This paper aims at developing a novel method of constructing a class of multi-wing chaotic and hyperchaotic system by introducing a unified step function. In order to overcome the essential difficulties in iteratively...This paper aims at developing a novel method of constructing a class of multi-wing chaotic and hyperchaotic system by introducing a unified step function. In order to overcome the essential difficulties in iteratively adjusting multiple parameters of conventional multi-parameter control, this paper introduces a unified step function controlled by a single parameter for constructing various multi-wing chaotic and hyperchaotic systems. In particular, to the best of the authors＇ knowledge, this is also the first time to find a non-equilibrium multi-wing hyperchaotic system by means of the unified step function control. According to the heteroclinic loop Shilnikov theorem, some properties for multi-wing attractors and its chaos mechanism are further discussed and analyzed. A circuit for multi-wing systems is designed and implemented for demonstration, which verifies the effectiveness of the proposed approach.展开更多
This paper proposes a new full Nesterov-Todd(NT) step infeasible interior-point algorithm for semidefinite programming. Our algorithm uses a specific kernel function, which is adopted by Liu and Sun, to deduce the fea...This paper proposes a new full Nesterov-Todd(NT) step infeasible interior-point algorithm for semidefinite programming. Our algorithm uses a specific kernel function, which is adopted by Liu and Sun, to deduce the feasibility step. By using the step, it is remarkable that in each iteration of the algorithm it needs only one full-NT step, and can obtain an iterate approximate to the central path. Moreover, it is proved that the iterative bound corresponds with the known optimal one for semidefinite optimization problems.展开更多
The prefrontal cortex （PFC） is an integrative area that guides behaviors and thoughts. During the past century, a great many studies have been performed on PFC functions, using a variety of technical approaches such...The prefrontal cortex （PFC） is an integrative area that guides behaviors and thoughts. During the past century, a great many studies have been performed on PFC functions, using a variety of technical approaches such as anatomy, lesion, neuropsychology, electrophysiology, and functional imaging. It is well known that the PFC plays an essential role in inhibitory control of behavior, regulation of attention, working memory, decision-making, and behavioral oraanization.展开更多
为了解决RRT^(*)(rapidly-exploring random tree star)算法在搜索过程中速度低下和冗余节点过多,路径代价等问题,在RRT^(*)算法的基础上提出一种A-RRT^(*)算法,A-RRT^(*)算法通过融合A^(*)算法中的代价函数和使用了动态步长策略有效缩...为了解决RRT^(*)(rapidly-exploring random tree star)算法在搜索过程中速度低下和冗余节点过多,路径代价等问题,在RRT^(*)算法的基础上提出一种A-RRT^(*)算法,A-RRT^(*)算法通过融合A^(*)算法中的代价函数和使用了动态步长策略有效缩短了路径长度提升路径质量,改进剪枝策略减少了树搜索的冗余节点。根据算法在简单、复杂和密集环境下的仿真结果显示,在密集环境下A-RRT^(*)算法的无效冗余节点剪除94.29%、内存缩减了94.29%、搜索时间提高了96.28%、迭代次数缩减了91.49%、路径距离缩短了10.18%。为了防止生成的路径不平整而使机械臂在运行中造成损伤,利用了三次B样条对路径进行了优化,通过三维机械臂仿真也可得出优化后的路径更加平滑,减少了机械臂在运行过程中的关节波动,更有利于机械臂的运行,进一步验证了算法在机械臂运行中的有效性。展开更多
In this paper, we propose a new infeasible interior-point algorithm with full NesterovTodd (NT) steps for semidefinite programming (SDP). The main iteration consists of a feasibility step and several centrality steps....In this paper, we propose a new infeasible interior-point algorithm with full NesterovTodd (NT) steps for semidefinite programming (SDP). The main iteration consists of a feasibility step and several centrality steps. We used a specific kernel function to induce the feasibility step. The analysis is more simplified. The iteration bound coincides with the currently best known bound for infeasible interior-point methods.展开更多
Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This artic...Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the controller the robot can globally and asymptotically track desired trajectories, both linear and circular.展开更多
基金Project supported by the National Natural Science Foundation of China(Grant No.61403143)the Natural Science Foundation of Guangdong Province,China(Grant No.2014A030313739)+1 种基金the Science and Technology Foundation Program of Guangzhou City,China(Grant No.201510010124)the Excellent Doctorial Dissertation Foundation of Guangdong Province,China(Grant No.XM080054)
文摘This paper aims at developing a novel method of constructing a class of multi-wing chaotic and hyperchaotic system by introducing a unified step function. In order to overcome the essential difficulties in iteratively adjusting multiple parameters of conventional multi-parameter control, this paper introduces a unified step function controlled by a single parameter for constructing various multi-wing chaotic and hyperchaotic systems. In particular, to the best of the authors＇ knowledge, this is also the first time to find a non-equilibrium multi-wing hyperchaotic system by means of the unified step function control. According to the heteroclinic loop Shilnikov theorem, some properties for multi-wing attractors and its chaos mechanism are further discussed and analyzed. A circuit for multi-wing systems is designed and implemented for demonstration, which verifies the effectiveness of the proposed approach.
