Informatics in Control, Automation and Robotics

In the field of Computer Graphics the simulation of irregular fuzzy object still is a difficult challenge. Based on particle swarm optimization, the method of combining smog particle density diffusion and inter particles collision each other was studied in this research, which simulates the diffusing and real-time performance of smog. Diffuse force field was established by the diffusion equation, which could ensure the accuracy of the trajectories of diffusion. In order to reduce the time on collision between particles each other, a collision technology based on spatial hashtable is introduced in the research. Experimental results via simulation experiment show that the proposed method in the paper not only can improve the simulation speed of real-time requirements, but also demonstrate the authenticity of the smog diffusion.

The disturbing torque generated by space swing camera during imaging affects the attitude stabilization of satellite. To solve this problem, self-compensation technology for reducing disturbing torque of camera was proposed. By using self-compensating equipment and synchronization control technology, 90% of the disturbing torque generated by camera can be reduced, hence the significant reduction in its influence on the satellite stability. Through simulation and testing, the technology was proved to be able to reduce the disturbing torque by camera significantly and meets the requirement of satellite attitude control.

This paper introduces an approach to analyze the power and energy consumption of a many-core system. The investigation has been done by using the Intel SCC system as an experimental platform. The approach is to collect the time and power profiling of an executing application on the Intel SCC system. And then, we find the total energy consumed for the entire execution. We studied the effects of power and energy consumption in many-core systems by varying different hardware configuration parameters such as number of cores, clock frequency and voltage level. Thus, the many-core system can be explored for its scalability, fitness in operational cost and performance.

In this paper, by using ARM Cortex-M3 embedded high-performance processor, we implement a remote monitoring system for a solar power station with five essential functions which are telemetry, remote control, remote signal, remote dispatch and remote vision. In this system, Data Acquisition Unit, Data Transmit Unit and Monitoring Centre Unit are combined to form this remote monitoring system. This remote intelligent monitoring system enables power station’s operators to check the station status anytime and anywhere through the internet or cell phone, and they can send pre-defined command in the special conditions or doing supervision tasks. This system improves the monitoring system’s integrity, reliability, flexibility and intellectuality.

He article had designed a portable solar energy system with fast-stationed feature. The system uses CAN-Bus and the parallel and sharing current technology that enables the system to achieve a distributed redundant expansion and rapidly set up power stations. The system is able to offer power to equipment on the environment without electricity environments, such as the outdoor travel, scientific investigation and field working ones. By the way, power station organized fast can meet the long-term, high-power power supply needs on field condition.

In this paper, we give a definition of

n

– frustum pyramid fuzzy numbers (a kind of

n

– dimensional fuzzy numbers which is easy to be used). And we define two fuzzy binary relations on

n

– frustum pyramid fuzzy number space according to the characteristics of the special fuzzy numbers, study its properties. And then, we infer the computational formula which is easy to be programmed. At last we give a practical example to show the application in classification which is based on fuzzy approximation relation on

n

– frustum pyramid fuzzy numbers space.

In this article, we define a similarity relation of two-dimensional frustum pyramid fuzzy numbers, and discuss its properties, and use the similarity relation to rank some uncertain attributes (e.g. the observing of Eigen values of target is uncertain or imprecise observation). The similarity relation is given out according to the definition of the virtual center of gravity and volume of two-dimensional frustum pyramid fuzzy numbers. In this article, we give an example to illustrate the similarity relation is reasonable in the actual application.

According to trajectory tracking control of space robot with parameters uncertainties, the disturbance on space robot trajectory tracking is taken into consideration. Firstly, robust controller is applied to compensate the coriolis force, centrifugal force and other disturbance. Robust control law with items uncertainties compensated is improved. The desired time-varying trajectory can be real-time tracked by manipulators while the attitude of space robot can be controlled. The compensation matrix is proposed. Uncertainty item range can be solved based on PSO and it can be applied to control manipulators. The simulation results show that the robust controller has a good performance.

Periodic or quasi-periodic satellite formations can minimize the active control of long-term satellite formation flying. In this paper, a design of quasi-periodic satellite formation is proposed. The quasi-periodic constrains and mean relative motion of the member satellite under

J

2

perturbation are used. The reference orbit must be at the critical inclination with a small eccentricity. The quasi-periodic constrains can release more DOFS to design the geometry formation than strict

J

2

invariant trajectory conditions. The osculating orbital elements are used in numerical simulation, the design is proved to be correct through the simulation.

In order to improve current compensation effect of shunt active power filter based on three-phase three-wire system, deadbeat current tracking control technique based on repetitive predictor was adopted. The working principle of shunt active power filter and the method of the deadbeat current control were introduced, and the formula of deadbeat current control algorithm was derived. In addition, predictive instruction current was obtained by constructing harmonic current repetitive predictor. Finally, active power filter system under the platform of Matlab/Simulink was established and simulated. The results of simulation indicate that not only the active power filter can restrain harmonic current effectively, but also its compensation current can track instruction current precisely in both amplitude and phase, which has achieved the purpose of deadbeat control.

The spectral responsivity testing system based on optical fiber transporting light has been designed and developed. The system includes five parts: optical source, monochromator system, darkroom, picoammeter and stepping motor driver. Using the standard photodetector substitution to calibrate the photodetector under testing, with the optical fiber translating monochromatic light, the main technical problem emphasizes on solving the limitation of photodetector’s active area involving in the test of spectral responsivity. The testing result shows that the error is less than 0.46%.

During recent years, iris recognition has been accepted by public as a high-discriminative personal identification technology duo to its unique, stable and noninvasiveness properties. However, eyelash occlusion degrades iris equality and leads low recognition rate of nonideal iris. In this paper we propose a novel eyelash detection method based on expectation maximization (EM) algorithm and Gaussian Mixture Model (GMM). This method is robust, and does not rely on the fixed threshold and the detection of eyelid. Experimental results depict this method can detect eyelashes accurately and effectively.

The conception of internet of things (IoT) and current situation are introduced and the disadvantages of traditional environment on-line monitor systems are discussed. According to the demands of environment protection and management, a basic framework of the environment internet of things is presented. The structure of the environment IoT contains three layers, namely data collection and process layer, network layer and application layer. Different layers play different parts in the environment IoT. Further, the cloud computing application is mentioned. In general, IoT is feasible and has a favorable prospect in the environment protection field in future.

Nonideal iris segmentation is a challenge for iris recognition. In this paper, we propose a multiresolution frame based segmentation algorithm for nonideal iris with nonlinear diffusion. Our proposal includes two stages: interior boundary and exterior boundary detection. In process of exterior boundary localization, a simplified region-based curve evolution is invented to search weak boundary. Experiments reveal validity of our proposal and a high correct ratio is obtained.

