Intelligent PID controller based on ant system algorithm and fuzzy inference and its application to bionic artificial leg

A designing method of intelligent proportional-integral-derivative(PID) controllers was proposed based on the ant system algorithm and fuzzy inference. This kind of controller is called Fuzzy-ant system PID controller. It consists of an off-line part and an on-line part. In the off-line part, for a given control system with a PID controller,by taking the overshoot, setting time and steady-state error of the system unit step response as the performance indexes and by using the ant system algorithm, a group of optimal PID parameters K*p , Ti* and T*d can be obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-line part, based on Kp* , Ti*and Td* and according to the current system error e and its time derivative, a specific program is written, which is used to optimize and adjust the PID parameters on-line through a fuzzy inference mechanism to ensure that the system response has optimal transient and steady-state performance. This kind of intelligent PID controller can be used to control the motor of the intelligent bionic artificial leg designed by the authors. The result of computer simulation experiment shows that the controller has less overshoot and shorter setting time.

Study on optimization control method based on artificial neural network

In the goal optimization and control optimization process the problems with common artificial neural network algorithm are unsure convergence, insufficient post-training network precision, and slow training speed, in which partial minimum value question tends to occur. This paper conducted an in-depth study on the causes of the limi-tations of the algorithm, presented a rapid artificial neural network algorithm, which is characterized by integrating multiple algorithms and by using their complementary advan-tages. The salient feature of the method is self-organization, which can effectively prevent the optimized results from tending to be partial minimum values. Overall optimization can be achieved with this method, goal function can be searched for in overall scope. With op-timization control of coal mine ventilator as a practical application, the paper proves that by integrating multiple artificial neural network algorithms, best control optimization and goal optimized can be achieved.

Linear and nonlinear control of a robotic excavator

Various control systems for a robotic excavator named LUCIE (Lancaster University Computerized and Intelligent Excavator),were investigated. The excavator is being developed to dig trenches autonomously. One stumbling block is the achievement of adequate,accurate,quick and smooth movement under automatic control. Here,both classical and modern approaches are considered,including proportional-integral-derivative (PID) control tuned by conventional Zigler-Nichols rules,linear proportional-integral-plus (PIP) control,and a novel nonlinear PIP controller based on a state-dependent parameter (SDP) model structure,in which the parameters are functionally dependent on other variables in the system. Implementation results for the excavator joint arms control demonstrate that SDP-PIP controller provides the improved performance with fast,smooth and accurate response in comparison with both PID and linearized PIP control.

HPLC Determination of Captopril in Human Plasma with Pre-column Derivation and Solid-phase Extraction and Studies on Its Pharmacokinetic and Relative Bioavailability

A new pre-column derivation HPLC method with solid-phase extraction to determine captopril in human plasma was established. Derivation products were extracted by a solid-phase extraction method after the reagent, p-a-dibromoacetophenone(p-BPB), was added in the plasma samples. The samples were analyzed in a VP-ODS column with UV-detector. The calibration curve of captopril was linear within the range of 5~1000 ngmL-1 with r=0.9987, the recovery of this method was 98.652.04%, within day and between day RSD were no more than 3.4% and 8.4% respectively. To study the pharmacokinetics and the relative bioavailability of captopril tablets, two formulations of captopril tablets were given to 18 healthy male volunteers according to a randomized 2-way cross-over design with a 1-week washout period. The respective AUC0~6 , Cmax and Tmax values of the two formulations were 424.5125.7 and 439.4113.3 mghL-1; 505.9244.6 and 504.8172.2 mgL-1; 0.6620.181 and 0.5280.176 h. Results from statistics analysis showed that there were no significant difference between the AUC0~6 , Cmax and Tmax values of the two formulations, The relative bioavailability of tablets I with respect to II was 96.114.6% from AUC0~6 measurement. Bioequivalance was observed between the two tablets.

Hand-eye-vision based control for an inspection robot's autonomous line grasping

In order to ensure that the off-line arm of a two-arm-wheel combined inspection robot can reliably grasp the line in case of autonomous obstacle crossing,a control method is proposed for line grasping based on hand-eye visual servo.On the basis of the transmission line's geometrical characteristics and the camera's imaging principle,a line recognition and extraction method based on structure constraint is designed.The line's intercept and inclination are defined in an imaging space to represent the robot's change of pose and a law governing the pose decoupling servo control is developed.Under the integrated consideration of the influence of light intensity and background change,noise(from the camera itself and electromagnetic field)as well as the robot's kinetic inertia on the robot's imaging quality in the course of motion and the grasping control precision,a servo controller for grasping the line of the robot's off-line arm is designed with the method of fuzzy control.An experiment is conducted on a 1:1 simulation line using an inspection robot and the robot is put into on-line operation on a real overhead transmission line,where the robot can grasp the line within 18 s in the case of autonomous obstacle-crossing.The robot's autonomous line-grasping function is realized without manual intervention and the robot can grasp the line in a precise,reliable and efficient manner,thus the need of actual operation can be satisfied.

