A multi-homed VPN architecture based on extended SOCKSv5 and TLS was proposed. The architecture employs a dynamic connection mechanism for multiple proxies in the end system,i n which the security-demanded transmissio...
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A multi-homed VPN architecture based on extended SOCKSv5 and TLS was proposed. The architecture employs a dynamic connection mechanism for multiple proxies in the end system,i n which the security-demanded transmission connections can switch smoothly among the multiple proxies by maint aining a coherent connection *** mechanism is transparent to application programs and can support th e building of *** the cooperation of some other security components,the mechanism guarantees the reso urce availab.lity and reliability of the end system against some attacks to the specific ports or hosts.
TsinghuAeolus is the champion team for the latest two RoboCup simulation league competitions. While our binary and nearly full source code for RoboCup 2001 had been publicly availab.e for the entire year, we won the c...
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A stable adaptive controller design approach via neuro-fuzzy (NF) dynamic inversion is developed for the trajectory tracking of the robotic manipulator which can be identified in the Takagi-Sugeno (T-S) fuzzy framewor...
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ISBN:
(纸本)0780388739
A stable adaptive controller design approach via neuro-fuzzy (NF) dynamic inversion is developed for the trajectory tracking of the robotic manipulator which can be identified in the Takagi-Sugeno (T-S) fuzzy framework with both structure and parameters identified through input/output (I/O) data from the robot control process. The dynamic NF (DNF) system aims to approximate the whole robot dynamics rather than its nonlinear components as is done by static neural networks (NNs). The dynamic inversion introduced for the controller design is constructed by the DNF system and will help the NF controller design because it does not require the assumption that the robot states should be on a compact set The system stability and the convergence of tracking errors are guaranteed by Lyapunov stability theory, and the learning algorithm for the DNF system is obtained thereby. Finally, simulation studies are carried out to show the viability and effectiveness of the proposed control approach.
The stochastic stability and H∞ disturbance attenuation is studied for Markovian jump linear singularly perturbed systems (MJLSPS) via a matrix inequality approach. Both analysis and synthesis problems are investigat...
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The stochastic stability and H∞ disturbance attenuation is studied for Markovian jump linear singularly perturbed systems (MJLSPS) via a matrix inequality approach. Both analysis and synthesis problems are investigated. In analysis, the stochastic stability and H∞ performance conditions are derived and recast in the formulation of a set of coupled linear matrix inequalities. In synthesis, the sufficient conditions under which the closed-loop H∞ disturbance attenuation performance turn out to be in the form of a set of coupled bilinear matrix inequalities and are solved with a proposed heuristic algorithm, and an s-independent H∞ controller can then be obtained. The reduced controller which is independent of the fast states is also developed. The results proposed apply not only to standard, but also to nonstandard MJLSPS. An example is presented to illustrate the proposed algorithm.
The insertion of the communication network in the feedback control loop makes some problems about the QoS. One important issue is the network-induced delay that occurs while exchanging data among devices connected to ...
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The insertion of the communication network in the feedback control loop makes some problems about the QoS. One important issue is the network-induced delay that occurs while exchanging data among devices connected to the shared medium. The purpose of this paper is to design an improved internal model controller to control a plant with time delays. Compared with ordinary internal model controllers, there is an additional feedback loop in the new architecture. The simulation results demonstrate that the control system has satisfied robustness performance.
At present time, model order reduction is a well-established technique for fast simulation of large-scale models based on ordinary differential equations, especially those in the field of integrated circuits and micro...
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Safety and reliability of dynamic systems become more and more important performance indexes. Technologies of Fault Detection and Isolation (FDI), which ensure the system advantage of safety and reliability, have rece...
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ISBN:
(纸本)0780382730
Safety and reliability of dynamic systems become more and more important performance indexes. Technologies of Fault Detection and Isolation (FDI), which ensure the system advantage of safety and reliability, have received increasing research interests in recent years. In this paper, a compound approach of FDI and a slight improvement on algorithm of robust observer are proposed. Using an instance of FDI on a model of F-16 flight aerodynamic system, the advantage and feasibility of the approach are testified.
In this paper, a locating ceramics system based on computer vision is introduced. The system is used to indirectly measure the ceramics' poses on the automatic product line of the robot spraying unburned ceramics....
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A neural network (NN) plus fuzzy PD controller is presented in this paper for the trajectory tracking of a flexible-link manipulator, where the robot tip vibration is measured by an optical measurement device with pos...
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ISBN:
(纸本)0780384636
A neural network (NN) plus fuzzy PD controller is presented in this paper for the trajectory tracking of a flexible-link manipulator, where the robot tip vibration is measured by an optical measurement device with position-sensitive detectors (PSD). Based on the singular perturbation method and two time-scale decompositions, the flexible-link robot model is decomposed into a slow subsystem of an equivalent rigid-link manipulator and a fast subsystem of flexible mode. An NN-based adaptive controller is used to implement the angle position control of the slow dynamics, while the fuzzy PD control with PSD tip deflection measurement is designed to suppress the vibration along with the robot control process. Finally, the control performance of the proposed control approach is illustrated by experimental research.
This work presents a novel learning market based layered architecture for distributed multi-robot systems. For the market system, a reward function is defined and adapted by some kind of learning algorithm in the dyna...
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This work presents a novel learning market based layered architecture for distributed multi-robot systems. For the market system, a reward function is defined and adapted by some kind of learning algorithm in the dynamical system. A layered architecture combining the market based system with the typical layered robot architecture is also proposed to make the robot team execute smoothly in the dynamic environment. Results illustrate the relationships between task time, task amount and robot amount. The task/robot rate is defined to deeply study their relationships.
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