A geometrical parameters optimization and reducers selection method was proposed for robotic manipulators design. The Lagrangian approach was employed in deriving the dynamic model of a two-DOF manipulator. The flexib...A geometrical parameters optimization and reducers selection method was proposed for robotic manipulators design. The Lagrangian approach was employed in deriving the dynamic model of a two-DOF manipulator. The flexibility of links and joints was taken into account in the mechanical structure dimensions optimization and reducers selection, in which Timoshenko model was used to discretize the hollow links. Two criteria, i.e. maximization of fundamental frequency and minimization of self-mass/load ratio, were utilized to optimize the manipulators. The NSGA-II (fast elitist nondominated sorting genetic algorithms) was employed to solve the multi-objective optimization problem. How the joints flexibility affects the manipulators design was analyzed and shown in the numerical analysis example. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations were provided. The effectiveness of the optimization method was proved by comparing with ADAMS simulation results. The self-mass/load ratio error of the two methods is within 10%. The maximum error of the natural frequency by the two methods is 23.74%. The method proposed in this work provides a fast and effective pathway for manipulator design and reducers selection.展开更多
To solve the dynamical consensus problem of second-order multi-agent systems with communication delay,delay-dependent compensations are added into the normal asynchronously-coupled consensus algorithm so as to make th...To solve the dynamical consensus problem of second-order multi-agent systems with communication delay,delay-dependent compensations are added into the normal asynchronously-coupled consensus algorithm so as to make the agents achieve a dynamical consensus. Based on frequency-domain analysis, sufficient conditions are gained for second-order multi-agent systems with communication delay under leaderless and leader-following consensus algorithms respectively. Simulation illustrates the correctness of the results.展开更多
In cellular networks, users communicate with each other through their respective base stations（BSs）.Conventionally, users are assumed to be in different cells. BSs serve as decode-and-forward（DF） relay nodes to us...In cellular networks, users communicate with each other through their respective base stations（BSs）.Conventionally, users are assumed to be in different cells. BSs serve as decode-and-forward（DF） relay nodes to users.In addition to this type of conventional user, we recognize that there are scenarios users who want to communicate with each other are located in the same cell. This gives rise to the scenario of intra-cell communication. In this case, a BS can behave as a two-way relay to achieve information exchange instead of using conventional DF relay.We consider a multi-cell orthogonal frequency division multiple access（OFDMA） network that comprises these two types of users. We are interested in resource allocation between them. Specifically, we jointly optimize subcarrier assignment, subcarrier pairing, and power allocation to maximize the weighted sum rate. We consider the resource allocation problem at BSs when the end users＇ power is fixed. We solve the problem approximately through Lagrange dual decomposition. Simulation results show that the proposed schemes outperform other existing schemes.展开更多
基金Project(2009AA04Z216) supported by the National High-Tech Research and Development Program (863 Program) of ChinaProject(2009ZX04013-011) supported by the National Science and Technology Major Project of ChinaProject supported by the HIT Oversea Talents Introduction Program,China
文摘A geometrical parameters optimization and reducers selection method was proposed for robotic manipulators design. The Lagrangian approach was employed in deriving the dynamic model of a two-DOF manipulator. The flexibility of links and joints was taken into account in the mechanical structure dimensions optimization and reducers selection, in which Timoshenko model was used to discretize the hollow links. Two criteria, i.e. maximization of fundamental frequency and minimization of self-mass/load ratio, were utilized to optimize the manipulators. The NSGA-II (fast elitist nondominated sorting genetic algorithms) was employed to solve the multi-objective optimization problem. How the joints flexibility affects the manipulators design was analyzed and shown in the numerical analysis example. The results indicate that simultaneous consideration of the joints and the links flexibility is very necessary for manipulators optimal design. Finally, several optimal combinations were provided. The effectiveness of the optimization method was proved by comparing with ADAMS simulation results. The self-mass/load ratio error of the two methods is within 10%. The maximum error of the natural frequency by the two methods is 23.74%. The method proposed in this work provides a fast and effective pathway for manipulator design and reducers selection.
基金Supported by the National Natural Science Foundation of China under Grant Nos.61104092,61134007,and61203147the Priority Academic Program Development of Jiangsu Higher Education Institutions
文摘To solve the dynamical consensus problem of second-order multi-agent systems with communication delay,delay-dependent compensations are added into the normal asynchronously-coupled consensus algorithm so as to make the agents achieve a dynamical consensus. Based on frequency-domain analysis, sufficient conditions are gained for second-order multi-agent systems with communication delay under leaderless and leader-following consensus algorithms respectively. Simulation illustrates the correctness of the results.
基金Project supported by the Natural Science Foundation of Shandong Province,China（No.ZR2012AQ015）
文摘In cellular networks, users communicate with each other through their respective base stations（BSs）.Conventionally, users are assumed to be in different cells. BSs serve as decode-and-forward（DF） relay nodes to users.In addition to this type of conventional user, we recognize that there are scenarios users who want to communicate with each other are located in the same cell. This gives rise to the scenario of intra-cell communication. In this case, a BS can behave as a two-way relay to achieve information exchange instead of using conventional DF relay.We consider a multi-cell orthogonal frequency division multiple access（OFDMA） network that comprises these two types of users. We are interested in resource allocation between them. Specifically, we jointly optimize subcarrier assignment, subcarrier pairing, and power allocation to maximize the weighted sum rate. We consider the resource allocation problem at BSs when the end users＇ power is fixed. We solve the problem approximately through Lagrange dual decomposition. Simulation results show that the proposed schemes outperform other existing schemes.
