Balance recovery control for biped robot based on reaction null space method

A biped walking robot should be able to keep balance even in the presence of disturbing forces. This paper presents a step strategy concept of biped walking robot that is stabilized by using reaction null space method. The called ＂step strategy＂ can be modeled by means of the reaction null space method that introduced earlier to tackle dynamic interaction problems of free-floating robots, or moving base robots in general. 6-DOF biped robot model simulations are used to confirm the validity.

Use Elementary Column Operations to Calculate the Basis of the Null Space of a Matrix

This paper gives and proofs a theorem, for any matrix A, do elementary column operations, change it to a matrix which is partitioned to two blocks which left one is column full rank and right one is zero matrix. That is, use a invertible matrix P to let AP = （B,O）, O is zero matrix with n-r columns, r and n is rank and column number of A, so the P＇s right n-r columns is just the basis of the null space of the matrix A. On the basis of the theorem, lots of problems of linear algebra can be resolved and lots of theorems can be proofed by elementary column operations. Perhaps the textbooks used in universities will have a lot of change with the result of the paper. This result is first found by author in 2010.12.8 in http：//www.paper.edu.cn/index.php/default/releasepaper/content/201012-232, but is not formal published.

Application of Null Space Based Behavior Control to the Swarm Robot’s Control

This paper proposes a solution to controls warm robots in an effort to avoid obstacles, moving to the goal by the method of Null Space based Behavior (NSB) control of an individual in the swarm. This paper also provides the stability analysis of the converging process by investigating the relationship between single agents, and the analysis result is proved by using the Lyapunov theory. Finally, the simulation results in two-dimensional space have confirmed the obtained theoretical results.

A TRUST REGION ALGORITHM WITH NULL SPACE TECHNIQUE FOR EQUALITY CONSTRAINED OPTIMIZATION

This paper presents a trust region algorithm with null space technique fornonlinear equality constrained optimization. Considering in the null space methods that,the convergent rate of range space step is faster than the null space step for the most cases,the proposed algorithm computes null steps more often than range space step. Moreover,the new algorithm is based on the reduced Hessian SQP method. Global convergence ofthe proposed algorithm is proved. The effectiveness of the method is demonstrated bysome numerical examples.

A Null Space Approach for Solving Nonlinear Complementarity Problems

In this work, null space techniques are employed to tackle nonlinear complementarity problems （NCPs）. NCP conditions are transform into a nonlinear programming problem, which is handled by null space algorithms, The NCP conditions are divided into two groups, Some equalities and inequalities in an NCP are treated as constraints, While other equalities and inequalities in an NCP are to be regarded as objective function. Two groups are all updated in every step. Null space approaches are extended to nonlinear complementarity problems. Two different solvers are employed for all NCP in an algorithm.

Low-complexity transceiver design scheme based on channel null-space feedback

To reduce the negative impact of channel quantization errors, a low-complexity transceiver joint design scheme for both the transmit beamformers and receive combining vectors is proposed in the two-user multiple-input multiple-output （MIMO） system. In the scheme, the channel nullspace quantization vector is used as the transmit beamformer of the interference user directly based on channel null-space feedback. Since the interference can be determined at the receiver, interference rejection combining （IRC） is jointly utilized to cancel the inter-user interference. Simulation re- sults show that the proposed scheme can provide substantial sum-rate improvement especially at high SNR.

NULL-SPACE PROJECTION AND WATERFILLING RESOURCE ALLOCATION IN MULTI-ANTENNA COGNITIVE RADIO NETWORKS

Cognitive Radio(CR) is a promising technique for the next generation mobile communi-cation system for its capability to solve the conflicts between the scarcity and underutilization of spectrum.In this paper,aiming at maximizing the system capacity of a multi-antenna CR system on the premise that avoid interference to the primary system in the same band simultaneously,a resource allocation method which is able to avoid interference between PRimary(PR) and CR users by pro-jecting the transmit signals of CR users on the null space of the PR users' channels is proposed.CR users with better channel condition are selected,and the interference from CR system to PR users can be removed completely by projecting the transmit signals of CR system on the null-space of PR users' channels.Parallel sub-channels are constructed for CR users through Singular Value Decomposition(SVD).At last,waterfilling is also adopted to increase the CR users' capacity.Simulation result demonstrates that compared with existing methods,our method can improve the achievable sum rate of CR users as well as reduce the outage probability of PR users.

SPHERICAL SYMMETRIC SOLUTIONS FOR THE MOTION OF RELATIVISTIC MEMBRANES AND NULL MEMBRANES IN THE REISSNER-NORDSTRM SPACE-TIME

In this article, we concern the motion of relativistic membranes and null mem- branes in the Reissner-Nordstrom space-time. The equation of relativistic membranes moving in the Reissner-Nordstrom space-time is derived and some properties are discussed. Spherical symmetric solutions for the motion are illustrated and some interesting physical phenomena are discovered. The equations of the null membranes are derived and the exact solutions are also given. Spherical symmetric solutions for null membranes are just the two horizons of Reissner-NordstrSm space-time.

