作者：
Jianlei ZhangZengqiang ChenZhongxin LiuDepartment of Automation
College of Computer and Control Engineering Nankai University Tianjin 300071 People's Republic of China and Tianjin Key Laboratory of Intelligent Robotics Computer and Control Engineering Nankai University Tianjin 300071 People's Republic of China
Altruistic behaviors in multiplayer groups have obtained great attention in the context of the public goods game, which poses a riddle from the evolutionary viewpoint. Here we focus on a particular type of public good...
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Altruistic behaviors in multiplayer groups have obtained great attention in the context of the public goods game, which poses a riddle from the evolutionary viewpoint. Here we focus on a particular type of public goods game model in which the benefits of cooperation are either discounted or synergistically enhanced at the appearance of multiple cooperators in a group. Moreover, we focus on the three-strategies profile by adding the role of loners, besides the often-used cooperation and defection. Using the replicator dynamic equations, we investigate a range of dynamical portraits that characterizes the properties of the steady state. Analysis results indicate that loners and cooperators both have chances to be the stable equilibrium points in the presence of perturbations, while defectors fail to do so in this three-strategy competition. Moreover, the coexistence state, in which all three strategies exist in equilibrium, can be led by suitable parameters and stabilized for perturbations. These results elucidate the interplay between the characteristics of the public goods game and evolutionary dynamics in well-mixed systems.
This paper proposes a new adaptive repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehic...
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ISBN:
(纸本)9781509037636
This paper proposes a new adaptive repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame (image frame). Due to the circulatory motion of the HFV, the resulting motion trajectory of the LFV in the image frame is periodic in time, thus an adaptive repetitive control system is exploited to improve the tracking precision from one operating period to the next. Not only is the adaptive control law able to deal with uncertainties in the camera's intrinsic and extrinsic parameters, but it can also tolerate uncertainties in the localization of the LFV. The design and stability analysis of the closed-loop control system is presented, where the Lyapunov approach is used to show stability. Simulations and experimental results are presented to demonstrate the effectiveness of the method for controlling the movement of a low-flying quadcopter vehicle. Results show good tracking performance for three simulated test cases, where the average maximum tracking error is reduced by approximately 75% compared to the performance of a standard adaptive visual-servo controller.
We focus our attention on the effectiveness of punishing defectors in the evolution of cooperation in rational populations within the threshold public goods game models. We establish two scenarios: defectors will suff...
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ISBN:
(纸本)9781467374439
We focus our attention on the effectiveness of punishing defectors in the evolution of cooperation in rational populations within the threshold public goods game models. We establish two scenarios: defectors will suffer possible punishment whether the game succeeds or not, and defectors will incur punishment only when game fails. A key observation of this paper is that given this assumption, punishing free riders can significantly influence the evolution outcomes, and the results are driven by the specific components of the punishing rule. Particularly, probably punishing defectors always, not only when game fails,can be more effective for maintaining public cooperation and leads to higher total contributions. Intriguingly when defectors face punishment only when game fails, the spread and domination of cooperators can not be ensured even by sufficiently large punishment, which already brings payoff advantages of defectors over cooperators. Further, cooperators are best supported by the large punishment on defectors, and then dominate and stabilize in the population, under the premise that defectors always incur punishment regardless of whether the game ends successfully or not. We hope this work provides some intriguing hints or insights on investigating the collective behaviors by the aid of punishment mechanism.
Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant v...
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ISBN:
(纸本)9784907764487
Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant velocity or a known acceleration. In this paper, a continuous second-order sliding mode guidance law is designed to intercept a highly maneuverable target in connection with the super-twisting algorithm. Meanwhile, the target maneuver information, regarded as unpredictable disturbance, is coped with by an extended state observer(ESO) and then is compensated in the guidance law. In the proposed guidance scheme, no information about target motion is needed. The closed-loop error can be guaranteed to be bounded by using Lyapunov method. The simulation results demonstrate the effectiveness and robustness of the proposed guidance method against a highly maneuverable target.
We focus our attention on the effectiveness of punishing defectors in the evolution of cooperation in rational populations within the threshold public goods game models. We establish two scenarios: defectors will suff...
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Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant v...
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We present a drift-free pose estimation scheme for rigid body and its supporting platform by fusing only two gyroscopes and the relative complementary measurements. The fusion design not only provides robust relative ...
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We present a drift-free pose estimation scheme for rigid body and its supporting platform by fusing only two gyroscopes and the relative complementary measurements. The fusion design not only provides robust relative attitude estimation between the rigid body and the platform, but also is capable of identifying partial global absolute attitudes without capturing any absolute attitude information. The pose estimation is built on a special design of the coupled kinematic model with the relative measurements between the rigid body and its supporting platform. We compare the fusion design with an alternative kinematic model and the posterior Cramer-Rao bound analyses are presented to show the completely different estimation performances. An extended Kalman filter (EKF) implementation of the fusion design is presented for the bicycle riding application.
Common methods, such as Denavit-Hartenberg （D-H） method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homo...
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Common methods, such as Denavit-Hartenberg （D-H） method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homogeneous transformation theory is presented to solve this problem. Firstly, the kinematics characteristic of this special structure is analyzed on the basis of the closed-chain theory. In such a theory, closed chains can be transformed to open chains, which makes it easier to analyze this structure. Thus, it will become much easier to establish kinematics equations and get the solutions. Then, the robot model can be built in the Simmechanics （a tool box of MATLAB） with these equation solutions. It is necessary to design a graphical user interface （GUI） for robot simulation. After that, the model robot and real robot will respectively move to some spatial points under the same circumstances. At last, all data of kinematic analysis will be verified based on comparison between data got from simulation and real robot.
Correctly coding materials and identifying characters marked on materials are very important for steel manufacturing industry to realize informatization management and intelligent manufacturing. However, the steel pro...
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Correctly coding materials and identifying characters marked on materials are very important for steel manufacturing industry to realize informatization management and intelligent manufacturing. However, the steel products manufacturing is often in a high temperature environment, and there are a lot of material storage and retrieval processes, workers are not easily close to the environment and complete tasks, so it is a great challenge to automatically mark and identify characters on the steel products. This paper presents a framework of label characters marking and management for steel materials, furthermore, a kind of marked characters online detection and tracking method has been provided based on machine vision. In addition, some experiments have been done in BaoSteel to mark characters on hot billets and recognize them in multi situations, and the results show that the proposed method is practical, and has provided a helpful exploration in obtaining accurate fundamental data for the intelligent manufacturing system in steelworks.
A proposed mathematical model is established for modal analysis of a micro manipulator. According to the geometric characteristics of the manipulator, the model is built by using finite element method with multipoint ...
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