This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs *** proposed approach aims to improve the Force Angle Stability Margi...
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This paper presents a novel method for optimizing the contact force of a hexapod robot to enhance its dynamic motion stability when one of its legs *** proposed approach aims to improve the Force Angle Stability Margin(FASM)and adapt the foot trajectory through contact force optimization to achieve safe and stable motion on various *** foot force optimization approach is designed to optimize the FASM,a factor rarely considered in existing contact force optimization *** formulating the problem of enhancing the motion stability of the hexapod robot as a Quadratic Programming(QP)optimization problem,this approach can effectively address this *** of a hexapod robot using a fault-tolerant gait,along with real field experiments,were conducted to validate the effectiveness and feasibility of the contact force optimization *** results demonstrate that this approach can be used to design a motion controller for a hexapod robot with a significantly improved motion *** summary,the proposed contact force optimization method offers a promising solution for enhancing the motion stability of hexapod robots with single leg failures and has the potential to significantly advance the development of fault-tolerant hexapod robots for various applications.
Moving object detection is usually used in gray image, and the color image should be converted to gray images to achieve detection. However, the color object can’t be described by simple gray information completely. ...
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ISBN:
(纸本)9781479947249
Moving object detection is usually used in gray image, and the color image should be converted to gray images to achieve detection. However, the color object can’t be described by simple gray information completely. In order to achieve automatic color moving object detection, the method based on automatic color clustering is especially proposed. Because the difference between adjacent pixels in an image is very small, the initial cluster center can be moved in the maximum distance. The proposed method can reduce the number of iterations and quicken convergence speed, meanwhile determine the number of color cluster and the location of the color object automatically. The proposed algorithm is validated in the actual system, experimental results show that the proposed method can automatically achieve color clustering for color image, while detect color objects.
This paper proposes a dependency-enhanced pre-reordering method for Chinese-English statistical machine translation(SMT).Firstly,two kinds of dependency structure-based rules are extracted based on the source-side dep...
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ISBN:
(纸本)9781509009107
This paper proposes a dependency-enhanced pre-reordering method for Chinese-English statistical machine translation(SMT).Firstly,two kinds of dependency structure-based rules are extracted based on the source-side dependency tree and corresponding word alignments between the source-side and the target-side *** a maximum entropy classifier is used to calculate the orientation probability in terms of swap or monotone between two *** a result,a reordering rule set is *** different ways are proposed to filter out the rule ***,the dependency parsing trees of the training data,development set and the test set are traversed,and if the syntactic sub-tree structure matches the rules in the rule set,the word orders will be ***,a reordered source-side sentence is generated and then fed into an SMT system for *** conducted on NIST Chinese-English MT data sets show that the proposed method significantly improves translation performance by 0.46 BLEU compared to the baseline system.
Nonlinear system identification is one of the most important topics all over the word. Until now, there are many of off-line identification methods which exhibit well performance. The online approach with non-Gaussian...
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ISBN:
(纸本)9781467374439
Nonlinear system identification is one of the most important topics all over the word. Until now, there are many of off-line identification methods which exhibit well performance. The online approach with non-Gaussian noise, however, is still a challenge. For a class of nonlinear systems where all of the candidate parameters are contained in a definite parameter set, an online parameters and sates estimation method is proposed based on particle filter and Bayes theorem as the following steps. Firstly, regarding all of the candidates, the states are estimated by particle filter(PF) algorithm. Secondly the posterior probabilities of all of candidates are calculated according to the Bayes theorem;then the weights of all of the candidates are obtained through normalization. Lastly, the parameters and sates are estimated ultimately according to the weighted sum of all of the candidates and states. Numerical illustrations are presented to exhibit the application of the method proposed herein, and the performance of the method is examined.
Dynamic image stabilization precision of an optical image-stable device is a key technical ***,a fast dynamic image stabilization precision test system for an optical image-stable device is developed.A large-aperture ...
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Dynamic image stabilization precision of an optical image-stable device is a key technical ***,a fast dynamic image stabilization precision test system for an optical image-stable device is developed.A large-aperture collimator with a designed cross divisional board is used to simulate the infinity *** image-stable device is installed on the motion simulator with six degrees of freedom which is used to simulate the moving state of the *** CCD camera installed behind the eyepiece lens of the image-stable device acquires images rapidly and in real *** local energy maxima center of the cross light spot can be acquired accurately through the proposed algorithm using the Hessian *** addition,to deal with the CCD non-uniformity,an adaptive non-uniformity correction algorithm based on bi-dimensional empirical mode decomposition is *** actual test results for the proposed method show that the test error of dynamic image stabilization is less than 0.7,and the time for the frame image acquisition and processing is less than 10 ms,which demonstrates the effectiveness of the test system.
As an important research field of intelligent Transport system(ITS),Unmanned Ground Vehicles(UGV)can lessen traffic accidents and relieve traffic congestion by high intelligence,thereby improving the efficiency of the...
