As the extension of the linear inverted pendulum(LIP) and planar inverted pendulum(PIP), this paper proposes a novel spatial inverted pendulum(SIP). The SIP is the most general inverted pendulum(IP) than any existing ...As the extension of the linear inverted pendulum(LIP) and planar inverted pendulum(PIP), this paper proposes a novel spatial inverted pendulum(SIP). The SIP is the most general inverted pendulum(IP) than any existing IP. The model of the SIP is presented for the first time. The SIP inherits all the characteristics of the LIP and the PIP, which is a nonlinear,unstable and underactuated system. The SIP has five degrees of motion freedom and three control forces. Thus, it is a multipleinput and multiple-output(MIMO) system with nonlinear dynamics. To realize the spatial trajectory tracking of the SIP,the control structure with five PID controllers will be designed.The parameter tuning of the multiple PIDs is a challenging work for the proposed SIP model. To alleviate the difficulties of the parameter tuning for the multiple PID controllers, optimal PIDs can be achieved with the help of Big Bang – Big Crunch(BBBC) optimization. The BBBC algorithm can successfully optimize the parameters of the multiple PID controllers with high convergence speed. The optimization performance index of the BBBC algorithm is compared with that of the particle swarm optimization(PSO). Simulation results certify the rightness and effectiveness of the proposed control and optimization methods.展开更多
The wave of global financial crises(2008-2009)caused a surge in the capital flows of developed countries particularly,between developed and developing countries.The crunch hit all financial sectors with unanticipated ...The wave of global financial crises(2008-2009)caused a surge in the capital flows of developed countries particularly,between developed and developing countries.The crunch hit all financial sectors with unanticipated severity.The study evaluates the role of a country’s political practices in moderating the impact of global financial crunch on microfinance performance.Using the fixed effect panel regression method on the dataset comprising of 95 MFIs operating in South Asia from 2003 to 2012,we determine that microfinance operational capability shares a positive relationship with the institutional attributes of a country and our output reveals that impact of country’s political practices is pervasive on the financial output of MFIs,liable to different levels of implementation.The findings further reveals that MFIs situated in countries having vigorous political practices are less severely affected by the economic crunch.展开更多
From November 28 to December 9,the 17th Conference of the Parties(COP17) to the United Nations Framework Convention on Climate Change takes place in Durban,South Africa.Discussions will center on what the internationa...From November 28 to December 9,the 17th Conference of the Parties(COP17) to the United Nations Framework Convention on Climate Change takes place in Durban,South Africa.Discussions will center on what the international community can do to cope with the increasingly serious climate change.In an article for China Today,Xie Zhenhua, Vice Chairman of National Development and Reform Commission,explained China’s efforts in carbon emission reduction and its stance at the upcoming conference.His edited views follow:展开更多
The impact of the sluggish U.S.economy is being felt throughout the world Despite recent efforts by the U.S. Government to help stimulate its battered economy,the country will continue to battle the
China’s'cashless socicty'will be developed from existing credit schemes—but how reliable are they?When Zhao,a college student,was sued in civil court over a debt early this year,she saw her'Sesame Credit...China’s'cashless socicty'will be developed from existing credit schemes—but how reliable are they?When Zhao,a college student,was sued in civil court over a debt early this year,she saw her'Sesame Credit'ranking plummet overnight.The court had shared a list of defendants with Sesame,who downgraded her to the lowest-possible rating and had展开更多
Interval type-2 fuzzy neural networks(IT2FNNs)can be seen as the hybridization of interval type-2 fuzzy systems(IT2FSs) and neural networks(NNs). Thus, they naturally inherit the merits of both IT2 FSs and NNs. Althou...Interval type-2 fuzzy neural networks(IT2FNNs)can be seen as the hybridization of interval type-2 fuzzy systems(IT2FSs) and neural networks(NNs). Thus, they naturally inherit the merits of both IT2 FSs and NNs. Although IT2 FNNs have more advantages in processing uncertain, incomplete, or imprecise information compared to their type-1 counterparts, a large number of parameters need to be tuned in the IT2 FNNs,which increases the difficulties of their design. In this paper,big bang-big crunch(BBBC) optimization and particle swarm optimization(PSO) are applied in the parameter optimization for Takagi-Sugeno-Kang(TSK) type IT2 FNNs. The employment of the BBBC and PSO strategies can eliminate the need of backpropagation computation. The computing problem is converted to a simple feed-forward IT2 FNNs learning. The adoption of the BBBC or the PSO will not only simplify the design of the IT2 FNNs, but will also increase identification accuracy when compared with present methods. The proposed optimization based strategies are tested with three types of interval type-2 fuzzy membership functions(IT2FMFs) and deployed on three typical identification models. Simulation results certify the effectiveness of the proposed parameter optimization methods for the IT2 FNNs.展开更多
