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The skinner automaton: A psychological model formalizing the theory of operant conditioning

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Science China(Technological Sciences) 2013年第12期56卷 2745-2761页

作者： RUAN XiaoGang WU Xuan Institute of Artificial Intelligence and robots School of Electronic Information and Control EngineeringBeijing University of Technology

Operant conditioning is one of the fundamental mechanisms of animal learning, which suggests that the behavior of all animals, from protists to humans, is guided by its consequences. We present a new stochastic learning automaton called a Skinner au- tomaton that is a psychological model for formalizing the theory of operant conditioning. We identify animal operant learning with a thermodynamic process, and derive a so-called Skinner algorithm from Monte Carlo method as well as Metropolis algo- rithm and simulated annealing. Under certain conditions, we prove that the Skinner automaton is expedient, 6-optimal, optimal, and that the operant probabilities converge to the set of stable roots with probability of 1. The Skinner automaton enables ma- chines to autonomously learn in an animal-like way.

关键词： Learning automata Boltzmann distribution operant conditioning operant learning simulated annealing

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Geometrically Exact Finite Element Formulation for Tendon-Driven Continuum robots

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Acta Mechanica Solida Sinica 2022年第4期35卷 552-570页

作者： Xin Li Wenkai Yu Mehdi Baghaee Changyong Cao Dunyu Chen Ju Liu Hongyan Yuan Department of Mechanics and Aerospace Engineering Southern University of Science and TechnologyShenzhen518055China Laboratory for Soft machines&Electronics Department of Mechanical and Aerospace EngineeringCase Western Reserve UniversityClevelandOH44106USA

Tendon-driven continuum robots achieve continuous deformations through the contraction of tendons embedded inside the robotic *** some continuum robots,the constant curvature assumption-based kinematic modeling can be accurate and *** for other cases,such as soft robots or robot-environment interactions,the constant curvature assumption can be *** model the complex deformation of continuum robots,the geometrically exact beam theory(may also be called the Cosserat rod theory)has been used to develop computational mechanics *** from previous computational models that used finite difference schemes for the spatial discretization,here we develop a three-dimensional geometrically exact beam theory-based finite element model for tendon-driven continuum *** numerical examples are presented to show the accuracy,efficiency,and applicability of our new computational model for tendon-driven continuum robots.

关键词： Continuum robots Cosserat rod model Geometrically exact beam Finite element method

Consistent Kalman flters for nonlinear uncertain systems over sensor networks

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Control theory and Technology 2020年第4期18卷 399-408页

作者： Xingkang He Wenchao Xue Haitao Fang Xiaoming Hu division of Decision and Control Systems School of Electrical Engineering and Computer ScienceKTH Royal Institute of Technology10044 StockholmSweden LSC NCMISAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China Optimization and Systems theory Department of MathematicsKTH Royal Institute of Technology10044 StockholmSweden

In this paper,we study how to design filters for nonlinear uncertain systems over sensor *** intoduce two Kalmantype nonlinear fitrs in centralied and dstrbute ***,the tuning method for the parameters of the filteres is established to ensure the consistency,i.e..the mean square error is upper bounded by a known parameter matrix at each *** apply the consistent fiters to the track to-track association analysis of multi targets with uncertain dynamics.A novel track to-track asocaion algoritm is proposed to idenify whether two tracks are from the same *** is proven that the resulting probability of *** is lower than the desired *** simulations on *** track association are given to show the ffetives of the methods.

