Quadruped robot has gained its popularity due to the adaptation ability of rough *** improve the walking stability and balance of quadrupeds,separate static walking methods are discussed based on specific known *** so...
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ISBN:
(纸本)9781467397155
Quadruped robot has gained its popularity due to the adaptation ability of rough *** improve the walking stability and balance of quadrupeds,separate static walking methods are discussed based on specific known *** some unknown terrains,a uniform terrain model is established in this paper.A fuzzy logic based terrain estimation method is then proposed to estimate the terrain *** on the criterion of maximum working space,a body posture and center of gravity(COG) position adjusting strategy is proposed,and a method to adjust the posture and COG position is derived based on the kinematic *** show that the proposed methods can deal with different terrains and body posture and COG position can be tuned according to the terrain.
At present, the wind power prediction technology is becoming more and more mature, however, the turning weather brings a decrease in prediction accuracy due to its suddenness and instability. In this paper, a wind pow...
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In this paper, we propose a hybrid algorithm that combines an improved Artificial Potential Field (APF) method with the Simulated Annealing (SA) algorithm for path planning of an electric power operation robot manipul...
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ISBN:
(数字)9798331521950
ISBN:
(纸本)9798331521967
In this paper, we propose a hybrid algorithm that combines an improved Artificial Potential Field (APF) method with the Simulated Annealing (SA) algorithm for path planning of an electric power operation robot manipulator in complex distribution grid environments. To address the unreachable target issue inherent in traditional APF, we introduce a distance regulation factor to optimize the repulsive function. This modification allows the manipulator to smoothly approach the target point as it nears, while the repulsion from obstacles gradually decreases. Additionally, to overcome the limitations of the traditional SA algorithm, such as its tendency to get trapped in local minimum solutions and its inefficiency in complex environments, we propose an adaptive temperature rise strategy. This strategy increases the temperature, enhancing the probability of escaping local optimal solutions. When the APF algorithm becomes trapped in a local optimum, the improved SA algorithm is applied to escape the local minimum. Once the local optimum is avoided, the algorithm switches back to APF to continue the path planning process. Simulation results demonstrate that the proposed improved APF-SA algorithm adapts effectively to various complex environments, achieving shorter planning times and higher success rates compared to traditional APF and SA algorithms. It successfully resolves the unreachable target and local minimum problems associated with APF. Finally, the feasibility of the proposed APF-SA fusion algorithm is validated through experiments conducted on an electric power operation robot experimental platform for distribution grid applications.
Fixed-time synchronization(FTS)of delayed memristor-based neural networks(MNNs)with discontinuous activations is studied in this *** continuous and discontinuous activations are considered *** the mixed delays which a...
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Fixed-time synchronization(FTS)of delayed memristor-based neural networks(MNNs)with discontinuous activations is studied in this *** continuous and discontinuous activations are considered *** the mixed delays which are closer to reality are taken into the ***,two kinds of control schemes are proposed,including feedback and adaptive control *** on some lemmas,mathematical inequalities and the designed controllers,a few synchronization criteria are ***,the upper bound of settling time(ST)which is independent of the initial values is ***,the feasibility of our theory is attested by simulation examples.
This paper proposes a novel method of magnetically guided assembly to construct multi- layer porous scaffold for three-dimensional cell culture by apply magnetic microfibers. Microfibers are composed of biocompatible ...
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This paper proposes a novel method of magnetically guided assembly to construct multi- layer porous scaffold for three-dimensional cell culture by apply magnetic microfibers. Microfibers are composed of biocompatible and biodegradable alginate solution with homogeneous magnetic nanopar- ticles, which are continuously spun from a microfluidic device by precise pressure control of the syringe pump. Magnetic nanoparticles enable the control of magnetic field on microfibers. Meanwhile, mag- netized device combining with a round permanent magnet are utilized to guide the distribution of spouted microfibers. The device is composed by pure iron wire arrays and wax, which stimulates pow- erful magnetic flux density and magnetic field gradients for the capture and assembly of microfibers. Thus, magnetic microfibers are spun on desired places of the magnetized device by motion control of the micromanipulation robot, and precise locations are adjusted by magnetic force couple with the assist of glass micropipette. Afterwards, microfibers are spatially organized by periodic magnetic force and crossed layer-by-layer to form micro-pore structure with both length and width of 650μm. Finally, the authors construct a multilayer microfiber-based scaffold with high porosity to provide a satisfactory environment for long-term cell culture. The experimental results demonstrate the effectiveness of the proposed method.
In this paper, we study a distributed state estimation problem for Markov jump systems (MJS) over sensor networks, in which each sensor node connects with each other through wireless networks with communication delays...
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This special issue is dedicated to the 30th anniversary of Journal of systems Science and complexity(JSSC)which is under the auspices of the Institute of systems Science,Chinese Academy of *** of systems Science,Chine...
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This special issue is dedicated to the 30th anniversary of Journal of systems Science and complexity(JSSC)which is under the auspices of the Institute of systems Science,Chinese Academy of *** of systems Science,Chinese Academy of Sciences was established in 1979 by scientists Chao-Chih Kwan,Wen-Tsun Wu,Guo-Zhi *** 1981,the Journal of systems
Research on multi-agent systems has attracted much attention in the past two decades, and numerous results have been obtained. Its widespread applications include spacecraft,mobile robots, sensor networks, etc. Most p...
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Research on multi-agent systems has attracted much attention in the past two decades, and numerous results have been obtained. Its widespread applications include spacecraft,mobile robots, sensor networks, etc. Most previous research works on multi-agent systems studied the first- and second-order dynamics. However, in engineering, many systems are modeled by higher-order dynamics. This paper reviews the major results and progress in distributed high-order multi-agent *** the review, a short discussion section is included to summarize the existing research and propose several promising research directions along with some open problems that are deemed important for further investigations.
作者:
Halima, D. B.Chtourou, M.Intelligent Control
Optimization and Design of Complex Systems (ICOS) Department of Electrical Engineering National School of Engineers of Sfax ENIS P.B.W. 3038 Sfax Tunisia
In this work, we present a state feedback adaptive fuzzy control method, applied to the stabilization of a nonlinear system whose mathematical model is unknown or/and with varying time parameters. The synthesis of the...
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In this work, we present a state feedback adaptive fuzzy control method, applied to the stabilization of a nonlinear system whose mathematical model is unknown or/and with varying time parameters. The synthesis of the control law is based on fuzzy models developed by a local description of the considered system's dynamics. Therefore, two steps, at each time, are necessary to the adaptive control of such system. The first one consists in estimating every local model parameters, using a gradient method as parameter's adjustment method. The second one consists in the computation, of the control law based on the classical methods applied for the linear system control as the state feedback control. The stability of the proposed adaptive control method is discussed.
Dear editor,Fuzzy models have been widely employed in various fields, such as complex industrial process modeling, classification, function approximation, and time series prediction. Extracting fuzzy rules is very imp...
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Dear editor,Fuzzy models have been widely employed in various fields, such as complex industrial process modeling, classification, function approximation, and time series prediction. Extracting fuzzy rules is very important as they determine the capabilities of the fuzzy model. In recent years, data-based methods such as fuzzy clustering, genetic algorithm, and neural networks [1–3], have been pro-
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