In this paper,a method with an eye-in-hand configuration is developed to hit targets during visual tracking for the TLS(Tele-Light Saber) game.It is not necessary to calibrate camera parameters and predict the traject...In this paper,a method with an eye-in-hand configuration is developed to hit targets during visual tracking for the TLS(Tele-Light Saber) game.It is not necessary to calibrate camera parameters and predict the trajectory of the moving object.Firstly,the expression of the image Jacobian matrix for the eye-in-hand configuration is proposed,and then an update law is designed to estimate the image Jacobian online.Furthermore,a control scheme is presented and the Lyapunov method is employed to prove asymptotic convergence of image errors.No assumption for the moving objects is needed.Finally,both simulation and experimental results are shown to support the approach in this paper.展开更多
The purpose of this paper is to study the traveling wave solutions of a diffusive predator- prey model with predator saturation and competition functional response. The system admits three equilibria： a zero equilibr...The purpose of this paper is to study the traveling wave solutions of a diffusive predator- prey model with predator saturation and competition functional response. The system admits three equilibria： a zero equilibrium E0, a boundary equilibrium E1 and a posi- tive equilibrium E. under some conditions. We establish the existence of two types of traveling wave solutions which connect E0 and E. and E1 and E., respectively. Our main arguments are based on a simplified shooting method, a sandwich method and constructions of appropriate Lyapunov functions. Our particular interest is to investi- gate the oscillation of both types of traveling wave solutions when they approach the positive equilibrium.展开更多
基金Supported by the National Natural Science Foundation of China(No.60905061)the National Natural Science Foundation of Tianjin(No.08JCYBJC12700)
文摘In this paper,a method with an eye-in-hand configuration is developed to hit targets during visual tracking for the TLS(Tele-Light Saber) game.It is not necessary to calibrate camera parameters and predict the trajectory of the moving object.Firstly,the expression of the image Jacobian matrix for the eye-in-hand configuration is proposed,and then an update law is designed to estimate the image Jacobian online.Furthermore,a control scheme is presented and the Lyapunov method is employed to prove asymptotic convergence of image errors.No assumption for the moving objects is needed.Finally,both simulation and experimental results are shown to support the approach in this paper.
文摘The purpose of this paper is to study the traveling wave solutions of a diffusive predator- prey model with predator saturation and competition functional response. The system admits three equilibria： a zero equilibrium E0, a boundary equilibrium E1 and a posi- tive equilibrium E. under some conditions. We establish the existence of two types of traveling wave solutions which connect E0 and E. and E1 and E., respectively. Our main arguments are based on a simplified shooting method, a sandwich method and constructions of appropriate Lyapunov functions. Our particular interest is to investi- gate the oscillation of both types of traveling wave solutions when they approach the positive equilibrium.
