It is well known that the traditional Grübler-Kutzbach formula fails to calculate the mobility of some classical mechanisms or many modern parallel robots,and this situation seriously hampers mechani-cal innovati...It is well known that the traditional Grübler-Kutzbach formula fails to calculate the mobility of some classical mechanisms or many modern parallel robots,and this situation seriously hampers mechani-cal innovation.To seek an efficient and universal method for mobility calculation has been a heated topic in the sphere of mechanism.The modified Grübler-Kutzbach criterion proposed by us achieved success in calculating the mobility of a lot of highly complicated mechanisms,especially the mobility of all recent parallel mechanisms listed by Gogu,and the Bennett mechanism known for its particular difficulty.With wide applications of the criterion,a systematic methodology has recently formed.This paper systematically presents the methodology based on the screw theory for the first time and ana-lyzes six representative puzzling mechanisms.In addition,the methodology is convenient for judgment of the instantaneous or full-cycle mobility,and has become an effective and general method of great scientific value and practical significance.In the first half,this paper introduces the basic screw theory,then it presents the effective methodology formed within this decade.The second half of this paper presents how to apply the methodology by analyzing the mobility of several puzzling mechanisms.Finally,this paper contrasts and analyzes some different methods and interprets the essential reason for validity of our methodology.展开更多
This systematic review assessed the safety and efficacy of the disposable circumcision suture device （DCSD） and conventional circumcision （CC） in the treatment of redundant prepuce and phimosis. Two independent re...This systematic review assessed the safety and efficacy of the disposable circumcision suture device （DCSD） and conventional circumcision （CC） in the treatment of redundant prepuce and phimosis. Two independent reviewers conducted a literature search for randomized controlled trials （RCTs） using the DCSD and CC for the treatment of redundant prepuce or phimosis in China and abroad. Nine RCTs （1898 cases） were included. Compared with the CC group, the DCSD group had a shorter operative time （standardized mean difference [SMD] = -21.44; 95% confidence intervals [95% CIs] [-25.08, -17.79]; P 〈 0.00001）, shorter wound healing time （SMD = -3.66; 95% CI [-5.46, -1.85]; P 〈 0.0001）, less intraoperative blood loss （SMD = -9.64; 95% CI [-11.37, -7.90]; P 〈 0.00001）, better cosmetic penile appearance （odds ratio [OR] =8.77; 95% CI [5.90, 13.02]; P 〈 0.00001）, lower intraoperative pain score, lower 24-h postoperative pain score, lower incidence of infection, less incision edema, and fewer adverse events. There were no differences between the CC and DCSD groups in the incidences of dehiscence, or hematoma. The results of this meta-analysis indicate that the DCSD appears to be safer and more effective than CC. However, additional high-quality RCTs with larger study populations are needed.展开更多
Many algorithms have been proposed to find sparse representations over redundant dictionaries or transforms. This paper gives an overview of these algorithms by classifying them into three categories： greedy pursuit ...Many algorithms have been proposed to find sparse representations over redundant dictionaries or transforms. This paper gives an overview of these algorithms by classifying them into three categories： greedy pursuit algorithms, lp norm regularization based algorithms, and iterative shrinkage algorithms. We summarize their pros and cons as well as their connections. Based on recent evidence, we conclude that the algorithms of the three categories share the same root： lp norm regularized inverse problem. Finally, several topics that deserve further investigation are also discussed.展开更多
Redundant techniques are widely adopted in vehicle management computer （VMC） to ensure that VMC has high reliability and safety. At the same time, it makes VMC have special characteristics, e.g., failure correlation...Redundant techniques are widely adopted in vehicle management computer （VMC） to ensure that VMC has high reliability and safety. At the same time, it makes VMC have special characteristics, e.g., failure correlation, event simultaneity, and failure self-recovery. Accordingly, the reliability and safety analysis to redundant VMC system （RVMCS） becomes more difficult. Aimed at the difficulties in RVMCS reliability modeling, this paper adopts generalized stochastic Petri nets to establish the reliability and safety models of RVMCS. Then this paper analyzes RVMCS oper- ating states and potential threats to flight control system. It is verified by simulation that the reli- ability of VMC is not the product of hardware reliability and software reliability, and the interactions between hardware and software faults can reduce the real reliability of VMC obviously. Furthermore, the failure undetected states and false alarming states inevitably exist in RVMCS due to the influences of limited fault monitoring coverage and false alarming probability of fault mon- itoring devices （FMD）. RVMCS operating in some failure undetected states will produce fatal threats to the safety of flight control system. RVMCS operating in some false alarming states will reduce utility of RVMCS obviously. The results abstracted in this paper can guide reliable VMC and efficient FMD designs. The methods adopted in this paper can also be used to analyze other intelligent systems＇ reliability.展开更多
