Parallel manipulator is associated with a set of functions defined by its closure constraints. In this paper, using Lie algebra method, we provide a study on the singularities of parallel manipulators, their relations...Parallel manipulator is associated with a set of functions defined by its closure constraints. In this paper, using Lie algebra method, we provide a study on the singularities of parallel manipulators, their relations with the second order of the closure functions, and the tangent space of the configuration space of the manipulator. The transverse condition criterion is applied to analyze the behavior of the singularities. This gives a downright explication why the 6R paradoxical mechanisms work in their singular configurations, and allows to gain insight on configuration space singularities and to choose the adequate design parameters for the parallel manipulator.展开更多
The configuration space is a fundamental concept that is widely used in algorithmic robotics. Many applications in robotics, computer-aided design, and related areas can be reduced to computational problems in terms o...The configuration space is a fundamental concept that is widely used in algorithmic robotics. Many applications in robotics, computer-aided design, and related areas can be reduced to computational problems in terms of configuration spaces. In this paper, we survey some of our recent work on solving two important challenges related to configuration spaces： ~ how to efficiently compute an approximate representation of high-dimensional configuration spaces; and how to efficiently perform geometric proximity and motion planning queries （n high-dimensional configuration spaces. We present new configuration space construction algorithms based on machine learning and geometric approximation techniques. These algorithms perform collision queries on many configuration samples. The collision query results are used to compute an approximate representation for the configuration space, which quickly converges to the exact configuration space. We also present parallel GPU-based algorithms to accelerate the performance of optimization and search computations in configuration spaces. In particular, we design efficient GPU-based parallel k-nearest neighbor and parallel collision detection algorithms and use these algorithms to accelerate motion planning.展开更多
In order to meet the requirement of network synthesis optimization design for a micro component, a three-level information frame and functional module based on web was proposed. Firstly, the finite element method （FE...In order to meet the requirement of network synthesis optimization design for a micro component, a three-level information frame and functional module based on web was proposed. Firstly, the finite element method （FEM） was used to analyze the dynamic property of coupled-energy-domain of virtual prototype instances and to obtain some optimal information data. Secondly, the rough set theory （RST） and the genetic algorithm （GA） were used to work out the reduction of attributes and the acquisition of principle of optimality and to confirm key variable and restriction condition in the synthesis optimization design. Finally, the regression analysis （RA） and GA were used to establish the synthesis optimization design model and carry on the optimization design. A corresponding prototype system was also developed and the synthesis optimization design of a thermal actuated micro-pump was carded out as a demonstration in this paper.展开更多
Orthogonal array-based uniform Latin hypercube design（uniform OALHD） is a class of orthogonal array-based Latin hypercube designs to have the best uniformity. In this paper, we provide a less computational algorithm...Orthogonal array-based uniform Latin hypercube design（uniform OALHD） is a class of orthogonal array-based Latin hypercube designs to have the best uniformity. In this paper, we provide a less computational algorithm to construct uniform OALHD in 2-dimensional space from Bundschuh and Zhu（1993）. And some uniform OALHDs are constructed by using our method.展开更多
In order to avoid internal attacks during data aggregation in wireless sensor networks, a grid-based network architecture fit for monitoring is designed and the algorithms for network division, initialization and grid...In order to avoid internal attacks during data aggregation in wireless sensor networks, a grid-based network architecture fit for monitoring is designed and the algorithms for network division, initialization and grid tree construction are presented. The characteristics of on-off attacks are first studied and monitoring mechanisms are then designed for sensor nodes. A Fast Detection and Slow Recovery (FDSR) algorithm is proposed to prevent on-off attacks by observing the behaviors of the nodes and computing reputations. A recovery mechanism is designed to isolate malicious nodes by identifying the new roles of nodes and updating the grid tree. In the experiments, some situations of on-off attacks are simulated and the results are compared with other approaches. The experimental results indicate that our approach can detect malicious nodes effectively and guarantee secure data aggregation with acceptable energy consumption.展开更多
This paper advances a new algorithm oriented to geometry modeling (GM) by using frame model. The elemental data structure of frame model is the vertex. This afeoithm provides a general and rapid method. By this way,we...This paper advances a new algorithm oriented to geometry modeling (GM) by using frame model. The elemental data structure of frame model is the vertex. This afeoithm provides a general and rapid method. By this way,we can link the vertices to construct the elemental frame and need not consider the topological relation among vertices which consist of the concrete entity. Then, we can combine the elemental frames to complete frame modeling by using aided-line method referring to concrete entity. We will discuss two keystones in the paper. Then we give a 3D geometry modeling example based on wire-frame model using the new algorithm.展开更多
The multiple exp-function method is a new approach to obtain multiple wave solutions of nonlinear partial differential equations (NLPDEs). By this method one can obtain multi-soliton solutions of NLPDEs. In this paper...The multiple exp-function method is a new approach to obtain multiple wave solutions of nonlinear partial differential equations (NLPDEs). By this method one can obtain multi-soliton solutions of NLPDEs. In this paper, using computer algebra systems, we apply the multiple exp-function method to construct the exact multiple wave solutions of a (2+1)-dimensional Boiti-Leon-Manna-Pempinelli equation. Also, we extend the equation to a (3+1)-dimensional case and obtain some exact solutions for the new equation by applying the multiple exp-function method. By these applications, we obtain single-wave, double-wave and multi-wave solutions for these equations.展开更多
基金Supported in part by the Key Project of the National Nature Science Foundation of China (No.60534020)the National Nature Science Foundation of China (No.60474037)the National 863 Plan of China (No.2002AA755026)
文摘Parallel manipulator is associated with a set of functions defined by its closure constraints. In this paper, using Lie algebra method, we provide a study on the singularities of parallel manipulators, their relations with the second order of the closure functions, and the tangent space of the configuration space of the manipulator. The transverse condition criterion is applied to analyze the behavior of the singularities. This gives a downright explication why the 6R paradoxical mechanisms work in their singular configurations, and allows to gain insight on configuration space singularities and to choose the adequate design parameters for the parallel manipulator.