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ISBN:
(纸本)9789881563842
As an important research field of intelligent Transport system(ITS),Unmanned Ground Vehicles(UGV)can lessen traffic accidents and relieve traffic congestion by high intelligence,thereby improving the efficiency of the entire *** and more complex urban traffic environment forces UGV to perceive a lot of environmental information,and the Geographic Information system(GIS)has strong capabilities of storage and management for geographic ***,a new method for constructing GIS database is proposed in this paper,which combines the characteristics of urban traffic and needs for perceiving the environment of UGV,to assist UGV in moving in the urban traffic environment ***,Google Earth is used to create the city ***,an urban road network model is proposed and the GIS database of urban traffic environment is constructed based on the ***,the GIS database is used to achieve the least-time route based on improved Dijkstra ***,the GIS database can provide the attributive information of roads in the real vehicle experiment,which guides UGV to perceive the environment *** have shown that the proposed GIS database performs well in assisting UGV to move autonomously in the urban traffic environment.
The polymer electrolyte membrane(PEM) fuel cell has been regarded as a potential alternative power source,and a model is necessary for its design,control and power management.A hybrid dynamic model of PEM fuel cell,...
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The polymer electrolyte membrane(PEM) fuel cell has been regarded as a potential alternative power source,and a model is necessary for its design,control and power management.A hybrid dynamic model of PEM fuel cell,which combines the advantages of mechanism model and black-box model,is proposed in this *** improve the performance,the static neural network and variable neural network are used to build the black-box *** static neural network can significantly improve the static performance of the hybrid model,and the variable neural network makes the hybrid dynamic model predict the real PEM fuel cell behavior with required ***,the hybrid dynamic model is validated with a 500 W PEM fuel *** static and transient experiment results show that the hybrid dynamic model can predict the behavior of the fuel cell stack accurately and therefore can be effectively utilized in practical application.
In this paper, a method for a sort of nonlinear system identification with stochastic time-varying parameter is investigated. This kind of nonlinear systems is referring to the system where probability density functio...
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ISBN:
(纸本)9781509009107
In this paper, a method for a sort of nonlinear system identification with stochastic time-varying parameter is investigated. This kind of nonlinear systems is referring to the system where probability density functions(PDFs) of the parameters are known. This parameter identification and states estimation method is realized based on expectation maximization(EM) algorithm and particle filter. Firstly, parameter particles are generated randomly according to the PDF of parameter. Secondly, the particle filter is employed to estimate system states corresponding to each group of the parameters, and the weight of each group parameters is calculated according to the Bayesian theory. Then the new iteration of parameter is obtained by adopting the expectation maximization algorithm. Lastly, the real parameters are obtained along with system operation. Numerical illustrations are presented to exhibit the effectiveness of the method proposed herein, and the performance of the method is examined.
Wheel-quadrupled combines individual benefits of wheeled robot and legged robot and has excellent adaption to terrain,which has become research highlights of robot fields these *** this paper,the basic static walking ...
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ISBN:
(纸本)9781538629185
Wheel-quadrupled combines individual benefits of wheeled robot and legged robot and has excellent adaption to terrain,which has become research highlights of robot fields these *** this paper,the basic static walking pattern of robot is determined,and the attitude angles and the position of COG(center of gravity) are adjusted to enhance the stability and ability of robot to traverse the rough *** order to simplify and establish model for rough terrain,we propose an estimation method of terrain based on the position of stance phase and the body attitude,as well as calculate the target attitude angle of the trunk in this *** then the smooth transition of foot-laying positions is guaranteed by planning the adjustment ***,the simulation results illustrate that the proposed method is able to adapt robot to different types of unknown rough terrains.
The growing number of renewable energy replacing conventional generators results in a loss of the reserve for frequency control in power systems,while many industrial power grids often have excess energy supply due to...
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The growing number of renewable energy replacing conventional generators results in a loss of the reserve for frequency control in power systems,while many industrial power grids often have excess energy supply due to abundant wind and solar energy *** paper proposes a secondary frequency control(SFC)strategy that allows industrial power grids to provide emergency high-voltage direct current(HVDC)power support(EDCPS)for emergency to a system requiring power support through a voltage source converter(VSC)HVDC *** architecture including multiple model predictive control(MPC)controllers with periodic communication is designed to simultaneously obtain optimized EDCPS capacity and minimize adverse effects on the providing power support(PPS)***,a model of a virtual power plant(VPP)containing aluminum smelter loads(ASLs)and a high penetration of wind power is established for the PPS *** flexibility and controllability of the VPP are improved by the demand response of the *** uncertainty associated with wind power is considered by chance *** effectiveness of the proposed strategy is verified by simulation results using the data of an actual industrial power grid in Inner Mongolia,*** DC voltage of the VSCs and the DC in the potlines of the ASLs are also investigated in the simulation.
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