In this paper,the containment control problem of continuous-time double-integrator multi-agent systems is *** aperiodic sampled-data based protocol is induced by using neighboring information with uncertainly time-var...
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ISBN:
(纸本)9781479947249
In this paper,the containment control problem of continuous-time double-integrator multi-agent systems is *** aperiodic sampled-data based protocol is induced by using neighboring information with uncertainly time-varying sampling *** the obtained protocol and properties of Laplacian matrix,the containment control problem of continuoustime multi-agent systems is equivalently transformed into a stability problem of discrete-time *** fixing a sampling length in the given range,a time-invariant discrete-time system is *** the systems with variation of sampling intervals can be considered as uncertain systems of the time-invariant discrete-time *** using small-gain theorem,sufficient conditions are obtained to guarantee stability of uncertain discrete-time *** theoretical results are illustrated by some simulations.
In fighting the coronary heart diseases,percutaneous coronary intervention is proved to be a powerful and reliable clinical procedure in the modern catheterization labs all over the *** to its minimally invasive chara...
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ISBN:
(纸本)9781479947249
In fighting the coronary heart diseases,percutaneous coronary intervention is proved to be a powerful and reliable clinical procedure in the modern catheterization labs all over the *** to its minimally invasive characteristics,the procedure must be performed in the image-guided way,which makes this important skill very difficult to *** make the learning more accessible,a computer-aided surgical simulator is planned to be implemented in our *** now,the prototyping model is completed and the further validation is being *** implementing the virtual anatomic environment,we aim to provide the trainee an intuitive visual effect so that the models of the organs bear resemblance to their counterpart of the human'*** the blood vessels per se,the surrounding organs seen in the real surgery also need to be visualized during the *** heart is undoubtedly the most critical one among *** segmentation of the heart is a challenging task because of the noisy and indistinct boundaries of the heart in the images due to the natural heart beating during the image *** this paper,an approach based on the active contours method is developed to fulfill this *** experimental results demonstrate the effectiveness of our approach.
This paper studies the output consensus problem of single-input single-output(SISO)multi-agent *** is assumed that the multi-agent system works in a noisy environment(state noises,measurement noises and communication ...
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ISBN:
(纸本)9781479947249
This paper studies the output consensus problem of single-input single-output(SISO)multi-agent *** is assumed that the multi-agent system works in a noisy environment(state noises,measurement noises and communication noises).A dynamic output-feedback based protocol is proposed to solve the stochastic output consensus problem in this *** is proved that the mathematical expectations of relative outputs between agents are convergent to zero,and the second-order moments of relative outputs between agents are uniformly ***,some simulation examples are presented to demonstrate this phenomenon.
Articulated tracked vehicles possess outstanding traveling capability due to the special articulated steering mechanism(ASM), which makes them be widely used in many application areas. In view of the importance of ASM...
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ISBN:
(纸本)9781467374439
Articulated tracked vehicles possess outstanding traveling capability due to the special articulated steering mechanism(ASM), which makes them be widely used in many application areas. In view of the importance of ASM, we design a new structure of such mechanisms. The designed 4-DOF ASM can perform yaw and pitch movement actively while roll movement passively. To work efficiently, the ASM is designed to operate in three different modes: "float" mode, "lock" mode, and "active control" mode. Then we deduce the kinematics of articulated vehicle and analyze the workspace of the front vehicle with respect to the rear vehicle to demonstrate the motion performance of the designed ASM. With the elongation and shortening of hydraulic cylinders, the maximum steer angle is beyond 0.4 rad, the range of the rear pitch angle is(-0.22, 0.27) rad, and the range of the front pitch angle is(-0.45, 0.5) rad.
In this paper, the robust stabilization problem for a class of discrete-time uncertain nonlinear systems is investigated by using a neuro-optimal control strategy. The robust stabilization problem is converted into an...
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ISBN:
(纸本)9781467374439
In this paper, the robust stabilization problem for a class of discrete-time uncertain nonlinear systems is investigated by using a neuro-optimal control strategy. The robust stabilization problem is converted into an optimal control problem under some proper conditions. Then, in order to deal with the transformed optimal control problem, the discrete-time generalized HamiltonJacobi-Bellman equation is introduced and solved by employing the successive approximation method. The convergence proof of the iterative algorithm and the design procedure of the neural network implementation are developed as well. A numerical simulation is also provided to illustrate the effectiveness of the control strategy.
This paper addresses the problem of task allocation in real-time distributed systems with the goal of maximizing the system reliability, which has been shown to be NP-hard. Firstly, we take account of the deadline con...
