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Position Errors and Interference Prediction-Based Trajectory Tracking for Snake robots

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1810-1821页

作者： Dongfang Li Yilong Zhang Ping Li rob law Zhengrong Xiang Xin Xu Limin Zhu Edmond Q.Wu IEEE School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Sino-US Global Logistics Institute Shanghai Jiao Tong UniversityShanghai 200240 the Key Laboratory for Agricultural Machinery Intelligent Control and Manufacturing of Fujian Education Institutions Fuzhou 350108China School of Biological Science and Medical Engineering and the Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education Beihang UniversityBeijing 100191China University of Macao Macao 999078China School of Automation Nanjing University of Science and TechnologyNanjing 210094China College of Intelligence Science and Technology National University of Defence TechnologyChangsha 410073China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

This work presents a trajectory tracking control method for snake *** method eliminates the influence of time-varying interferences on the body and reduces the offset error of a robot with a predetermined *** optimized line-of-sight(LOS)guidance strategy drives the robot’s steering angle to maintain its anti-sideslip ability by predicting position errors and ***,the predictions of system parameters and viscous friction coefficients can compensate for the joint torque control *** compensation is adopted to enhance the compatibility of a robot within ever-changing *** and experimental outcomes show that our work can decrease the fluctuation peak of the tracking errors,reduce adjustment time,and improve accuracy.

关键词： Anti-sideslip compensation snake robot trajectory tracking

Finite-Time Sideslip Differentiator-Based LOS Guidance for robust Path Following of Snake robots

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IEEE/CAA Journal of Automatica Sinica 2023年第1期10卷 239-253页

作者： Yang Xiu Dongfang Li Miaomiao Zhang Hongbin Deng rob law Yun Huang Edmond Q.Wu Xin Xu the School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China the School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Antai College of Economics&Management Shanghai Jiao Tong UniversityShanghai 200240China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China the Asia-Pacific Academy of Economics and Management University of MacaoMacao 999078China the Department of Decision Science Macao University of Science and TechnologyMacao 999078China the Department of Automation Shanghai Jiao Tong Universityand also with the Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240China the College of Mechatronics and Automation National University of Defense TechnologyChangsha 410073China IEEE

This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake ***,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track *** proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle *** our method,the designed piecewise auxiliary function guarantees the finite-time stability of position ***,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s *** uniform ultimate boundedness of the closed-loop system is proved by analyzing ***,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential *** last,the availability and superiority of this work are shown through simulation and experiment results.

关键词： Line-of-sight(LOS) path following sideslip snake robot

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“互联网+”时代的旅游业巨变

旅游学刊 2016年第6期31卷 2-4页

作者：钱建伟 rob law 香港理工大学酒店及旅游业管理学院浙江传媒学院

从＂父母在不远游＂到＂世界这么大,我想出去看看＂,不同时期的旅游方式无不承载着时代和科技发展的烙印。21世纪以来,随着我国经济水平和人均可支配收入的不断提升,在互联网旅游概念兴起的浪潮中,旅游业发生了天翻地覆的变化。

关键词：互联网产业我国经济水平国家旅游局科技革命人均可支配收入携程江西婺源科技发展产业效率去哪儿

基于评价理论介入系统的积极话语分析——以关于中国游客的评论性新闻报道为例

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广西社会科学 2016年第6期 167-171页

作者：钱建伟 rob law 浙江传媒学院大学外语教学部浙江杭州310018 香港理工大学酒店及旅游业管理学院香港九龙999077

以评价理论介入系统为理论框架,从积极话语分析的角度出发,探究《纽约时报》对近几年我国游客的行为及其形象的报道可以发现,西方主流报刊对中国游客的报道不再是围绕以前普遍认为的消极形象,而是通过对相关不文明行为的定义及事实的梳... 详细信息

以评价理论介入系统为理论框架,从积极话语分析的角度出发,探究《纽约时报》对近几年我国游客的行为及其形象的报道可以发现,西方主流报刊对中国游客的报道不再是围绕以前普遍认为的消极形象,而是通过对相关不文明行为的定义及事实的梳理,借用人际对话空间的压缩或扩展策略,开始转向对中国游客形象的积极建构,从而引导读者做出正面的评价。

关键词：评价理论介入系统积极话语游客形象

旅游重要性感知、旅游动机与人口特征:基于香港居民调查数据的实证研究

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旅游科学 2012年第5期26卷 76-84页

作者：张紫琼 rob law 刘挺哈尔滨工业大学经济与管理学院黑龙江哈尔滨150001 香港理工大学酒店及旅游管理学院哈尔滨工业大学计算机科学与技术学院黑龙江哈尔滨150001

本文基于对香港居民的大规模电话调查,采用最优尺度回归模型,探讨出游动机和人口统计特征如何影响香港居民对旅游重要性的感知以及人口统计特征如何影响香港居民的出游动机。回归结果显示:休闲放松和发掘新事物是影响旅游重要性感知的... 详细信息

本文基于对香港居民的大规模电话调查,采用最优尺度回归模型,探讨出游动机和人口统计特征如何影响香港居民对旅游重要性的感知以及人口统计特征如何影响香港居民的出游动机。回归结果显示:休闲放松和发掘新事物是影响旅游重要性感知的主要旅游动机,家庭月收入和受教育程度是影响旅游重要性感知的主要人口统计特征;与亲朋好友聚会、社交、休闲放松、逃脱日常事务和发掘新事物动机最相关的人口统计特征分别是家庭月收入、年龄、家庭月收入、年龄和受教育程度,而性别对香港居民的各种出游动机无显著影响。

