Design of robotic visual servo control based on neural network and genetic algorithm

A new visual servo control scheme for a robotic manipulator is presented in this paper, where a back propagation (BP) neural network is used to make a direct transition from image feature to joint angles without requiring robot kinematics and camera calibration. To speed up the convergence and avoid local minimum of the neural network, this paper uses a genetic algorithm to find the optimal initial weights and thresholds and then uses the BP algorithm to train the neural network according to the data given. The proposed method can effectively combine the good global searching ability of genetic algorithms with the accurate local searching feature of BP neural network. The Simulink model for PUMA560 robot visual servo system based on the improved BP neural network is built with the Robotics Toolbox of Matlab. The simulation results indicate that the proposed method can accelerate convergence of the image errors and provide a simple and effective way of robot control.     

Hybrid function projective synchronization of chaotic systems with uncertain time-varying parameters via Fourier series expansion

In this paper, the hybrid function projective synchronization (HFPS) of different chaotic systems with uncertain periodically time-varying parameters is carried out by Fourier series expansion and adaptive bounding technique. Fourier series expansion is used to deal with uncertain periodically time-varying parameters. Adaptive bounding technique is used to compensate the bound of truncation errors. Using the Lyapunov stability theory, an adaptive control law and six parameter updating laws are constructed to make the states of two different chaotic systems asymptotically synchronized. The control strategy does not need to know the parameters thoroughly if the time-varying parameters are periodical functions. Finally, in order to verify the effectiveness of the proposed scheme, the HFPS between Lorenz system and Chen system is completed successfully by using this scheme.     

Adaptive fuzzy dynamic surface control for a class of perturbed nonlinear time-varying delay systems with unknown dead-zone

In this paper,adaptive dynamic surface control(DSC) is developed for a class of nonlinear systems with unknown discrete and distributed time-varying delays and unknown dead-zone.Fuzzy logic systems are used to approximate the unknown nonlinear functions.Then,by combining the backstepping technique and the appropriate Lyapunov-Krasovskii functionals with the dynamic surface control approach,the adaptive fuzzy tracking controller is designed.Our development is able to eliminate the problem of "explosion of complexity" inherent in the existing backstepping-based methods.The main advantages of our approach include:1) for the n-th-order nonlinear systems,only one parameter needs to be adjusted online in the controller design procedure,which reduces the computation burden greatly.Moreover,the input of the dead-zone with only one adjusted parameter is much simpler than the ones in the existing results;2) the proposed control scheme does not need to know the time delays and their upper bounds.It is proven that the proposed design method is able to guarantee that all the signals in the closed-loop system are bounded and the tracking error is smaller than a prescribed error bound,Finally,simulation results demonstrate the effectiveness of the proposed approach.     

A novel adaptive cooperative location algorithm for wireless sensor networks

To overcome the disadvantages of the location algorithm based on received signal strength indication(RSSI) in the existing wireless sensor networks(WSNs),a novel adaptive cooperative location algorithm is proposed.To tolerate some minor errors in the information of node position,a reference anchor node is employed.On the other hand,Dixon method is used to remove the outliers of RSSI,the standard deviation threshold of RSSI and the learning model are put forward to reduce the ranging error of RSSI and improve the positioning precision effectively.Simulations are run to evaluate the performance of the algorithm.The results show that the proposed algorithm offers more precise location and better stability and robustness.     

SVM-based ontology matching approach

There are a lot of heterogeneous ontologies in semantic web, and the task of ontology mapping is to find their semantic relationship. There are integrated methods that only simply combine the similarity values which are used in current multi-strategy ontology mapping. The semantic information is not included in them and a lot of manual intervention is also needed, so it leads to that some factual mapping relations are missed. Addressing this issue, the work presented in this paper puts forward an ontology matching approach, which uses multi-strategy mapping technique to carry on similarity iterative computation and explores both linguistic and structural similarity. Our approach takes different similarities into one whole, as a similarity cube. By cutting operation, similarity vectors are obtained, which form the similarity space, and by this way, mapping discovery can be converted into binary classification. Support vector machine (SVM) has good generalization ability and can obtain best compromise between complexity of model and learning capability when solving small samples and the nonlinear problem. Because of the said reason, we employ SVM in our approach. For making full use of the information of ontology, our implementation and experimental results used a common dataset to demonstrate the effectiveness of the mapping approach. It ensures the recall ration while improving the quality of mapping results.     

Globally asymptotic stabilization for nonlinear time-delay systems with ISS inverse dynamics

The output feedback stabilization is considered for a class of nonlinear time-delay systems with inverse dynamics in this paper.An appropriate state observer is constructed for the unmeasurable system states in order to realize the control objective.By adopting the backstepping and Lyapunov-Krasovskii functional methods,a systematic design procedure for a memoryless output feedback control law is presented.It is shown that the designed controller can make the closed-loop system globally asymptotically stable while keeping all signals bounded.An illustrative example is discussed to show the effectiveness of the proposed control strategy.     

T-S模糊系统的有限时间控制

面向具有强非线性的复杂工业过程,利用T-S模糊模型逼近原非线性系统,把T-S模糊模型逼近非线性系统存在的误差描述成有界时变的扰动,进而提出带扰动的T-S模糊系统的有限时间控制方法.首先,给出线性系统有限时间有界性的一个充分条件,与现有结果相比,该条件具有较小的保守性,并可以处理扰动是时变的情况;然后,提出T-S模糊系统有限时间镇定控制器的设计方法;最后,给出基于线性矩阵不等式(LMI)的控制器设计算法,并通过数值算倒演示所给方法的有效性.     

热轧锭杆“黑心”问题的探讨

锭杆是纺机中一种数量大、转速高、尖端要求耐磨的杆状零件。用热轧方法生产的锭杆毛坯,在其纵、横截面上经酸蚀后出现了“黑心”问题。本文通过一系列试验和观察证实“黑心”并非疏松,“黑心”的存在也不影响耐磨性。从而否定了由于“黑心”是疏松而需将现行热轧方法改用车削方法生产锭杆毛坯的论点。本章对“黑心”形成的原因作了分析和探讨,认为“黑心”是由于斜轧时各部分变形不均匀,而使不同区域里纤维状组织的纤维变形形式不同所致。     

中小企业SMB市场的发展与转变

纵观我国的商用PC市场,SMB的市场潜力逐年显现,中小企业用户的需求在近两年内也发生了一些变化,SMB市场用户不再需要单一的PC产品。正因为如此,此次Acer商祺春促也应因而生。春促对于Acer来说,并不是一个新鲜的名词,已经开展了好几个年头。但今年的春促不同于以往,而是结合多渠道的解决方案,而不是单纯围绕单一的PC产品来做文章。今年除了有统一的政策之外,     

基于网页结构的WEB信息抽取系统设计

本文概要介绍了信息抽取技术的研究现状,对比分析了常用的几种信息抽取技术,介绍了本系统采用的信息抽取技术、信息抽取规则及系统工作流程;描述了系统组成、功能及系统技术特点。