robot Manipulator

In this paper, an adaptive tracking control scheme is proposed for a friction model, which includes coulomb friction, viscous friction and stribeck effect. Parameters are adjusted on-line by the adaptive controller. The experiments have been implemented on one-link robot manipulator and demonstrate the validation of the proposed control scheme.

Removal of Power Line Interference of ECG Signal Based on Independent Component Analysis

The electrocardiogram signals will be mixed with the power-line interference inevitably while being gathered and recorded, in order to avoid the wrong identification from the characteristics of ECG signals and impact analysis and diagnosis accuracy, it is necessary to remove the power-line interference effectively.This paper adopts independent component analysis to remove this interference and uses international standards ECG database MIT/BIH to validate the algorithm. The experimental results show that removal of interference of ECG signal Based on independent component analysis, can not only preserve the original details information as soon as possible and also filter the interference signal successfully, the result is better.