With the realization that recursion is not suitable for parallel computation, the paper presents augmented equations for the forward dynamics of planar flexible manipulators by using the virtual power principle and th...
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ISBN:
(纸本)0780342534
With the realization that recursion is not suitable for parallel computation, the paper presents augmented equations for the forward dynamics of planar flexible manipulators by using the virtual power principle and the vector of Lagrange multipliers. Based on augmented equations, a parallel computational scheme and a parallel algorithm with O(n) processors is proposed. Finally, a two-link planar flexible manipulator is chosen as an example to compare the computational efficiency in computer simulation. The results show that the parallel algorithm developed in the paper is efficient.
In this paper, the dynamic model of a two-link flexible robotic manipulator is established in which the body coordinate references of flexible arms adopt clamped-free cases so that the control laws are easily performe...
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ISBN:
(纸本)7800033813
In this paper, the dynamic model of a two-link flexible robotic manipulator is established in which the body coordinate references of flexible arms adopt clamped-free cases so that the control laws are easily performed. Based on the technique of input-output linearization, the dynamic model is partially linearized. The joint variables are decoupled from the elastic variables. A new coordinate frames is set up by the observable output. In order to avoid the unstable internal dynamics of the tip tracking control system, a nonlinear state feedback control law with the elastic stabilization for two-link flexible manipulators is designed. A sufficient condition for asymptotic stability of closed-loop system is derived. Simulation results prove the efficiency of this control law.
We developed a special technique, called equivalent shifting in three dimensions (ES3D) for rule matching in a weather forecasting expert system CME. ES3D is able to describe the evolving procedures of domestic system...
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ISBN:
(纸本)0818657804
We developed a special technique, called equivalent shifting in three dimensions (ES3D) for rule matching in a weather forecasting expert system CME. ES3D is able to describe the evolving procedures of domestic systems fully and exactly in three aspects: strength, position, and concept. ES3D is able to overcome the well-known brittleness of the first generation expert systems, then enhances the capabilities of expert systems adapting to evidences. The idea lying in ES3D can be applied to other similar task domains.< >
With the technical advancement of digital media and the medium of communication in recent years, there is a widespread interest in digital entertainment. An emerging te- nical research area edutainment, or educational...
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ISBN:
(数字)9783642145339
ISBN:
(纸本)9783642145322
With the technical advancement of digital media and the medium of communication in recent years, there is a widespread interest in digital entertainment. An emerging te- nical research area edutainment, or educational entertainment, has been accepted as education using digital entertainment. Edutainment has been recognized as an eff- tive way of learning using modern digital media tools, like computers, games, mobile phones, televisions, or other virtual reality applications, which emphasizes the use of entertainment with application to the education domain. The Edutainment conference series was established in 2006 and subsequently - ganized as a special event for researchers working in this new interest area of e-learning and digital entertainment. The main purpose of Edutainment conferences is to facilitate the discussion, presentation, and information exchange of the scientific and technological development in the new community. The Edutainment conference series becomes a valuable opportunity for researchers, engineers, and graduate s- dents to communicate at these international annual events. The conference series - cludes plenary invited talks, workshops, tutorials, paper presentation tracks, and panel discussions. The Edutainment conference series was initiated in Hangzhou, China in 2006. Following the success of the first event, the second (Edutainment 2007 in Hong Kong, China), third (Edutainment 2008 in Nanjing, China), and fourth editions (Edutainment 2009 in Banff, Canada) were organized. Edutainment 2010 was held during August 16–18, 2010 in changchun, China. Two workshops were jointly org- ized together with Edutainment 2010.
Cross-project defect prediction (CPDP) utilizes the existing labeled data in the source project to assist with the prediction of unlabeled projects in the target dataset, which effectively improves the prediction perf...
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Cross-project defect prediction (CPDP) utilizes the existing labeled data in the source project to assist with the prediction of unlabeled projects in the target dataset, which effectively improves the prediction performance and has become a research hotspot in software engineering. At present, CPDP can be categorized into homogeneous cross-project defect prediction and heterogeneous cross-project defect prediction (HDP), in which HDP doesn’t require that the source project and the target project have the same feature space, thus, it is more widely used in the actual CPDP. Most of current HDP methods map the original features to the latent feature space and reduce the inter-project variation by transferring domain-independent features, but the transferring process ignores the use of domain-related features, which affects the prediction performance of the model. Moreover, the mapped latent features are not conducive to the model’s interpretability. Based on these, this paper proposes a heterogeneous defect prediction method based on feature disentanglement (FD-HDP). We disentangle the features using domain-related and domain-independent feature extractors, respectively, to improve the interpretability of the model by maximizing the domain adversarial loss during training and guiding the feature extractors to produce accurate domain-related and domain-independent features. The weighted sum of the prediction results from domain-related and domain-independent predictors is used as the final prediction result of the project during the prediction process, which realizes the combination of domain-independent and domain-related features and effectively improves the prediction performance. In this paper, we conducted experiments using four publicly available defect datasets to construct heterogeneous scenarios. The results demonstrate that the FD-HDP model shows significant advantages over state-of-the-art methods in six metrics.
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