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In this paper, we introduced the concept of the force concentration line in analyzing the force distribution among the grasping fingers in 3D four-fingered grasps. The characteristics of the force concentration lines and the relat...
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In this paper, we introduced the concept of the force concentration line in analyzing the force distribution among the grasping fingers in 3D four-fingered grasps. The characteristics of the force concentration lines and the relationship between these lines and the principal axes are discussed. A new representation of the finger forces is proposed and the equilibrium grasping forces can be expressed and determined clearly using this representation. It turns out, that, using this new representation scheme, we can solve all the possible solutions to the grasping force distribution problem.
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The paper briefly introduces a distributed control system utilizing CAN field-bus technology. The system has two control layers. In the process control layer, the authors designed an intelligent module with which 4 analog inputs a...
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The paper briefly introduces a distributed control system utilizing CAN field-bus technology. The system has two control layers. In the process control layer, the authors designed an intelligent module with which 4 analog inputs and 3 analog outputs can be simply realized. The system is being successfully used in a beer fermentation process.
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An algorithm of optimal control based on a bilinear model is presented for continuous-time nonlinear systems. By alternately solving the problem of parameter estimation and the problem of the modified bilinear model based optimal ...
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An algorithm of optimal control based on a bilinear model is presented for continuous-time nonlinear systems. By alternately solving the problem of parameter estimation and the problem of the modified bilinear model based optimal control, the optimization solution of the original problem is obtained, and in spite of the differences between the model and the represented real system. Meanwhile, in each iteration, a novel method for solving the problem of modified bilinear model-based optimal control is proposed and the convergence of the method is also proven. Many simulation examples show the algorithm can reduce the number of iterations and improve the convergence.
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This paper deals with the complex robot systems motion control. A nonlinear observer, called extended state observer is introduced for compensating for the nonlinear dynamics of the manipulator and the external disturbances, in a ...
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This paper deals with the complex robot systems motion control. A nonlinear observer, called extended state observer is introduced for compensating for the nonlinear dynamics of the manipulator and the external disturbances, in a model-independent way. The experimental results on motion control of a robot finger show the effectiveness of ESO. The advantages of the nonlinear structure of the ESO are analyzed and the capability of ESO is discussed.
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The virtual enterprise (VE) is a new type of enterprise organization. It needs cooperative work supported by a computer network, where some new characteristics and new problems that are different from traditional manufacturing mod...
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The virtual enterprise (VE) is a new type of enterprise organization. It needs cooperative work supported by a computer network, where some new characteristics and new problems that are different from traditional manufacturing models emerge. The engineering change in a VE is distributed and often needs parallel treatment. To control change effectively and treat it in parallel, a method that uses a change propagation graph to analyze change implementation, and a change process model based on a Petri net were presented in the paper.
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Based on summing up three kinds of fuzzy inference systems and the functional equivalence between the radial basis function (RBF) networks and fuzzy inference systems, the paper presents a new concept of generalized fuzzy inferenc...
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Based on summing up three kinds of fuzzy inference systems and the functional equivalence between the radial basis function (RBF) networks and fuzzy inference systems, the paper presents a new concept of generalized fuzzy inference and the new model of generalized fuzzy RBF network. Then the generalized learning algorithm is derived. A nonlinear system identification is done by this network. Results have verified that the generalized fuzzy RBF networks have an ability to approximate arbitrary nonlinear function with an arbitrary given accuracy and the learning algorithm described in the paper is effective and available.
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A prototype system based on agent mechanism is presented and implemented to improve the speed and accuracy in extracting Internet information. The prototype system employs agents as the basic components and organizes them in a fed...
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A prototype system based on agent mechanism is presented and implemented to improve the speed and accuracy in extracting Internet information. The prototype system employs agents as the basic components and organizes them in a federal framework. The task can be done with the autonomy and corporation of the agents. The technology employing in the system including secure channel-firewall and automatic transformation of Web site structure promote the security and easy of use of the system. The products and applications base on the prototype system are used in practice and the feasibility and validity of the system are confirmed.
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In this paper, the author put forward a new filter, the converted measurement Kalman filter. It is based on the traditional Kalman filter, and is for use in 3D space. The author took it to the laser target tracking, and compared w...
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In this paper, the author put forward a new filter, the converted measurement Kalman filter. It is based on the traditional Kalman filter, and is for use in 3D space. The author took it to the laser target tracking, and compared with extended Kalman filter. From the result of simulation we can take a conclusion that the Converted Measurement Kalman filter is better than extended Kalman filter.
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With the recent development of network technology, a whole open intelligent network scheme based on the Ethernet framework is presented. There are some discussions about how to establish an intelligent control network and how to c...
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With the recent development of network technology, a whole open intelligent network scheme based on the Ethernet framework is presented. There are some discussions about how to establish an intelligent control network and how to carry out real-time monitoring and managing information. Also in this paper, the application to an intelligent mansion project is discussed.
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Symmetry is a powerful tool to reduce the freedom degrees of a problem. However, the applicability of the symmetry tool strongly depends on the possibility to calculate the symmetries of the system. General searching methods, e.g....
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Symmetry is a powerful tool to reduce the freedom degrees of a problem. However, the applicability of the symmetry tool strongly depends on the possibility to calculate the symmetries of the system. General searching methods, e.g., ergodic searching, is unpractical for a high-dimensional system since the order of the symmetric group grows with n, where n is the dimension of the system. We propose an approach based on genetic algorithms to search for the symmetric permutations of a binary patterns set. Calculations for five kinds of dimensional pattern set are also given. Results show that the majority of symmetric permutations can be found within an acceptable time for a high-dimensional pattern set by the new approach, which makes it possible to study and design high-dimensional artificial neural networks by the method of symmetry.
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