基金supported by the National Natural Science Foundation of China(61873079)。
文摘As the extension of the linear inverted pendulum(LIP) and planar inverted pendulum(PIP), this paper proposes a novel spatial inverted pendulum(SIP). The SIP is the most general inverted pendulum(IP) than any existing IP. The model of the SIP is presented for the first time. The SIP inherits all the characteristics of the LIP and the PIP, which is a nonlinear,unstable and underactuated system. The SIP has five degrees of motion freedom and three control forces. Thus, it is a multipleinput and multiple-output(MIMO) system with nonlinear dynamics. To realize the spatial trajectory tracking of the SIP,the control structure with five PID controllers will be designed.The parameter tuning of the multiple PIDs is a challenging work for the proposed SIP model. To alleviate the difficulties of the parameter tuning for the multiple PID controllers, optimal PIDs can be achieved with the help of Big Bang – Big Crunch(BBBC) optimization. The BBBC algorithm can successfully optimize the parameters of the multiple PID controllers with high convergence speed. The optimization performance index of the BBBC algorithm is compared with that of the particle swarm optimization(PSO). Simulation results certify the rightness and effectiveness of the proposed control and optimization methods.
文摘The wave of global financial crises(2008-2009)caused a surge in the capital flows of developed countries particularly,between developed and developing countries.The crunch hit all financial sectors with unanticipated severity.The study evaluates the role of a country’s political practices in moderating the impact of global financial crunch on microfinance performance.Using the fixed effect panel regression method on the dataset comprising of 95 MFIs operating in South Asia from 2003 to 2012,we determine that microfinance operational capability shares a positive relationship with the institutional attributes of a country and our output reveals that impact of country’s political practices is pervasive on the financial output of MFIs,liable to different levels of implementation.The findings further reveals that MFIs situated in countries having vigorous political practices are less severely affected by the economic crunch.
文摘From November 28 to December 9,the 17th Conference of the Parties(COP17) to the United Nations Framework Convention on Climate Change takes place in Durban,South Africa.Discussions will center on what the international community can do to cope with the increasingly serious climate change.In an article for China Today,Xie Zhenhua, Vice Chairman of National Development and Reform Commission,explained China’s efforts in carbon emission reduction and its stance at the upcoming conference.His edited views follow:
文摘The impact of the sluggish U.S.economy is being felt throughout the world Despite recent efforts by the U.S. Government to help stimulate its battered economy,the country will continue to battle the
文摘China’s'cashless socicty'will be developed from existing credit schemes—but how reliable are they?When Zhao,a college student,was sued in civil court over a debt early this year,she saw her'Sesame Credit'ranking plummet overnight.The court had shared a list of defendants with Sesame,who downgraded her to the lowest-possible rating and had
基金supported by the National Natural Science Foundation of China (61873079,51707050)
文摘Interval type-2 fuzzy neural networks(IT2FNNs)can be seen as the hybridization of interval type-2 fuzzy systems(IT2FSs) and neural networks(NNs). Thus, they naturally inherit the merits of both IT2 FSs and NNs. Although IT2 FNNs have more advantages in processing uncertain, incomplete, or imprecise information compared to their type-1 counterparts, a large number of parameters need to be tuned in the IT2 FNNs,which increases the difficulties of their design. In this paper,big bang-big crunch(BBBC) optimization and particle swarm optimization(PSO) are applied in the parameter optimization for Takagi-Sugeno-Kang(TSK) type IT2 FNNs. The employment of the BBBC and PSO strategies can eliminate the need of backpropagation computation. The computing problem is converted to a simple feed-forward IT2 FNNs learning. The adoption of the BBBC or the PSO will not only simplify the design of the IT2 FNNs, but will also increase identification accuracy when compared with present methods. The proposed optimization based strategies are tested with three types of interval type-2 fuzzy membership functions(IT2FMFs) and deployed on three typical identification models. Simulation results certify the effectiveness of the proposed parameter optimization methods for the IT2 FNNs.