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This paper addresses the problem of task allocation in real-time distributed systems with the goal of maximizing the system reliability, which has been shown to be NP-hard. Firstly, we take account of the deadline constraint in order to formulate this problem, and then apply chaotic simulated annealing (CSA) algorithm to solve the problem. The CSA introduces chaotic variable to generate the number of perturbations of neighborhood selection in each iteration, which can be more likely to escape from the local minima. The effectiveness of CSA is evaluated by comparing with conventional simulated annealing algorithm. The results show that CSA has a better performance than SA, both higher reliability and less calculation time.
Grasping is a significant yet challenging task for the robots. In this paper, the grasping problem for a class of dexterous robotic hands is investigated based on the novel concept of constrained region in environment...
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Grasping is a significant yet challenging task for the robots. In this paper, the grasping problem for a class of dexterous robotic hands is investigated based on the novel concept of constrained region in environment, which is inspired by the grasping operations of the human beings. More precisely, constrained region in environment is formed by the environment, which integrates a bio-inspired co-sensing framework. By utilizing the concept of constrained region in environment, the grasping by robots can be effectively accomplished with relatively low-precision sensors. For the grasping of dexterous robotic hands, the attractive region in environment is first established by model primitives in the configuration space to generate offline grasping planning. Then, online dynamic adjustment is implemented by integrating the visual sensory and force sensory information, such that the uncertainty can be further eliminated and certain compliance can be obtained. In the end, an experimental example of BarrettHand is provided to show the effectiveness of our proposed grasping strategy based on constrained region in environment.
Recently, generative adversarial networks(GANs)have become a research focus of artificial intelligence. Inspired by two-player zero-sum game, GANs comprise a generator and a discriminator, both trained under the adver...
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Recently, generative adversarial networks(GANs)have become a research focus of artificial intelligence. Inspired by two-player zero-sum game, GANs comprise a generator and a discriminator, both trained under the adversarial learning *** goal of GANs is to estimate the potential distribution of real data samples and generate new samples from that *** their initiation, GANs have been widely studied due to their enormous prospect for applications, including image and vision computing, speech and language processing, etc. In this review paper, we summarize the state of the art of GANs and look into the future. Firstly, we survey GANs' proposal background,theoretic and implementation models, and application ***, we discuss GANs' advantages and disadvantages, and their development trends. In particular, we investigate the relation between GANs and parallel intelligence,with the conclusion that GANs have a great potential in parallel systems research in terms of virtual-real interaction and integration. Clearly, GANs can provide substantial algorithmic support for parallel intelligence.
Robot assisted rehabilitation training is a promising tool for post-stroke patients’ recovery, and some new challenges are imposed on robot design, control, and clinical evaluation. This paper presents a novel upper ...
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Robot assisted rehabilitation training is a promising tool for post-stroke patients’ recovery, and some new challenges are imposed on robot design, control, and clinical evaluation. This paper presents a novel upper limb rehabilitation robot that can provide safe and compliant force feedbacks to the patient for the benefits of its stiff and low-inertia parallel structure, highly backdrivable capstan-cable transmission, and impedance control method in the workspace. The "assist-as-needed"(AAN) clinical training principle is implemented through the "virtual tunnel" force field design, the "assistance threshold" strategy, as well as the virtual environment training games, and preliminary clinical results show its effectiveness for motor relearning for both acute and chronic stroke patients, especially for coordinated movements of shoulder and elbow.
A novel image deblurring method based on high-order non-local range Markov Random Field (NLR-MRF) prior is proposed in the paper. NLR-MRF provides an effective framework to model the statistical prior of natural image...
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A novel image deblurring method based on high-order non-local range Markov Random Field (NLR-MRF) prior is proposed in the paper. NLR-MRF provides an effective framework to model the statistical prior of natural images and leads to excellent performance in the application of image denoising and inpainting. Moreover, the framework will be extended to image deblurring in our work. Instead of commonly used maximum a-posteriori (MAP) estimation, which has several shortcomings, the high-order NLR-MRF prior is integrated into Bayesian minimum mean squared error (MMSE) estimation framework. Then, an efficient Gibbs sampling algorithm is adopted to compute MMSE estimation. The proposed method frees the user from determining regularization parameter beforehand, which relies on unknown noise level. We perform experiments on synthetic and real-world data to demonstrate the effectiveness of our method. Both quantitatively and qualitatively evaluations show superior or comparable results to the state-of-art deblurring methods.
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