This paper presents three graphic user interfaces, that have been developed as a first functional versions. Two of them, are currently used to fulfill requirements of gait programming for scripted and parametrized gaits. The third one, relies on the need to acquire variables to measure gait performance. Gait designing procedures can be improved by understanding the gait analyzing the data acquired. Examples of the use of these interfaces are presented. Finally, a projection is made according to the integration and future use of these tools.

This paper presents a design of a mobile robotic arm for people with severe disabilities. The main body of the robotic arm can be contained in a laptop computer’s briefcase. Its weight is only 5 kg, including two 12-V lead acid rechargeable batteries. A drinking tea task was experimentally performed by a person with muscular dystrophy. An eating task was also conducted by two able-bodied subjects. The experimental results showed that they could carry out drinking and eating tasks.

In this paper, an emergency call device for wheelchair users with severe disabilities is proposed. The system is composed of a touch sensor circuit, microcontroller, circuit which is sending an emergency e-mail, and mobile phone. To verify the performance, three able-bodied subjects participated in the experiment. From experimental results, it was clear that the system could detect whether the subject’s hand was touched the control lever or not.

In this paper, we examined a possibility of assessing a human’s impression of a behavior of a robot through a human-human interaction (HHI), that enables us to design a robot’s behavior without actually implementing that behavior to the robot. Experiments were conducted for comparing users’ impressions of human-robot interaction (HRI) and HHI. We employed paper-scissors-rock (janken) game as a task of interaction. Virtual reality technology was used for realizing the robot’s behavior. From the experimental result, we observed significant difference for the impression of friendliness, but we could observe no significant difference for other items. The result suggests that the behavior of a robot can be assessed through HHI.

It is pointed out that there are two key issues that should be tackled deeply if the wire-driven parallel suspension system is introduced to be used in forced oscillation experiment in low-speed wind tunnels for obtaining dynamic derivatives, i.e., the implementation of the single-degree-of-freedom oscillation of the model of aircrafts as well as the accurate identification of the dynamic derivatives. In order to solve the two key issues, the related scientific and technological problems are summarized, as following: (1) In the premise of satisfaction of the desired requirements of forced oscillation experiments, the mechanism design of the wire-driven parallel suspension system is given.(2) The strength, stiffness, dynamic characteristics, measuring precision and control precision should be satisfied as well.(3) Also the aerodynamic interference of the system should be eliminated as much as possible. The coupled fluid-solid interaction between the wires and the streamline flow should be tackled well and the suitable 6-element force-measuring system to measure the force and moment of the streamline flow should be used.

The design of a microstrip antenna which operates at the GPS L1 band is presented in this paper. The miniaturization and the right-hand circular polarization (RHCP) is obtained through a square-ring patch and truncated corners in which, respectively. The simulated results indicate that the impedance matching is excellent, the antenna has the characteristic of wide-angle circular polarization, and the radiation patterns of RHCP are excellent; In a wide elevation angle range, the RHCP level is at least 15dB higher than that of LHCP, which has a good suppression of interference from cross-polarization and multipath effect. Compared with the conventional GPS microstrip antenna with the same material, the characteristics of the proposed antenna are enhanced, the whole size is reduced, the area of the radiating patch is reduced by 26%, meanwhile,the cost of the antenna’s substrate material is low, which satisfies with the requirements of GPS receiver for miniaturization, low-cost and compactness.

Camera response function (CRF) relates scene irradiance to image intensities. Estimation of CRF is a fundamental and necessary step in many computer vision applications such as the generation of high dynamic image, bidirectional reflectance distribution function (BRDF) estimation etc. In the paper, we compute CRF from a color image and edit images based on CRF to enhance contrast and change exposure of images. This method selects suitable edge windows with two uniform color regions, and is based on the empirical prior on camera response functions. The method uses only one color image rather than a set of images. The experiments show our estimation result is accurate.

Complexity of Web applications and demand for their reliability have greatly increased over recent years as they have begun to be used in wide variety of areas, including control systems and enterprise applications. Due to short delivery times and changing requirements quality assurance of Web applications is usually an informal process. Meanwhile, formal methods have been proven to be reliable means for the specification, verification, and testing of systems. In this paper, we present an approach for automatic modelling of an existing web application using finite state machines. The paper describes a method to generate an application model by fully automatic dynamic analysis of any given existing web application combined with recorded user browsing sessions analysis. Method supports both applications with transitions between web pages and single-page applications with AJAX requests and dynamic DOM modifications. An algorithm is proposed that simplifies state model by merging similar states to achieve a human readable model even for complex real world web applications. The obtained model could be used to define formal requirements for the application, automatic model checking, documentation and test automation.

A sufficient amount of studies worldwide prove an interrelation linking students’ learning productivity, emotional and psychological state to physiological parameters. Emotional states and the interest in learning affect learning productivity, while physiological parameters demonstrate such changes. Since the research by the authors of the present article confirmed these interdependencies, a Recommender System to Analyse Student’s Learning Productivity (Recommender System hereafter) has been developed. The Recommender System uses the Maslow’s Hierarchy of Needs and the database of the best global practices to come up with recommendations for students how to improve their learning efficiency. Worldwide research includes various scientists who conducted in-depth studies on the different and very important areas in the field. We did not find any systems which would take physiological parameters of students, analyse their learning efficiency and, in turn, provide recommendations.

Various methodologies are used in the effort to predict the knowledge of students. A sufficient amount of studies worldwide prove an interrelation between persons’ cognitive load to pupil size. The Intelligent Pupil Analysis of Student Progress (IPASP) System for assessing student progress were developed on the basis of the aforementioned methodologies, the fifteen years of experience with distance learning and the seven years of experience with technology for pupil analysis by the authors of this article. The IPASP System developed by these authors is superior to the systems due to the use of pupil analysis and special algorithm which permits a more detailed analysis of the knowledge attained by a student.

On the research of the transcoding and the adaptive distribution and scheduling of education video which is compatible for various platforms, this paper proposes a technological solution of "multi-screen in one" technology oriented ubiquitous learning(u-learning) on the education video, which can realize the seamless joint of education video between different screens so as to ensure the continuation of the learning process, and achieve the intelligent recommendation of relevant video resource.

For the problem of signal Direction of Arrival (DOA) estimation of the weak signals in the presence of coherent strong signals, a new method is proposed in this paper. First, a toeplitz de-correlation method using the maximum eigenvector is adopted to remove the coherence between strong and weak signal. Second, an advanced subspace projection method is to estimate the DOAs of weak signals. Compared with the existing algorithms such as JJM and RELAX, this method does not need the knowledge of the DOAs of strong signals and iterative steps. The performance of this method is demonstrated in the simulation results.

Based on RSSI ranging and trilateration positioning, an improved particle swarm optimization combined with RSSI self-correcting localization algorithm for Wireless Sensor Networks was proposed. Simulation results showed that the accuracy of this algorithm increased by almost 30% than trilateration, while improving the particle swarm optimization algorithm which may hardly converge to the optimal solution as falling into the local extreme area . This algorithm obtained better solution than node localization based on particle swarm optimization for WSNs, and then enhance the stability and convergence of the algorithm.

