The study on collective circular motion has attracted researchers over the past years. Many control algorithms have been successfully developed for achieving various circular motion patterns. However, the existing alg...
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Some experimental research on flocking of a group of robots in a bounded plane is reported in this paper. The motivation is from many scenarios encountered in both natural systems and engineering applications that col...
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While the problem of packing two-dimensional squares into a square, in which a set of squares is packed into a big square, has been proved to be NP-complete, the computational complexity of the d-dimensional (d > 2...
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This paper concerns a control problem for a 3-link planar robot moving in the vertical plane with only the rst joint being actuated by using the energy-based control approach. This robot is of underactuation degree tw...
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ISBN:
(纸本)9781479947249
This paper concerns a control problem for a 3-link planar robot moving in the vertical plane with only the rst joint being actuated by using the energy-based control approach. This robot is of underactuation degree two since the difference of the number of degrees of freedom and that of control input is two which is usually very dif cult to control. The control objective is to control simultaneously the total mechanical energy, the angular velocity and the angle of link 1 of the robot to their values corresponding to those at the upright equilibrium point, where all three links are in the upright position. The main contribution of this paper is to provide a global analysis of the convergence of the energy and the motion of the robot under the derived control law in a systematic way. By presenting a new property with its strict proof about the motion of the robot, without any condition on the mechanical parameters of the robot, we prove that the control objective is achieved for all initial states with the exception of a set of Lebesgue measure zero provided that two conditions on control gains are satis ed. Although there is no theoretical guarantee that there exists time such that the robot can be swung up close to the upright equilibrium point, the numerical simulation shows that this simultaneous control can be applied successfully to the swing-up and stabilizing control for a 3-link robot. This paper reveals the dif culty of the motion analysis of mechanical systems with underactuation degree greater than one.
作者：
胡杰杨列亮Lajos HanzoCommunications
Signal Processing and Control Group School of Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK
Since more and more mobile applications are based on the proliferation of social information, the study of Mobile Social Networks （MSNs） combines social sciences and wireless communications. Operating wireless netwo...
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Since more and more mobile applications are based on the proliferation of social information, the study of Mobile Social Networks （MSNs） combines social sciences and wireless communications. Operating wireless networks more efficiently by exploiting social relationships between MSN users is an appealing but challenging option for network operators. An MSN-aided content dissemination technique is presented as a potential extension of conventional cellular wireless networks in order to satisfy growing data traffic. By allowing the MSN users to create a self-organized ad hoc network for spontaneously disseminating contents, the network operator may be able to reduce the operational costs and simultaneously achieve an improved network performance. In this paper, we first summarize the basic features of the MSN architecture, followed by a survey of the factors which may affect MSN-aided content dissemination. Using a case study, we demonstrate that one can save resources of the Base Station （BS） while substantially lowering content dissemination delay. Finally, other potential applications of MSN-aided content dissemination are introduced, and a range of lustre challenges are summarized.
In this paper, a control problem for a class of nonlinear coupled dynamical systems is proposed and a continuous nonlinear feedback control law is designed using direct Lyapunov method to solve the proposed control pr...
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In this paper, a control problem for a class of nonlinear coupled dynamical systems is proposed and a continuous nonlinear feedback control law is designed using direct Lyapunov method to solve the proposed control problem. Moreover, synchronization problem for a special case of this class nonlinear coupled dynamical systems is concerned. Numerical examples show the effectiveness and advantage of the designed continuous nonlinear control law and derived synchronization result.
This work proposed a real-time 3D map building system based on the visual odometry information derived from a Multi-Camera hardware. The accurate odometry information and images derived from the proposed intuitive Mul...
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Codebook plays an important role in the bag-of-visual-words (BoW) model for image classification. However, the traditional codebook generation procedure ignores the spatial information. Although a lot of works have be...
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A mechanism is developed to construct a logic system by employing DNA/gold nanoparticle (AuNP) conjugates as a basic work unit, utilizing a fluorescent beacon probe to detect output signals. To implement the logic cir...
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The paper introduces the localization problem of sensor networks using relative position measurements. It is assumed that relative positions are measured in local coordinate frames of individual sensors, for which dif...
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