Design and validation of robotic bionic eye with multiple flexible ropes parallel mechanism inspired by oculomotor law

Producing a stable and agile bionic eye for visual image acquisition in robotics is a challenging task. In this paper, we design a bionic eye with mirror-symmetric distribution and cross-connection of flexible ropes. This mechanism is based on oculomotor law and the physiological structure of the extraocular muscles (EOMs). Specifically, the basic structural parameters are determined by Listing’s law, and the unique connection of the flexible ropes can realize the functions of the recti and oblique muscles. Furthermore, to mimic the trochlea structure, a pulley mechanism is constructed to permit the free movement of the flexible ropes. Through simulation and physical experiments, it is demonstrated that the bionic eye mechanism can move with agility under the structural parameters. The experimental results indicate that the proposed bionic eye mechanism has a superior motion accuracy of 2.798 mm, which is 6.7% of the maximum motion distance, and the repeatable accuracy of the mechanism can up to 0.210 mm.     

Distributed learning consensus control based on neural networks for heterogeneous nonlinear multiagent systems

This paper considers a novel distributed iterative learning consensus control algorithm based on neural networks for the control of heterogeneous nonlinear multiagent systems. The system's unknown nonlinear function is approximated by suitable neural networks; the approximation error is countered by a robust term in the control. Two types of control algorithms, both of which utilize distributed learning laws, are provided to achieve consensus. In the provided control algorithms, the desired reference is considered to be an unknown factor and then estimated using the associated learning laws. The consensus convergence is proven by the composite energy function method. A numerical simulation is ultimately presented to demonstrate the efficacy of the proposed control schemes.     

带参数的一阶脉冲微分方程边值问题

利用上下解和单调迭代法。讨论了带参数的一阶脉冲微分方程。获得了单边Lipschitz条件下这类方程边值问题的解的存在性。     

利用框架理论对信号进行重建

在Hilbert空间中讨论了框架的一些重要的性质,定义了一个框架算子,并讨论了该算子的性质。根据实际问题构造了一框架,使信号在此框架下的投影正好为非均匀采样值。给出了一种框架界的估计方法和重建原信号的迭代算法,最后,用仿真验证了此算法的有效性。     

A new iterative order reduction (IOR) method for eigensolutions of large structures

Order reduction is a computationally efficient method to estimate some lowest eigenvalues and the corresponding eigenvectors of large structural systems by reducing the order of the original model to a smaller one. But its accuracy is limited to a small range of frequencies that depends on the selection of the retained degrees of freedom. This paper proposes a new iterative order reduction (IOR) technique to obtain accurately the eigensolutions of large structural systems. The technique retains all the inertia terms associated with the removed degrees of freedom. This hence leads to the reduced mass matrix being in an iterated form and the reduced stiffness matrix constant. From these mass and stiffness matrices, the eigensolutions of the reduced system can be obtained iteratively. On convergence the reduced system reproduces the eigensolutions of the original structure. A proof of the convergence property is also presented. Applications of the method to a practical GARTEUR structure as well as a plate have demonstrated that the proposed method is comparable to the commonly used Subspace Iteration method in terms of numerical accuracy. Moreover, it has been found that the proposed method is computationally more efficient than the Subspace Iteration method. Copyright © 2003 John Wiley & Sons, Ltd.     

多码CDMA系统中联合并行干扰抵消与迭代信道估计方法

本文针对多码CDMA系统提出了一种联合并行干扰抵消与迭代信道估计方法。该方法首先通过导频符号对信道进行估计，然后使用RAKE接收机后的软信息对信道参数进行修正，最后通过并行干扰抵消(PIC)去除多码干扰(MCI)。仿真结果表明，经过多次迭代后，该方法可显著地降低多码CDMA系统的误比特率平台。本文同时还给出了信道估计质量、码道数和PIC次数对多码CDMA系统性能的影响。     

一种改善Turbo乘积编码OFDM系统性能的新方法

本文提出一种利用对译码器软信息限幅来改善多径衰落信道中Turbo乘积编码OFDM(TPC-OFDM)系统性能的新方法。通过对不同多径衰落信道中QPSK映射和16QAM映射的TPC-OFDM系统性能的数值仿真，结果表明在10^-5误比特率下，这种新方法比传统的迭代译码大约有6～10dB的改进，对严重多径环境下TPC-OFDM系统的错误平底也有明显的改进。     

一类Boltzmann & Darwin混合寻优策略的收敛特性研究

基于文［１］提出的求解组合最优化问题的Ｂｏｌｔｚｍａｎｎ＆Ｄａｒｗｉｎ混合寻优策略，本文进一步分析研究了Ｂｏｌｔｚｍａｎｎ＆Ｄａｒｗｉｎ混合寻优策略非时齐情形下的收敛特性，包括全局收敛性和收敛速度。结果表明，Ｂｏｌｔｚｍａｎｎ＆Ｄａｒｗｉｎ混合寻优策略的收敛特性优于模拟退火（ｓｉｍ－ｕｌａｔｅｄ ａｎｎｅａｌｉｎｇ）方法的收敛特性。     

输入——输出迭代算法中松弛因子的确定

本文利用变分的手段提示了输入—输出迭代算法中松弛因子的取值规律。     

混凝土结构非线性全过程分析中的迭代控制法研究

在深入研究各类迭代控制法的基础上，针对混凝土结构的非线性全过程分析，在常规的位移和弧长控制法中引入了简单适用的考虑路径搜寻和单因加速的方法，明显改善了收敛情况。