Each adaptive agent always has bounded rationality and incomplete knowledge in complex adaptive system. And, agents with self-learning ability can modify their behaviors constantly to evolve adaptively according to the feedback of interaction. To address this issue, a memory model was introduced into fictitious play, then a memory-weighted learning model was proposed used for directing the strategy selection of adaptive agents, and finally the learning convergence in different types of games was observed based on swarm platform. The experience results show that although the limits of forgetting and local interaction exist, the agents could adjust strategy according to the information observed continuously, and lead to the realization of adaptive learning.

S surface controller is proved to be effective in underwater vehicle motion control. But it is difficult to adjust parameters. How to choose optimum control parameters for special underwater vehicle is a important problem for control effect. In order to solve this problem, a modified Particle Swarm Optimization (MPSO) algorithm is proposed to optimize control parameters of S surface controller. It realized rapid convergence of S surface controller parameters and avoided loitering near local peak value. This paper also designed a semi-physical simulation system for the control system of a certain AUV. The total structure and operational principle of this semi-physical simulation system were explained in detail. The 6-DOF mathematic model of AUV moving in underwater space was constructed. Results of simulation reflect the motion of the AUV realistically and can provide important reference for the real underwater experiments.

Peak shaving is one of the most important applications of battery energy storage system. In order to prolong battery life or to study the relationship between the battery lifetimes, the charge-discharge cycles and the depth of discharge, constraints concerning charge-discharge cycles and depth of discharge should be added to the optimization model. Therefore, algorithms based on continuous models fail to solve this kind of problem. This paper presents a dynamic programming algorithm containing multi-modules of states. The remaining capacity is discretized and modularized. Tests are carried out using a set of predicted load data. The results show the effectiveness of the method.

During the last decade, many research and development efforts have been deployed with the aim of proposing new approaches for accessing remote, heterogeneous and autonomous data sources to share them across the network. These approaches vary in terms of concepts and standards used in the implementation of the approach. From our review of the literature, we identified the following four approaches: Transaction Processing Monitors (TPM), Tuplespace, Resource Description Framework (RDF), and Data Service Approach (DSA). We also provide an overview of the P2P systems that have been developed based on each of these approaches.

A noodle making process is composed of mixing, rolling, boiling, frying, cooling, and packing processes. For uniform products, the roller gap in the rolling process needs to keep the uniform thickness of dough sheets in spite of different kinds of raw materials. In this paper, we propose a rolling process automation using a PLC and an AC servomechanism to contribute to process standardization by transferring from tacit knowledge of skilled workers to explicit knowledge. The proposed system organizes to adjust the roller gap and visualizes gap values in a touch panel.

The paper introduced the high pressure detection and control for gas tightness test of metal capillary tubes used in aircraft and airspace fields. The pressure sensor was connected in the input-output high- pressure pipeline system, and the circulating pipeline system was controlled by PID. Thereby, the stability and precision for detection of high pressure output system could be ensured, and thus the control system property would be approved.

We present an approach to multi-objective exploration whose goal is to autonomously explore an unknown indoor environment. Our objective is to build a semantic map containing high-level information, namely rooms and the objects laid in these rooms. This approach was developed for the Panoramic and Active Camera for Object Mapping (PACOM) project in order to participate in a French exploration and mapping contest called CAROTTE. To achieve efficient exploration, we combine two classical approaches: frontier-based exploration for 2D laser metric mapping and next-best view computation for visual object search. Based on a stochastic sampling strategy, this approach looks for a position that maximizes a multi-objective cost function. We show the advantage of using this combined approach compared to each particular approach in isolation. Additionally, we show how an uncertainty reduction strategy makes it possible to reduce object localization error after exploration.

A hybrid Particle Swarm Optimization algorithm was improved the performance of the basic PSO that is easily sank into local optimum and has a slower convergence rate based on the idea of variation of Genetic Algorithm. The hybrid PSO would be used for the extreme optimization of nonlinear function and simulation in MATLAB. By the way of changing the value of inertia weight, we have a conclusion that the algorithm can have a faster convergence velocity and better accuracy .Comparing the simulation result to the basic PSO, algorithm in this paper has a faster convergence velocity avoid sinking into local best.

In the DIP devices’ quick release system’s design, the temperature adjustment of the solder is needed to protect the circuit. In this paper, a intellective temperature control and measure system is designed, which is based on the STM32 series micro-controllers. The structure of the system’s hardware is introduced detailed. For the Fuzzy-PID temperature control strategy, the system can adjust the temperature of the solder accurately.

Design of large networks of deployable mechanisms often involves simultaneously multiple considerations. This paper presents an expert system, the reasoning approach of which combines rule-based reasoning (RBR) and fuzzy comprehensive evaluation method, for generating all the available deployable candidates that satisfying the requirements specified a prior by the designers. The expert system can also automatically evaluate the performances of the generated mechanisms, which is the basis for the selection between all available candidates.

In this article we propose a heuristic scheme to design VQ initial codebook. Following this scheme we design a concrete algorithm. Our main idea is to construct a weight function as the heuristic function, according to which we divide the training vectors set into many objective subsets dynamically, and finally we generate codes in each objective subset at random. Training this initial codebook by GLA algorithm, we achieve an approximate global optimal one.

Bounded model checking has been recently introduced as an efficient verification method for reactive systems. This technique reduces model checking of linear temporal logic to propositional satisfiability. However this method does not work well for asynchronous systems. In this paper we propose a new SAT-based verification method for asynchronous systems. Our method can reduce verification time by representing the behavior by very succinct formulas.

In order to adapt to the developmental trend of micro missiles, three-dimensional optimal guidance law design for air-launched micro missiles to attack ground armed vehicles. Relative motion equations of micro missile and target are established. The performance index function is designed to reach undershoot quantity least and overload did not exceed a certain value. The optimal guidance equations are detailed derived in the three-dimensional space. We did the simulation which optimal and proportional guidance law are adopted for micro missiles to attack ground maneuvering armed vehicles. The simulation results illustrate that the optimal guidance law compared to the proportional guidance law has following advantages: high precision-guided and low overload characteristics.

This article produces a method to settle the optimal maneuver problem for satellite formation flying. Based on Hill’s equations and Pontryagin’s maximum principle, the optimal maneuver problem can be described as a state transition problem. Then, the optimal solution can be found by solving the state transition equations. The simulations show that this method is effective for optimal maneuver technology.

Compare two kinds of star sensor measurement models: vector observation model and quaternion observation model, which used in the attitude estimate algorithm based on star sensor and gyro by accuracy. Built the attitude kinematical model, sensors measurement model, and extended Kalman filtering (EKF) model. The simulation shows that the vector observation model is more accurate.