Quick and accurate detecting the error of NC machine tool and performing the error compensation are important to improve the machining accuracy of NC machine tool. Currently, there are many methods for detecting the g...Quick and accurate detecting the error of NC machine tool and performing the error compensation are important to improve the machining accuracy of NC machine tool. Currently, there are many methods for detecting the geometric accuracy of NC machine tool. However, these methods have deficiencies in detection efficiency and accuracy as well as in versatility. In the paper, a method with laser tracker based on the multi-station and time-sharing measurement principle is proposed, and this method can rapidly and accurately detect the geometric accuracy of NC machine tool. The machine tool is controlled to move in the preset path in a 3D space or 2D plane, and a laser tracker is used to measure the same motion trajectory of the machine tool successively at different base stations. The original algorithm for multi-station and time-sharing measurement is improved. The space coordinates of the measuring point obtained by the laser tracker are taken as parameter values, and the initial position of each base point can be determined. The redundant equation concerning the base point calibration can be established by the distance information of the laser tracker, and the position of each base point is further determined by solving the equation with least squares method, then the space coordinates of each measuring point can be calibrated. The singular matrix does not occur in calculation with the improved algorithm, which overcomes the limitations of the original algorithm, that the motion trajectory of machine tool is in a 3D space and there exits height difference between the base stations. Adopting the improved algorithm can expand the application of multi-station and time-sharing measurement, and can meet the quick and accurate detecting requirements for different types of NC machine tool.展开更多
For a stabilizable system, the extension of the control inputs has no use for stabilizability, but it is important for optimal control. In this paper, a necessary and sufficient condition is presented to strictly decr...For a stabilizable system, the extension of the control inputs has no use for stabilizability, but it is important for optimal control. In this paper, a necessary and sufficient condition is presented to strictly decrease the quadratic optimal performance index after control input extensions. A similar result is also provided for H2 optimal control problem. These results show an essential difference between single-input and multi-input control systems. Several examples are taken to illustrate related problems.展开更多
Distributed coordinated control of networked robotic systems formulated by Lagrange dynamics has recently been a subject of considerable interest within science and technology communities due to its broad engineering ...Distributed coordinated control of networked robotic systems formulated by Lagrange dynamics has recently been a subject of considerable interest within science and technology communities due to its broad engineering applications involving complex and integrated production processes,where high flexibility,manipulability,and maneuverability are desirable characteristics.In this paper,we investigate the distributed coordinated adaptive tracking problem of networked redundant robotic systems with a dynamic leader.We provide an analysis procedure for the controlled synchronization of such systems with uncertain dynamics.We also find that the proposed control strategy does not require computing positional inverse kinematics and does not impose any restriction on the self-motion of the manipulators;therefore,the extra degrees of freedom are applicable for other sophisticated subtasks.Compared with some existing work,a distinctive feature of the designed distributed control algorithm is that only a subset of followers needs to access the position information of the dynamic leader in the task space,where the underlying directed graph has a spanning tree.Subsequently,we present a simulation example to verify the effectiveness of the proposed algorithms.展开更多
Control parameters of original differential evolution （DE） are kept fixed throughout the entire evolutionary process. However, it is not an easy task to properly set control parameters in DE for different optiinizat...Control parameters of original differential evolution （DE） are kept fixed throughout the entire evolutionary process. However, it is not an easy task to properly set control parameters in DE for different optiinization problems. According to the relative position of two different individual vectors selected to generate a difference vector in the searching place, a self-adapting strategy for the scale factor F of the difference vector is proposed. In terms of the convergence status of the target vector in the current population, a self-adapting crossover probability constant CR strategy is proposed. Therefore, good target vectors have a lower CFI while worse target vectors have a large CFI. At the same time, the mutation operator is modified to improve the convergence speed. The performance of these proposed approaches are studied with the use of some benchmark problems and applied to the trajectory planning of a three-joint redundant manipulator. Finally, the experiment results show that the proposed approaches can greatly improve robustness and convergence speed.展开更多
