We consider a reaction-diffusion model which describes the spatial Wolbachia spread dynamics for a mixed population of infected and uninfected mosquitoes. By using linearization method, comparison principle and Leray-...We consider a reaction-diffusion model which describes the spatial Wolbachia spread dynamics for a mixed population of infected and uninfected mosquitoes. By using linearization method, comparison principle and Leray-Schauder degree theory, we investigate the influence of diffusion on the Wolbachia infection dynamics.After identifying the system parameter regions in which diffusion alters the local stability of constant steadystates, we find sufficient conditions under which the system possesses inhomogeneous steady-states. Surprisingly,our mathematical analysis, with the help of numerical simulations, indicates that diffusion is able to lower the threshold value of the infection frequency over which Wolbachia can invade the whole population.展开更多
A new model predictive control(MPC) algorithm for nonlinear systems is presented,its stabilizing property is proved,and its attractive regions are estimated.The presented method is based on the feasible solution,which...A new model predictive control(MPC) algorithm for nonlinear systems is presented,its stabilizing property is proved,and its attractive regions are estimated.The presented method is based on the feasible solution,which makes the attractive regions much larger than those of the normal MPC controller that is based on the optimal solution.展开更多
Grasping is a significant yet challenging task for the robots. In this paper, the grasping problem for a class of dexterous robotic hands is investigated based on the novel concept of constrained region in environment...Grasping is a significant yet challenging task for the robots. In this paper, the grasping problem for a class of dexterous robotic hands is investigated based on the novel concept of constrained region in environment, which is inspired by the grasping operations of the human beings. More precisely, constrained region in environment is formed by the environment, which integrates a bio-inspired co-sensing framework. By utilizing the concept of constrained region in environment, the grasping by robots can be effectively accomplished with relatively low-precision sensors. For the grasping of dexterous robotic hands, the attractive region in environment is first established by model primitives in the configuration space to generate offline grasping planning. Then, online dynamic adjustment is implemented by integrating the visual sensory and force sensory information, such that the uncertainty can be further eliminated and certain compliance can be obtained. In the end, an experimental example of BarrettHand is provided to show the effectiveness of our proposed grasping strategy based on constrained region in environment.展开更多
基金supported by National Natural Science Foundation of China (Grant Nos. 11471085, 91230104 and 11301103)Program for Changjiang Scholars and Innovative Research Team in University (Grant No. IRT1226)+1 种基金Program for Yangcheng Scholars in Guangzhou (Grant No. 12A003S)Guangdong Innovative Research Team Program (Grant No. 2011S009)
文摘We consider a reaction-diffusion model which describes the spatial Wolbachia spread dynamics for a mixed population of infected and uninfected mosquitoes. By using linearization method, comparison principle and Leray-Schauder degree theory, we investigate the influence of diffusion on the Wolbachia infection dynamics.After identifying the system parameter regions in which diffusion alters the local stability of constant steadystates, we find sufficient conditions under which the system possesses inhomogeneous steady-states. Surprisingly,our mathematical analysis, with the help of numerical simulations, indicates that diffusion is able to lower the threshold value of the infection frequency over which Wolbachia can invade the whole population.
文摘A new model predictive control(MPC) algorithm for nonlinear systems is presented,its stabilizing property is proved,and its attractive regions are estimated.The presented method is based on the feasible solution,which makes the attractive regions much larger than those of the normal MPC controller that is based on the optimal solution.
基金supported by National Natural Science Foundation of China(No.61210009)Beijing Municipal Science and Technology(Nos.D16110400140000 and D161100001416001)+1 种基金Fundamental Research Funds for the Central Universities(No.FRF-TP-15-115A1)the Strategic Priority Research Program of the CAS(No.XDB02080003)
文摘Grasping is a significant yet challenging task for the robots. In this paper, the grasping problem for a class of dexterous robotic hands is investigated based on the novel concept of constrained region in environment, which is inspired by the grasping operations of the human beings. More precisely, constrained region in environment is formed by the environment, which integrates a bio-inspired co-sensing framework. By utilizing the concept of constrained region in environment, the grasping by robots can be effectively accomplished with relatively low-precision sensors. For the grasping of dexterous robotic hands, the attractive region in environment is first established by model primitives in the configuration space to generate offline grasping planning. Then, online dynamic adjustment is implemented by integrating the visual sensory and force sensory information, such that the uncertainty can be further eliminated and certain compliance can be obtained. In the end, an experimental example of BarrettHand is provided to show the effectiveness of our proposed grasping strategy based on constrained region in environment.
