Proportion integral differential generalized predictive control(PID-GPC), a new type of generalized predictive control(GPC) is introduced, and its quality is analyzed with internal model control (IMC). A very importan...Proportion integral differential generalized predictive control(PID-GPC), a new type of generalized predictive control(GPC) is introduced, and its quality is analyzed with internal model control (IMC). A very important characteristic, which distinguishes GPC from ordinary IMC, and the robust effect are found. At the same time, a robust region is obtained according to the control laws, so that the defect that the robust analysis could be carried out only with stable models is overcome. It is verified that the robustness of PID-GPC is stronger than general GPC.展开更多
The bottleneck analysis of the minimum cost problem for the generalized network (MCPGN) is discussed. The analysis is based on the network simplex algorithm, which gains negative cost graphs by constructing augmented ...The bottleneck analysis of the minimum cost problem for the generalized network (MCPGN) is discussed. The analysis is based on the network simplex algorithm, which gains negative cost graphs by constructing augmented forest structure, then augments flows on the negative cost graphs until the optimal revolution is gained. Bottleneck structure is presented after analyzing the augmented forest structure. The negative cost augmented graphs are constructed with the bottleneck structure. The arcs that block the negative cost augmented graph are the elements of the bottleneck. The bottleneck analysis for the generalized circulation problem, the minimum circulation problem and the circulation problem are discussed respectively as the basal problems, then that for MCPGN is achieved. An example is presented at the end.展开更多
This study presents the overall architecture of HeterBot,a heterogeneous mobile manipulation robot developed in our lab,which is designed for versatile operation in hazardous environments.The most significant feature ...This study presents the overall architecture of HeterBot,a heterogeneous mobile manipulation robot developed in our lab,which is designed for versatile operation in hazardous environments.The most significant feature of HeterBot is the heterogeneous design created by adopting the idea of‘big arm+small arm’and‘big car+mini car’.This combination has the advantage of functional complementation,which achieves performance promotion in both locomotion and manipulation capabilities,making HeterBot distinguished from other mobile manipulation robots.Besides,multiple novel technologies are integrated into HeterBot to expand its versatility and ease of use,including Virtual Robot Experimentation Platform-based teleoperation,reconfigurable end effectors,laseraided grasping,and manipulation with customised tools.Experimental results validate the effectiveness of HeterBot in various locomotion and manipulation tasks.HeterBot displays huge potential in future applications,such as searching and rescue.展开更多
Recent advances in quantitative biology has attested the important roles bioinformatics play in biological sciences as well as the great expansion of the scope of next-generation bioinformatics to all areas of systems...Recent advances in quantitative biology has attested the important roles bioinformatics play in biological sciences as well as the great expansion of the scope of next-generation bioinformatics to all areas of systems biology. From the last issue of Quantitative Biology, we started to publish a special collection of reviews and research articles on next-generation bioinformatics to reflect this trend.展开更多
基金Supported by the National Science & Technology Key Project(No. 2001BA204B01-02), the National Natural Science Foundation of China (No. 60174021) and the Key Project of Tianjin Natural Science Foundation(No. 013800711).
文摘Proportion integral differential generalized predictive control(PID-GPC), a new type of generalized predictive control(GPC) is introduced, and its quality is analyzed with internal model control (IMC). A very important characteristic, which distinguishes GPC from ordinary IMC, and the robust effect are found. At the same time, a robust region is obtained according to the control laws, so that the defect that the robust analysis could be carried out only with stable models is overcome. It is verified that the robustness of PID-GPC is stronger than general GPC.
基金Supported by the National Natural Science Foundation of China (No. 60174046).
文摘The bottleneck analysis of the minimum cost problem for the generalized network (MCPGN) is discussed. The analysis is based on the network simplex algorithm, which gains negative cost graphs by constructing augmented forest structure, then augments flows on the negative cost graphs until the optimal revolution is gained. Bottleneck structure is presented after analyzing the augmented forest structure. The negative cost augmented graphs are constructed with the bottleneck structure. The arcs that block the negative cost augmented graph are the elements of the bottleneck. The bottleneck analysis for the generalized circulation problem, the minimum circulation problem and the circulation problem are discussed respectively as the basal problems, then that for MCPGN is achieved. An example is presented at the end.
基金supported by the National Natural Science Foundation of China(No.62003188,No.U1813216)Shenzhen Science Fund for Distinguished Young Scholars(No.RCJC20210706091946001)Guangdong Special Branch Plan for Young Talent with Scientific and Technological Innovation(No.2019TQ05Z111).
文摘This study presents the overall architecture of HeterBot,a heterogeneous mobile manipulation robot developed in our lab,which is designed for versatile operation in hazardous environments.The most significant feature of HeterBot is the heterogeneous design created by adopting the idea of‘big arm+small arm’and‘big car+mini car’.This combination has the advantage of functional complementation,which achieves performance promotion in both locomotion and manipulation capabilities,making HeterBot distinguished from other mobile manipulation robots.Besides,multiple novel technologies are integrated into HeterBot to expand its versatility and ease of use,including Virtual Robot Experimentation Platform-based teleoperation,reconfigurable end effectors,laseraided grasping,and manipulation with customised tools.Experimental results validate the effectiveness of HeterBot in various locomotion and manipulation tasks.HeterBot displays huge potential in future applications,such as searching and rescue.
文摘Recent advances in quantitative biology has attested the important roles bioinformatics play in biological sciences as well as the great expansion of the scope of next-generation bioinformatics to all areas of systems biology. From the last issue of Quantitative Biology, we started to publish a special collection of reviews and research articles on next-generation bioinformatics to reflect this trend.