A Perturbation Analysis of Low-Rank Matrix Recovery by Schatten p-Minimization

A number of previous papers have studied the problem of recovering low-rank matrices with noise, further combining the noisy and perturbed cases, we propose a nonconvex Schatten p-norm minimization method to deal with the recovery of fully perturbed low-rank matrices. By utilizing the p-null space property (p-NSP) and the p-restricted isometry property (p-RIP) of the matrix, sufficient conditions to ensure that the stable and accurate reconstruction for low-rank matrix in the case of full perturbation are derived, and two upper bound recovery error estimation ns are given. These estimations are characterized by two vital aspects, one involving the best r-approximation error and the other concerning the overall noise. Specifically, this paper obtains two new error upper bounds based on the fact that p-RIP and p-NSP are able to recover accurately and stably low-rank matrix, and to some extent improve the conditions corresponding to RIP.

2×2分块对角算子矩阵拟谱的精细刻画

设A,B为可分Hilbert空间X中的稠定闭线性算子,M_(0)=(A00B)表示2×2分块算子矩阵.文中精细刻画算子矩阵M0在对角扰动情形下的拟点谱、拟剩余谱与拟连续谱,所得结论与点谱、剩余谱和连续谱的结果进行了比较,并用例子进行了辅证.最后,采用空间分解技巧,用主对角元的信息刻画M0在上三角扰动情形下的拟点谱分布.

基于零空间行为融合的多智能体编队控制综述

针对单智能体在民用和军用领域无法完成现实场景下复杂任务的问题,本文综述了零空间行为融合算法。阐述零空间行为融合算法的设计思想与数学模型,介绍零空间行为融合算法的文献计量分析。综述了零空间算法的研究进展,包括编队速度饱和、行为转换不连续、行为优先级分配和多种算法结合方面的改进工作,并分析当前研究存在的问题。研究表明:零空间行为融合算法在多智能体编队控制领域,提高算法的自适应性、考虑动力学特性、异构编队和行为函数优化是该算法未来的发展方向。

机器人用同轴磁性齿轮若干基本特性分析及其数值计算

机器人用同轴磁性齿轮受其固有特性的限制,目前难以直接应用于工业机器人,其力矩密度、传动比、空程、背隙和扭转刚度、稳定工作区等关键基本特性的研究尚存不足。为此,以国家标准规定的型14谐波齿轮性能为参考对象,采用类比的方法,运用相关电磁学理论,对与其同等空间大小的同轴磁性齿轮相关性能及其数值计算方法、稳定性以及伺服电动机和同轴磁性齿轮的一体化集成技术进行了研究和对比,指出了扭转刚度不足是制约同轴磁性齿轮用于机器人的关键因素,明确了未来机器人同轴磁性齿轮伺服控制的研究重点。

AM-FM算子分解方法在滚动轴承故障诊断中的应用

基于算子的零空间追踪算法能够实现复杂信号的自适应分解,其关键在于信号模型的构造与求解。通过定义一种新的可完全消除调幅调频信号的调幅调频算子(AFO),进一步建立了一种基于AFO的信号分解新模型。为了提高参数对信号分解的鲁棒性,将非参数正则化(NPR)方法用于解决上述模型的约束优化问题,提出了一种基于NPR的自适应信号分解方法——NPR-AFO。论文将NPR-AFO方法引入到机械故障诊断中,并通过仿真和滚动轴承局部故障实测数据分析,与现有的其他分解方法进行了对比。结果表明:所提方法不仅可以有效的提取故障特征,而且状态故障特征更加明显。

基于零空间的船舶自主靠泊自抗扰控制分配

[目的]针对船舶自主靠泊过程中遇到的环境载荷、岸壁效应、模型不确定以及控制分配误差等多源干扰的影响,提出一种基于零空间的自抗扰控制(ADRC)分配方法。[方法]首先,建立船舶靠泊运动数学模型、多源干扰模型和控制分配模型,并据此设计神经网络扩张状态观测器(NNESO)实时估计船舶运动及其所受到的多源干扰;然后,引入零空间技术设计控制分配算法,并基于该方法实现先泊位外镇定再平行靠泊方案;最后,证明船舶自主靠泊系统在所提方法下所有误差信号一致最终有界,保证船舶自主靠泊过程的安全性。[结果]仿真对比结果表明,所提方法在轨迹跟踪效果与二次规划(QP)法近似的情况下,求解所需时间为其1.3%,艏向最大分配误差为伪逆法(PI)的36.51%。[结论]所提方法在满足靠泊运动控制精度的同时,求解所需时间明显缩短,最大分配误差显著降低,保证了控制分配的实时性与精确性。

