针对现有移动机器人轨迹跟踪控制主要考虑自身位姿误差,未考虑路径曲率对跟踪控制的影响,为了进一步提高智能移动放线机器人的跟踪精度,提出了一种基于路径评价模型的控制方法(trajectory evaluation model controller,TEMC)。建立移动...针对现有移动机器人轨迹跟踪控制主要考虑自身位姿误差,未考虑路径曲率对跟踪控制的影响,为了进一步提高智能移动放线机器人的跟踪精度,提出了一种基于路径评价模型的控制方法(trajectory evaluation model controller,TEMC)。建立移动机器人运动学相关模型;为了描述参考路径与机器人之间的几何关系建立了路径评价模型(trajectory evaluation model,TEM),并引入曲率及曲率变化率对路径复杂度进行定义,同时综合路径复杂度与位姿误差因素设计了路径评价函数;借助BP神经网络,提出了一种基于路径评价模型的控制器,并给出了稳定性证明;通过仿真实验证明了路径评价模型的有效性,并通过实验法给出了路径评价模型中核心参数的取值范围,同时TEMC跟踪精度相较于传统自适应反演控制器提升了48%以上。展开更多
The successive failures of Silicon Valley Bank and two other United States(US) banks triggered a wave of market panic. This study argues that this case should be viewed as a systemic crisis, highlighting the fragility...The successive failures of Silicon Valley Bank and two other United States(US) banks triggered a wave of market panic. This study argues that this case should be viewed as a systemic crisis, highlighting the fragility of the US banking system. Although the turmoil in the banking sector gradually subsided owing to the strong intervention of the US government, it has not ended. Instead, the banking turmoil has transformed into a long-lasting “slow crisis,” which can be characterized as “boiling a frog in warm water,” presenting a comprehensive socio–economic crisis. From a historical and global perspective, the current banking crisis in the US has developed against the backdrop of the once-in-a-century changes that shape the world. Furthermore, its evolutionary path will be different from that of previous ones.展开更多
文摘The successive failures of Silicon Valley Bank and two other United States(US) banks triggered a wave of market panic. This study argues that this case should be viewed as a systemic crisis, highlighting the fragility of the US banking system. Although the turmoil in the banking sector gradually subsided owing to the strong intervention of the US government, it has not ended. Instead, the banking turmoil has transformed into a long-lasting “slow crisis,” which can be characterized as “boiling a frog in warm water,” presenting a comprehensive socio–economic crisis. From a historical and global perspective, the current banking crisis in the US has developed against the backdrop of the once-in-a-century changes that shape the world. Furthermore, its evolutionary path will be different from that of previous ones.
