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This paper first establishes the kinematic model and dynamic model of Selective Compliance Assembly Robot Arm(SCARA) robot based on Denavit-Hartenberg method and Lagrange equation. Then the model is simplified to reduce the computation, the kinetic equation is transformed into a linear form to get the observation matrix and the parameters to be identified. An incentive trajectory is designed to finish...
Replicator equations are regularly used to predict how strategies evolve in social dilemmas. These predictions are based on comparisons between the fitness of a strategy and the average population fitness. Unfortunately, fitness comparisons alone don't provide much insight into how or why individuals choose to cooperate. To overcome this limitation in replicator equations we developed a zero order...
Here, we examine a mean-field game (MFG) that models the economic growth of a population of non-cooperative, rational agents. In this MFG, agents are described by two state variables - the capital and consumer goods they own. Each agent seeks to maximize his/her utility by taking into account statistical data about the whole population. The individual actions drive the evolution of the players, and...
The modeling of heterogeneous dynamic cell populations based on population balance equations is an important tool to describe the interaction between intracellular dynamics and population dynamics. However, the numerical simulation of such models remains challenging for models with high-dimensional intracellular dynamics, when these dynamics influence the growth rate of the cells. To cope with this...
In this paper, trajectory generation for a 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a four DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired trajectory for...
We describe an experimental platform that uses an evolutionary algorithm to automatically tune the gains of a cascaded PID quadcopter controller. All parameters are tuned simultaneously, few platform assumptions are necessary, and no modeling is required. The platform is able to run back-to-back experiments for over 24 hours without human intervention. In a sample experiment, we apply the system to...
In this paper, we proposes a new mathematical model for evaluating a given anonymized dataset that needs to be reidentified. Many anonymization algorithms have been proposed in the area called privacy-preserving data publishing (PPDP), but, no anonymization algorithms are suitable for all scenarios because many factors are involved. In order to address the issues of anonymization, we propose a new...
Lotka-Volterra equations describe the population relationship between two species, i.e., predator and prey. In many circumstances, it is necessary to introduce a control method into such a predator-prey system. Different from traditional methods, by applying Zhang-gradient (ZG) method and using interaction coefficients of Lotka-Volterra equations as inputs, the population control problem of the predator-prey...
As part of a system wide optimization problem in smart grids it is required that the mean temperature of a massive number of space heating devices associated with energy storage follows a computed target temperature trajectory. The classical control approach is to compute the required signal centrally for each device and to send that signal. However, the corresponding computational and communication...
Genetic programming is very computationally intensive, particularly in CPU time. A number of approaches to evaluation cost reduction have been proposed, among them early termination of evaluation (applicable in problem domains where estimates of the final fitness value are available during evaluation). Like all cost reduction techniques, early termination balances overall computation cost against...
We propose a new perspective on the identification of linear dynamic system using structural similarity. The proposal consists in the meaningful exploration of each model, specifically behavior of the state variable. The decomposition of the behavior of a state variable in different modes of behavior of a system, each one has a different set of weights and shows different patterns of behavior. These...
In this paper, we show how to make a complete analysis of the performance of TCP/RED (Transmission Control Protocol / Random Early Detection) flows in a single bottleneck network with Stochastic Differential Equation (SDE). We start from deducing the SDE for the aggregate TCP flow. Using this SDE model, we calculate the exact stable range of the TCP connection number and the variance of the queue...
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