Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot *** works on control of rigid-link flexible-joint(RLFJ)robot in literature have assumed th...
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Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot *** works on control of rigid-link flexible-joint(RLFJ)robot in literature have assumed that the kinematics of the robot is known *** have been few results that can deal with the kinematics uncertainty in RLFJ *** 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 *** observers are designed to avoid accelerations measurement due to the fourth-order overall system *** stability of the closed-loop system is shown and sufficient conditions are presented to guarantee the stability.
In this paper, a nonlinear chaotic system is presented, which is derived from the chua's circuit with a memristor. This is a four-dimensional autonomous circuit which exhibits chaotic behavior. The chaotic system ...
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This study investigates the problem of event-based synchronisation of linear discrete-time dynamical networks. Leader-following and leaderless synchronisations are achieved by a distributed event-trigger strategy. It ...
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Micromanipulation robot is a system which often does some precise manipulations in micro scale space, such as centimeter or millimeter level space, in which micro visual servo system plays a very important *** visual ...
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Micromanipulation robot is a system which often does some precise manipulations in micro scale space, such as centimeter or millimeter level space, in which micro visual servo system plays a very important *** visual servo system, it’s difficult to give consideration to two or more things such as location accuracy and real-time property at the same *** this paper, we introduced a novel approach which suited our system very well and could meet both of the above *** was called ORB, a novel feature extracting method which outperformed many current excellent methods such as SIFT and SURF.
The H ∞ based decoupling tracking control is studied in this paper. A virtual system constituted by the controlled system and the no coupling reference model is firstly set up. The controlled system is driven to foll...
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The H ∞ based decoupling tracking control is studied in this paper. A virtual system constituted by the controlled system and the no coupling reference model is firstly set up. The controlled system is driven to follow the reference model to realize the decoupling. And the tracking error can be formulated by the H ∞ norm of the virtual system. Then the controller is derived by minimizing the H ∞ norm, which can be described by Linear Matrix Inequalities (LMIs). The necessary and sufficient condition of existence of controller is derived based on the LMIs above. A flight control example is given to illustrate the effectiveness of the proposed method. The simulation results show that the proposed method is of better control performance than Linear Quadratic (LQ) tracking controller.
Refrigerant leakage is common in the use of dehumidifier, leading to decrease of dehumidification ability. To detect refrigerant capacity effectively and maintain it timely, a neural network with deep learning skills ...
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The artificial bee colony (ABC) algorithm is one of well-known evolutionary algorithms, which has been successfully applied to many continuous or combinatorial optimization problems. To increase further its convergenc...
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image interpolation has been widely used and studied in the fields of image *** the different complexities along the different directions,a novel image interpolation method based on gradient analysis is presented in t...
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ISBN:
(纸本)0780394224
image interpolation has been widely used and studied in the fields of image *** the different complexities along the different directions,a novel image interpolation method based on gradient analysis is presented in this ***,for each point that need to be interpolated,it's the gradient values along the horizontal and vertical directions are estimated ***,different interpolation methods are carried out along these two directions according to the gradient values,that is a higher order interpolation method is applied if the gradient value is greater than certain threshold;otherwise,a lower order interpolation method is *** method gives an attention to the precision and complexity of interpolation procedure. Experimental results show that the proposed method is feasible and promising.
A method used for recognition and understanding of airfield based on mathematical morphology is proposed in this paper. The new approach can he divided into three steps. First, to extract the typical geometric structu...
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A method used for recognition and understanding of airfield based on mathematical morphology is proposed in this paper. The new approach can he divided into three steps. First, to extract the typical geometric structure features of airfield, a segmentation method called recursive Otsu algorithm is employed on an airfield image. Second, thinning and shrinking algorithms are utilized to obtain the contour of airfield with single pixel and to remove diffused small particles. Finally, Radon transform is adopted to extract two typical and important components, primary and secondary runways of airfield exactly. At the same time, region growing algorithm is exploited to get the other components such as parking apron and garages. The experimental results demonstrate that the proposed method gives good performance.
This paper investigates secure consensus problems of nonlinear dynamical networks (NDNs) with node delay under denial-of-service (DoS) attacks, which can cause a break in communication links. It will lead to packet lo...
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