关键词： Kalman fiter Consistencey Distributed fiter Track-to-rack asociation

Stability case study of the ACROBOTER underactuated service robot

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Theoretical & Applied Mechanics Letters 2012年第4期2卷 27-33页

作者： László L.Kovács László Bencsik HAS-BME Research Group on Dynamics of machines and Vehicles Budapest H-1521Hungary Department of Applied Mechanics Budapest University of Technology and EconomicsBudapest H-1521Hungary

The dynamics of classical robotic systems are usually described by ordinary differential equations via selecting a minimum set of independent generalized coordinates. However, different parameterizations and the use of a nonminimum set of （dependent） generalized coordinates can be advantageous in such cases when the modeled device contains closed kinematic loops and/or it has a complex structure. On one hand, the use of dependent coordinates, like natural coordinates, leads to a different mathematical representation where the equations of motion are given in the form of differential algebraic equations. On the other hand, the control design of underactuated robots usually relies on partial feedback linearization based techniques which are exclusively developed for systems modeled by independent coordinates. In this paper we propose a different control algorithm formulated by using dependent coordinates. The applied computed torque controller is realized via introducing actuator constraints that complement the kinematic constraints which are used to describe the dynamics of the investigated service robotic system in relatively simple and compact form. The proposed controller is applied to the computed torque control of the planar model of the ACROBOTER service robot. The stability analysis of the digitally controlled underactuated service robot is provided as a real parameter case study for selecting the optimal control gains.

关键词： stability underactuation natural coordinates control constraints

Modifed Pre-stretching Assembly Method for Cable-Driven Systems

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Chinese Journal of Mechanical Engineering 2019年第3期32卷 17-32页

作者： Guokai Zhang Xuyang Ren Jinhua Li Kang Kong Shuxin Wang Jingchao Shen Key Laboratory of Mechanism theory and Equipment Design of Ministry of Education Tianjin UniversityTianjin 300354China School of Mechanical Engineering Tianjin UniversityTianjin 300350China

Soft cable-driven systems have been employed in many assembled mechanisms, such as industrial robots, parallel kinematic mechanism machines, medical devices, and humaniform hands. A pre-stretching process is necessary to guarantee the quality of cable-driven systems during the assembly process. However, the stress relaxation of cables becomes a critical concern during long-term operation. This study investigates the effects of non-uniform deformation and long-term stress relaxation of the driven cables owing to moving parts in the system. A simple closed-loop cable-driven system is built and an alternating load is applied to it to replicate the operation of transmission cables. Under different experimental conditions, the cable tension is recorded and the boundary data are selected to be curve-fitted. Based on the fitted results, a formula is presented to estimate the stress relaxation of cables to evaluate the assembly performance. Further experimental results show that the stress relaxation is mainly caused by cable creep and the assembly procedure. To remove the influence of the assembly procedure, a modified pre-stretching assembly method based on the stress relaxation theory is proposed and verification experiments are performed. Finally, the assembly performance is optimized using a cable-driven surgical robot as an example. This paper proposes a dual stretching method instead of the pre-stretching method to assemble the cable-driven system to improve its performance and prolong its service life.

关键词： Performance Cable-driven system Pre-stretching Assembly

EKF-based state estimation for nonlinear complex networks 36

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EKF-based state estimation for nonlinear complex networks

Research on the Location and Extraction of Texts in Complex Background

第36届中国控制会议

作者： Jian Sun Wenling Li Yingmin Jia Junping Du The Seventh Research division Beihang University (BUAA) Computer Science and Technology Beijing University of Posts and Telecommunications

ISBN: (纸本)9781538629185

This paper studies the state estimation problem for a class of discrete-time nonlinear complex networks. A recursive state estimator is developed by employing the structure of the extended Kalman filter（EKF） with coupling terms. By using the stochastic analysis technique, an upper bound is derived for the coupling strength to guarantee the boundedness of the estimation errors in the mean square sense. A numerical example involving localization of mobile robots is provided to illustrate the effectiveness of the proposed estimator.

关键词： State estimation Complex networks Extended Kalman filter

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Research on the Location and Extraction of Texts in Complex ...