A novel single-channel control method for hypersonic vehicle is developed based on the idea of rigid body spatially optimal rotation vector. A double-loop, single-channel attitude controller, which solved the seriously coupling problem among channels existing in the traditional three-channel attitude control system, is designed under such method. Outer loop tracks attitude angles by motivating vehicle to rotate in terms of spatially optimal vector, while inner loop tracks angular velocity by producing a statement moment vector. Appropriate control system parameters are chosen through 6-DOF simulation. The simulation results show that this single channel attitude controller provides robust tracking of the desired mission angle profiles.

A shield attitude rectification decision function is proposed to reduce snake track phenomenon and rectification failure problem during shield attitude rectification. A method of shield attitude rectification working condition evaluation based on support vector data description(SVDD) is introduced. Shield attitude mechanics model containing priori knowledge assists to feature selection. SVDD handles the one class classification problem. Decision function for attitude rectification is proposed based on working condition evaluation. The result of engineering data processing indicates that the evaluation method is stable and practical for shield attitude rectification decision.

In this paper, we propose a novel technique solution towards LED wafer defects automatic full inspection using neural network chip array to assure defect-free outgoing dies. Our research intends to develop an automatic inspection system for defect pattern recognition in order to substitute human visual judgement. This solution mainly includes a three degree-of-freedom precise mechanical positioning stage and an automatic robot arm working with an embedded microscope vision system. A built-in parallel neural network chip array acts as the recognition engine instead of traditional software approach. Meanwhile, the mechanical motion control is also based on neural network method. This solution will benefit greatly from hardware engine acceleration as for performance improvement.

H.264/AVC is the most advanced standard for video compression while the confidentiality of the content encoded by H.264/AVC is not well implemented in the coding standard. In this paper, we proposed a selective encryption scheme which makes effective use of the data structure of NAL in H.264/AVC. We used AES encryption algorithm to encrypt important I frames data, thus it can keep the advantage of selective encryption algorithm while provide strong enough confidentiality. The experiments demonstrated that our scheme can meet the requirements of real-time processing and effective confidentiality.

In this paper, a novel Independent Component Analysis(ICA) using Smooth Discrete Wavelet Coefficients is presented. Discrete Wavelet transform is an important time-frequency analysis tool and it particularly suitable for nonlinear signal. Independent Component Analysis using Smooth Discrete Wavelet Coefficients is suitable for dealing with non-stationary signal. And simulation results have shown the method is feasible.

The main focus of this paper is on developing a state feedback nonlinear controller for a hypersonic aircraft using the Sum-Of-Squares (SOS) approach. The SOS technique allows the joint search of a Lyapunov function and a nonlinear controller using semidefinite programs. Different from the aproximate linearization and feedback linearization methords, the approach proposed in this paper cause less conservatism. Simulation results are presented to evaluate the stability and performance of the controller.

There are lots of flight scene simulation ways about air targets, and common way is simulation to kinematics and dynamics of targets, which is of high precision, but enormous computation, complicated modeling. so this simulation system mainly adopts segment outputting and random combination method to create many complicated flight track, finally builds a flight control system based on Virtools, in which we can control 3D aircraft model to finish all sorts of flight actions by mouse and keyboard.

According to the development status of large-scale PV power station, this paper expatiates the requirement of supervisory control and data acquisition (SCADA) system of large-scale PV power station, and presents the design method and application technique of the system based on fieldbus and industrial ethernet. The system is flexible and reliable, and will promote the efficiency of operation and maintenance of large-scale PV power station.

Given that existing studies for query expansion techniques for Chinese-English are relatively few and their level of standardization low, in order to improve efficiency of Chinese-English cross-language retrieval, this paper discusses the design and implementation of a SOLR plug-in for Chinese-English cross-language query expansion based on SKOS thesauri and used within the AGRIS agricultural bibliographic system. The paper also elaborates the key techniques involved in the plug-in. Finally, taking the AGRIS data resources as an example, the paper shows application examples for segmentation of mixed Chinese and English, user query parsing and AGRIS retrieval system etc., techniques that have improved the Chinese-English cross-language retrieval efficiency to a certain extent, and laid a technical foundation for research about knowledge retrieval and discovery in related fields.

This paper introduces a new method for the implementation of data storage and data display in monitoring and control software, provides an effective real-time data storage method using dynamic link to actualize real-time and historical data curve dynamic display based on Windows API. As an real example, a real monitoring and control system software developed by the author using this method is discussed in detail. And also, the key source code is given.

This paper introduces the FEA method for a certain type of aero-engine turbine blade and makes a vibration characteristics analysis to this aero-engine turbine blade based on this method. The vibration characteristic of this aero-engine turbine blade is studied and the natural modal of the turbine blade is calculated based on UG software. The first six natural frequencies and mode shapes are given. According to the analysis results the dynamic characteristics of the blade are discussed. The analysis method and results in this paper can be used for further study on optimal design and vibration safety verification for the blade.

In order to control the motion of multi-axis motor in robotic arm, high precision clock synchronization technology based on PTP of IEEE1588 and NURBS interpolation algorithm are realized in distributed network motion control system we designed which is composed with industrial computer, embedded controller, ac servo driver and motor, industrial Ethernet and robotic arm. Clock synchronization technology whose principle is to exchange messages consecutively to determine the offset between controllers is used for controlling synchronization between multi-axis motors. NURBS interpolation algorithm is used for controlling motion track of each single motor. Finally, experiment on precision of clock synchronization and interpolation algorithm is conducted, experiment result shows that the error of clock synchronization is no more than 1us and the error of interpolation is no more than 3um.

In this paper, we propose some amendment on Dijkstra’s algorithm in order to optimize it by reducing the number of iterations. The main idea is to solve the problem where more than one node satisfies the condition of the second step in the traditional Dijkstra’s algorithm. After application of the proposed modifications, the maximum number of iterations of Dijkstra’s algorithm is less than the number of the graph’s nodes.

In this paper we propose an approach that uses homodyne receivers to design smart antenna systems. The receivers functions are to detect angles of arrivals of seven incoming RF signals using MUSIC or ESPRIT algorithms. The characteristics of each algorithm are critical for the system’s precision as well as receivers types. Results are deduced from the simulation of each system, using the Advanced Design System (ADS) and MATLAB. These are compared to results deduced from real systems in the WIMAX (3.5GHz) domains.

Feature selection is an important step of pattern recognition. An effective algorithm of feature selection can improve the rate and efficiency of recognition. There are many standards of evaluation of feature selection, but most of them depend on algorithm and effect of the classification. Therefore, most of standards have limitations. The paper applies SVM method to evaluate feature selection. The main influence factors of effect of feature selection in classification are analyzed in the paper as well. The paper proposed the evaluation criterions of feature selection. The new criterions can be applied to feature selection. And then we give an example to show the Feasibility of new criterions.

The quantity and direction of active and reactive power in transmission of distribution circuit have changed after introducing 10kV low-voltage distribution grid into photovoltaic power supply. This paper researches the changes of voltage amplitude and total power loss in each load node after the radial distribution grid in different locations incorporated into photovoltaic power supply of different capacities. The author conducted an example simulation on 33 node distribution grid, and then conducted the theoretical analyses on characteristics of voltage distribution, interconnected location of PV power and the biggest interconnected level limit.

