To overcome the influence of on-orbit extreme temperature environment on the tool pose(position and orientation) accuracy of a space robot,a new self-calibration method based on a measurement camera(hand-eye vision) a...To overcome the influence of on-orbit extreme temperature environment on the tool pose(position and orientation) accuracy of a space robot,a new self-calibration method based on a measurement camera(hand-eye vision) attached to its end-effector was presented.Using the relative pose errors between the two adjacent calibration positions of the space robot,the cost function of the calibration was built,which was different from the conventional calibration method.The particle swarm optimization algorithm(PSO) was used to optimize the function to realize the geometrical parameter identification of the space robot.The above calibration method was carried out through self-calibration simulation of a six-DOF space robot whose end-effector was equipped with hand-eye vision.The results showed that after calibration there was a significant improvement of tool pose accuracy in a set of independent reference positions,which verified the feasibility of the method.At the same time,because it was unnecessary for this method to know the transformation matrix from the robot base to the calibration plate,it reduced the complexity of calibration model and shortened the error propagation chain,which benefited to improve the calibration accuracy.展开更多
Triangular norm is a powerful tool in the theory research and application development of fuzzy sets. In this paper, using the triang norm, we introduce some concepts such as fuzzy algebra, fuzzy a algebra and fuzzy mo...Triangular norm is a powerful tool in the theory research and application development of fuzzy sets. In this paper, using the triang norm, we introduce some concepts such as fuzzy algebra, fuzzy a algebra and fuzzy monotone class, and discuss the relations among them,obtaining the following main conclusions:Theorem 1: Let (I,S,T,C) be a norm spetem, S and T be dual norm,(Ⅰ) If is a fuzzy σ algebra, then is also a fuzzy monotooe class;(Ⅱ ) If a fuzzy algebra is a fuzzy monotone class, then is also a fuzzy σ algebra.Theorem 2: If φ(X) is a fuzzy algebra, then m (φ) =σ(φ).展开更多
The aim of this paper is to present construction of finite element multiscaling function with three coefficients. In order to illuminate the result, two examples are given finally.
For a given compactly supported scaling fun ct ion supported over [0,3]×[0,3], we present an algorithm to construct compac t ly supported orthogonal wavelets. By this algorithm, the symbol function of the associa...For a given compactly supported scaling fun ct ion supported over [0,3]×[0,3], we present an algorithm to construct compac t ly supported orthogonal wavelets. By this algorithm, the symbol function of the associated wavelets can be constructed explicitly.展开更多
On the basis of the theoretical analysis of a single-machine infinite-bus （SMIB）, using the modified linearized Phil- lips-Heffron model installed with unified power flow controller （UPFC）, the potential of the UP...On the basis of the theoretical analysis of a single-machine infinite-bus （SMIB）, using the modified linearized Phil- lips-Heffron model installed with unified power flow controller （UPFC）, the potential of the UPFC supplementary controller to enhance the dynamic stability of a power system is evaluated by measuring the electromechanical controllability through singular value decomposition （SVD） analysis. This controller is tuned to simultaneously shift the undamped electromeehanical modes to a prescribed zone in the s-plane. The problem of robust UPFC based damping controller is formulated as an optimization problem according to the eigenvalue-based multi-objective function comprising the damping factor, and the damping ratio of the undamped electromechanical modes to be solved using gravitational search algorithm （GSA） that has a strong ability to find the most optimistic results. The different loading conditions are simulated on a SMIB system and the rotor speed deviation, internal voltage deviation, DC voltage deviation and electrical power deviation responses are studied with the effect of this flexible AC transmission systems （FACTS） controller. The results reveal that the tuned GSA based UPFC controller using the proposed multi-objective function has an excellent capability in damping power system with low frequency oscillations and greatly enhances the dynamic stability of the power systems.展开更多
