Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill

Human can handle a deformable object and damp its vibration with recognized skill. However, for an industrial robot, handling a deformable object with acute vibration is often a difficult task. This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills. The strategy is illustrated by several rules, which are explained by a fuzzy and a P controller. A proportional-integral-derivative (PID) controller is also employed to explain the rules as a comparison. The interpretations from controllers are translated into high level commands in a robotic language V+. A standard industrial robot with a force/torque sensor mounted on the wrist was employed to demonstrate the skill. Experimental results showed the fuzzy based damping skill is quite effective and stable even without any previous acknowledge of the deformable linear objects.Category (5)     

模糊自动机在电磁波识别中的应用

研制了一个模糊处理和神经网络相结合的自动机,使用模糊技术从未处理的电磁信号波纹图像中处理模糊几何特征属性,进行波纹分类与识别。当使用模糊自动机(FA)进行识别紊乱波纹时,这些模糊几何特征是最好的。而对这些模糊几何特征的辨识,使用FA是很好的。     

基于熵权的料场方案模糊多属性优选研究

砂石料场方案选择中存在着许多难以精确度量的模糊性因素，常规的平衡法、系统分析法很难对此进行有效的处理。将模糊数学理论应用于砂石料场的方案选择，提出了熵权与模糊理论相结合的砂石料场方案优选方法，重点对标准化属性矩阵的产生、主客观权重结合得到综合权重及相对接近度的计算等几个方面进行了说明，并通过实例验证了该方法的可行性与实用性。     

Banach空间Fuzzy多值隐拟变分包含

在Banach空间中并在不具紧性的条件下，引入和研究了一类fuzzy多值隐拟变分包含及相应的fuzzy隐预解算子方程，借助预解算子技巧，建立了Banach空间中fuzzy多值隐拟变分包含与预解算子方程的等价性，得到了该类fuzzy多值隐拟变分包含的迭代算法与某些解的存在性定理及解的迭代逼近。     

模糊预测控制及其应用研究*

本文提出一种新的模糊预测控制算法。它将预测控制与模糊控制相结合,应用于一类复杂的工艺过程的终点控制,获得了优良的控制效果,如抗干扰性和模型失配等。本算法在对电弧炉炼钢的氧化过程控制的仿真研究中取得十分满意的效果,它对培养训练操作人员十分有效。     

基于模糊度测度和改进遗传算法的图像分割

为了利用模糊集理论进行图像分割,本文提出了一种模糊度测度函数,它衡量了背景模糊集和某一个二值图像的相似性:模糊度越小,这种相似程度越大;并且对模糊度的计算只需要进行简单的比较运算和加法运算,便于硬件实现。本文利用遗传算法求取最佳阈值,针对遗传算法的某些不足之处.我们利用精英策略和模拟退火的思想,对其做了一些修正。实验结果表明:相对于Shannon熵方法和模糊熵方法,本文方法取得了较好的分割结果,并且具有较强的抗噪声能力。     

带模糊控制的单回路可编程调节器的研究与开发

设计研制了一种带模糊控制的新型单回路可编程调节器 ,该调节器不仅适用于一般的线性控制对象 ,也适用于中和滴定、球罐液位控制等非线性对象和复杂的工业对象 ,实现了多种常用的控制算法 ,在工业中有很好的实用价值     

A new approach for sequential experimental design for model discrimination

Model discrimination procedures are useful tools for selection of the best mathematical models to be used to represent a specific chemical process. The present paper presents and discusses a new sequential discrimination procedure, which makes use of model probabilities and concentrates the efforts on models with higher probabilities. Model probabilities are determined based on simple statistical arguments. Four numerical examples illustrate the application of the proposed discrimination procedure. The obtained results indicate that the new procedure is able to discriminate kinetic models with fewer experiments when compared to other procedures and also indicates when model discrimination is not possible and, thus, when the sequential design must be halted. Furthermore, the speed of the proposed discrimination procedure can be controlled by tuning a design parameter which reflects the analyst's mood (confidence) towards the discrimination problem and allows for increase or decrease of the number of experiments required for model discrimination during the sequential procedure.     

空爆毁伤地面机动目标扫描准则研究

文中主要针对多爆炸成型弹丸空爆战斗部,在分析区域识别和占空比识别两种不同扫描准则的基础上,应用蒙特卡洛方法计算了战斗部对目标的毁伤概率.通过仿真计算结果对比分析,获得了不同扫描准则对毁伤概率的影响,结果可为多爆炸成型弹丸空爆战斗部设计和选择使用扫描准则提供参考依据.     

在役油气管道安全评定软件

PSAforWindows是运行在Windows系统下的油气管道安全评定软件。该软件既可以用于在开挖中发现的管道局部缺陷的剩余强度的精确评定 ,又可以用于腐蚀检测之后对管道全线的安全评定与剩余寿命预测。软件中采用了非线性有限元分析、失效评定图和概率性的评定方法等最新成果。介绍该软件的结构、模块、软件特点、主要功能和操作界面