A novel Coupled and Self-adaptive (COSA) finger with double-bar parallel mechanism is proposed. As a further attempt to achieve the efficient combination of coupled and self-adaptive motion, the finger conducts humanoid grasp with self-adaptation. Concise in structure, compact in conformation, low in manufacturing cost, and smooth in transmission, the finger is competent for the effect of multiple DOF and high adaptability of humanoid robot hands. This paper is composed of the introduction and comparison with existing technology, the principle of the parallel double-bar COSA finger, a feasible specific design based on the concept, and finally the analysis of the feasibility.

This paper presents a robot hand, PG Hand, which is able to perform many operations with passive grasp. The PG Hand is designed by imitating the human hand, and can either be used as one part of robots or the handicapped. All fingers in the hand are similar in their grasping principle. Each finger has two or three joints with a tendon-spring mechanism. All joints in the hand are actuated by only one motor embedded into the palm. There is an incomplete gear in the middle of the transmission path. There are three stages: fingers are bent initially due to springs; fingers are opened by the motor before grasping; fingers grasp quickly once none tooth part in the incomplete gear is actuated into transmission path. Bearing the characteristics of under-actuation and self-adaption, the device can open and close fingers efficiently and robustly with tendon-spring mechanisms by only one motor.

This paper proposes a novel structural design of the coupled-active (CA) finger. The CA finger combines coupled under-actuated finger with active finger, adopting a new control strategy to let these two kinds of grasping pattern working effectively in different grasping steps. Therefore, this new design contains the advantages of both easy control and self-adaption. To further analyze the CA finger mechanism, this paper considers some other parameters, including phalanx forces, the speed ratio and constraining conditions. With physical and mathematical models, we have come to theoretical results of this novel humanoid finger.

This paper presents a hybrid under-actuated grasping mode, which includes two stages: grasping with coupled mode first and then grasping with self-adaptive mode. A novel double-joint robotic finger mechanism unit with triple pulley-belt mechanism, TPB finger, is designed based on the hybrid under-actuated grasping mode. The TPB finger has many advantages: better humanoid grasping, more dexterous actions, more stable in grasping, self-adaptive grasping to objects with different sizes and shapes, lower requirements for control, easier to use, more compact, more efficient, cheaper.

In this paper, we present an innovative robotic system with augmented smartphones. We propose a smartphone accelerometer controlled differential steering algorithm and implement it on a two-motor driven robotic vehicle with real-time videorendering. In the system design, we create two self-validating protocolsthat build upon our Bluetooth communication network. The overall performance is evaluated by two projects, MOCOVE and RIZZY. The proposed system can be used in robotic remote control, autonomy, robotic localization and human-robot interaction.

The defects of the servo unit are occurred with the increasing application of servo motor and control requirements of the specific application system. Combining with the characteristics of servo system, the practical application of servo unit under loading cyclical output is studied for the demand in this paper. PI control module is designed and completed on the base of principle of proportional-integral control. The control system is completed combining with the basic control characteristics of servo unit. The inadequate of control is made up for the servo unit by PI module. The need of practical applications is finally met. The system is confirmed with good tendency, static property and good control performance through test results.

An intelligent meter reading system based on meter bus(M-Bus) standard is designed in this paper with analyzing the feature of intelligent building system. The intelligent M-Bus system’s hardware and software are introduced. The application shows that the system is reliable and stable. The reading data from heat meter are precision. The desired purpose is achieved.

Aiming at the problem of path planning of two-wheeled robot, based on the principle that the path curve should be smooth and the total length of the path should be short, a fuzzy control method to the whole velocity and the real-time rotational angle was proposed. The membership functions of the fuzzy controller were optimized by golden mean principle, and which simplified the design of the fuzzy membership function. The experimental results show that, compared with traditional fuzzy controller, the fuzzy controller optimized by golden mean has better control effect. Robot has better real-timing when avoiding obstacles and the global path is shorter.

Fast Simplified models of HVDC are widely used in large-scale AC/DC power system transient voltage stability analysis. An important concern of different models is that to what extent the analysis results are impacted by using simplified models. Under voltage reactive power characteristic of HVDC is analyzed based on CIGRE HVDC test benchmark. It is observed that reactive power absorbed by HVDC is proportional to 1.6-th power of AC bus voltage, while the reactive power supplied by fixed capacitors of converter station is proportional to square of AC bus voltage. The above feature makes HVDC harmful to transient voltage stability. Among different simplified models of HVDC, constant power and constant impedance model are quite inconsistent with actual HVDC model, while Quasi-Steady-State (QSS) model is fairly consistent with actual HVDC model. So QSS model is suitable for large-scale AC/DC power system transient voltage stability analysis. Main conclusions are validated through simulations on Chinese Southern Power Grid.

In many RFID applications, readers need repeatedly identify tags that have been identified in a previous cycle of identification. Some anti-collision protocols, such as efficient framed slotted aloha (EFSA) protocol can retain information obtained from a previous cycle of tag identification, and hence can skip many collisions to quickly re-identify the tags in the current cycle. In EFSA, however, the distribution of tags is not random due to some moving tags. Thus, many exiting estimates will not be suitable. In this paper, we propose a two-dimension binary search (2D-BS) estimate for EFSA. The estimate utilizes a binary search method and nests a 1D search into a final 2D search. The advantage of the proposed estimate is to have lower computational complexity. Simulation results show that the proposed method can reduce the computational complexity and have less error than the existing estimates.

Collaboration among operations of several space-time processes is formalized by an analytical expression. For factory scheduling and mission control, time based and event driven approaches are compared based on a unified Petri net representation and implemented as a tool for industrial use.

Pattern-based clustering has broad applications such as in DNA micro array data analysis, customer segmentation, e-business data analysis, etc. However, pattern-based clustering often returns a large number of highly-overlapping clusters, which makes it hard for users to identify interesting patterns from the mining results. One of the most important factors which cause highly-overlapping is the error thresholds defined. This paper makes error analysis in pattern-based clustering. With a fuzzed thresholds strategy to deduce overlapping which caused by error range, a quality-first clustering algorithm is proposed to mining pclusters of higher quality. Both theoretical and experimental analysis shows that our method is effective and efficient.

A new decoupling algorithm of flight control system for attack UAV is presented. First the coupling mechanism is analyzed and the decoupling strategy is presented for the serious problems of aerodynamic coupling and rudder operation for plane-symmetry attack UAV; then the decoupling algorithm is designed based on decoupling theory of multivariable control system. Simulation results show that the decoupling algorithm presented in this paper has perfect performance, and could solve the problems of rolling channel coupling on the aerodynamic force and rudder operation.

