针对动态运动基元(Dynamic movement primitives,DMP)轨迹学习方法在机器人示教轨迹学习过程中轨迹位置收敛精度低的问题,提出了一种改进的动态运动基元机器人轨迹学习方法。首先采用操作空间动态运动基元对示教轨迹进行泛化,然后利用...针对动态运动基元(Dynamic movement primitives,DMP)轨迹学习方法在机器人示教轨迹学习过程中轨迹位置收敛精度低的问题,提出了一种改进的动态运动基元机器人轨迹学习方法。首先采用操作空间动态运动基元对示教轨迹进行泛化,然后利用高斯函数在少数示教轨迹型值点处建立位置误差吸引力势场函数,并耦合在标准动态运动基元转换系统函数中。将提出的方法与标准动态运动基元方法追踪同一条轨迹进行对比仿真。仿真结果表明,所提方法能够有效提高机器人在轨迹学习过程中的轨迹位置收敛精度。展开更多
This paper gives the existence of a relatively stable duck solution in a slow-fast system in R2＋2 with an invariant manifold. The slow-fast system in R2＋： has a 2-dimensional slow vector field and a 2-dimensional f...This paper gives the existence of a relatively stable duck solution in a slow-fast system in R2＋2 with an invariant manifold. The slow-fast system in R2＋： has a 2-dimensional slow vector field and a 2-dimensional fast vector field. The fast vector field restricts a feasible region of the slow vector field strictly. In the case of the slow-fast system in R2＋1 , that is, the fast vector field is l-dimension, it is classified according to its sign, because it gives only negative（-）, positive（＋） or zero sign. Then it is attractive, repulsive or stationary. On the other hand, in R2~2 , the fast vector field has combinatorial cases. It causes a complex state to analyze the system. First, we introduce a local model near the pseudo singular point on which we classify the fast vector field attractive（-,-）, attractive-repulsive（-,＋） or repulsive（＋,＋）, simply as possible. We prove the existence of a 4-dimensional duck solution in the local model. Secondarily, we assume that the slow-fast system has an invariant manifold near the pseudo singular point. When the invariant manifold has a homoclinic point near the pseudo singular point, we show that the slow-fast sytem has a 4-dimensional duck solution having a relatively stable region.展开更多
This paper discusses the definition and connotation of Theme Shopping Tourism(TST) destination,and reveals the attractive distance of TST destination based on the utility function derived from the supposed demand func...This paper discusses the definition and connotation of Theme Shopping Tourism(TST) destination,and reveals the attractive distance of TST destination based on the utility function derived from the supposed demand function.An attractive model is deduced.According to this attractive model,it is can be known that the attractive distance is related to the price difference of the theme commodities between TST destination and tourist origin place,the average expenditure of transport,the demand elasticity of price,the actual price of sightseeing spot,the critical price that a tourist will afford,the number of nights that a tourist stays on the TST destination and the price level of accommodation in the TST destination.The change mechanism of attractive distance of TST destinations is revealed in this paper,and implications on TST marketing are put forward.First,theme commodities should be luxuries.Second,lower price is the primary pulling factor of theme shopping tourism.Third,the route combining with sightseeing spots is beneficial to shopping tourism.At last,TST development is one way of rejuvenating the falling destinations.展开更多
文摘针对动态运动基元(Dynamic movement primitives,DMP)轨迹学习方法在机器人示教轨迹学习过程中轨迹位置收敛精度低的问题,提出了一种改进的动态运动基元机器人轨迹学习方法。首先采用操作空间动态运动基元对示教轨迹进行泛化,然后利用高斯函数在少数示教轨迹型值点处建立位置误差吸引力势场函数,并耦合在标准动态运动基元转换系统函数中。将提出的方法与标准动态运动基元方法追踪同一条轨迹进行对比仿真。仿真结果表明,所提方法能够有效提高机器人在轨迹学习过程中的轨迹位置收敛精度。
文摘This paper gives the existence of a relatively stable duck solution in a slow-fast system in R2＋2 with an invariant manifold. The slow-fast system in R2＋： has a 2-dimensional slow vector field and a 2-dimensional fast vector field. The fast vector field restricts a feasible region of the slow vector field strictly. In the case of the slow-fast system in R2＋1 , that is, the fast vector field is l-dimension, it is classified according to its sign, because it gives only negative（-）, positive（＋） or zero sign. Then it is attractive, repulsive or stationary. On the other hand, in R2~2 , the fast vector field has combinatorial cases. It causes a complex state to analyze the system. First, we introduce a local model near the pseudo singular point on which we classify the fast vector field attractive（-,-）, attractive-repulsive（-,＋） or repulsive（＋,＋）, simply as possible. We prove the existence of a 4-dimensional duck solution in the local model. Secondarily, we assume that the slow-fast system has an invariant manifold near the pseudo singular point. When the invariant manifold has a homoclinic point near the pseudo singular point, we show that the slow-fast sytem has a 4-dimensional duck solution having a relatively stable region.
基金Under the auspices of National Natural Science Foundation of China (No 40571059)
文摘This paper discusses the definition and connotation of Theme Shopping Tourism(TST) destination,and reveals the attractive distance of TST destination based on the utility function derived from the supposed demand function.An attractive model is deduced.According to this attractive model,it is can be known that the attractive distance is related to the price difference of the theme commodities between TST destination and tourist origin place,the average expenditure of transport,the demand elasticity of price,the actual price of sightseeing spot,the critical price that a tourist will afford,the number of nights that a tourist stays on the TST destination and the price level of accommodation in the TST destination.The change mechanism of attractive distance of TST destinations is revealed in this paper,and implications on TST marketing are put forward.First,theme commodities should be luxuries.Second,lower price is the primary pulling factor of theme shopping tourism.Third,the route combining with sightseeing spots is beneficial to shopping tourism.At last,TST development is one way of rejuvenating the falling destinations.
