Improved hybrid position/force controller design of a flexible robot manipulator using a sliding observer

An improved hybrid position/force controller design of a flexible robot manipulator is presented using a sliding observer. The friction between the end effector and the environment is considered and compensated. For systematic reasons the controller is designed taking into consideration the rigid link subsystems and the flexible joints. The proposed control system satisfies the stability of the two subsystems and copes with the uncertainty of robot dynamics. A sliding observer is designed to estimate the time derivative of the torque applied as input to the rigid part of the robot. For the stability of the observer, it is assumed that the uncertainty of the observed system is bounded. A MRAC algorithm is used for the estimation of the friction forces at the contact point between the end effector and the environment. Finally simulation and experimental results are given, to demonstrate the effectiveness of the proposed controller.     

Mechanisms underlying celiac disease and its neurologic manifestations

The extra-intestinal manifestations of celiac disease (CD), including ataxia and peripheral neuropathy, are increasingly being recognized as the presenting symptoms of this autoimmune disease. Although there is a greater understanding of the pathogenesis of the intestinal lesions in CD the mechanisms behind the neurologic manifestations of CD have not been elucidated. In this article, the authors review the cellular and molecular mechanisms behind the histopathologic changes in the intestine, discuss the presentation and characteristics of neurologic manifestations of CD, review the data on the mechanisms behind these manifestations, and discuss the diagnosis and treatment of CD. Molecular mimicry and intermolecular help may play a role in the development of neurologic complications.Received 11 March 2004; received after revision 29 October 2004; accepted 12 November 2004     

基于图像块分割及小波空间频率的多聚焦图像融合法

提出了一种基于图像块分割及小波空间频率的多聚焦图像融合算法.采用块区域局部小波空间频率作为图像是否清晰的判断依据,对于明显的清晰和模糊区域,直接选取清晰区域作为融合后的相应块区域;而对于清晰与模糊的边界区域,采用了基于像素的窗口空问频率的方法进行融合处理.实验对比结果表明,该方法明显优于小波变换方法和图像块方法.     

基于VMD-LSTM-IPSO-GRU的电力负荷预测

为了挖掘电力负荷数据中的潜藏信息,提高负荷预测的精度,针对电力负荷强非线性、非平稳性等特点,提出一种基于变分模态分解(variational mode decomposition,VMD)、优化长短期神经网络(long-term and short-term memory network,LSTM)、改进的粒子群算法(improve particle swarm optimization,IPSO)优化门控循环单元(gated recurrent unit neural network,GRU)的混合预测模型。首先,使用相关性分析确定确定输入因素,再将负荷数据运用VMD算法结合样本熵分解为一系列本征模态分量(intrinsic mode fuction,IMF)和残差量,更加合理地确定分解层数和惩罚因子;其次,根据过零率将这些量划分为低频和高频,低频分量使用LSTM网络,高频分量利用IPSO-GRU网络分别进行预测;最后,将预测结果重构得到电力负荷的最终结果。仿真结果表明,相对于其它常规模型,该混合模型可有效的提取模态特征,具有更高的预测精度。     

城市水循环健康的评价方法及其应用——以邯郸市主城区为例

健康良性的水循环是实现区域可持续发展的基本保障。为客观诊断邯郸市水循环健康状况,选用综合指数法对其主城区2005～2016年水循环进行了健康评价,并采用模糊模式识别法和集对分析法进行对比验证。结果表明：邯郸市主城区因受到重工业城市背景和产业结构不合理的影响,城市水循环状态为亚健康;随着邯郸市产业结构的调整和水利民生政策的落实,其水循环健康状况逐年好转,2016年已达健康状态。三种评价方法的结果趋势基本一致,说明评价指标体系的构建较为合理,评价方法也较为适用。可见,研究结果为区域水资源综合管理的进一步优化以及社会经济的高质量发展提供了技术参考。     

非线性离散竞争系统的全局稳定性

考虑一类非线性离散的Lotka-Volterra竞争系统,通过构造适当的Lyapunov函数,得到了保证该系统全局渐近稳定的充分性条件,并给出该结果在一类二维竞争系统中的应用.     

MCS: A Method for Finding the Number of Clusters

This paper proposes a maximum clustering similarity (MCS) method for determining the number of clusters in a data set by studying the behavior of similarity indices comparing two (of several) clustering methods. The similarity between the two clusterings is calculated at the same number of clusters, using the indices of Rand (R), Fowlkes and Mallows (FM), and Kulczynski (K) each corrected for chance agreement. The number of clusters at which the index attains its maximum is a candidate for the optimal number of clusters. The proposed method is applied to simulated bivariate normal data, and further extended for use in circular data. Its performance is compared to the criteria discussed in Tibshirani, Walther, and Hastie (2001). The proposed method is not based on any distributional or data assumption which makes it widely applicable to any type of data that can be clustered using at least two clustering algorithms.