一种机器四则运算原理演示软件的设计与实现

为了生动地演示数据结构课程中栈,文章设计了一个教学软件,以动画和伪代码同步运行的直观方式揭示机器完成四则运算的算法原理。软件采用C++语言开发,源码可提供给学生同步学习。教学效果证明该软件对学生掌握机器四则运算的原理、提升学生解决实际工程问题能力起着良好的辅助作用。

Inverse kinematic deriving and actuator control of Delta robot using symbolic computation technology

In order to effectively derive the inverse kinematic solution of the Delta robot and realize actuator control a description of the linear graph principle for automatically generating kinematic equations in a mechanical system as well as the symbolic computation implementation of this procedure is reviewed and projected into the Delta robot. Based on the established linear graph representation the explicit symbolic expression of constraint equations and inverse kinematic solutions are obtained successfully using a symbolic computation engine Maple so that actuator control and trajectory tracking can be directly realized.Two practical motions the circular path and Adept motion are simulated for the validation of symbolic solutions respectively.Results indicate that the simulation satisfies the requirement of the quick motion within an acceptable threshold. Thus the precision of kinematic response can be confirmed and the correctness of inverse solution is verified.

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.

Design of dead reckoning system for mobile robot

A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.

Probabilistic Tracking of Objects with Adaptive Cue Fusion Mechanism

A tracking method based on adaptive multiple cue fusion mechanism was presented,where particle filter is used to integrate color and edge cues.The fusion mechanism assigns different weights to two cues according to their importance,thus improving the robustness and reliability of the tracking algorithm.Moreover,a multi-part color model is also invoked to deal with the confliction among similar objects.The experimental results on two real image sequences show the tracking algorithm with adaptive fusion mechanism performs well in the presence of complex scenarios such as head rotation,scale change and multiple person occlusions.

THE MACHINE LEARNING SYSTEM OF TELEPHONE NETWORKS MANAGEMENT

The problem of fault information process in telephone networks manage ment system in AT & T in the US has been solved with stepanwise learning approach.This method makes the information decrease step by step by means of merge and sort, classifies the information to several typical classes and establishes the knowledge base (KB) eventually. If new fault information is inputted, we will call the knowl edge in KB and predict the related faults which will happen.

Gait fitting for snake robots with binary actuators

Thanks to the special physical architectures and various locomotion gaits,snake robots may offer significant benefits over traditional legged or wheeled locomotion designs in vast types of scenarios.This paper proposes an innovative snake robot with digitally-actuated Stewart platforms as its modules and mainly focuses on the simulations of various snake gaits.Three categories of fitting algorithms are elaborated in simulations of lateral undulation and Configuration-Fitting Algorithm of Four Modules is demonstrated as a universal gait fitting algorithm for all kinds of snake robots with binary actuators.Several typical snake gaits are simulated and the results demonstrate the excellent mobility of the snake robot.

Path planning of a free-floating space robot based on the degree of controllability

An effective and more efficient path planning algorithm is developed for a kinematically non-redundant free-floating space robot(FFSR) system by proposing a concept of degree of controllability(DOC) for underactuated systems. The DOC concept is proposed for making full use of the internal couplings and then achieving a better control effect, followed by a certain definition of controllability measurement which measures the DOC, based on obtaining an explicit and finite equivalent affine system and singular value decomposition. A simple method for nilpotent approximation of the Lie algebra generated by the FFSR system is put forward by direct Taylor expansion when obtaining the equivalent system. Afterwards, a large-controlla- bility-measurement(LCM) nominal path is searched by a weighted A* algorithm, and an optimal self-correcting method is designed to track the nominal path approximately, yielding an efficient underactuated path. The proposed strategy successfully avoids the drawback of inefficiency inherent in previous path-planning schemes, which is due to the neglect of internal couplings, and illustrative numerical examples show its efficacy.

Obstacle avoidance for a hexapod robot in unknown environment

Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment.

Controllable optical multistability in hybrid optomechanical system assisted by parametric interactions

We theoretically investigate the multistable behavior of a hybrid optomechanical system, in which a charged mechanical resonator is coupled via Coulomb interaction to an optomechanical cavity containing an optical parametric amplifier （OPA）. It is shown that the multistable behavior of the mean intracavity photon number can be controlled flexibly by adjusting the nonlinear gain parameter of the OPA, the phase of the field pumping the OPA, the power and frequency of the field driving the cavity, and the Coulomb coupling strength between the two charged mechanical resonators. In particular, the increase of the nonlinear gain parameter can result in a transition from bistability to tristability. Moreover, the effect of the Coulomb coupling strength on the bistable behavior of the steady-state positions of the two mechanical resonators is discussed.