We consider the problem of looking for small universal spiking neural P systems with exhaustive use of rules, which was formulated as an open problem by Andrei PǍun and Gheorghe PǍun in a survey paper. Here, spiking...
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In the "standard" way of simulating register machines by spiking neural P systems (in short, SN P systems), one neuron is associated with each instruction of the register machine that we want to simulate. In...
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Looking for small universal computing devices is a natural and well investigated topic in computer science. Recently, this topic started to be considered also in the framework of (synchronized) spiking neural P system...
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作者：
Gao, JianHuang, XinhanLiu, BoHUST
Dept CSE Minist Educ Image Proc & Intelligent Control Key Lab Wuhan 430074 Peoples R China BFSU
Beijing 100089 Peoples R China
To improve the real-time performance, a quick scale-invariant interest point detecting approach based on the image color information is proposed in this paper. The approach uses the scale normalized Laplacian operator...
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To improve the real-time performance, a quick scale-invariant interest point detecting approach based on the image color information is proposed in this paper. The approach uses the scale normalized Laplacian operator to extract the interest points in the incomplete image pyramid. A new local descriptor is presented in the approach to compute the feature vector of each interest point. The descriptor is made up with several subregions like the SIFT (Scale-Invariant Feature Transform) descriptor, meanwhile, it chooses the mean values of different color components in each subregion as the feature vector's elements to differentiate color objects better and reduce the descriptor's dimension. Through the experiment, the detected interest points are robust to many image transformations and the approach is indicative of needing less computation than other interest point detecting algorithms. The research discloses that the approach can obtain both superior stability and real-time performance at the same time.
The look-ahead is a forbidding condition formalized by a set of forbidden rules that are checked after all assignment of objects to rules are done. The look-ahead mode can decrease the inherent non-determinism of P sy...
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To drive a single joint of rehabilitation robotic arm, we propose a new PM-TS actuator comprising a Pneumatic Muscle (PM) and a Torsion Spring (TS). Unlike the traditional agonist/antagonist PM actuator, the PM is arr...
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ISBN:
(纸本)9780955529337
To drive a single joint of rehabilitation robotic arm, we propose a new PM-TS actuator comprising a Pneumatic Muscle (PM) and a Torsion Spring (TS). Unlike the traditional agonist/antagonist PM actuator, the PM is arranged in appropriate place as agonist and the torsion spring provides opposing torque as antagonist in the proposed actuator. The I-DOF and 2-DOF rehabilitation robotic arm models are derived considering the PM-TS dynamic model. To realize a high-accurate trajectory tracking control of the robotic arms, an intelligent PID controller based on an Echo State Neural Network (ESN) is proposed, where the ESN state is updated by the online Recursive Least Square (RLS) algorithm. Simulation results demonstrate the validity of PM-TS actuators. The performance of RLS-ESN based PID controller is found more satisfactory than conventional PID controller in our study.
In conventional techniques for modeling Pneumatic artificial muscle, there are difficulties such as poor knowledge of the process, inaccurate process or complexity of the resulting mathematical model. Trying to solve ...
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ISBN:
(纸本)9781424467129
In conventional techniques for modeling Pneumatic artificial muscle, there are difficulties such as poor knowledge of the process, inaccurate process or complexity of the resulting mathematical model. Trying to solve these problems, this study investigates the method of establishing the model using a novel network-Echo State Network (ESN). We introduce the mechanism of this net and apply it to our modeling work. The relevant parameters of the net were optimized using Particle Swarm Optimization (PSO). Then we get the simulation results which reveal that it can get quite satisfactory results.
Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot manipulators. Research works on control of rigid-link flexible-joint (RLFJ) robot in liter...
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ISBN:
(纸本)9787894631046
Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot manipulators. Research works on control of rigid-link flexible-joint (RLFJ) robot in literature have assumed that the kinematics of the robot is known exactly. There have been few results that can deal with the kinematics uncertainty in RLFJ robot. In this paper, we propose an adaptive tracking control method which can deal with the kinematics uncertainty and uncertainties in both link and actuator dynamics of the RLFJ robot system. Nonlinear observers are designed to avoid accelerations measurement due to the fourth-order overall system dynamics. Asymptotic stability of the closed-loop system is shown and sufficient conditions are presented to guarantee the stability.
To achieve better performance with various load and system parameters in controlling a current-source rectifier (CSR) with less computing cost, a neural-network-based implementation of three-logic space-vector modulat...
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The protocol stack plays a critical role in determining the performance of networked control system (NCS), which governs the communication activities and directly affects the communication quality of service (QoS). Fu...
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