Lattice modular robots possess diversity actuation methods, such as electric telescopic rod, gear rack, magnet, robot arm, etc. The researches on lattice modular robots mainly focus on their hardware descriptions and ...Lattice modular robots possess diversity actuation methods, such as electric telescopic rod, gear rack, magnet, robot arm, etc. The researches on lattice modular robots mainly focus on their hardware descriptions and reconfiguration algorithms. Meanwhile, their design architectures and actuation methods perform slow telescopic and moving speeds, relative low actuation force verse weight ratio, and without internal space to carry objects. To improve the mechanical performance and reveal the locomotion and reconfiguration binary essences of the lattice modular robots, a novel cube-shaped, frame-like, pneumatic-based reconfigurable robot module called pneumatic expandable cube（PE-Cube） is proposed. The three-dimensional（3D） expanding construction and omni-directional rolling analysis of the constructed robots are the main focuses. The PE-Cube with three degrees of freedom（Do Fs） is assembled by replacing the twelve edges of a cube with pneumatic cylinders. The proposed symmetric construction condition makes the constructed robots possess the same properties in each supporting state, and a binary control strategy cooperated with binary actuator（pneumatic cylinder） is directly adopted to control the PE-Cube. Taking an eight PE-Cube modules＇ construction as example, its dynamic rolling simulation, static rolling condition, and turning gait are illustrated and discussed. To testify telescopic synchronization, respond speed, locomotion feasibility, and repeatability and reliability of hardware system, an experimental pneumatic-based robotic system is built and the rolling and turning experiments of the eight PE-Cube modules＇ construction are carried out. As an extension, the locomotion feasibility of a thirty-two PE-Cube modules＇ construction is analyzed and proved, including dynamic rolling simulation, static rolling condition, and dynamic analysis in free tipping process. The proposed PE-Cube module, construction method, and locomotion analysis enrich the family of the lattice modular robot and pr展开更多
针对现有算法多标签分类器收敛效率低和标签查询策略未考虑特征辨别能力的弊端,提出一种基于判别采样和镜像梯度下降规则的多标签在线主动学习算法(multi-label active mirror descent by discrimination sampling,MLAMD_D)。MLAMD_D算...针对现有算法多标签分类器收敛效率低和标签查询策略未考虑特征辨别能力的弊端,提出一种基于判别采样和镜像梯度下降规则的多标签在线主动学习算法(multi-label active mirror descent by discrimination sampling,MLAMD_D)。MLAMD_D算法采用二元关联策略将包含C个标签的多标签分类问题分解成C个相互独立的二分类问题,算法使用镜像梯度下降规则更新其二分类器,并采用基于判别的采样策略。将MLAMD_D算法与现有算法以及基于随机采样和镜像梯度下降规则的多标签在线主动学习算法(multi-label active mirror descent by random sampling,MLAMD_R)在6个多标签分类数据集上进行对比试验。试验结果表明,MLAMD_D算法的多标签分类性能优于其他多标签在线主动学习算法。因此,MLAMD_D算法在处理多标签在线主动学习的任务中具有可行性和有效性。展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51175030)Fundamental Research Funds for the Central Universities,China(Grant No.2012JBZ002)+1 种基金Research Fund for the Doctoral Program of Higher Education(Grant No.20130009110030)Major Project of Ministry of Education of China(Grant No.625010403)
文摘Lattice modular robots possess diversity actuation methods, such as electric telescopic rod, gear rack, magnet, robot arm, etc. The researches on lattice modular robots mainly focus on their hardware descriptions and reconfiguration algorithms. Meanwhile, their design architectures and actuation methods perform slow telescopic and moving speeds, relative low actuation force verse weight ratio, and without internal space to carry objects. To improve the mechanical performance and reveal the locomotion and reconfiguration binary essences of the lattice modular robots, a novel cube-shaped, frame-like, pneumatic-based reconfigurable robot module called pneumatic expandable cube（PE-Cube） is proposed. The three-dimensional（3D） expanding construction and omni-directional rolling analysis of the constructed robots are the main focuses. The PE-Cube with three degrees of freedom（Do Fs） is assembled by replacing the twelve edges of a cube with pneumatic cylinders. The proposed symmetric construction condition makes the constructed robots possess the same properties in each supporting state, and a binary control strategy cooperated with binary actuator（pneumatic cylinder） is directly adopted to control the PE-Cube. Taking an eight PE-Cube modules＇ construction as example, its dynamic rolling simulation, static rolling condition, and turning gait are illustrated and discussed. To testify telescopic synchronization, respond speed, locomotion feasibility, and repeatability and reliability of hardware system, an experimental pneumatic-based robotic system is built and the rolling and turning experiments of the eight PE-Cube modules＇ construction are carried out. As an extension, the locomotion feasibility of a thirty-two PE-Cube modules＇ construction is analyzed and proved, including dynamic rolling simulation, static rolling condition, and dynamic analysis in free tipping process. The proposed PE-Cube module, construction method, and locomotion analysis enrich the family of the lattice modular robot and pr
文摘针对现有算法多标签分类器收敛效率低和标签查询策略未考虑特征辨别能力的弊端,提出一种基于判别采样和镜像梯度下降规则的多标签在线主动学习算法(multi-label active mirror descent by discrimination sampling,MLAMD_D)。MLAMD_D算法采用二元关联策略将包含C个标签的多标签分类问题分解成C个相互独立的二分类问题,算法使用镜像梯度下降规则更新其二分类器,并采用基于判别的采样策略。将MLAMD_D算法与现有算法以及基于随机采样和镜像梯度下降规则的多标签在线主动学习算法(multi-label active mirror descent by random sampling,MLAMD_R)在6个多标签分类数据集上进行对比试验。试验结果表明,MLAMD_D算法的多标签分类性能优于其他多标签在线主动学习算法。因此,MLAMD_D算法在处理多标签在线主动学习的任务中具有可行性和有效性。
