This paper shows that one of soft actuators, Ionic Polymer-Metal Composite (IPMC) can be modeled in terms of distributed port-Hamiltonian systems with multi-scale. The physical structure of IPMC consists of three part...
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This paper shows that one of soft actuators, Ionic Polymer-Metal Composite (IPMC) can be modeled in terms of distributed port-Hamiltonian systems with multi-scale. The physical structure of IPMC consists of three parts. The first part is an electric double layer at the interface between the polymer and the metal electrodes. The frequency response of the polymer-metal interface shows a fractal degree of gain slope. Then we adopt a black-box circuit model to this part and give considerations for distributed impedance parameters. The second part is an electrostress diffusion coupling model with bending and relaxation dynamics. This part is represented by an electro-osmosis, which is a water transport by an electric field, and a streaming potential, which is an electric field created by a water transport. We discuss the relationship of stress and bending moment induced by swelling. The third part is a mechanical system modeled as a flexible beam with large deformations. The representation has the capability extracting the control structure based on passivity from distributed parameter systems possessing a complex behavior.
Dynamic singularities make it difficult to plan the Cartesian path of free-floating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position...
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Dynamic singularities make it difficult to plan the Cartesian path of free-floating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position, rate and acceleration are bounded. Firstly, the joint trajectories are parameterized by polynomial or sinusoidal functions. And the two parametric functions are compared in details. It is the first contribution of the paper that polynomial functions can be used when the joint angles are limited (In the similar work of other researchers, only sinusoidla functions could be used). Secondly, the joint functions are normalized and the system of equations about the parameters is established by integrating the differential kinematics equations. Normalization is another contribution of the paper. After normalization, the boundary of the parameters is determined beforehand, and the general criterion to assign the initial guess of the unknown parameters is supplied. The criterion is independent on the planning conditions such as the total time tf. Finally, the parametes are solved by the iterative Newtonian method. Modification of tf may not result in the recalculation of the parameters. Simulation results verify the path planning method.
In response to increasing demands for true multimedia telecommunications services anywhere any time there are concerted efforts worldwide towards the definition and development of "future-generation" wireles...
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ISBN:
(纸本)076952835X
In response to increasing demands for true multimedia telecommunications services anywhere any time there are concerted efforts worldwide towards the definition and development of "future-generation" wireless systems which may be expected to enter service within the next ten years. These will differ from current and near-future systems such as second- and third-generation cellular, WIFI, WiMAX and 3G long term evolution systems, in several important aspects: The radio system will configure itself and adapt to a users' needs, the capabilities of the user's terminal, and to the environment scenario. A "user" may be a person or a device, such as a sensor. The system can easily adapt to local hot spot, metropolitan area or wide area scenarios, static or fast-moving. The system will support high user densities and a very wide range of user bit rates - Kilobits per second to hundreds of Megabits per second. All this will be achieved with efficient spectrum usage and sharing, low cost, and acceptably low terminal power consumption. Such future wireless systems (sometimes called "fourth generation" (4G), sometimes called "beyond third generation" (B3G)), capable of transporting very high bit rates In non-ideal radio propagation environments, must be robust to severe frequency selective multipath. Further requirements include moderate terminal and base station hardware costs, high spectral efficiency, and scalability of the cost of terminals with respect to their maximum bit rate capabilities. Reconfigurable air Interfaces, based on frequency domain transmission and reception methods, best meet these requirements, by adaptively selecting the uplink and downlink modulation and multiple access scheme that is most appropriate for the channel, Interference, traffic and cost constraints. In this talk we discuss a generalized frequency domain-based approach to next-generation wireless air interfaces, presenting examples and research results, including channel estimation and power
Animals show a great ability to move on real world. Taxis is a motion control technique used by simple animals. In this paper mathematical equations are derived from a taxis model for non-holonomous vehicles. A qualit...
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ISBN:
(纸本)9783902661654
Animals show a great ability to move on real world. Taxis is a motion control technique used by simple animals. In this paper mathematical equations are derived from a taxis model for non-holonomous vehicles. A qualitative technique is applied to analyse the solutions of the nonlinear derived motion equations. To validate the model and qualitative analysis several simulations are performed.
Various systems have explored the idea of inferring 3D models from sketched 2D outlines. In all of these systems the underlying modeling methodology limits the complexity of models that can be created interactively. T...
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We present a novel approach for point-set implicit surface sampling that is able to rapidly distribute particles over the surface of 3D objects. Our methods benefit from the inner structure of a MPU implicit to obtain...
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The current Grover quantum searching algorithm cannot identify the difference in importance of the search targets when it is applied to an unsorted quantum database, and the probability for each search target is equal...
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The current Grover quantum searching algorithm cannot identify the difference in importance of the search targets when it is applied to an unsorted quantum database, and the probability for each search target is equal. To solve this problem, a Grover searching algorithm based on weighted targets is proposed. First, each target is endowed a weight coefficient according to its importance. Applying these different weight coefficients, the targets are represented as quantum superposition states. Second, the novel Grover searching algorithm based on the quantum superposition of the weighted targets is constructed. Using this algorithm, the probability of getting each target can be approximated to the corresponding weight coefficient, which shows the flexibility of this ***, the validity of the algorithm is proved by a simple searching example.
LMI formulations for fuzzy control became the tool of choice in the 1990s. Many nonlinear systems can be modelled as fuzzy systems (sector-nonlinearity), so fuzzy control may be considered as a technique for nonlinear...
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Information Retrieval systems used in digital libraries need to find the extent of similarity between a pair of text documents for providing access to topically relevant documents on one hand and for identifying docum...
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ISBN:
(纸本)9781615677214
Information Retrieval systems used in digital libraries need to find the extent of similarity between a pair of text documents for providing access to topically relevant documents on one hand and for identifying document replication on the other hand. In this paper the details of a Rough Set based Document Ranking system (RSDRS) developed by the authors are presented. The terms associated with related concepts are grouped together to form equivalence classes by clustering the terms of the vocabulary. The query passage and the documents are represented as rough sets using these equivalence classes of terms and further partitioned into families of rough sets in higher level approximation spaces which impose partial ordering on the families of documents with reference to the query passage. Documents falling in the same family are ordered in accordance with their similarity to the query to form the relevance ranking of the documents. The performance of the RSDRS is analyzed using Average Precision metric by computing the precision at different positions in the ranking list.
This paper discusses the application of the Virtual Reference Feedback Tuning technique to tune neural controllers from experimental data, by particularising nonlinear VRFT and suitably computing gradients backpropaga...
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