基金Sponsored by the National Natural Science Foundation of China(Grant No.11461021)the Natural Science Basic Research Plan in Shaanxi Province of China(Grant No.2017JM1014)Scientific Research Project of Hezhou University(Grant Nos.2014YBZK06 and 2016HZXYSX03)
文摘This paper proposes a new full Nesterov-Todd(NT) step infeasible interior-point algorithm for semidefinite programming. Our algorithm uses a specific kernel function, which is adopted by Liu and Sun, to deduce the feasibility step. By using the step, it is remarkable that in each iteration of the algorithm it needs only one full-NT step, and can obtain an iterate approximate to the central path. Moreover, it is proved that the iterative bound corresponds with the known optimal one for semidefinite optimization problems.
文摘The prefrontal cortex （PFC） is an integrative area that guides behaviors and thoughts. During the past century, a great many studies have been performed on PFC functions, using a variety of technical approaches such as anatomy, lesion, neuropsychology, electrophysiology, and functional imaging. It is well known that the PFC plays an essential role in inhibitory control of behavior, regulation of attention, working memory, decision-making, and behavioral oraanization.
文摘为了解决RRT^(*)(rapidly-exploring random tree star)算法在搜索过程中速度低下和冗余节点过多,路径代价等问题,在RRT^(*)算法的基础上提出一种A-RRT^(*)算法,A-RRT^(*)算法通过融合A^(*)算法中的代价函数和使用了动态步长策略有效缩短了路径长度提升路径质量,改进剪枝策略减少了树搜索的冗余节点。根据算法在简单、复杂和密集环境下的仿真结果显示,在密集环境下A-RRT^(*)算法的无效冗余节点剪除94.29%、内存缩减了94.29%、搜索时间提高了96.28%、迭代次数缩减了91.49%、路径距离缩短了10.18%。为了防止生成的路径不平整而使机械臂在运行中造成损伤,利用了三次B样条对路径进行了优化,通过三维机械臂仿真也可得出优化后的路径更加平滑,减少了机械臂在运行过程中的关节波动,更有利于机械臂的运行,进一步验证了算法在机械臂运行中的有效性。
文摘In this paper, we propose a new infeasible interior-point algorithm with full NesterovTodd (NT) steps for semidefinite programming (SDP). The main iteration consists of a feasibility step and several centrality steps. We used a specific kernel function to induce the feasibility step. The analysis is more simplified. The iteration bound coincides with the currently best known bound for infeasible interior-point methods.
基金National Natural Science Foundation of China (50705003)National High Technology Research and Development Program of China (2007AA04Z252).
文摘Spherical robot has good static and dynamic stability, which provides it with strong viability in hostile environment, but the lack of effective control methods has hindered its application and development. This article deals with the dynamic trajectory tracking problem of the spherical robot BHQ-2 designed for unmanned environment exploration. The dynamic model of the spherical robot is established with a simplified Boltzmann-Hamel equation, based on which a trajectory tracking controller is designed by using the back-stepping method. The convergence of the controller is proved with the Lyapunov stability theory. Numerical simulations show that with the controller the robot can globally and asymptotically track desired trajectories, both linear and circular.