基金Supported by the National Natural Science Foundation of China (Gratn Nos. 50875227, 50575197)
文摘It is well known that the traditional Grübler-Kutzbach formula fails to calculate the mobility of some classical mechanisms or many modern parallel robots,and this situation seriously hampers mechani-cal innovation.To seek an efficient and universal method for mobility calculation has been a heated topic in the sphere of mechanism.The modified Grübler-Kutzbach criterion proposed by us achieved success in calculating the mobility of a lot of highly complicated mechanisms,especially the mobility of all recent parallel mechanisms listed by Gogu,and the Bennett mechanism known for its particular difficulty.With wide applications of the criterion,a systematic methodology has recently formed.This paper systematically presents the methodology based on the screw theory for the first time and ana-lyzes six representative puzzling mechanisms.In addition,the methodology is convenient for judgment of the instantaneous or full-cycle mobility,and has become an effective and general method of great scientific value and practical significance.In the first half,this paper introduces the basic screw theory,then it presents the effective methodology formed within this decade.The second half of this paper presents how to apply the methodology by analyzing the mobility of several puzzling mechanisms.Finally,this paper contrasts and analyzes some different methods and interprets the essential reason for validity of our methodology.
文摘This systematic review assessed the safety and efficacy of the disposable circumcision suture device （DCSD） and conventional circumcision （CC） in the treatment of redundant prepuce and phimosis. Two independent reviewers conducted a literature search for randomized controlled trials （RCTs） using the DCSD and CC for the treatment of redundant prepuce or phimosis in China and abroad. Nine RCTs （1898 cases） were included. Compared with the CC group, the DCSD group had a shorter operative time （standardized mean difference [SMD] = -21.44; 95% confidence intervals [95% CIs] [-25.08, -17.79]; P 〈 0.00001）, shorter wound healing time （SMD = -3.66; 95% CI [-5.46, -1.85]; P 〈 0.0001）, less intraoperative blood loss （SMD = -9.64; 95% CI [-11.37, -7.90]; P 〈 0.00001）, better cosmetic penile appearance （odds ratio [OR] =8.77; 95% CI [5.90, 13.02]; P 〈 0.00001）, lower intraoperative pain score, lower 24-h postoperative pain score, lower incidence of infection, less incision edema, and fewer adverse events. There were no differences between the CC and DCSD groups in the incidences of dehiscence, or hematoma. The results of this meta-analysis indicate that the DCSD appears to be safer and more effective than CC. However, additional high-quality RCTs with larger study populations are needed.
基金Supported by the Joint Research Fund for Overseas Chinese Young Scholars of the National Natural Science Foundation of China (Grant No.60528004)the Key Project of the National Natural Science Foundation of China (Grant No. 60528004)
文摘Many algorithms have been proposed to find sparse representations over redundant dictionaries or transforms. This paper gives an overview of these algorithms by classifying them into three categories： greedy pursuit algorithms, lp norm regularization based algorithms, and iterative shrinkage algorithms. We summarize their pros and cons as well as their connections. Based on recent evidence, we conclude that the algorithms of the three categories share the same root： lp norm regularized inverse problem. Finally, several topics that deserve further investigation are also discussed.
基金financed by the National Natural Science Foundation of China (No.61004022)111 Project of China Education Department
文摘Redundant techniques are widely adopted in vehicle management computer （VMC） to ensure that VMC has high reliability and safety. At the same time, it makes VMC have special characteristics, e.g., failure correlation, event simultaneity, and failure self-recovery. Accordingly, the reliability and safety analysis to redundant VMC system （RVMCS） becomes more difficult. Aimed at the difficulties in RVMCS reliability modeling, this paper adopts generalized stochastic Petri nets to establish the reliability and safety models of RVMCS. Then this paper analyzes RVMCS oper- ating states and potential threats to flight control system. It is verified by simulation that the reli- ability of VMC is not the product of hardware reliability and software reliability, and the interactions between hardware and software faults can reduce the real reliability of VMC obviously. Furthermore, the failure undetected states and false alarming states inevitably exist in RVMCS due to the influences of limited fault monitoring coverage and false alarming probability of fault mon- itoring devices （FMD）. RVMCS operating in some failure undetected states will produce fatal threats to the safety of flight control system. RVMCS operating in some false alarming states will reduce utility of RVMCS obviously. The results abstracted in this paper can guide reliable VMC and efficient FMD designs. The methods adopted in this paper can also be used to analyze other intelligent systems＇ reliability.