We study the kinetic behavior of a two-species aggregation-migration model in which an irreversible aggregation occurs between any two clusters of the same species and a reversible migration occurs simultaneously betw...We study the kinetic behavior of a two-species aggregation-migration model in which an irreversible aggregation occurs between any two clusters of the same species and a reversible migration occurs simultaneously between two different species. For a simple model with constant aggregation rates and with the migration rates and , we find that the evolution behavior of the system depends crucially on the values of the indexes υ<SUB>1</SUB> and υ<SUB>2</SUB>. The aggregate size distribution of either species obeys a conventional scaling law for most cases. Moreover, we also generalize the two-species system to the multi-species case and analyze its kinetic behavior under the symmetrical conditions.展开更多
Congestion pricing is an important component of urban intelligent transport system.The efficiency,equity and the environmental impacts associated with road pricing schemes are key issues that should be considered befo...Congestion pricing is an important component of urban intelligent transport system.The efficiency,equity and the environmental impacts associated with road pricing schemes are key issues that should be considered before such schemes are implemented.This paper focuses on the cordon-based pricing with distance tolls,where the tolls are determined by a nonlinear function of a vehicles' travel distance within a cordon,termed as toll charge function.The optimal tolls can give rise to:1) higher total social benefits,2) better levels of equity,and 3) reduced environmental impacts(e.g.,less emission).Firstly,a deterministic equilibrium(DUE) model with elastic demand is presented to evaluate any given toll charge function.The distance tolls are non-additive,thus a modified path-based gradient projection algorithm is developed to solve the DUE model.Then,to quantitatively measure the equity level of each toll charge function,the Gini coefficient is adopted to measure the equity level of the flows in the entire transport network based on equilibrium flows.The total emission level is used to reflect the impacts of distance tolls on the environment.With these two indexes/measurements for the efficiency,equity and environmental issues as well as the DUE model,a multi-objective bi-level programming model is then developed to determine optimal distance tolls.The multi-objective model is converted to a single level model using the goal programming.A genetic algorithm(GA) is adopted to determine solutions.Finally,a numerical example is presented to verify the methodology.展开更多
This paper presents equations for estimating limiting stand density for Z undulata plantations grown in hot desert areas of Raj asthan State in India. Five different stand level basal area projection models, belonging...This paper presents equations for estimating limiting stand density for Z undulata plantations grown in hot desert areas of Raj asthan State in India. Five different stand level basal area projection models, belonging to the path invariant algebraic difference form of a non-linear growth function, were also tested and compared. These models can be used to predict future basal area as a function of stand variables like dominant height and stem number per hectare and are necessary for reviewing different silvicultural treatment options. Data from 22 sample plots were used for modelling. An all possible growth intervals data structure was used. Both, qualitative and quantitative criteria were used to compare alternative models. The Akaike＇s information criteria differ- ence statistic was used to analyze the predictive ability of the models. Results show that the model proposed by Hui and Gadow performed best and hence this model is recommended for use in predicting basal area development in 12 undulata plantations in the study area. The data used were not from thinned stands, and hence the models may be less accurate when used for predictions when natural mortality is very significant.展开更多
Light field imaging is an emerging technology in computational photography areas. Based on innovative designs of the imaging model and the optical path, light field cameras not only record the spatial intensity of thr...Light field imaging is an emerging technology in computational photography areas. Based on innovative designs of the imaging model and the optical path, light field cameras not only record the spatial intensity of three- dimensional （3D） objects, but also capture the angular information of the physical world, which provides new ways to address various problems in computer vision, such as 3D reconstruction, saliency detection, and object recognition. In this paper, three key aspects of light field cameras, i.e., model, calibration, and reconstruction, are reviewed extensively. Furthermore, light field based applications on informatics, physics, medicine, and biology are exhibited. Finally, open issues in light field imaging and long-term application prospects in other natural sciences are discussed.展开更多
