To eliminate the static error, overshoot, and vibration of the series elastic actuator (SEA) position control, the resonance ratio control (RRC) algorithm is improved based on L1 adaptive control(L1AC)method. Based on the analysis of the factors affecting the control performance of SEA, the algorithm schema is proposed, the stability is proved, and the main control parameters are analyzed. The algorithm schema is further improved with gravity compensation, and the predicted error and reference error is reduced to guarantee transient performance. Finally, the effectiveness of the algorithm is validated by simulation and platform experiments. The simulation and experiment results show that the algorithm has good adaptability, can improve transient control performance, and can handle effectively the static error, overshoot, and vibration. In addition, when a link-side collision occurs, the algorithm automatically reduces the link speed and limits the motor current, thus protecting the humans and SEA itself, due to the low pass filter characterization of L1AC to disturbance.

Accurate segmentation of skin lesions in dermatoscopic images is crucial for the early diagnosis of skin cancer and improving the survival rate of patients. However, it is still a challenging task due to the irregularity of lesion areas, the fuzziness of boundaries, and other complex interference factors. In this paper, a novel LCAUnet is proposed to improve the ability of complementary representation with fusion of edge and body features, which are often paid little attentions in traditional methods. First, two separate branches are set for edge and body segmentation with CNNs and Transformer based architecture respectively. Then, LCAF module is utilized to fuse feature maps of edge and body of the same level by local cross-attention operation in encoder stage. Furthermore, PGMF module is embedded for feature integration with prior guided multi-scale adaption. Comprehensive experiments on public available dataset ISIC 2017, ISIC 2018, and PH2 demonstrate that LCAUnet outperforms most state-of-the-art methods. The ablation studies also verify the effectiveness of the proposed fusion techniques.