This paper discussed a take-off posture optimization method of the Locust-like Hopping Robot using particle swarm optimization. The kinematic model was first established based on DH method for the locustlike hopping r...
详细信息
ISBN:
(纸本)9781467374439
This paper discussed a take-off posture optimization method of the Locust-like Hopping Robot using particle swarm optimization. The kinematic model was first established based on DH method for the locustlike hopping robot, and the mapping relation of robot from the center of mass space to the joint space was obtained. The jumping performance of the hopping robot was evaluated by computing the velocity and force directional manipulability of the hopping robot during the take-off stage, and the joint parameters of the hopping robot were obtained by particle swarm optimization. Simulation results show the optimization method is feasible and effective.
In this paper, we investigate robot failure problem in mobile robot formation. A recursive and distributed self-healing algorithm is proposed to restore network topology when one or more robots fail. Firstly, a switch...
详细信息
Traditional computer portrait caricature system mainly take the method that exaggerate and deform real images directly, that lead the facial image background also been deformed when exaggerate facial image. If in pret...
详细信息
Elliptical orbit and squint mode are widely used in the system design of geosynchronous synthetics aperture radar (GEO SAR) to improve the coverage performance. In this paper, the effects of orbit height variation and...
详细信息
ISBN:
(纸本)9781849199940
Elliptical orbit and squint mode are widely used in the system design of geosynchronous synthetics aperture radar (GEO SAR) to improve the coverage performance. In this paper, the effects of orbit height variation and squint mode to pulse repetition frequency (PRF) design are analyzed. The orbit height variation causes the variation of nadir interference and beam illumination region, and squint mode produces large range cell migration (RCM). These can induce invalidations of the designed PRF. Based on this, the constraints of nadir interference and transmit interference are updated for GEO SAR, and the effective time for the designed PRF is derived. PRF number required for imaging in one orbital period is analyzed.
This paper addresses the observer-based consensus tracking problem of multi-agent systems with intermittent communication *** agent dynamics is modeled as general linear system attached the Lipschitz-type nonlinear **...
详细信息
ISBN:
(纸本)9781479947249
This paper addresses the observer-based consensus tracking problem of multi-agent systems with intermittent communication *** agent dynamics is modeled as general linear system attached the Lipschitz-type nonlinear *** in reality communications among mobile agents are intermittent,a class of non-continuous observer-type protocol is proposed based on each agent only intermittently sharing relative outputs with *** virtue of the matrix theory,the switching system theory and the averaging approach,a multi-step protocol design procedure is presented,and the sufficient condition is further derived to ensure the observer-based consensus ***,the theoretical findings are validated by a numerical example
This paper proposes a hierarchical control structure based on model predictive control to address the vibration suppression of flexible manipulators under the dynamic constraints. Due to the coupling relationship betw...
详细信息
ISBN:
(纸本)9781479947249
This paper proposes a hierarchical control structure based on model predictive control to address the vibration suppression of flexible manipulators under the dynamic constraints. Due to the coupling relationship between the trajectory and the flexible vibration, it provides a solution to vibration reduction if the trajectory can be rationally planned. In the decision layer,an optimal reference trajectory is planned with consideration of the dynamic constraints to ensure the manipulator to locate at the desired position as soon as possible and the reduced flexible vibration is suppressed during the movement. In the execution layer, the tracking controller is designed to minimize a quadratic performance index of the prediction error. Simulations for a single-link flexible manipulator are performed to validate the proposed controllers.
In this paper, we present a new cost function with fading memory and time-window in order to decrease the influence of old data in unfalsified adaptive control applications where the plant varies slowly or changes sud...
详细信息
ISBN:
(纸本)9789881563842
In this paper, we present a new cost function with fading memory and time-window in order to decrease the influence of old data in unfalsified adaptive control applications where the plant varies slowly or changes suddenly with time. Based on the unfalsified adaptive PID control, when the controller inserted in the system cannot guarantee the stability of the system, the cost function with a fading memory can detect the instability more quickly and then switch into a new stabilizing controller faster.
In this paper,we provide a unified expression to obtain the conditions on the restricted isometry constantδ2s(Φ).These conditions cover the important results proposed by Candes et *** each of them is a sufficient co...
详细信息
In this paper,we provide a unified expression to obtain the conditions on the restricted isometry constantδ2s(Φ).These conditions cover the important results proposed by Candes et *** each of them is a sufficient condition for sparse signal *** the noiseless case,whenδ2s(Φ)satisfies any one of these conditions,the s-sparse signal can be exactly recovered via(l1)constrained minimization.
Modeling for voltage-mode R-2R ladder digital to analog converter (DAC) is introduced in this paper. By analyzing the mismatch of resistors in ladder, the DNL and INL calculation expression are obtained. In order to a...
详细信息
Modeling for voltage-mode R-2R ladder digital to analog converter (DAC) is introduced in this paper. By analyzing the mismatch of resistors in ladder, the DNL and INL calculation expression are obtained. In order to achieve a higher accuracy, segmentation is used in DAC. Five different segmentation methods are compared and 3+5 segmentation structure is chosen to achieve best DNL and INL performance. For post calibration, a code-dependent current consumption expression is derived from the input impedance of R-2R ladder. A 3+5 segmented DAC based on this modeling is implemented in a standard 0.18μm CMOS process. The post simulation results show that DNL and INL are bounded at 0.30 and 0.32LSB.
This paper studies the formation problem for multislave teleoperation system over general communication networks,where multiple mobile slave agents are coupled with a single master robot. The forward and backward netw...
详细信息
This paper studies the formation problem for multislave teleoperation system over general communication networks,where multiple mobile slave agents are coupled with a single master robot. The forward and backward network transmission time delays are assumed to be asymmetric and *** to the quantization in the network, a dynamic quantization strategy is provided to quantize the output signals of the master robot and slave agents before transmitting. Then, a novel masterslave protocol is designed to achieve the formation task under variable time delays and quantization. Additionally, the sufficient conditions for stability are presented to show that the formation protocol can stabilize the master-slave system under variable time delays and quantization. Finally, simulation are performed to show effectiveness of the main results.
暂无评论