This paper studies the existence and uniqueness conditions for the quaternion-valued non-linear impulsive system. Firstly, a space of quaternion-valued piecewise functions is constructed and completeness of the space ...This paper studies the existence and uniqueness conditions for the quaternion-valued non-linear impulsive system. Firstly, a space of quaternion-valued piecewise functions is constructed and completeness of the space is also proved. Then by taking advantage of the Bielecki norm and fixed point theorem, existence and uniqueness criteria of quaternion-valued nonlinear impulsive system are obtained. At last, an example is given to illustrate our theoretical results.展开更多
基金Projects(60775049,60805033) supported by the National Natural Science Foundation of ChinaProject(2007AA704317) supported by the National High Technology Research and Development Program of China
文摘To overcome the influence of on-orbit extreme temperature environment on the tool pose(position and orientation) accuracy of a space robot,a new self-calibration method based on a measurement camera(hand-eye vision) attached to its end-effector was presented.Using the relative pose errors between the two adjacent calibration positions of the space robot,the cost function of the calibration was built,which was different from the conventional calibration method.The particle swarm optimization algorithm(PSO) was used to optimize the function to realize the geometrical parameter identification of the space robot.The above calibration method was carried out through self-calibration simulation of a six-DOF space robot whose end-effector was equipped with hand-eye vision.The results showed that after calibration there was a significant improvement of tool pose accuracy in a set of independent reference positions,which verified the feasibility of the method.At the same time,because it was unnecessary for this method to know the transformation matrix from the robot base to the calibration plate,it reduced the complexity of calibration model and shortened the error propagation chain,which benefited to improve the calibration accuracy.
文摘Triangular norm is a powerful tool in the theory research and application development of fuzzy sets. In this paper, using the triang norm, we introduce some concepts such as fuzzy algebra, fuzzy a algebra and fuzzy monotone class, and discuss the relations among them,obtaining the following main conclusions:Theorem 1: Let (I,S,T,C) be a norm spetem, S and T be dual norm,(Ⅰ) If is a fuzzy σ algebra, then is also a fuzzy monotooe class;(Ⅱ ) If a fuzzy algebra is a fuzzy monotone class, then is also a fuzzy σ algebra.Theorem 2: If φ(X) is a fuzzy algebra, then m (φ) =σ(φ).
基金Supported by the Natural Science Foundation of the Education Department of Henan Province(2006110001)Supported by the Natural Science Foundation of Henan University of China (XK03YBSX002)
文摘The aim of this paper is to present construction of finite element multiscaling function with three coefficients. In order to illuminate the result, two examples are given finally.
文摘For a given compactly supported scaling fun ct ion supported over [0,3]×[0,3], we present an algorithm to construct compac t ly supported orthogonal wavelets. By this algorithm, the symbol function of the associated wavelets can be constructed explicitly.
文摘On the basis of the theoretical analysis of a single-machine infinite-bus （SMIB）, using the modified linearized Phil- lips-Heffron model installed with unified power flow controller （UPFC）, the potential of the UPFC supplementary controller to enhance the dynamic stability of a power system is evaluated by measuring the electromechanical controllability through singular value decomposition （SVD） analysis. This controller is tuned to simultaneously shift the undamped electromeehanical modes to a prescribed zone in the s-plane. The problem of robust UPFC based damping controller is formulated as an optimization problem according to the eigenvalue-based multi-objective function comprising the damping factor, and the damping ratio of the undamped electromechanical modes to be solved using gravitational search algorithm （GSA） that has a strong ability to find the most optimistic results. The different loading conditions are simulated on a SMIB system and the rotor speed deviation, internal voltage deviation, DC voltage deviation and electrical power deviation responses are studied with the effect of this flexible AC transmission systems （FACTS） controller. The results reveal that the tuned GSA based UPFC controller using the proposed multi-objective function has an excellent capability in damping power system with low frequency oscillations and greatly enhances the dynamic stability of the power systems.