Interval Based Analysis of Bell’s Theorem

2011 International Conference on Engineering and Information Management (ICEIM 2011)

作者： Ming Li Yousheng Zhang Wei Jia Special Education Collage Beijing Union University School of Computer Science & Information Technology Anhui Sanlian University Intelligent Computing Lab Hefei Institute of Intelligent Machines Chinese Academy of Sciences

Research on the location and extraction of the texts in complex background has important significance in current information age. It has enriched image processing theory and shows great business value in practical applications such as image and video searching in Internet environment as well as license plate recognition in modern traffic management. How to rapidly and accurately locate and extract the text in image and video with complicate background has become a global hot research topic. This essay take approach from difficult problems encountered by text location and extraction in complicate background in order to analyse text division, feature extraction and recognition processing. The essay also introduces various methods of text location and extraction in complicate background.

关键词： Complex background text classification text feature location and extraction

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Journal of Modern Physics 2019年第6期10卷 585-600页

作者： F. P. Eblen A. F. Barghouty Advanced Communications and Navigation Technology division Space Communications and Navigation (SCaN) Program Human Exploration and Operations Mission Directorate NASA Headquarters Washington DC USA Astrophysics division Science Mission Directorate NASA Headquarters Washington DC USA

This paper introduces the concept and motivates the use of finite-interval based measures for physically realizable and measurable quantities, which we call -measures. We demonstrate the utility and power of -measures by illustrating their use in an interval-based analysis of a prototypical Bell’s inequality in the measurement of the polarization states of an entangled pair of photons. We show that the use of finite intervals in place of real-numbered values in the Bell inequality leads to reduced violations. We demonstrate that, under some conditions, an interval-based but otherwise classically calculated probability measure can be made to arbitrarily closely approximate its quantal counterpart. More generally, we claim by heuristic arguments and by formal analogy with finite-state machines that -measures can provide a more accurate model of both classical and quantal physical property values than point-like, real numbers—as originally proposed by Tuero Sunaga in 1958.

关键词： Measurement theory Bell’s Theorem Bell’s Inequality Interval-Based Analysis Interval-Based Physical Measures

Transient thermo-mechanical analysis for bimorph soft robot based on thermally responsive liquid crystal elastomers

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Applied Mathematics and Mechanics(English Edition) 2019年第7期40卷 943-952页

作者： Yun CUI Yafei YIN Chengjun WANG K. SIM Yuhang LI Cunjiang YU Jizhou SONG Institute of Solid Mechanics Beihang University Beijing 100191 China Department of Engineering Mechanics Soft Matter Research Center Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province Zhejiang University Hangzhou 310027 China Materials Science and Engineering Program University of Houston Houston TX 77204 U. S.A. State Key Laboratory of Strength and Vibration of Mechanical Structures School of Aerospace Engineering Xi’an Jiaotong University Xi’an 710049 China Department of Mechanical Engineering University of Houston Houston TX 77204 U. S.A. Department of Electrical and Computer Engineering University of Houston Houston TX 77204 U. S.A. Department of Biomedical Engineering Texas Center for Superconductivity University of Houston Houston TX 77204 U. S.A.

Thermally responsive liquid crystal elastomers (LCEs) hold great promise in applications of soft robots and actuators because of the induced size and shape change with temperature. Experiments have successfully demonstrated that the LCE based bimorphs can be effective soft robots once integrated with soft sensors and thermal actuators. Here, we present an analytical transient thermo-mechanical model for a bimorph structure based soft robot, which consists of a strip of LCE and a thermal inert polymer actuated by an ultra-thin stretchable open-mesh shaped heater to mimic the unique locomotion behaviors of an inchworm. The coupled mechanical and thermal analysis based on the thermo-mechanical theory is carried out to underpin the transient bending behavior, and a systematic understanding is therefore achieved. The key analytical results reveal that the thickness and the modulus ratio of the LCE and the inert polymer layer dominate the transient bending deformation. The analytical results will not only render fundamental understanding of the actuation of bimorph structures, but also facilitate the rational design of soft robotics.

关键词： transient thermo-mechanical analysis soft robot thermal-responsive liq- uid crystal elastomer (LCE)