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Comparisons and discussion of three typical robot path planning approaches

Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (science and technology) 2005年第SUPPL.期36卷 315-319页

作者： Wang, Qi-Zhi Wang, Hong-Zhi School of Computer and Information Technology Beijing Jiaotong University Beijing 100044 China Laboratory of Complex System and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 10080 China Laboratory of Intelligent Technology and Systems Tsinghua University Beijing 100084 China Shenyang Coking and Coal Gas Limited Company Shenyang 110026 China

Three typical path planning methods, i.e. artificial potential field, probabilistic path planning and biologically inspired neural network, were introduced. The analysis and comparisons were made in relating to genera... 详细信息

关键词： Artificial potential fields Biologically inspired neural network Obstacle avoidance Probabilistic path planning Robot path planning

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Fast two-bit operations in inductively coupled flux qubits

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Physical Review B 2005年第2期71卷 024532-024532页

作者： J. Q. You Y. Nakamura Franco Nori Frontier Research System The Institute of Physical and Chemical Research (RIKEN) Wako-shi 351-0198 Japan Department of Physics and National Laboratory for Surface Physics Fudan University Shanghai 200433 China NEC Fundamental and Environmental Research Laboratories Tsukuba Ibaraki 305-8051 Japan CREST Japan Science and Technology Agency (JST) Kawaguchi Saitama 332-0012 Japan Center for Theoretical Physics Physics Department Center for the Study of Complex Systems University of Michigan Ann Arbor Michigan 48109-1120 USA

A central problem for implementing efficient quantum computing is how to realize fast operations (both one- and two-bit ones). However, this is difficult to achieve for a collection of qubits, especially for those separated far away, because the interbit coupling is usually much weaker than the intrabit coupling. Here we present an experimentally feasible method to effectively couple two flux qubits via a common inductance and treat both single and coupled flux qubits with more realistic models, which include the loop inductance. The main advantage of our proposal is that a strong interbit coupling can be achieved using a small inductance, so that two-bit as fast as one-bit operations can be easily realized. We also show the flux dependence of the transitions between states for the coupled flux qubits.

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Modeling and simulation of Time Series Prediction Based on Dynamic Neural Network

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Journal of Beijing Institute of technology 2004年第2期13卷 148-151页

作者：王雪松程玉虎彭光正 School of Information Science and Technology Beijing Institute of Technology Beijing100081 China Laboratory of Complex System and Intelligent Science Institute of Automation Chinese Academy of Sciences Beijing100080 China

Molding and simulation of time series prediction based on dynamic neural network(NN) are studied. Prediction model for non-linear and time-varying system is proposed based on dynamic Jordan NN. Aiming at the intrinsic defects of back-propagation (BP) algorithm that cannot update network weights incrementally, a hybrid algorithm combining the temporal difference (TD) method with BP algorithm to train Jordan NN is put forward. The proposed method is applied to predict the ash content of clean coal in jigging production real-time and multi-step. A practical example is also given and its application results indicate that the method has better performance than others and also offers a beneficial reference to the prediction of nonlinear time series.

关键词： time series Jordan neural network(NN) back-propagation (BP) algorithm temporal difference (TD) method

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Investigations and experiments of a new multi-layer complex liquid-cooled mirror

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Chinese Optics Letters 2004年第7期2卷 407-410页

作者：陆宇灵程祖海张耀宁孙锋余文峰 State Key Laboratory of Laser Technology Huazhong University of Science and Technology Wuhan 430074 State Key Laboratory of Laser Technology Huazhong University of Science and Technology Wuhan 430074his paper describes a new multi-layer complex liquid-cooled Si mirror with 3 cooling ducts in Archimedes spirals. Utilizing the ANSYS program the structure of the mirror is optimized and the thermal deformation model of the mirror is simulated. The simulation results show that the mirror has the following advantages: very small amount of surface deformation uniform distribution of temperature and surface deformation and fast surface shape restoration. The results of the experiments of thermal deformation and the surface restoration are accurately mapped to the simulation results.

This paper describes a new multi-layer complex liquid-cooled Si mirror with 3 cooling ducts in Archimedes spirals. Utilizing the ANSYS program, the structure of the mirror is optimized and the thermal deformation model of the mirror is simulated. The simulation results show that the mirror has the following advantages: very small amount of surface deformation, uniform distribution of temperature and surface deformation, and fast surface shape restoration. The results of the experiments of thermal deformation and the surface restoration are accurately mapped to the simulation results.