文摘We study the kinetic behavior of a two-species aggregation-migration model in which an irreversible aggregation occurs between any two clusters of the same species and a reversible migration occurs simultaneously between two different species. For a simple model with constant aggregation rates and with the migration rates and , we find that the evolution behavior of the system depends crucially on the values of the indexes υ<SUB>1</SUB> and υ<SUB>2</SUB>. The aggregate size distribution of either species obeys a conventional scaling law for most cases. Moreover, we also generalize the two-species system to the multi-species case and analyze its kinetic behavior under the symmetrical conditions.
基金Projects (61304198,61374195) supported by the National Natural Science Foundation of ChinaProjects (2013M530159,2014T70351) supported by the China Postdoctoral Science Foundation
文摘Congestion pricing is an important component of urban intelligent transport system.The efficiency,equity and the environmental impacts associated with road pricing schemes are key issues that should be considered before such schemes are implemented.This paper focuses on the cordon-based pricing with distance tolls,where the tolls are determined by a nonlinear function of a vehicles' travel distance within a cordon,termed as toll charge function.The optimal tolls can give rise to:1) higher total social benefits,2) better levels of equity,and 3) reduced environmental impacts(e.g.,less emission).Firstly,a deterministic equilibrium(DUE) model with elastic demand is presented to evaluate any given toll charge function.The distance tolls are non-additive,thus a modified path-based gradient projection algorithm is developed to solve the DUE model.Then,to quantitatively measure the equity level of each toll charge function,the Gini coefficient is adopted to measure the equity level of the flows in the entire transport network based on equilibrium flows.The total emission level is used to reflect the impacts of distance tolls on the environment.With these two indexes/measurements for the efficiency,equity and environmental issues as well as the DUE model,a multi-objective bi-level programming model is then developed to determine optimal distance tolls.The multi-objective model is converted to a single level model using the goal programming.A genetic algorithm(GA) is adopted to determine solutions.Finally,a numerical example is presented to verify the methodology.
基金the State Forest Department,Rajasthan for providing financial support for conducting this study and to their officials for rendering necessary assistance during fieldwork
文摘This paper presents equations for estimating limiting stand density for Z undulata plantations grown in hot desert areas of Raj asthan State in India. Five different stand level basal area projection models, belonging to the path invariant algebraic difference form of a non-linear growth function, were also tested and compared. These models can be used to predict future basal area as a function of stand variables like dominant height and stem number per hectare and are necessary for reviewing different silvicultural treatment options. Data from 22 sample plots were used for modelling. An all possible growth intervals data structure was used. Both, qualitative and quantitative criteria were used to compare alternative models. The Akaike＇s information criteria differ- ence statistic was used to analyze the predictive ability of the models. Results show that the model proposed by Hui and Gadow performed best and hence this model is recommended for use in predicting basal area development in 12 undulata plantations in the study area. The data used were not from thinned stands, and hence the models may be less accurate when used for predictions when natural mortality is very significant.
基金Project supported by the National Natural Science Foundation of China （Nos. 61531014 and 61272287）
文摘Light field imaging is an emerging technology in computational photography areas. Based on innovative designs of the imaging model and the optical path, light field cameras not only record the spatial intensity of three- dimensional （3D） objects, but also capture the angular information of the physical world, which provides new ways to address various problems in computer vision, such as 3D reconstruction, saliency detection, and object recognition. In this paper, three key aspects of light field cameras, i.e., model, calibration, and reconstruction, are reviewed extensively. Furthermore, light field based applications on informatics, physics, medicine, and biology are exhibited. Finally, open issues in light field imaging and long-term application prospects in other natural sciences are discussed.
基金supported by the National Natural Science Foundation of China under Grant No.61673296
文摘This paper studies the existence and uniqueness conditions for the quaternion-valued non-linear impulsive system. Firstly, a space of quaternion-valued piecewise functions is constructed and completeness of the space is also proved. Then by taking advantage of the Bielecki norm and fixed point theorem, existence and uniqueness criteria of quaternion-valued nonlinear impulsive system are obtained. At last, an example is given to illustrate our theoretical results.
