To solve the extended fuzzy description logic with qualifying number restriction （EFALCQ） reasoning problems, EFALCQ is discretely simulated by description logic with qualifying number restriction （ALCQ）, and ALCQ...To solve the extended fuzzy description logic with qualifying number restriction （EFALCQ） reasoning problems, EFALCQ is discretely simulated by description logic with qualifying number restriction （ALCQ）, and ALCQ reasoning results are reused to prove the complexity of EFALCQ reasoning problems. The ALCQ simulation method for the consistency of EFALCQ is proposed. This method reduces EFALCQ satisfiability into EFALCQ consistency, and uses EFALCQ satisfiability to discretely simulate EFALCQ satdomain. It is proved that the reasoning complexity for EFALCQ satisfiability, consistency and sat-domain is PSPACE-complete.展开更多
An extended algorithm of flexibility analysis with a local adjusting method for flexibility region of chemical processes, which is based on the active constraint strategy, is proposed, which fully exploits the flexibi...An extended algorithm of flexibility analysis with a local adjusting method for flexibility region of chemical processes, which is based on the active constraint strategy, is proposed, which fully exploits the flexibility region of the process system operation. The hyperrectangular flexibility region determined by the extended algorithm is larger than that calculated by the previous algorithms. The limitation of the proposed algorithm due to imperfect convexity and its corresponding verification measure are also discussed. Both numerical and actual chemical process examples are presented to demonstrate the effectiveness of the new algorithm.展开更多
A grasping force control strategy is proposed in order to complete various free manipulations by using anthropomorphic prosthetic hand. The position-based impedance control and force-tracking impedance control are use...A grasping force control strategy is proposed in order to complete various free manipulations by using anthropomorphic prosthetic hand. The position-based impedance control and force-tracking impedance control are used in free and constraint spaces, respectively. The fuzzy observer is adopted in transition in order to switch control mode. Two control modes use one position-based impedance controller. In order to achieve grasping force track, reference force is added to the impedance controller in the constraint space. Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of mode switch and stability of system are achieved. An adaptive sliding mode friction compensation method is proposed. This method makes use of terminal sliding mode idea to design sliding mode function, which makes the tracking error converge to zero in finite time and avoids the problem of conventional sliding surface that tracking error cannot converge to zero. Based on the characteristic of the exponential form friction, the sliding mode control law including the estimation of friction parameter is obtained through terminal sliding mode idea, and the online parameter update laws are obtained based on Lyapunov stability theorem. The experiments on the HIT Prosthetic Hand IV are carried out to evaluate the grasping force control strategy, and the experiment results verify the effectiveness of this control strategy.展开更多
This paper gives some su?cient conditions for the commutativity of quasi-toral restricted Lie algebras and characterizes some properties on semisimple quasi-toral restricted Lie algebras.
基金The National Natural Science Foundation of China(No60403016)the Weaponry Equipment Foundation of PLA Equip-ment Ministry (No51406020105JB8103)
文摘To solve the extended fuzzy description logic with qualifying number restriction （EFALCQ） reasoning problems, EFALCQ is discretely simulated by description logic with qualifying number restriction （ALCQ）, and ALCQ reasoning results are reused to prove the complexity of EFALCQ reasoning problems. The ALCQ simulation method for the consistency of EFALCQ is proposed. This method reduces EFALCQ satisfiability into EFALCQ consistency, and uses EFALCQ satisfiability to discretely simulate EFALCQ satdomain. It is proved that the reasoning complexity for EFALCQ satisfiability, consistency and sat-domain is PSPACE-complete.
文摘An extended algorithm of flexibility analysis with a local adjusting method for flexibility region of chemical processes, which is based on the active constraint strategy, is proposed, which fully exploits the flexibility region of the process system operation. The hyperrectangular flexibility region determined by the extended algorithm is larger than that calculated by the previous algorithms. The limitation of the proposed algorithm due to imperfect convexity and its corresponding verification measure are also discussed. Both numerical and actual chemical process examples are presented to demonstrate the effectiveness of the new algorithm.
基金Project(2009AA043803) supported by the National High Technology Research and Development Program of China Project (SKLRS200901B) supported by Self-Planned Task of State Key Laboratory of Robotics and System (Harbin Institute of Technology),ChinaProject (NCET-09-0056) supported by Program for New Century Excellent Talents in Universities of China
文摘A grasping force control strategy is proposed in order to complete various free manipulations by using anthropomorphic prosthetic hand. The position-based impedance control and force-tracking impedance control are used in free and constraint spaces, respectively. The fuzzy observer is adopted in transition in order to switch control mode. Two control modes use one position-based impedance controller. In order to achieve grasping force track, reference force is added to the impedance controller in the constraint space. Trajectory tracking in free space and torque tracking in constrained space are realized, and reliability of mode switch and stability of system are achieved. An adaptive sliding mode friction compensation method is proposed. This method makes use of terminal sliding mode idea to design sliding mode function, which makes the tracking error converge to zero in finite time and avoids the problem of conventional sliding surface that tracking error cannot converge to zero. Based on the characteristic of the exponential form friction, the sliding mode control law including the estimation of friction parameter is obtained through terminal sliding mode idea, and the online parameter update laws are obtained based on Lyapunov stability theorem. The experiments on the HIT Prosthetic Hand IV are carried out to evaluate the grasping force control strategy, and the experiment results verify the effectiveness of this control strategy.
基金Project supported by the Youth Science Foundation of Northeast Normal University (No.111494027)and the National Natural Science Foundation of China (No.10271076).
文摘This paper gives some su?cient conditions for the commutativity of quasi-toral restricted Lie algebras and characterizes some properties on semisimple quasi-toral restricted Lie algebras.
