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In this paper, an adaptive Jacobian tracking control of robot manipulators is presented. The proposed controller is based on the inverse robot manipulator dynamics and estimated uncertainty which can compensate for the uncertain parameters and external disturbances. Using the Lyapunov approach, the paper incorporates sliding mode control to enhance the asymptotic stability that shows the tracking...
Security decides whether Ad hoc network can be fully utilized. Since Ad hoc network isn't dependent on fixed infrastructure, its secure architecture is facing new challenges, and the security of its routing protocol is a very important issue. This paper first introduces the design of the secure routing protocol and its security weaknesses, then proposes an improved secure routing protocol and presents...
A nonlinear adaptive speed control scheme based on backstepping control technique is proposed for DC motor system. First state reconstruction techniques transform the DC motor model into a cascaded structure adapt to the normal backstepping method, then nonlinear adaptive backstepping controller designed can compensate the nonlinearities which is robust to the parameter uncertainties and load torque...
In recent years, with the development of mobile ad hoc networks (MANETs) technology, various overlay multicast routing protocols have been proposed for MANETs. These protocols have distinguishing features and different applications. To provide a comprehensive understanding of these overlay multicast routing protocols and better organize existing ideas and work to facilitate overlay multicast routing...
Open shortest path first (OSPF) is a dynamic and inter-domain routing protocol with hierarchical architecture used in Internet networks routing. Area border router (ABR) had been proved to be an effective solution to the complicated network and scalability problem. Obviously, manual selection of ABR can not satisfy the dynamic change in the network load. A new scheme, based on the traffic engineering...
This article proposes a model of local component library based on the Universal Component Description Language (UCDL). A certain improvements are made for the UCDL criterion. Hierarchical structure is used to organize and manage components based on multi-facet classification scheme. The classification of storage and organization of component are also expounded. A method how to retrieval and fabricate...
The location of a bank has a direct effect on saving behavior of residents. Study on the relations between the allocation of the deposit and the locations of the banks have an urgent meaning. To this end, fuzzy mathematics is used. The allocation of resident savings in each bank is expressed as a fuzzy subset, and each bank is given a attractor, which denotes the capability of capturing deposit within...
Models of transformer fault diagnosis were developed by using on-line data to improve the conventional testing method and physical law methods. The operation data of 7 variables that affect transformer fault had been studied by using principal component analysis method, 5 principal components had been obtained and the contributions of the principal components had been computed. Based on the factors,...
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