A space-saving end-effector is designed for small scale manipulator in this paper. The end-effector is equipped with capture and actuation transmission capabilities. Two subsystems are highly integrated systems of mec...
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ISBN:
(纸本)9781479973989
A space-saving end-effector is designed for small scale manipulator in this paper. The end-effector is equipped with capture and actuation transmission capabilities. Two subsystems are highly integrated systems of mechanics, electronics and sensors. A trefoil shaped capture system is developed for closed envelop. The worm shaft and worm wheels are adopted for the self-locking property, and they are used in a unique manner. Straight path generation of linkage is proposed in the transmission system. The multisensory system and hardware architecture provide the foundation for control strategies. The effectiveness of the end-effector is verified by simulation and the capturing tolerance is obtained.
This paper establishes a mathematical model for UAV's inner loop, then based on this model an identification strategy based on CIFER is presented. At the first hand, A subsection procedure is done to obtain the in...
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In the paper, a new method named Cartesian Space Synchronous Impedance control (CSSIC) has been developed. The method combines the synchronous control and the impedance control together which can not only be used in t...
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ISBN:
(纸本)9781479969357
In the paper, a new method named Cartesian Space Synchronous Impedance control (CSSIC) has been developed. The method combines the synchronous control and the impedance control together which can not only be used in the position control but can also realize the purpose of force control of the system with multi-manipulators. Therefore, if there are multi-manipulators grasping the same object, it can ensure the object will not fall and not be destroyed. The mathematical validation process and the stability proof of the method have been given. Besides, an experiment setup which has two 7-DOF robot arms has been established to testify the method. The testing result shows that the dual arm system, under disturbance, can ensure stable grasping of the object with the CSSIC method.
In this paper, surface electromyography (sEMG) from muscles of the lower limb is acquired and processed to estimate the singlejoint voluntary motion intention, based on which, two single-joint active training strategi...
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The studies on the controllability of complex networks popularly existing in natural, social and man-made engineered systems have been a critical and attractive subject for both academic and practical communities. To ...
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The studies on the controllability of complex networks popularly existing in natural, social and man-made engineered systems have been a critical and attractive subject for both academic and practical communities. To design and maintain a networked system under control, it is vital to explore the mechanism and relationship between the network layout and its controllability. For a fully-controlled complex system, potential malicious attacks and/or random failures will lead to the damage of its internal structure, such as the breakdown of certain control nodes or the loss of the links between state nodes. In this paper, we first introduce the concept of degree of controllability to quantify the control level of the networks. And for the networks whose degree of controllability is not full, we propose two novel optimal recovering strategies, OAN (short for optimal adding-node) strategy and OAE (short for optimal adding-edge) strategy, to repair their controllability. The results of experiments conducted on the various real and model networks demonstrate the effectiveness of these two strategies and the better performance compared to their randomized counterparts, RAN (short for randomized adding-node) strategy and RAE (short for randomized adding-edge) strategy.
This paper presents a particle filter-based visual tracking method with online feature selection mechanism. In color-based particle filter algorithm the weights of particles do not always represent the importance corr...
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This paper presents a particle filter-based visual tracking method with online feature selection mechanism. In color-based particle filter algorithm the weights of particles do not always represent the importance correctly, this may cause that the object tracking based on particle filter converge to a local region of the object. In our proposed visual tracking method, the Bhattacharyya distance and the local discrimination between the object and background are used to define the weights of the particles, which can solve the existing local convergence problem. Experiments demonstrates that the proposed method can work well not only in single object tracking processes but also in multiple similar objects tracking processes.
In this paper, we proposed a biologically inspired model to solve the optimization problem of building district heating networks. The optimization strategy of the model was inspired from physiological observations of ...
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In this paper, a novel signum-activated weights-and-structure-determination neuronet (SAWASDN) is proposed, investigated and tested. Being different from the past WASD neuronet, the proposed SAWASDN employs discontinu...
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In this paper, a novel signum-activated weights-and-structure-determination neuronet (SAWASDN) is proposed, investigated and tested. Being different from the past WASD neuronet, the proposed SAWASDN employs discontinuous functions as its activation functions. In addition, we can determine the optimal weights directly and the optimal neuronet structure automatically by the WASD method. Finally, numerical experiments of learning and testing XOR logic via noisy input and output data are conducted, with Gaussian noise and with uniform noise added. Numerical results substantiate the feasibility, efficacy and robustness of the SAWASDN.
This paper studies a small Hopfield neural network with a memristive synaptic *** show that the previous stable network after one weight replaced by a memristor can exhibit rich complex dynamics, such as quasi-periodi...
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This paper studies a small Hopfield neural network with a memristive synaptic *** show that the previous stable network after one weight replaced by a memristor can exhibit rich complex dynamics, such as quasi-periodic orbits, chaos, and hyperchaos, which suggests that the memristor is crucial to the behaviors of neural networks and may play a significant *** also prove the existence of a saddle periodic orbit, and then present computer-assisted verification of hyperchaos through a homoclinic intersection of the stable and unstable manifolds, which gives a positive answer to an interesting question that whether a 4D memristive system with a line of equilibria can demonstrate hyperchaos.
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