关键词： Computer simulation Deformation Mirrors Multilayers Silicon Structural optimization Water cooling systems

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Fuzzy variable structure control for trajectory tracking of two-link flexible manipulators

Fuzzy variable structure control for trajectory tracking of ...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Yu-Hu Cheng Xue-Song Wang Jiang-Qiang Yi Laboratory of Complex System and Intelligent Science Institute of Automation Chinese Academy and Sciences Beijing China Department of Automatic Control Beijing Institute of Technology Beijing China

ISBN: (纸本)0780378652

According to the existing problems of flexible manipulator control, a kind of fuzzy variable structure controller based on the principle of sliding-mode variable structure control is proposed by well considered both the dynamic and static control properties of the system. Fuzzy variable structure is a hybrid controller that uses fuzzy logic to eliminate chattering phenomenon that is inherent to a sliding-mode variable structure control system. Because the designed fuzzy controller in this paper is a single-input and single-output controller, and the corresponding fuzzy control rules are few, so the approach is very simple for real-time implementation. At last, the control method is verified by computer simulations, based on the dynamics model of a two-link flexible manipulator. simulation results indicate that the control system exhibits perfect control effects on chattering-reducing and trajectory-tracking.

关键词： Fuzzy control Trajectory Sliding mode control Control systems Manipulator dynamics Fuzzy systems Fuzzy logic Control system synthesis Computer simulation Computational modeling

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Study on motion control algorithms for a free-swimming biomimetic robot fish

Study on motion control algorithms for a free-swimming biomi...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Junzhi Yu Erkui Chen Shuo Wang Min Tan Laboratory for complex system and intelligence science Institute of Automation Chinese Chinese Academy and Sciences Beijing China College of Information and Electrics China University of Mining and Technology Xuzhou China

We develop a practical motion control strategy for a radio-controlled, 4-link and free-swimming biomimetic robot fish that uses a flexible posterior body and an oscillating foil as propulsor. Because motion control of robot fish involves hydrodynamics of the fluid environment and dynamics of the robot, it is very difficult to establish a mathematic model employing purely analytical methods. The fish's motion control task, based on control performance of the fish, is decomposed into on-line speed control and orientation control. The speed control algorithm is then implemented by using step control, and orientation control is realized by utilizing fuzzy logic. Combining with step control and fuzzy control, a point-to-point control algorithm is implemented and applied to the closed-loop experimental system that using a vision-based position sensing subsystem to provide feedback. The running experiments confirm the reliability and effectiveness of the presented algorithms.

关键词： Motion control Marine animals Robot kinematics Intelligent robots Robotics and automation Position control Biomimetics Electronic mail Hydrodynamics Mathematics

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Global and localized parallel preconditioning techniques for large scale solid Earth simulations

Global and localized parallel preconditioning techniques for...

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International Symposium on Parallel and Distributed Processing (IPDPS)

作者： Kai Wang Sangbae Kim Jun Zhang K. Nakajima H. Okuda Laboratory for High Performance Scientific Computing and Computer Simulation Department of Computer Science University of Kentucky Lexington KY USA Research Organization for Information Science and Technology Meguro Tokyo Japan Department of Quantum Engineering and System Sciences University of Tokyo Bunkyo Tokyo Japan

We investigate and compare a few parallel preconditioning techniques in the iterative solution of large sparse linear systems arising from solid Earth simulation with and without using contact information in the domain partitioning process. Previous studies are focused on using static or matrix pattern based incomplete LU (ILU) preconditioners in a localized preconditioner implementation. Our current studies are concerned with preconditioner performance for solving two different cases with and without known contact information. For the cases with contact information, we use localized threshold value based incomplete LU (ILUT) preconditioner to improve efficiency. For the cases without contact information, we use a global sparse approximate inverse preconditioner with a static sparsity pattern to achieve robustness. Numerical results from simulating ground motion on a parallel supercomputer are given to compare the effectiveness of these parallel preconditioning techniques.

关键词： Large-scale systems Earth Solid modeling Linear systems Sparse matrices Computational modeling Computer simulation Uniform resource locators Geoscience Information science

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Human systems integration and advanced technology in engineering department workload and manpower reduction

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NAVAL ENGINEERS JOURNAL 2003年第1期115卷 57-65页

作者： Lively, KA Seman, AJ Kirkpatrick, M KENNETH A. LIVELY graduated from the University of Colorado with a BS in applied mathematics and an MS in mathematics in 1976 and from the Massachusetts Institute of Technology with an MS in electrical engineering and the degree ocean engineer in naval architecture and marine engineering in 1984. He retired from the U.S. Navy in 1989 after 23 years of service. Assignments included electrical officer on the USS Constellation (CV 64) project engineer for the DDG 51 machinery control system (NAVSEA) and DDG 51 Technical Director (NAVSEA). He was vice president of the PDI Division of Bird-Johnson Company from July 1989 to November 1998 where he managed various gas turbine and machinery controls related development projects. He joined Anteon Corporation's Systems Engineering Group as senior controls engineer in December 1998 where he provided technical support to the integrated power systems program (NAVSEA PMS 510) and managed the Office of Naval Research Afloat Laboratory. DR. MARK KIRKPATRICK is currently an independent consultant in human factors and work-load/manning analysis and modeling. He holds a Ph.D. degree in experimental psychology from The Ohio State University and has 34 years of experience in applied human factors. From 1982 through 2000 Dr. Kirkpatrick served as the senior vice president of Carlow International. Prior to joining Carlow in 1982 Dr. Kirkpatrick served as a member of the technical staff at North American Rockwell's Missiles Division and as a project director and vice president for Essex Corporation. His areas of expertise include workload simulation task analysis operator-in-the-loop simulation human performance experimentation statistical analysis and human factors T&E. He has directed and/or participated in human factors projects for the U.S. Navy U.S. Army NASA Department of Transportation the U.S. Nuclear Regulatory Commission and private industry. ANTHONY J. SEMAN III is the technical manager for the reduced ship's crew by virtual presence (RSVP) advanced technology d