关键词：香港居民旅游重要性旅游动机人口统计特征最优尺度回归

语言经济学视角下旅游目的地海外营销网站评价分析

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社会科学家 2016年第7期31卷 86-89,103页

作者：钱建伟 rob law 厉新建浙江传媒学院大学外语教学部浙江杭州310018 香港理工大学酒店及旅游业管理学院香港九龙999077 北京第二外国语学院旅游管理学院北京100024

旅游业作为我国"十三五"期间重点发展的行业,着力开拓入境旅游客源、提高入境旅游市场开发的效率和效益已刻不容缓,而目的地海外推广平台在这一过程中起着举足轻重的作用。文章从旅游经济学的视角出发,探讨了语言质量对于网站营销效果... 详细信息

旅游业作为我国"十三五"期间重点发展的行业,着力开拓入境旅游客源、提高入境旅游市场开发的效率和效益已刻不容缓,而目的地海外推广平台在这一过程中起着举足轻重的作用。文章从旅游经济学的视角出发,探讨了语言质量对于网站营销效果的重要性,同时建立了相应的指标评价体系,并开展了测评。结果发现,国家级旅游海外推广网站在语言整体质量的建设上取得了不错的成绩,特别是在语言有用性维度上,但是对语言正确性的关注度还不够。针对出现的相应问题,文章提出了解决的方案,期望能帮助目的地海外推广网站的建设,从而助力入境旅游市场的开发。

关键词：语言经济学旅游目的地海外营销网站评价

Forecasting tourism demand by extracting fuzzy Takagi-Sugeno rules from trained SVMs

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CAAI Transactions on Intelligence Technology 2016年第1期1卷 30-42页

作者： Xin Xu rob law Wei Chen Lin Tang College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China School of Hotel and Tourism Management Hong Kong Polytechnic University Hong Kong Special Administrative Region China College of Science Hunan Agriculture University Changsha 410003 China

Tourism demand forecasting has attracted substantial interest because of the significant economic contributions of the fast-growing tourism industry. Although various quantitative forecasting techniques have been widely studied, highly accurate and understandable forecasting models have not been developed. The present paper proposes a novel tourism demand forecasting method that extracts fuzzy Takagi-Sugeno （T-S） rules from trained SVMs. Unlike previous approaches, this study uses fuzzy T-S models extracted from the outputs of trained SVMs on tourism data. Owing to the symbolic fuzzy rules and the generalization ability of SVMs, the extracted fuzzy T-S rules exhibit high forecasting accuracy and include understandable pre-condition parts for practitioners. Based on the tourism demand forecasting problem in Hong Kong SAR, China as a case study, empirical findings on tourist arrivals from nine overseas origins reveal that the proposed approach performs comparably with SVMs and can achieve better prediction accuracy than other forecasting techniques for most origins. The findings demonstrated that decision makers can easily interpret fuzzy T-S rules extracted from SVMs. Thus, the approach is highly beneficial to tourism market management. This finding demonstrates the excellent scientific and practical values of the proposed approach in tourism demand forecasting.

关键词： Fuzzy modeling Rule extraction Support vector machines Tourism demand forecasting

Snake robots play an important role in social services and military needs

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The Innovation 2022年第6期3卷 25-26页

作者： Dongfang Li Binxin Zhang Yang Xiu Hongbin Deng Miaomiao Zhang Wei Tong rob law Guangyu Zhu Edmond Q.Wu Limin Zhu School of Electrical Engineering and Automation Fuzhou UniversityFujian 350108China School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China Department of Automation Shanghai JiaoTong UniversityShanghai 200240China School of Automation Nanjing University of Science and TechnologyNanjing 210094China Asia-Pacific Academy of Economics and Management Faculty of Business AdministrationUniversity of MacaoMacao 999078China School of Traffic and Transportation Beijing JiaoTong UniversityBeijing 100044China

Intelligent robotic systems have gradually penetrated into the fields of social services and military reconnaissance with the rapid economic *** robots,as multi-redundant bionic robots,play an indispensable and important role in public life and military needs.1 These robots have been widely favored and highly regarded by the academia and industry because of 1)their small size and flexibility,thereby easily entering small spaces for work,2)their ability to carry a variety of equipment for disaster rescue and military reconnaissance,and 3)their variety of movement modes,which can adapt to various complex terrain environments.

关键词： Snake services military

旅游目的地外文营销网站评价——以中国旅游海外推广网站为例

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华北水利水电大学学报（社会科学版） 2016年第2期32卷 20-25页

作者：钱建伟厉新建 rob law 浙江传媒学院大学外语教学部浙江杭州310018 香港理工大学酒店及旅游业管理学院香港九龙999077 北京第二外国语学院中国旅游经济研究中心北京100024 北京第二外国语学院旅游管理学院北京100024

旅游目的地的营销需要充分发挥网络作为交流媒体的重要作用。采用问卷形式,以海外消费者为调查对象,基于层次分析法构建评价模型。对比外文旅游目的地营销网站各项指标权重值发现,对于旅游推广而言,网站内容的信息质量起着决定性作用;... 详细信息

旅游目的地的营销需要充分发挥网络作为交流媒体的重要作用。采用问卷形式,以海外消费者为调查对象,基于层次分析法构建评价模型。对比外文旅游目的地营销网站各项指标权重值发现,对于旅游推广而言,网站内容的信息质量起着决定性作用;以中国海外旅游推广网站为例,把海外消费者对网站评价指标权重的排序与实际得分进行对比,并综合这两种评价结果,从加强网站的可见性优化、互动性优化以及网站价值的战略性定位等3个方面提出了建议。

关键词：旅游目的地营销网站评价发展建议