提出了一种自适应反演滑模控制，并在Labview上实现，利用roboRIO可实现对2自由度脚踝康复机器人的实时控制。(An adaptive backstepping sliding mode control is proposed and implemented on Labview. The real-time control of 2 degree of freedom ankle rehabilitation robot can be realized by using roboRIO.

实现单GPU二维弹性波全波形反演，采用c++和CUDA c编写，VS2013开发。(2D elastic Full waveform Inversion using a single GPU card, based on C++/CUDA c language, developed by VS2013.)