基金partially supported by the Army Research Office,the National Science Foundation,Willow Garagethe Seed Funding Programme for Basic Research at the University of Hong Kong
文摘The configuration space is a fundamental concept that is widely used in algorithmic robotics. Many applications in robotics, computer-aided design, and related areas can be reduced to computational problems in terms of configuration spaces. In this paper, we survey some of our recent work on solving two important challenges related to configuration spaces： ~ how to efficiently compute an approximate representation of high-dimensional configuration spaces; and how to efficiently perform geometric proximity and motion planning queries （n high-dimensional configuration spaces. We present new configuration space construction algorithms based on machine learning and geometric approximation techniques. These algorithms perform collision queries on many configuration samples. The collision query results are used to compute an approximate representation for the configuration space, which quickly converges to the exact configuration space. We also present parallel GPU-based algorithms to accelerate the performance of optimization and search computations in configuration spaces. In particular, we design efficient GPU-based parallel k-nearest neighbor and parallel collision detection algorithms and use these algorithms to accelerate motion planning.
基金Projects 50375118,5014006 supported by the National Natural Science Foundation of China
文摘In order to meet the requirement of network synthesis optimization design for a micro component, a three-level information frame and functional module based on web was proposed. Firstly, the finite element method （FEM） was used to analyze the dynamic property of coupled-energy-domain of virtual prototype instances and to obtain some optimal information data. Secondly, the rough set theory （RST） and the genetic algorithm （GA） were used to work out the reduction of attributes and the acquisition of principle of optimality and to confirm key variable and restriction condition in the synthesis optimization design. Finally, the regression analysis （RA） and GA were used to establish the synthesis optimization design model and carry on the optimization design. A corresponding prototype system was also developed and the synthesis optimization design of a thermal actuated micro-pump was carded out as a demonstration in this paper.
基金Supported by the NNSF of Chitin(10301015)Supported by the Tianjia Planning Programs of Philosophy and Social Science of China(TJ05-TJ002)Supported by the Chitin Postdoctoral Science Foundayion(20060390169)
文摘Orthogonal array-based uniform Latin hypercube design（uniform OALHD） is a class of orthogonal array-based Latin hypercube designs to have the best uniformity. In this paper, we provide a less computational algorithm to construct uniform OALHD in 2-dimensional space from Bundschuh and Zhu（1993）. And some uniform OALHDs are constructed by using our method.
基金This work was supported by the National Natural Science Foundation of China under Grant No. 60873199.
文摘In order to avoid internal attacks during data aggregation in wireless sensor networks, a grid-based network architecture fit for monitoring is designed and the algorithms for network division, initialization and grid tree construction are presented. The characteristics of on-off attacks are first studied and monitoring mechanisms are then designed for sensor nodes. A Fast Detection and Slow Recovery (FDSR) algorithm is proposed to prevent on-off attacks by observing the behaviors of the nodes and computing reputations. A recovery mechanism is designed to isolate malicious nodes by identifying the new roles of nodes and updating the grid tree. In the experiments, some situations of on-off attacks are simulated and the results are compared with other approaches. The experimental results indicate that our approach can detect malicious nodes effectively and guarantee secure data aggregation with acceptable energy consumption.
文摘This paper advances a new algorithm oriented to geometry modeling (GM) by using frame model. The elemental data structure of frame model is the vertex. This afeoithm provides a general and rapid method. By this way,we can link the vertices to construct the elemental frame and need not consider the topological relation among vertices which consist of the concrete entity. Then, we can combine the elemental frames to complete frame modeling by using aided-line method referring to concrete entity. We will discuss two keystones in the paper. Then we give a 3D geometry modeling example based on wire-frame model using the new algorithm.
基金the financial support from NBHM, India in the form of major research project, BRNS, India in the form of Young Scientist Research Award
文摘The multiple exp-function method is a new approach to obtain multiple wave solutions of nonlinear partial differential equations (NLPDEs). By this method one can obtain multi-soliton solutions of NLPDEs. In this paper, using computer algebra systems, we apply the multiple exp-function method to construct the exact multiple wave solutions of a (2+1)-dimensional Boiti-Leon-Manna-Pempinelli equation. Also, we extend the equation to a (3+1)-dimensional case and obtain some exact solutions for the new equation by applying the multiple exp-function method. By these applications, we obtain single-wave, double-wave and multi-wave solutions for these equations.