移动强干扰条件下大孔径阵列稀疏空间谱估计

无源声呐阵列的目标方位估计性能受到强干扰的显著影响,在干扰源快速移动时大孔径阵列还可能存在快拍不足的问题,为此提出一种结合波束域预处理以实现干扰抑制和数据降维的稀疏空间谱估计方法。首先在预处理阶段对干扰方向形成自适应零点,并通过协方差矩阵锥化展宽零点,然后对预处理后的波束域数据应用稀疏贝叶斯学习进行空间谱估计。与现有方法相比,波束域预处理可以有效减少阻带范围内干扰声源的影响,提高通带范围内空间谱估计的精度和计算效率,零点展宽可以进一步加强稳健性,避免出现快拍不足问题。仿真分析和海试结果表明,所提方法在移动强干扰条件下仍能准确估计目标声源的多途到达角,且计算时间远低于阵元域稀疏方法。

信号重构中l_(1)-l_(2)极小化的等价模型理论研究

非凸l_(1)-l_(2)极小化方法是信号重构中最有效、最重要的模型之一,为研究信号恢复中极小化l_(1)-l_(2)重构的条件,从极小化l_(1)-l_(2)的定义出发,结合零空间的性质,基于对原优化模型中的目标函数进行松弛并利用相干性函数,推导出与原优化问题等价的新目标函数。结合信号重构中限制等距性的充分性条件,得到了极小化l_(1)-l_(2)完全重构的充分性条件,并证明了在噪声情形下两类条件的等价性。

基于DeepLabV3+孪生网络的遥感建筑物变化检测

针对多尺度下小建筑易漏检及建筑物轮廓边界检测精度不足的情况,提出一种基于DeepLabV3+的双通道孪生网络。首先,为提高分割结果的精确度,同时避免网络层数加深带来的模型过拟合问题,采用改进后的ResNeXt50(32×4d)作为主干网络来提取特征;其次,针对孪生网络特征融合不充分的问题,设计了基于注意力的双通道融合模块;此外,为提高模型整体信息感知能力,对空洞空间卷积金字塔池化做增强处理;最后,在特征恢复阶段引入特征对齐模块和全连接CRF进一步补充和细化分割结果。在LEVIR-CD数据集上精确率(precision)、召回率(recall)和F1指数分别达到了0.9233、0.8994和0.9112。

基于自收敛同伦延拓法搜索七自由度机械臂零空间解集

针对七自由度机械臂零空间解集的无穷性,传统数值迭代只能求取单一解,解析法通用性较低,微分映射法精度较低的问题,本文在传统同伦延拓法的基础上采用同伦延拓参数自收敛的方式并加入关节限幅环节以优化延拓空间,并在此基础上,采用余弦函数作为同伦延拓辅助函数为方程组加入扰动。首先,根据改进DH参数法得到正运动学变换矩阵;其次,对自收敛同伦延拓法和传统同伦延拓法的求解时效、求解范围、对求解精度的适应性以及迭代限幅对求解的影响进行对比实验;最后,使用球形包围盒法结合加权取解的方式使得机械臂利用搜索到的零空间解集进行避障运动。经实验证明自收敛法的求解时效要优于传统法,加入关节限幅过程后,两种方法的时效性均有提升。

基于NSMC方法的某核工程场地裂隙地下水数值模拟不确定分析

裂隙介质渗透结构表现为高度的非均质性与各项异性。为了科学有效地预测某核工程场地裂隙地下水的流动规律,揭示裂隙岩体地下水的渗流特性,笔者等采用Pilot Point调参方法与null space Monte Carlo方法(NSMC),开展了裂隙岩体渗透结构的不确定性分析研究,构建了符合实际水文地质条件的多个渗流数值模型集合。结果表明:该方法获得的各个实现地下水位模拟结果能够与实际观测数据较好吻合,可反映工程场地裂隙地下水动力特征与流动趋势;各个实现的参数化渗透结构在空间上存在一定的差异性,但整体变化趋势是保持一致的,渗透参数的不确定性表现为在实测数据分布区域相对较低,钻孔空白区域相对较高;该方法可以弥补单一、确定性模拟结果在表征裂隙介质渗透结构方面的局限性,有效地降低模型参数的不确定性与随机性。此方法对进一步提升裂隙岩体渗流模拟精度与预测能力,深化裂隙地下水迁移规律的认识具有重要的意义。

三类视距无多径空间信道对通信对抗的影响分析

通信与通信对抗攻防双方都十分关注信号在空间信道中的传输特性,这对于对抗效能的影响极其巨大。针对三类视距无多径空间信道中信号传输的衰减特性进行了定量的分析与对比,展现了采用高增益天线定向窄波束互指的通信双方所具有的较强反侦察与抗干扰能力;而且阵列天线波束方向图固定方向置零与自适应调零从理论上为通信收发双方提供了更强的通信电子防御手段。所以为了提升侦察干扰的有效性,通信对抗必然会向分布式协同方向发展,这样才能实现对抗博弈的平衡。所揭示的上述技术演变趋势为通信对抗的未来发展规划研究提供了重要参考。