Motion Planning for Haptic Guidance

Haptic devices allow a user to feel either reaction forces from virtual interactions or reaction forces reflected from a remote site during a bilateral teleoperation task. Also, guiding forces can be exerted to train the user in the performance of a virtual task or to assist him/her to safely teleoperate a robot. The generation of guiding forces relies on the existence of a motion plan that provides the direction to be followed to reach the goal from any free configuration of the configuration space (-space). This paper proposes a method to obtain such a plan that interleaves a sampling-based exploration of -space with an efficient computation of harmonic functions. A deterministic sampling sequence (with a bias based on harmonic function values) is used to obtain a hierarchical cell decomposition model of -space. A harmonic function is iteratively computed over the partially known model using a novel approach. The harmonic function is the navigation function used as motion plan. The approach has been implemented in a planner (called the Kautham planner) that, given an initial and a goal configuration, provides: (a) a channel of cells connecting the cell that contains the initial configuration with the cell that contains the goal configuration; (b) two harmonic functions over the whole -space, one that guides motions towards the channel and another that guides motions within the channel towards the goal; and (c) a path computed over a roadmap built with the free samples of the channel. The harmonic functions and the solution path are then used to generate the guiding forces for the haptic device. The planning approach is illustrated with examples on 2D and 3D workspaces. This work was partially supported by the CICYT projects DPI2005-00112 and DPI2007-63665.     

Stability and control of nonlinear systems described by retarded functional equations: a review of recent results

This paper reports on recent results in a series of the work of the authors on the stability and nonlinear control for general dynamical systems described by retarded functional differential and difference equations. Both internal and external stability properties are studied. The corresponding Lyapunov and Razuminkhin characterizations for input-to-state and input-to-output stabilities are proposed. Necessary and sufficient Lyapunov-like conditions are derived for robust nonlinear stabilization. In particular, an explicit controller design procedure is developed for a new class of nonlinear time-delay systems. Lastly, sufficient assumptions, including a small-gain condition, are presented for guaranteeing the input-to-output stability of coupled systems comprised of retarded functional differential and difference equations.     

Accurate evaluation of Green’s functions in a layered medium by SDP-FLAM

Based on local Taylor expansions on the complex plane, a method for fast locating all modes (FLAM) of spectral-domain Green’s Functions in a planar layered medium is developed in this paper. SDP-FLAM, a combination of FLAM with the steepest descent path algorithm (SDP), is employed to accurately evaluate the spatial-domain Green’s functions in a layered medium. According to the theory of complex analysis, the relationship among the poles, branch points and Riemann sheets is also analyzed rigorously. To inverse the Green’s functions from spectral to spatial domain, SDP-FLAM method and discrete complex image method (DCIM) are applied to the non-near field region and the near filed region, respectively. The significant advantage of SDP-FLAM lies in its capability of calculating Green’s functions in a layered medium of moderate thickness with loss or without loss. Some numerical examples are presented to validate SDP-FLAM method. Supported by the National Natural Science Foundation of China (Grant No. 60621002), and the State Key Development Program for Basic Research of China (Grant No. 2009CB320200)     

Statistical learning makes the hybridization of particle swarm and differential evolution more efficient—A novel hybrid optimizer

This brief paper reports a hybrid algorithm we developed recently to solve the global optimization problems of multimodal functions, by combining the advantages of two powerful population-based metaheuristics—differential evolution (DE) and particle swarm optimization (PSO). In the hybrid denoted by DEPSO, each individual in one generation chooses its evolution method, DE or PSO, in a statistical learning way. The choice depends on the relative success ratio of the two methods in a previous learning period. The proposed DEPSO is compared with its PSO and DE parents, two advanced DE variants one of which is suggested by the originators of DE, two advanced PSO variants one of which is acknowledged as a recent standard by PSO community, and also a previous DEPSO. Benchmark tests demonstrate that the DEPSO is more competent for the global optimization of multimodal functions due to its high optimization quality. Supported by the National Natural Science Foundation of China (Grant No. 60374069), and the Foundation of the Key Laboratory of Complex Systems and Intelligent Science, Institute of Automation, Chinese Academy of Sciences (Grant No. 20060104)     

单片机中基于查表法的多变量函数求解方法设计

针对多变量非线性复杂函数关系式在单片机中难以实现的问题,提出了一种快速有效的查表求解算法。首先建立顺序存储数据块,接下来查找输入变量在已存变量存储块中的自然序号,最后利用查得的变量自然数序号及事先确定的算法查找这些变量所对应的函数值的存储地址,进而得到计算结果。实现了非线性复杂关系式的快速精确求解,可推广于各种运算能力有限的单片机,提高了单片机的整体使用效率。     

一类切换模糊时滞系统的状态反馈控制

针对切换模糊时滞系统,根据平行分布补偿算法,设计了模糊状态反馈控制器.使用切换技术及单Lyapunov函数和多Lyapunov函数方法,给出了这一类切换模糊时滞系统渐近稳定的充分条件及切换律.仿真结果表明了方法的有效性.     

使用超椭球参数化坐标的支持向量机

基于n维超椭球面坐标变换公式,构造一类核函数--n维超椭球坐标变换核.由于是同维映射,且增大了类间距离,这类核函数在一定程度上改善了支持向量机的性能.与其他核函数(如高斯核)相比,将所构造的核函数用于支持向量机,仅产生了很少的支持向量,因而大大加快了学习速度,改善了泛化性能.数值实验结果表明了所构造的核函数的有效性和正确性.     

计算机测控系统的可靠性预计方法研究

采用元器件计数法和相似产品法相结合的可靠性预计方法对研制的某大型设备计算机测控系统进行MTBF值的可靠性预计,通过预计发现设计中的薄弱环节,并为后期的可靠性指标分配奠定基础.     

平面自动布点及Delaunay三角形网格生成

文中给出了一种区域内布点的自动生成算法,可从背景点云中逐个选出符合区域几何特征的内部节点,其疏密变化通过边界点上的节点间距函数进行控制。最终生成的内部点云和边界点既可以用来做无网格计算,也可以结合波前推进法生成Delaunay三角形网格。通过对网格生成算法的改进,算例表明该算法得到网格具有很好质量。     

一类不确定离散切换模糊时滞系统的鲁棒非脆弱控制

针对一类不确定离散切换模糊时滞系统,研究了在控制器增益存在摄动情况下的稳定性问题.利用切换技术和多Lyapunov函数方法,并以矩阵不等式形式给出了非脆弱状态反馈控制器存在的充分条件和切换律设计.最后通过数值仿真算例验证了设计方法的有效性和可行性.