Mother Images in Carol Ann Duffy＇s Poetry

＂Mother＂ is sometimes associated with ＂other＂. The same is true in some of Carol Ann Duffy＇s poems, in which some mothers are described as institutionalized in the patriarchal society and considered as ＂the other＂, losing self-identity. Duffy also describes women fighting against the patriarchal control generation after generation until they are finally free. Some mothers exhibit their own potentials as mothers, either able to or unable to fulfill the duties of both material and spiritual caretakers of the family.

DCT based multipurpose watermarking technique for image copyright notification and protection

A multipurpose image watermarking technique based on DCT is proposed to notify and protect the copyright of digital products. In order to achieve this objective, the DCT coefficients of each image block are divided into two parts for embedding the visible and invisible watermarks. The visible watermark is embedded in each DC DCT coefficient and most of the AC DCT coefficients of every block, and the invisible watermark in the rest. Based on the characteristics of Human Visual System (HVS), the embedding strength of the visible watermark is varied in accordance with the underlying content of the host image. The invisible watermark is embedded in a quaternity of midrange frequencies. Experimental results show that the visible watermark is hard to remove and the invisible watermark is robust to common digital signal processing operations.

Localization and navigation using a novel artificial landmark for indoor mobile robots

This paper presents a practical topological navigation system for indoor mobile robots, making use of a novel artificial landmark which is called MR code. This new kind of paper-made landmarks earl be easi- ly attached on the ceilings or on the walls, lmealization algorithms for the two cases are given respective- ly. A docking control algorithm is also described, which a robot employs to approach its current goal. A simple topological navigation algorithm is proposed. Experiment results show the effectiveness of the method in real environment.

Introduction to Unity of Physics and Biology, Inorganic Life Materials

The unity between physics and biology refers to that the inorganic systems： the Solar System, galaxies and artificial systems have the same structures and functions as the organisms. The development of science and technology is demonstrating the intense unification trends of physics and biology and a holistic science and technology era is about to start. The physics and biology unify on the basis of the four seasons＇ law, which is the most important rule of the universe. Life is defined as the four seasons＇ whole with the structure and process of four seasons. The organism is basically structured into a dual four-season body by state-varying, state-stabilizing and control organizations. Animals, the Solar System and the earth are all the dual four-season bodies. In the unity between physics and biology, the inorganic life materials and inorganic life body can be manufactured artificially.

Twist-related locomotion of a snake-like robot

As a hyper-redundant robot, a 3D snake-like robot can perform many other configurations and types of locomotion adapted to environment except for mimicking the natural snake locomotion. The natural snake locomotion usually limits locomotion capability of the robot because of inadequacy in the mechanism and actuation to imitate characters of natural snake such as the too many DOFs and the characteristics of the muscle. In order to apply snake-like robots to the unstructured environment, the researchers have designed many gaits for increasing the adaptability to a variety of surroundings. The twist-related locomotion is an effective gait achieved by jointly driving the pitching-DOF and yawing-DOF, with which the snakelike robot can move on rough ground and even climb up some obstacles. In dfis paper, the twist-related locomotion function is firstly solved, and simplified to be expressible by sine or cosine function. The 2D locomotion such as V-shape and U-shape is achieved. Also by applying it to the serpentine locomotion or other types of locomotion, the snake-like robot can complete composite locomotion that combines the serpentine locomotion or others with twist-related locomotion. Then we extend the twist-related locomotion to 3D space. Finally, the experimental results are presented to validate all above analyses.

The anthropomorphic design and experiments of HIT/DLR five-fingered dexterous hand

This paper presents a new developed anthropomorphic robot dexterous hand： HIT/DLR Hand II. The hand is composed of an independent palm and five identical modular fingers, and each finger has three degree of freedom （DOFs） and four joints. All the actuators and electronics are integrated in the finger body and the palm. Owing to using a new actuator, drivers and a novel arrangement, both the length and width of the finger is about two third of its formner version. By using the wire coupling mecha- nism, the distal phalanx transmission ratio is kept exactly 1 ： 1 in the whole movement range. The packing mechanism which is implemented directly in the finger body and palm not only reduces the size of whole hand but also make it more anthropomorphic. Additionally, the new designed force/torque and position sensors are integrated in the hand for increasing muhisensory capability. To evaluate the performances of the finger mechanism, the position and impedance control experiments are conducted.

Design and implementation of a modular self-reconfigurable robot

A novel modular self-reconfigurable robot called UBot is presented.This robot consists of severalstandard modules.The module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent module.This mechanism is self-locking after con-nected,and energy-saving.To achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular design.The modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.

The number of new Chinese population and the future evolution of population policy planning analysis

China as the world＇ s most populous country, the number of demographic change is an essential element of social development plan under consideration. This article combined with the background, based on the birth rate, mortality indicators as well as the corresponding changes in the age structure, demographic trends predict the future based on the current form of the economy analysis the population of 60 years since the founding of New China .China＇ s population control based on the complexity of the future still need to take tight family planning policy, change the mechanism of population control, optimize population structure, improve population quality.