基金supported by National Hi-tech Research and Development Program of China (863 Program,Grant No. 2008AA042404)
文摘Quick and accurate detecting the error of NC machine tool and performing the error compensation are important to improve the machining accuracy of NC machine tool. Currently, there are many methods for detecting the geometric accuracy of NC machine tool. However, these methods have deficiencies in detection efficiency and accuracy as well as in versatility. In the paper, a method with laser tracker based on the multi-station and time-sharing measurement principle is proposed, and this method can rapidly and accurately detect the geometric accuracy of NC machine tool. The machine tool is controlled to move in the preset path in a 3D space or 2D plane, and a laser tracker is used to measure the same motion trajectory of the machine tool successively at different base stations. The original algorithm for multi-station and time-sharing measurement is improved. The space coordinates of the measuring point obtained by the laser tracker are taken as parameter values, and the initial position of each base point can be determined. The redundant equation concerning the base point calibration can be established by the distance information of the laser tracker, and the position of each base point is further determined by solving the equation with least squares method, then the space coordinates of each measuring point can be calibrated. The singular matrix does not occur in calculation with the improved algorithm, which overcomes the limitations of the original algorithm, that the motion trajectory of machine tool is in a 3D space and there exits height difference between the base stations. Adopting the improved algorithm can expand the application of multi-station and time-sharing measurement, and can meet the quick and accurate detecting requirements for different types of NC machine tool.
基金Supported by the National Natural Science Foundation of China (Grant Nos. 90916003, 60674093, 60874011)the Key Projects of Educational Ministry of China (Grant No. 107110)
文摘For a stabilizable system, the extension of the control inputs has no use for stabilizability, but it is important for optimal control. In this paper, a necessary and sufficient condition is presented to strictly decrease the quadratic optimal performance index after control input extensions. A similar result is also provided for H2 optimal control problem. These results show an essential difference between single-input and multi-input control systems. Several examples are taken to illustrate related problems.
基金supported by the National Natural Science Foundation of China(Grant Nos.1127219110972129 and 10832006)+1 种基金Specialized Research Foundation for the Doctoral Program of Higher Education(Grant No.200802800015)University Natural Science Research Program of Anhui Province(Grant No.KJ2013B216)
文摘Distributed coordinated control of networked robotic systems formulated by Lagrange dynamics has recently been a subject of considerable interest within science and technology communities due to its broad engineering applications involving complex and integrated production processes,where high flexibility,manipulability,and maneuverability are desirable characteristics.In this paper,we investigate the distributed coordinated adaptive tracking problem of networked redundant robotic systems with a dynamic leader.We provide an analysis procedure for the controlled synchronization of such systems with uncertain dynamics.We also find that the proposed control strategy does not require computing positional inverse kinematics and does not impose any restriction on the self-motion of the manipulators;therefore,the extra degrees of freedom are applicable for other sophisticated subtasks.Compared with some existing work,a distinctive feature of the designed distributed control algorithm is that only a subset of followers needs to access the position information of the dynamic leader in the task space,where the underlying directed graph has a spanning tree.Subsequently,we present a simulation example to verify the effectiveness of the proposed algorithms.
基金This work was supported by the National Natural Science Foundation of China(No.60375001)the High School Doctoral Foundation of China(NO.20030532004).
文摘Control parameters of original differential evolution （DE） are kept fixed throughout the entire evolutionary process. However, it is not an easy task to properly set control parameters in DE for different optiinization problems. According to the relative position of two different individual vectors selected to generate a difference vector in the searching place, a self-adapting strategy for the scale factor F of the difference vector is proposed. In terms of the convergence status of the target vector in the current population, a self-adapting crossover probability constant CR strategy is proposed. Therefore, good target vectors have a lower CFI while worse target vectors have a large CFI. At the same time, the mutation operator is modified to improve the convergence speed. The performance of these proposed approaches are studied with the use of some benchmark problems and applied to the trajectory planning of a three-joint redundant manipulator. Finally, the experiment results show that the proposed approaches can greatly improve robustness and convergence speed.
