Learning-based force servoing control of a robot with vision in an unknown environment

A learning-based control approach is presented for force servoing of a robot with vision in an unknown environment. Firstly, mapping relationships between image features of the servoing object and the joint angles of the robot are derived and learned by a neural network. Secondly, a learning controller based on the neural network is designed for the robot to trace the object. Thirdly, a discrete time impedance control law is obtained for the force servoing of the robot, the on-line learning algorithms for three neural networks are developed to adjust the impedance parameters of the robot in the unknown environment. Lastly, wiping experiments are carried out by using a 6 DOF industrial robot with a CCD camera and a force/torque sensor in its end effector, and the experimental results confirm the effecti veness of the approach.     

Robust stability test for 2-D continuous-discrete systems with interval parameters

It is revealed that the dynamic stability of 2-D recursive continuous-discrete systems with interval parameters involves the problem of robust Hurwitz-Schur stability of bivariate polynomials family. It is proved that the Hurwitz-Schur stability of the denominator polynomials of the systems is necessary and sufficient for the asymptotic stability of the 2-D hybrid systems. The 2-D hybrid transformation, i. e. 2-D Laplace-Z transformation, has been proposed to solve the stability analysis of the 2-D continuous-discrete systems, to get the 2-D hybrid transfer functions of the systems. The edge test for the Hurwitz-Schur stability of interval bivariate polynomials is introduced. The Hurwitz-Schur stability of the interval family of 2-D polynomials can be guaranteed by the stability of its finite edge polynomials of the family. An algorithm about the stability test of edge polynomials is given.     

Atomic and efficient e-cash transaction protocol

Atomicity is necessary for reliable and secure electronic commerce transaction and to guarantee the participants' interests. An atomic and efficient e-cash (electronic cash) transaction protocol based on the classical e-cash scheme is presented. The delivery of digital goods is incorporated into the process of payment in the protocol. Apart from ensuring all three levels of atomicity, the novel protocol features high efficiency and practicability with unfavorable strong assumption removed. Furthermore, the proposed protocol provides non-repudiation proofs for any future disputes. At last, analysis of the atomicity and efficiency is illustrated.     

具有随机偏差的最优多段卡尔曼估值器

提出了具有随机偏差的最优多段卡尔曼估值器。针对状态模型与观测模型同时具有偏差且偏差模型噪声与状态模型噪声相关的情况 ,给出了具有随机偏差的状态方程的增广状态 ,并通过U V变换对卡尔曼估值器的协方差矩阵解耦得到了最优多段卡尔曼估值器。结果表明 ,多段卡尔曼估值器不仅是最优的 ,而且降低了计算的复杂度     

Cooperative Mechanism of Supply Chain Under Asymmetric Information

Abstract: The cooperative mechanism is one main issue in the decentralized supply chain system, especially in an asym-metric information structure. We analyze the non-cooperative game behavior of a 2-echelon distribution supply chain,compare the results with the system optimal solution, and give the supplier dominated cooperative mechanisms. We alsoanalyze the validity of our contract under the asymmetric retailers' holding cost information and give some useful conclu-sions.     

A Target Recognition Approach to Projecting HRR Profiles onto Subspace

Abstract: A array of the azimuthally averaged range-profile vectors and the inter-class and intra-class divergence matrixesare constructed iwth many frames of the high resolution range profiles which result from radar echoes of airplanes. Takingthe methods of whitening transformation and SVD produces a system of subspace vectors for target recognition. Where-upon, a template library for target recognition is built by the projection of a class-mean vector made from the radar dataonto the subspace for recognition. By Euclidean distance, a comparison is made between the above projection and eachtemplate in the library, to decide which class the target belongs to. Finally, simulations with the experimental radar dataarte given to show that the proposed method is robust to variation in azimuth and immune to additive Gaussian noisewhen SNR≥5dB.     

An Evolutionary Real-Time 3D Route Planner for Aircraft

Abstract: A novel evolutionary route planner for aircraft is proposed in this paper. In the new planner, individual candi-dates are evaluated with respect to the workspace, thus the computation of the configuration space is not required. By usingproblem-specific chromosome structure and genetic operators, the routes are generated in real time, with different missionconstraints such as minimum route leg length and flying altitude, maximum turning angle, maximum climbing/diving an-gle and route distance constraint taken into account.     

Non-Minimum Phase Nonlinear System Predictive Control Based on Local Recurrent Neural Networks

Abstract: After a recursive multi-step-ahead predictor for nonlinear systems based on local recurrent neural networks isintroduced, an intelligent PID controller is adopted to correct the errors including identified model errors and accumulatederrors produced in the recursive process. Characterized by predictive control, this method can achieve a good controlaccuracy and has good robustness. A simulation study shows that this control algorithm is very effective.     

PO Solution for Scattering by the Complex Object Coated with Anisotropic Materials

1 .INTRODUCTIONItisknownthatphysicaloptics(PO)hasbeenwidelyusedinfastpredictionofradarcrosssection (RCS)ofacomplexconductingorcoatedobject.POisadoptedwithoutexceptionamongtheissuedfamouscomputa tionalsoftwareofhigh frequencyEMscatteringbyacomplexobjectsuchasRECOTA[1 ] ,GRECO[2 ,3] ,X PATCH[4] ,whereonlytheisotropiccoatingisconcerned .However,theanisotropiccoatingencoun teredinsomepracticalapplicationsimpelsonetofindthesuitablesolutionforhigh frequencyscatteringbytheobjectcoatedwi…     

Wireless Location Determination for Mobile Objects Based on GSM in Intelligent Transportation Systems

1 .INTRODUCTIONTheabilityofpositioningmobileobjects (MOs) ,in cludingvehiclesandtravelersholdingmobiletermi nals,isafundamentalfunctionforsomeITSsubsys tems,suchasemergencyrescue,securitysystem ,au tomaticnavigationsystem ,andtrafficinducementsystem[1 ] .Atpresent,therearethreedominatingtypes[2 ]ofwirelesspositioningtechnologies,i.e.positioningbasedonsatellites,positioningbasedondedicatedcommunicationsystemsandpositioningbasedonpub liclandwirelesstelecommunicationsystems (PLMTS) ,respe…