According to the characteristics of the MIMO channel matrix decomposition, linear precoding techniques can either based on eigenvalue decomposition (EVD) or based on singular value decomposition (SVD). This paper proposes a new MOMO precoding method that based on SVD of the channel matrices. Correlation for transmit antennas and receive antennas will weaken system performance. To optimize the performance effectively, the proposed method add a decorrelation matrix to the conventional system models, which can remove the correlation of transmit antennas and receive antennas. Finally, we have done BER performance simulation for proposed precoding system model, it is shown by means of simulations that the proposed MIMO precoding technique offers significant performance and greatly reduces the BER compared to its conventional counterparts.

This paper presents research and simulation analysis on kinematics and dynamics problem based on the JE 6-axis robot researched and developed independently by Johnsonelectric Company. Firstly, the robot kinematics model is established and robot workspace is obtained based on the robot kinematics analysis by means of Denavit-Hartenberg method. Furthermore, robot system model is founded in software SimulationX and mechanical system and control system are analyzed through simulation. Based on simulation result of SimulationX which includes every property of components in the model of SimulationX, the performance and feasibility of the 6-axis robot model can be clearly evaluated and verified.

Through to the position of the main interference source Rov, I put forward the twelve magnetic dipole model, and then deduced and the model of magnetizing field size of the twelve magnetic dipole near field; and use mathematica to simulate. And in the wild, we established a 3 d coordinate system, and selected certain areas to measure different heightment dates of Rov, through software "surfer" to make magnetized magnetic field figure of Rov, to verify the validity of the magnetic dipole model, this method can calculate the magnetized magnetic field of Rov better.

In this paper, we evaluate the performance of a spectral pooling system with adaptive modulation and coding. The whole communication spectrum is divided into N sub-bands, the cognitive users listen to the wireless channel and access to the unused spectrum. At the physical layer, adaptive modulation and coding (AMC) based on rate-compatible low-density parity-check codes (RC-LDPC) is adopted in multiple-input multiple-output (MIMO) fading channels. Numerical results show that the application of AMC based on RC-LDPC codes can achieve considerable spectral efficiency gain in cognitive radio networks.

In this paper, a FPGA-based motor control system is designed to fulfill the requirement of controlling multiple motors accurately and simultaneously. With the implementation of hardware logic modules with hardware description language, each control module works independently in a parallel mode, so the control frequency of motors is elevated. By modifying the signal sampling method for the motor encoder, the speed measurement accuracy is significantly improved. The proposed control system is successfully applied on the platform of RoboCup small size soccer robot of Zhejiang University, ZJUNlict, in which the improvements on response speed and control accuracy of the robots are verified.

Aiming at the demand of enhancing the reliability of battlefield situation assessment and easily producing the integrative analysis report of battlefield situation

,

this paper investigatesthe problems on the all-around battlefield situation assessment. First, the recognition of supposed battlefield situations is made by using non-monotone reasoning model on the basis of group analysis. Then, the method that collectively estimates the probability of suppositional battlefield situation by means of evidence reasoning is put forward. Last , how to produce the report of analyzing battlefield situations is discussed.

The rate of major accidents at sea tended to increase. Efficient utilization of dynamic information for massive ships in the maritime search and rescue shows more and more importance. The paper imports GIS to emergency data management and discusses many GIS technologies that can be used for maritime search and rescue. We report our experience on the development of a prototype system based on three-dimension GIS. Experiments show that our methodology is applicable and efficient.

Neuro-stimulation therapy have widely used in the brain stimulation spinal cord stimulation, or muscle incitement to relief the pain, depression, and so on. Neuro-stimulation device mainly contains: implantable neuro-stimulator, non-implantable neuro-stimulator and magnetic stimulator. Implantable neuro-stimulator used in deeply brain stimulation and robo-animal; Non-implantable neuro-stimulator used in neural prostheses; Magnetic stimulator used in the brain and relief depression. This paper review development and application of the neuro-stimulation device and existent problems.

This paper presents a SystemC cycle-accurate simulator, called REmulator, for a dynamically coarse-grained reconfigurable architecture template. By hierarchy modeling, REmulator can either be used at transaction-level, which benefits great for fast simulation of high-level hardware and embedded software, or at register transfer level, which can support more detailed evaluation outcomes on performance and power. In REmulator, the reconfigurable architecture template is described as a parameterized SystemC model so that it can be represented as different architecture schemes, and its architecture parameters would serve as input of the compiler back end, which allows rapid application mapping with architecture modification. A case study on design space exploration of routing network and configuration compression in reconfigurable array demonstrates how exploration is used to adjust and optimize a better architecture template.

Power quality problems of distribution network include voltage drop, dynamic voltage increases, harmonic pollution et cetera. Battery energy storage system (BESS) can output active and reactive power at the same time and have the four-quadrant operation ability thus can play an important role in the power quality management of distribution network. This paper proposes two control structures of voltage drop governance with BESS, as well as the control structure of harmonic control, and gives the simulation results. Simulation results show that BESS can play a good role in power quality management of distribution network.

This paper proposes an efficient training approach for support vector regression, called weighted constraints SVR (WCSVR), which will improve the ability to learn from the noisy samples and overcome the overfitting problem. In the WCSVR learning process, the object function is modified by introducing a weight for each new training sample and the corresponding regularization term. The weighted constraints value to each input sample is confirmed according to its kernel Mahalanobis distance to the center of the dataset. These parameters help us to apply the importance of samples for eliminating the effect of the outliers in the dataset. The overall experiments show prominence of out proposed method in comparison with the standard SVR.

The paper discusses the torque characteristics of spherical permanent magnetic (PM)motor adopting three-dimensional (3D)magnetic equivalent circuit(MEC). Taking into account the unsaturation of the magnetic field, the rotor and the stator are meshed in spherical coordinates and cylindrical coordinates respectively, and then the expressions of the reluctances and magnetomotive force(MMF) have been deduced. According to the relative position between the coordinate systems, the magnetic field in the air gap has been obtained by transforming the coordinate systems. Based on this, the Maxwell stress tensor(MST)method is applied to analyze the electromagnetic force and torque, the corresponding torque matrix is given, and the relationship between the motor torque and winding location is obtained. Compared with the finiteelement method(FEM), this method is proved to have a high accuracy and helpful to the optimization design of the PM spherical motor.

This paper presents a synthesis method of magnetic levitation force in spherical permanent magnet (PM) motor, which overcomes the adverse impact of friction torque because there is no direct contact between the stator and rotor. Using the theorem of force translation, Lorentz force of a single coil is equivalent to a force and a moment of couple exerted on the rotor center, so the independent control on levitation force can be achieved. This paper analyzed the position change of stator coils in spherical coordinates when the eccentric rotor moves in three degrees-of-freedom (3-DOF), and then the control equation of levitation force is established. The required magnetic levitation force can be synthesized by controlling the stator currents. Simulation model in MATLAB is created, furthermore the relationships between coil currents and magnetic levitation force, eccentric deviation are studied. The results show that the synthesis method of levitation force is feasible and can provide a basis for control system design.

