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This paper describes a basic method of mechanical design and virtual teaching of a two-leg walking mechanism, mainly including the assignment of the degree of freedom (DOF), the process of kinematics and Kinetics computing, the selection method of driving devices and the principle of the virtual teaching system. The fact proves that this two-leg walking mechanism is of high stability and efficient teaching.

By adjusting a variety of different frequency signals, equalizer compensates or optimizes system deficiencies, equalizer is used in voice, communication systems, mechanical vibration, fault diagnosis and many other fields. Traditional analog equalizer has low precision, phase nonlinearity and more distortion characteristics. On the basis of this, a new digital equalization algorithm that abandon the traditional single FIR filter implementation method is proposed, frequency division effect is achieved by multiple phase sub-band filter row and multi-channel digital potentiometer, so the cost of digital equalizer design and difficulty of implementation are reduced, and flexibility of digital equalizer settings on the real-time system is improved. In this paper, QuartusII is applied to functional simulation, and downloaded into the FPGA via JTAG interface to verify the correctness of the results.

On the basis of LuGer friction model, an integrated sliding-mode control strategy is proposed to deal with servo system nonlinear and uncertain factors effectively. The control strategy includes two parts. One is nominal model without considering disturb and uncertain, the other is real model including disturb and uncertain. To one part, choose reasonable sliding surface and design controller law. To another part, PTSC algorithm and NNC algorithm combines together to optimize RBF neural network in order to acquire upper bound of uncertain. Simulation and experiment results show that proposed control strategy better servo system performance.

An MCU based programmable frequency detector was developed and relative tests were carried out. The detector used few elements which are very common and cheap, one MCU which has only 8 pins and with small dimension, one Schimidt trigger, one D type flip-flop and several resistors and capacitors. Cost for the detector is very low. Besides hardware work, software program has played very important role in the detector. By adjusting program parameters, different frequency can be detected and detecting band width can also be adjusted. Program flow chart is given in this thesis. Test shows that the detector is stable and sensitive and is suitable for different applications, e.g. over power line data transmission, etc. This paper introduces theory of the detector, hardware design and the software programming.