Aboard current ships, such as the DDG 51, engineering control and damage control activities are manpower intensive. It is anticipated that, for future combatants, the workload demand arising from operation of systems under conditions of normal steaming and during casualty response will need to be markedly reduced via automated monitoring, autonomous control, and other technology initiatives. Current DDG 51 class ships can be considered as a manpower baseline and under Condition III typical engineering control involves seven to eight watchstanders at manned stations in the Central Control Station, the engine rooms and other machinery spaces. In contrast to this manning level, initiatives such as DD 21 and the integrated engineering plant (IEP) envision a partnership between the operator and the automation system, with more and more of the operator's functions being shifted to the automation system as manning levels decrease. This paper describes some human systems integration studies of workload demand reduction and, consequently, manning reduction that can be achieved due to application of several advanced technology concepts. Advanced system concept studies in relation to workload demand are described and reviewed including. Piecemeal applications of diverse automation and remote control technology concepts to selected high driver tasks in current DDG 51 activities. Development of the reduced ship's crew by virtual presence system that will provide automated monitoring and display to operators of machinery health, compartment conditions, and personnel health. The IEP envisions the machinery control system as a provider of resources that are used by various consumers around the ship. Resource needs and consumer priorities are at all times dependent upon the ship's current mission and the availability of equipment pawnbrokers.

关键词： Naval warfare

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Anti-swing fuzzy control of overhead traveling crane

Anti-swing fuzzy control of overhead traveling crane

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Jianqiang Yi N. Yubazaki K. Hirota Laboratory of Complex System Institute of Automation Chinese Academy and Sciences Beijing China Mycom Inc. Kyoto Japan Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Yokohama Japan

A new fuzzy controller for anti-swing and positioning control of an overhead traveling crane is proposed based on the SIRMs (single input rule modules) dynamically connected fuzzy inference model. The trolley position and velocity, the rope swing angle and angular velocity are selected as input items, and the trolley acceleration as output item. With a simple structure, the controller can autonomously adjust the influence of each input item. The control system is further proved to be asymptotically stable near destination. Control simulation results show that the controller is robust to different rope lengths and has generalization ability for different initial positions. Compared with linear state feedback controller, the fuzzy controller can drive the crane to destination in short time with small swing angle.

关键词： Fuzzy control Cranes Automatic control Linear feedback control systems Control systems Optimal control State feedback system performance Rails Laboratories

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Influence of Stagnant Zones on Transient and Asymptotic Dispersion in Macroscopically Homogeneous Porous Media

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Physical Review Letters 2002年第23期88卷 234501-234501页

作者： D. Kandhai D. Hlushkou A. G. Hoekstra P. M. A. Sloot H. Van As U. Tallarek Section Computational Science Faculty of Science University of Amsterdam Kruislaan 403 1098 SJ Amsterdam The Netherlands Kramers Laboratorium voor Fysische Technologie Faculty of Applied Sciences Delft University of Technology Prins Bernhardlaan 6 2628 BW Delft The Netherlands Max Planck Institute for the Dynamics of Complex Technical Systems Sandtorstrasse 1 39106 Magdeburg Germany Department of System Analysis Belarusian State University 4 Francisk Scoryna Avenue Minsk 220050 Belarus Laboratory of Molecular Physics and Wageningen NMR Centre Wageningen University Dreijenlaan 3 6703 HA Wageningen The Netherlands Lehrstuhl für Chemische Verfahrenstechnik Otto-von-Guericke Universität Magdeburg Universitätsplatz 2 39106 Magdeburg Germany

The role of stagnant zones in hydrodynamic dispersion is studied for creeping flow through a fixed bed of spherical permeable particles, covering several orders of characteristic time and length scales associated with fluid transport. Numerical simulations employ a hierarchical model to cope with the different temporal and spatial scales, showing good agreement with our experimental results on diffusion-limited mass transfer, transient, and asymptotic longitudinal dispersion. These data demonstrate that intraparticle liquid holdup in macroscopically homogeneous porous media clearly dominates over contributions caused by the intrinsic flow field heterogeneity and boundary-layer mass transfer.

关键词： Porous materials

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