用奇异模型描述的受限机器人的学习控制

本文了一类受限机器人的迭代学习控制方案，控制器的设计是基于机器人模型的降阶形式。在存在有界未知干扰的情况下，对末端操纵器受线性、无摩擦约束面的受限机器人。本文给出的控制方案保证了机器人系统的完全运动跟踪，同时保证了力跟踪误差有界的，且界的大小是可调节的。     

Real-World Robotics: Learning to Plan for Robust Execution

In executing classical plans in the real world, small discrepancies between a planner's internal representations and the real world are unavoidable. These can conspire to cause real-world failures even though the planner is sound and, therefore, proves that a sequence of actions achieves the goal. Permissive planning, a machine learning extension to classical planning, is one response to this difficulty. This paper describes the permissive planning approach and presents GRASPER, a permissive planning robotic system that learns to robustly pick up novel objects.     

综合应用地震属性、测井数据反演储层参数

本文研究了样点地震属性的特征提取，利用BP神经网络建立测井声波时差和地震属性的非线性映射关系。采用距离加权平均对研究区所有井的反演结果进行外推。为了提高分辨率和计算结果的准确性，详细分析、研究了适合于地震信号分解和重构的小波，以及测井声波时差和地震波阻抗与层界面的关系。最后，对反演的声波时差资料进行界面影响校正，进而计算出较符合实际情况的孔隙率参数。经已知井和新钻井验证，计算结果和实际情况相一致，效果令人满意。     

A NEW ALGORITHM FOR ADAPTIVE LATTICE FILTERAND ITS APPLICATION IN THE SPEECH LINEARPREDICTIVE SYNTHESIS

In this paper, an adaptive line spectral pair filter is derived from an adaptive lattice filter. A least-mean-square(LMS) type adaptive algorithm used to calculate directly the line spectral pair(LSP) coefficients on a stage-by-stage basis is presented. Experimental results show that the algorithm has higher convergence rate and lower misadjustment as compared with the other algorithms. The LSP coefficients calculated by the algorithm have been used to carry out speech linear predictive synthesis, resulting in better results than PARCOR coefficients.     

热敏绘图仪驱动模块及曲线输出通用算法

热敏绘图仪驱动模块由状态诊断、表头输出、曲线输出三部分组成。曲线输出的核心是曲线输出通用算法,它分三步进行:超界判断,填充字节和线型处理。该算法能完成对离散值的曲线处理、线型变换和超界处理。它不仅适用于热敏绘图仪的曲线记录,也适用于曲线的屏幕显示。     

参考信号频率自调整的数字相敏检波器算法的研究

本文提出了一种不需要外接同频参考信号的数字相敏检波器算法。该算法首先提取计算机产生的参考信号与被测信号频率的差值，然后根据该差值调整参考信号的频率直到满足要求。本文还讨论了数字相敏检波器的幅频特性，仿真试验表明理论分析与实际结果是一致的。该算法可以用于同频参考信号不能获得时正弦信号的幅度和相位测量。     

Rectilinear steiner tree heuristics and minimum spanning tree algorithms using geographic nearest neighbors

We study the application of the geographic nearest neighbor approach to two problems. The first problem is the construction of an approximately minimum length rectilinear Steiner tree for a set ofn points in the plane. For this problem, we introduce a variation of a subgraph of sizeO(n) used by YaO [31] for constructing minimum spanning trees. Using this subgraph, we improve the running times of the heuristics discussed by Bern [6] fromO(n ² log n) toO(n log² n). The second problem is the construction of a rectilinear minimum spanning tree for a set ofn noncrossing line segments in the plane. We present an optimalO(n logn) algorithm for this problem. The rectilinear minimum spanning tree for a set of points can thus be computed optimally without using the Voronoi diagram. This algorithm can also be extended to obtain a rectilinear minimum spanning tree for a set of nonintersecting simple polygons.The results in this paper are a part of Y. C. Yee's Ph.D. thesis done at SUNY at Albany. He was supported in part by NSF Grants IRI-8703430 and CCR-8805782. S. S. Ravi was supported in part by NSF Grants DCI-86-03318 and CCR-89-05296.     

Software for dynamic reconfigurable order picking systems

This paper describes an approach, conceptual framework, and software architecture for dynamic reconfiguration of the order picking system. The research and development project was sponsored by the Material Handling Research Center (MHRC), a National Science Foundation sponsored Cooperative Industry/University Research Center. The storage configuration is assumed to be an in-the-aisle order picking system in which stockkeeping units (SKUs) can occupy variable capacity storage locations and stock-splitting is allowed among zones (clusters). The product mix may include multiple product families with different life cycles, correlated demand within families and commonality of demand across families.     

Successive pattern classification based on test feature classifier and its application to defect image classification

A novel successive learning algorithm based on a Test Feature Classifier is proposed for efficient handling of sequentially provided training data. The fundamental characteristics of the successive learning are considered. In the learning, after recognition of a set of unknown data by a classifier, they are fed into the classifier in order to obtain a modified performance. An efficient algorithm is proposed for the incremental definition of prime tests which are irreducible combinations of features and capable of classifying training patterns into correct classes. Four strategies for addition of training patterns are investigated with respect to their precision and performance using real pattern data. A real-world problem of classification of defects on wafer images has been dealt with by the proposed classifier, obtaining excellent performance even through efficient addition strategies.