A Neural Network Approach to the Frictionless Grasping Problem

This article presents a heuristic technique used for solving linear complementarity problems(LCP). Determination of minimum forces needed to firmly grasp an object by a multifingered robot gripper for different external force and finger positions is our proposed application. The contact type is assumed to be frictionless. The interaction in the gripper–object system is formulated as an LCP. A numerical algorithm (Lemke) is used to solve the problem [3]. Lemke is a direct deterministic method that finds exact solutions under some constraints. Our proposed neural network technique finds almost exact solutions in solvable positions, and very good solutions for positions that Lemke fails to find solutions. A new adaptive technique is used for training the neural network and it is compared with the standard technique. Mathematical analysis for the convergence of the proposed technique is presented.     

Robust H∞ controller design for continuous‐time piecewise time‐delay systems

This paper investigates the robust H_∞ control problem for continuous‐time piecewise time‐delay systems by using piecewise continuous Lyapunov function. The uncertainties of the systems under consideration are expressed in a linear fractional form. A strict linear matrix inequality approach is developed to obtain delay‐dependent asymptotic stability conditions and H_∞ performance. The H_∞ controller design problem is solved by exploiting the cone complementarity linearization (CCL) method. Finally an example is given to illustrate the application of the proposed approach. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

ISDN功能与性能测试

本文通过对ISDN功能和性能测试的简要阐述,为数据网建设人员提供在网络构建、工程设计、运行和市场服务方面的参考。     

A new semismooth Newton method for NCPs based on the penalized KK function

In this paper, based on the Kanzow-Kleinmichel (KK) function, we introduce a new nonlinear complementarity problem (NCP) function: penalized KK function. We show that the function possesses desirable properties similar to those of the KK function. Based on this new NCP function, we reformulate the NCP to a system of semismooth equations. We also propose a new semismooth Levenberg–Marquardt method to solve the system of semismooth equations that employs both trust region techniques and line searches. The global and quadratic convergence properties can be established under very mild assumptions. Numerical results show the effectiveness of the proposed algorithm and also indicate that superior behaviour of the proposed new NCP function.     

A non-monotone inexact regularized smoothing Newton method for solving nonlinear complementarity problems

In the paper [S.P. Rui and C.X. Xu, A smoothing inexact Newton method for nonlinear complementarity problems, J. Comput. Appl. Math. 233 (2010), pp. 2332–2338], the authors proposed an inexact smoothing Newton method for nonlinear complementarity problems (NCP) with the assumption that F is a uniform P function. In this paper, we present a non-monotone inexact regularized smoothing Newton method for solving the NCP which is based on Fischer–Burmeister smoothing function. We show that the proposed algorithm is globally convergent and has a locally superlinear convergence rate under the weaker condition that F is a P ₀ function and the solution of NCP is non-empty and bounded. Numerical results are also reported for the test problems, which show the effectiveness of the proposed algorithm.     

An iterative algorithm based on the piecewise linear system for solving bilateral obstacle problems

In this paper, we derive the piecewise linear system (PLS) associated with the bilateral obstacle problem and illustrate the equivalence between the linear system and finite-dimensional complementary problem. The existence and the uniqueness of the solution to the PLS are also demonstrated. Based on the PLS, a Picard iterative algorithm is proposed. The convergence analysis is given and examples are presented to verify the effectiveness of the method.     

A new SQP approach for nonlinear complementarity problems

Sequential quadratic programming (SQP) methods have been extensively studied to handle nonlinear programming problems. In this paper, a new SQP approach is employed to tackle nonlinear complementarity problems (NCPs). At each iterate, NCP conditions are divided into two parts. The inequalities and equations in NCP conditions, which are violated in the current iterate, are treated as the objective function, and the others act as constraints, which avoids finding a feasible initial point and feasible iterate points. NCP conditions are consequently transformed into a feasible nonlinear programming subproblem at each step. New SQP techniques are therefore successful in handling NCPs.     

绝对值方程研究进展

线性规划、二次规划、双矩阵对策等问题都能转化为线性互补问题,而线性互补问题又可以归结为绝对值方程,因此研究绝对值方程具有重要的意义。绝对值方程是一个NP-hard问题,对绝对值方程的研究现状进行了分析,给出了绝对值方程的理论研究现状,总结了绝对值方程的若干求解算法。这些算法可以归结为三类：1）逐次线性化方法,2）半光滑牛顿法,3）光滑牛顿法。指出解的存在性、构造光滑函数、采用智能算法求解以及算法收敛性分析将成为绝对值方程的研究热点。     

求解非线性互补问题的一个无导数下降算法

在实际求解过程中,一些非线性互补问题没有导数或很难获得导数,因此提出了无导数下降算法.通过讨论了非线性互补问题在经过价值函数的极小化变形之后的解决方法,提出求解非线性互补问题的一个无导数下降算法,在一定条件下证明了该算法的适定性及收敛性,利用数值例子表明了算法是有效的.