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This paper the adaptive backstepping control algorithm (ABCA) is proposed for dual-arm cooperative manipulators to achieve a precise trajectory tracking in the task space. Firstly the Lagrange function is employed to construct the dynamic mode of the upper part of the humanoid, the modified dynamic mode is obtained through decoupling the each joint. Secondly the modified dynamic is lower computation...
Worldwide, air travel demand has greatly increased and historical travel demand data is essential for air transportation planning, policy-making and market evaluation. However, historical air travel demand is not always available or complete and oftentimes must be estimated. To address this problem, we present a non-linear optimization model to estimate the historical air travel demand between origin...
Topology configuration of a self-reconfigurable robot decided working performance of the robot. Therefore, taking reconfigurable robot which had 2 degree of freedoms (DOFs) and androgynous connect face for example, A new assemble incidence matrix based on graph theorem was defined to establish robot configuration model. Then according to the module symmetry in 3D space and combination principle, all...
By defining community recursive coefficient M, we propose a new efficient algorithm called filtration split algorithm for discovering community structure in complex networks. By optimizing the M of child-networks based on dynamic recursive principle, the local communities are discovered automatically. Theoretical analysis and experiment results show that the algorithm can filtrate more than one edge...
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