Speech perception is an important part of our perception system. The category learning during infancy leads to the phenomena such as categorical perception and the perceptual magnet effect , which conflicts with the classical formulation of a self-organizing feature map. This paper proposes a model to explain this phenomena and the simulation of model proves the feasibility and correctness of this model. The model further predicts that the magnet effect arises because prototypical vowels have smaller auditory cortical representations than non-prototypical vowels, which can be supported by a functional magnetic resonance imaging (fMRI) experiment.

This artical mainly study the speaking rate effects to the production of speech sounds. Based on the DIVA (Directions Into Velocities of Artculators) model, we have discussed and investigated these effects by modify the ODV(Orosensory Direction Vector) and AVV(Articulator Velocity Vector) equations. The simulation results show that increasing rate can increase the velocities of movements corresponding to consonantal gestures, but it increases, or even decreases, the velocities of movements corresponding to vowel gestures. The final conclusion is: despite different speaking rate have differential effects for the movements correspondng to vowels and consonants, the increase in ratios of maximum velocity to movement distance for the vowel and consonant gestures are almost same to vowels and consonants.

Complex manufacturing systems require appropriate dynamic real-time dispatching approaches to obtain optimal operational performance. Multi-pass dispatching algorithms obtain increasing attentions due to their superiority. At first, the definition and research background of multi-pass dispatching are introduced, and then, the applications of multi-pass dispatching based on data mining (DM) are described. Finally, further research problems and possible research directions are pointed out.

Tag anti-collision is an important issue in radio frequency identification (RFID) systems. In the traditional anti-collision protocol, when two or more tags transmit their signals in a frame, there will be a collision. However, in recent years RFID systems encountered capture effect, where a reader gets only one tag ID exactly even when multiple tags transmit their signals simultaneously. This paper proposes general TSA (Tree Slot Aloha) protocol based on the TSA to cope with capture effect. In this protocol, unrecognized tags hidden by the capture effect in the TSA cycle will be identified in the subsequent TSA cycles, and the general TSA protocol uses FKSS (Fast k-Slot Selection) algorithm which adjusts the initial frame length in dynamic of every cycle. The advantage of general TSA protocol is all tags can be identified under the capture environment and the system can get a high efficiency.

Coarse Grained Reconfigurable Arrays (CGRAs) have been more and more popular recently due to their high performance with low power consumption. An intelligent compiler is essential to execute applications on CGRAs effectively. However, automatically compilation for CGRAs still faces many challenges though many algorithms have been proposed. In this paper, we present an effective mapping algorithm which is targetable to a parameterized architecture template. The main contributions are an effective priority scheme, a satisfying backtracking algorithm and a fast control data flow graph (CDFG) splitting method. The experimental results demonstrate that our technique gains the performance very close to manual optimization.

FeCr alloy, characterized with high oxidation temperature and electrical resistance, is a potential material for solid oxide fuel cell (SOFC) interconnects. Preparation processes of FeCr alloy were optimized via high energy ball-milling (HEBM), spark plasma sintering (SPS) and lanthanum ion implantation in order to develop an efficiently specimen with low oxide scale growth and electrical resistivity. The commercially available ferritic steel was chosen as a comparison of another high-Cr ferritic alloy. They were evaluated at 900

o

C in the air corresponding to the environment of SOFC. The area specific resistance (ASR) of oxide scales was measured. The results show that the developed FeCr alloy has demonstrated a low ASR value after 100 hours, indicating the long-term stability of oxide layer, compared to the commercially available alloy.

To extract the edge information from images in a better way, a new morphological edge detection method of multi-structure and multi-scale based on image fusion in wavelet domain has been proposed. The new method merges the edge detected by multi-structuring elements and multi-scale elements in wavelet domain via wavelet transformation to these detected edge images. Experimental results have shown that more detail edges and texture information could be detected by the proposed method, comparing with results from most recently proposed similar edge detection algorithm.

The generalized Benjamin-Bona-Mahony-Burgers equation is studied in this paper. When the flux function is non convex, the existence of the global solutions are proved under the different conditions by combining the local existence result with the a priori estimate.

The analytical algorithm of program quaternion is studied, aiming at the problem of the arbitrary spacecraft attitude-adjusting control. It also provides the analytical constructor method of the program quaternion for any given initial quaternion and angle velocity, terminal quaternion and angle velocity. The advantages of this method are as follows: (1) Good adaptability. Both of the initial and terminal conditions are arbitrary; (2) Simple model. The calculation process only involves the simple algebraic operation; (3) Easy to optimize. By using the program quaternion model, the time consumption in the process of spacecraft attitude adjustment and the maximum angular velocity can be optimized directly. According to the Mathematical simulation results, the program quaternion tracking can be realized by a simple PD control law.

The effect of traditional fault monitoring methods was usually affected by the variations of equipment’s working condition. In view of this situation, a self-adaptive fault monitoring method by using empirical mode decomposition (EMD) and the energy comparison of different order intrinsic mode functions (IMF) was presented. The method can avoid the negative impact of equipment state changing and human intervention, has strong adaptability, and is proved by simulation.

A method based on multi-agents and ANN (Artificial Neural Network) was proposed to solve the pursuit-evasion task in continuous time-varying environment. According to this method, several autonomous agents with 8 circular sector sensors and an ANN controller were used to form a coordinated behavior to capture the evaders. To evolve the controller, NEAT (NeuroEvolution of Augmenting Topologies) and PSO (Particle Swarm Optimization) method were used to optimize the network. The simulation experiments show that both methods can successfully evolve the controller to capture the evaders, while NEAT requires less swarm members and consume less time comparing to PSO method.

Seam tracking is a key technology for automated welding process and post-welding NDT. Manuel monitoring supervised by naked eye or industrial TV is experience-dependant, labor-intensive and risks to be biased. It is necessary to develop low cost yet efficient seam tracking system. In this paper, an approach based on texture analysis is proposed to provide a possible solution for seam tracking. CCD camera is used as the vision sensor. Textural features are extracted through the Grey Level Co-occurrence Matrix (GLCM) generated from the captured image. The region of welded seam was located according to their textural features. Experimental results show that the proposed method can satisfy the requirement of seam tracking.

This paper starts with a brief examination of current problems on knowledge conversion between knowledge base and database in the field of advanced manufacturing intelligent systems. To solve the problems highlighted, a categorical Database Management System (DBMS) has been developed to bridge the knowledge gap between knowledge base and database. This paper focuses on giving a short evaluation on the categorical DBMS to test its usability and functionality.

This paper was proposed a new kind of method to change buoyancy of buoy. The buoyancy of the buoy was changed through lengthen and shorten hydraulic cylinder. This paper was given the structure diagram of the buoy and introduced the control progress of the buoy. At the second part the thrust of cylinder was adjusted. At the third part, this paper deduced the velocity of buoy’s uniform motion by using mechanical analysis. At the last part, the equation of instantaneous acceleration and velocity starting from quiescence to uniform motion of buoy was deduced in two parts. One was the buoy getting provision volume by instance, the other was the buoy getting provision volume gradually.

