Type synthesis of 4-DOF parallel kinematic mechanisms based on Grassmann line geometry and atlas method

Many methods are proposed to deal with the type synthesis of parallel kinematic mechanisms（PKMs）, but most of them are less intuitive to some extent. Thus, to propose a concise and intuitive type synthesis method for engineering application is a very challenging issue, which should be further studied in the field. Grassmann line geometry, which can investigate the dimensions of spatial line-clusters in a concise way, is taken as the mathematic foundation. Atlas method is introduced to visually describe the degrees of freedom（DOFs） and constraints of a mechanism, and the dual rule is brought in to realize the mutual conversion of the freedom-space and constraint-space. Consequently, a systematic method based on Grassmann line geometry and Atlas method is generated and the entire type synthesis process is presented. Three type 4-DOF PKMs, i.e., 1T3R, 2T2R and 3T1R（T： translational DOF; R： rotational DOF）, are classified according to the different combinations of the translational DOFs and rotational DOFs. The type synthesis of 4-DOF PKMs is carried out and the possible configurations are thoroughly investigated. Some new PKMs with useful functions are generated during this procedure. The type synthesis method based on Grassmann line geometry and Atlas method is intuitive and concise, and can reduce the complexity of the PKMs＇ type synthesis. Moreover, this method can provide theoretical guidance for other PKMs＇ type synthesis and engineering application. A novel type synthesis method is proposed, which solves the existing methods＇ problems in terms of complicated, not intuitive and unsuitable for practical application.     

Optimal search-relocation trade-off in Markovian-target searching

In this study, a standard moving-target search model was extended with a multiple-search-speed option, whereby a trade-off is enabled between the increased detection chances owing to the searcher's better location and the increased uncertainty of the target's location resulting from the diminished search performance incurred in the relocation. This enhances the detection probability of the output search path and, thereby, the model's practicality. However, the scalability of the solution method is essential to its implementation, as the basic model is already NP-hard. We developed an efficient heuristic by combining the idea of approximate nondetection probability minimization and a hybridized shortest-path heuristic that exploits the fast-mixing property of the Markov chain. According to the results of an intensive experiment, the heuristic achieves a near-optimal trade-off within a very reasonable computation time.     

分裂节点与二端口网络的实现

利用信号流程图研究二端口网络不同形式的构成及相互转换方法，给出了实现任意二端口网络Ｔ型或π型等效电路的一般步骤。     

Graph-based representations and techniques for image processing and image analysis

In this paper we will discuss the use of some graph-based representations and techniques for image processing and analysis. Instead of making an extensive review of the graph techniques in this field, we will explain how we are using these techniques in an active vision system for an autonomous mobile robot developed in the Institut de Robòtica i Informàtica Industrial within the project “Active Vision System with Automatic Learning Capacity for Industrial Applications (CICYT TAP98-0473)”. Specifically we will discuss the use of graph-based representations and techniques for image segmentation, image perceptual grouping and object recognition. We first present a generalisation of a graph partitioning greedy algorithm for colour image segmentation. Next we describe a novel fusion of colour-based segmentation and depth from stereo that yields a graph representing every object in the scene. Finally we describe a new representation of a set of attributed graphs (AGs), denominated function-described graphs (FDGs), a distance measure for matching AGs with FDGs and some applications for robot vision.     

Development of an object-oriented blackboard model for stamping process planning in progressive die design

This paper reports preliminary work to investigate the suitability of using a blackboard framework as a problem-solving model for stamping process planning in progressive die design. The model is described at two levels: knowledge level and computational level. The knowledge level describes how the stamping process planning domain is represented in a blackboard architecture. The computational level describes how the blackboard architecture is modeled and implemented using object technology. A software prototype has been developed using CLIPS and C++ interfaced with Solid Edge CAD system. An example is presented to illustrate the feasibility and practicality of the proposed approach.     

Characterizing r-perfect codes in direct products of two and three cycles

An r-perfect code of a graph G=(V,E) is a set C⊆V such that the r-balls centered at vertices of C form a partition of V. It is proved that the direct product of Cm and Cn (r?1, m,n?2r+1) contains an r-perfect code if and only if m and n are each a multiple of ²(r+1)+r² and that the direct product of Cm, Cn, and C? (r?1, m,n,??2r+1) contains an r-perfect code if and only if m, n, and ? are each a multiple of r³+³(r+1). The corresponding r-codes are essentially unique. Also, r-perfect codes in C2r×Cn (r?2, n?2r) are characterized.     

Rational Unification in 28 Characters

We present a case study where Synchronising Graphs, a system of parallel graph transformation, are used to solve the syntactic unification problem for first order rational terms (with possibly infinite unifier). The solution we offer is efficient, that is quasi-linear, and simple: a program of 28 characters.     

Gödel-Dummett Counter-models through Matrix Computation

We present a new method for deciding Gödel-Dummett logic. Starting from a formula, it proceeds in three steps. First build a conditional graph based on the decomposition tree of the formula. Then try to remove some cycles in this graph by instantiating these boolean conditions. In case this is possible, extract a counter-model from such an instance graph. Otherwise the initial formula is provable. We emphasize on cycle removal through matrix computation, boolean constraint solving and counter-model extraction.     

Drawing Planar Graphs Symmetrically, III: Oneconnected Planar Graphs

Symmetry is one of the most important aesthetic criteria in graph drawing because it reveals structure in the graph. This paper discusses symmetric drawings of oneconnected planar graphs. More specifically, we discuss planar (geometric) automorphisms, that is, automorphisms of a graph G that can be represented as symmetries of a planar drawing of G. Finding planar automorphisms is the first and most difficult step in constructing planar symmetric drawings of graphs. The problem of determining whether a given graph has a nontrivial geometric automorphism is NP-complete for general graphs. The two previous papers in this series have discussed the problem of drawing planar graphs with a maximum number of symmetries, for the restricted cases where the graph is triconnected and biconnected. This paper extends the previous results to cover planar graphs that are oneconnected. We present a linear time algorithm for drawing oneconnected planar graphs with a maximum number of symmetries.