Correlation of serum leptin levels with anthropometric and metabolic parameters and biochemical liver function in Chinese patients with chronic hepatitis C virus infection

AIM: To determine serum leptin levels and investigate their correlations with anthropometric and metabolic parameters and biochemical liver function in patients with chronic hepatitis C virus (HCV) infection and their potential clinical implications.METHODS: Forty-two chronic HCV-infected patients without anti-viral treatment were enrolled in this study, 30 patients had chronic hepatitis C, 10 had cirrhosis, and 2 had hepatocellular carcinoma (HCC). Thirty age- and sex-matched healthy individuals served as controls. Serum leptin levels were determined by ELISA. The biochemical liver function and serum lipids were determined at the same time. The height and body weight of patients and controls were measured, and body mass index (BMI) and body fat were calculated simultaneously. The correlations of serum leptin levels with anthropometric and metabolic parameters and biochemical liver function were assessed statistically.RESULTS: The mean of serum leptin levels in patients with chronic hepatitis C, HCV-associated cirrhosis, HCVassociated HCC and control groups was (6.13±3.94),(5.25±4.21), (4.17±0.28), and (3.59±3.44) ng/mL, respectively. The serum leptin level in patients with chronic hepatitis C was significantly higher than that in controls. The serum leptin levels between cirrhotic patients and controls and between male and female cirrhotic patients had no significant difference. Serum leptin levels were positively-correlated with body fat, BMI, and apolipoprotein B (Apo B) in patients with chronic HCV infection. The serum alanine aminotransferase (ALT) levels were closelycorrelated with BMI in patients with chronic hepatitis C. CONCLUSION: HCV infection interferes with fat and lipid metabolism in patients with chronic HCV infection and leptin may play a role in hepatosteatosis.

AN LBP-BASED MULTI-SCALE ILLUMINATION PREPROCESSING METHOD FOR FACE RECOGNITION

It is one of the major challenges for face recognition to minimize the disadvantage of il- lumination variations of face images in different scenarios. Local Binary Pattern (LBP) has been proved to be successful for face recognition. However, it is still very rare to take LBP as an illumination preprocessing approach. In this paper, we propose a new LBP-based multi-scale illumination pre- processing method. This method mainly includes three aspects: threshold adjustment, multi-scale addition and symmetry restoration/neighborhood replacement. Our experiment results show that the proposed method performs better than the existing LBP-based methods at the point of illumination preprocessing. Moreover, compared with some face image preprocessing methods, such as histogram equalization, Gamma transformation, Retinex, and simplified LBP operator, our method can effectively improve the robustness for face recognition against illumination variation, and achieve higher recog- nition rate.

The 21^(st) century system reform and development mode of construction management education (CME) in China

With China’s entry into WTO and the development of the economic globalization, market competition in the construction field is more and more featured by the competition of talents, the core of which is the cultivation mechanism innovation of higher construction management talents. The approach to meet the requirement of this situation is to adopt innovation ideas, improve the supply-demand structure of CME, reform the education system to relate theory to practice, pay attention to the needs of the educated, enhance global communication and cooperation, and improve the knowledge structure of teachers.

The Impact of Private Lending to SME Financing Based on SWOT Analysis

For a long time, private lending is the main channel for SME financing, and play an important role in solving the problem of SME financing.In addition,private lending also promotes the operation of private capital,which is conducive to the development of the national economy.This paper expound the development status of private lending, based on analysis of the SWOT, analyzing the strengths and weaknesses of private lending and private lending opportunities and challenges in the process of legalization.In the end of this paper, the author proposes appropriate coping strategies to solve threats and weaknesses that may exist for the development of private lending.

Analysis of Noise at Coal Face by Fully-Mechanized Coal Winning Technology

The noise level of coal face by full-mechanized coal winning technology was measured in a coal mine. And then it was analyzed and evaluated using environment science, ergonomics and fussy mathematics analysis. Basis of the statistics and analysis of the measured noise level some measures, such as applying the new materials and improving the construction of the equipment, were carried out. The resuts show that they can reduce the noise level, improve the working environment and enhance the work efficiency.

The Impact of Temporal and Political Context on Institutional Change

In order to gain a more comprehensive understanding of institutional change, researchers need to go beyond a snapshot view of significant events but consider events in their temporal setting. Pierson （2004） advocated that the events that lead to institutional change should be placed in a moving temporal context, as this will not only add to our comprehension of the dynamics of change, but also enrich the existing research and enhance the theories we employ to give meaning to these events. Pierson （2004） laid the foundation for the research that was later developed by Thelen （2009） that considered incremental endogenous shifts in institutional thinking that can often result in fundamental transformations. The central issues of Pierson＇s （2004） thesis lay in his interpretation of history and its relationship with path dependence. He claimed that once an institution has chosen a particular path to follow, it can become locked into that pathway and so the options of choice are restricted. This then presumed that an institutions first choice of action is crucial to whether they become locked into a successful course of action or not. The result of the first choice being successful or not would be dependent on the presence of increasing returns. The explication Pierson proffers of increasing returns is different to an economic one in that it is based on positive feedback processes and politics in time. The implications of Pierson＇s work and those that followed have a very serious place in our understanding of institutional change.