This paper first analyzes the key technologies of image retrieval based on color features: the transfer of RGB, HSI and HSV space, Principles and characteristics of the color histogram, proposes a image retrieval method by feature of color histogram. Finally, the paper verifies the effectiveness of the algorithm.

The essence of operation in the modern sense is a kind of purposeful activity of organizations. It’s a series of planning and management activities implemented by organizations in order to achieve their fundamental purposes. It has hierarchy and type features. Based on this understanding we defined the concept of modern operation, and proposed the THP model of modern enterprise operation, to provide a new theoretical perspective for modern business operation.

Drowsiness is a transient state between consciousness and sleep. In some situations, the operators’ drowsiness raises the risk of major accidents for the lack of agility. Prediction of drowsiness using EEG signals has become the hot topic in the EEG research community. drowsiness states. However, modeling the drowsiness level mathematically from EEG data suffered from the label problems. Drowsiness is subjects’ state of feeling lacking motivation and alertness, which is difficult to be measured at the time of recording the EEG signal. In this paper, we put forward an EEG labeling method employing K-means clustering to separate EEG signal recorded in consciousness and drowsiness states. EEG dataset is divided into two categories according to the EEG rhythmss’ spectrum pattern, and assigned label of drowsiness or consciousness. Comparative study showed that

α

and

β

wave in EEG correlated with the drowsiness level. We also designed a LDA classifier trained with the labeled EEG data, and used it to classify the EEG data into consciousness and drowsiness states. The high classification accuracy illustrates the method put forward in this paper can distinguish these two states (i.e. drowsiness and consciousness) with a high recognition rate.

Nonlinear factors cause great influence to brushless DC motor (BLDCM) servo control system. One common result is that servo system can not respond rapidly when the direction of reference signal changes which is a serious problem to high speed aircraft. In this paper, a simple nonlinear identification method based on sliding mode variable structure algorithm is proposed to identify those nonlinear factors, and a novel fitting model modified from LuGre model is presented aiming to be utilized in control algorithm to compensate identified nonlinear factors. Simulation results show that the control precision can be improved significantly by the proposed method.

Traveling salesman problem is the NP problem of graph theory. The superior solution for traveling salesman problem is the Hamilton ring that finds out to have minimum power in the graph. The triple-stranded DNA computing model has a low rate of wrong solutions. Because the pool of data generated, there are the double helix structure of DNA chain, and the stability of the double-stranded DNA than single strand of DNA stability. The use of triple-stranded DNA model, can be solved with plans to optimize the combination of some of the NP problem. In this paper we show that triple-stranded DNA structure model can be used for solving the traveling salesman problem.

In this paper, we derive a mathematical model for the final stand of the tandem cold rolling mill and design control systems to improve the thickness precision for the strip. On the basis of a linearized model which discussed the uncertainty of stand module, strip stiffness and the time delay of gauge measurement of the rolling mill system, we propose a thickness controller using robust control which effectively rejects the uncertainties and disturbances. The comparison of suboptimal H∞ control and

μ

Control for strip thickness control is given. It is illustrated by simulations that the robust

μ

thickness controller yields better performance than H∞ methods when the system uncertainties and a periodic thickness disturbance exist.

Augmented Reality Digital Entertainment System uses Augmented Reality technology in the field of digital entertainment. It merges the virtual scene produced by computer and the reality world scene into a whole perfectly. Then the scene is displayed on the HMD after computer processing. User can see the image clearly through HMD and interact with virtual objects. We choose the Video See-through HMD in experiment and propose a method for the no-markers’ situation. The theory of coordinate transformation is analysised in 3D registration and the coming development of Augmented Reality is talked about at last.

Based on the numerical analysis function of ANSYS, the motion of the standard aircraft driven by WDPSS-8 (Wire-driven Parallel Suspension System with 8 Wires) in the laminar flow is simulated by the fluid-solid interaction function. Firstly, the deformations of the wires simulated by beam4 element without wind pressure agree with those of the theoretical results. Secondly, by solving the solid field in ANSYS and analyzing the solution to forward kinematics of WDPSS-8, it is found that the wires sustain the wind pressure against wind and the aircraft tends to move along the wind. So the wires in simulation bend against wind. It is also demonstrated that by increasing the wire axial tension, the coupled fluid-solid interaction phenomena can be eliminated. Finally, we analyzed the wind field affected by WDPSS-8. On the one hand, by observing the wind vector graphs and the pressure distributed in the wind field, WDPSS-8 is superior to the rigid support in reducing the aero-dynamical interference. On the other hand, by analyzing the wind velocity and pressure on and under the wing, it is found that the simulation is fit to the flying state of the aircraft in the air.

This paper establishes a comprehensive evaluation index system of urban-rural integration process, and uses the AHP and grey relational analysis methods to evaluate the urban-rural integration process within Harbin metropolitan area. It concludes that GDP per capita and rural industrial added value are best fit the trend of Harbin metropolitan urban-rural integration curve. Therefore, we should develop deep processing of agricultural products and light industry to promote the level of industrialization and the prosperity of the tertiary industry. The rural areas can exploit their favorable geographic location relative to the central city and consolidate the "urban-rural differences", then complete the urban-rural integration finally.

To investigate the classification performance of combined arm motions only using surface electromyography (EMG) signal, six different feature sets were adopted to match support vector machine (SVM) classifier respectively. Four unilateral transradial amputees participated in multi-channel surface EMG signal collection. The results show that the wavelet features outperforms others with average classification accuracy 98%±2% for intact arm and 89%±6% for amputated arm across all subjects. And the classification performance of intact arm motions was significantly better than that of amputated arm motions.

The optimization and verification for a robot control system have been studied respectively. In this paper, we propose a robot control model which combines optimization and verification based on Learning Petri Net (LPN). In our former work, learning Petri net model has been constructed based on high-level time Petri net and Reinforcement Learning (RL). The reinforcement learning is applied to optimize the parameters of Petri net. These parameters adjusting may make the properties of learning Petri net change. In this paper, the verification algorithms for learning Petri net are proposed. Using this model, a robot control system with optimization and verification capability is constructed. Finally, for the purpose of certification of the effectiveness of our proposed methods, this robot control system is used to control a robot system – E-puck as an example. The result of the experiment shows the methods are correct and effective.

The rapid development of the Internet of things (IOT) proposed new challenges to the spectrum sources in great shortage. For Cognitive Radio technology can improve the spectrum efficiency, we review the platform for the Cognitive Radio in the paper and put forward the application prospect of the IOT. This paper focuses on the cognitive radio-based platform. We summarize the hardware platform at home and aboard, make a contrast and classification, to prepare for the platform facing the IOT.