机器人多级自适应控制器鲁棒性分析

本文给出了机器人关节系统多级自适应控制器的鲁棒性分析.分析表明机器人多级自适应控制系统即使子系统间存在相互关联项和子系统存在未建模特性.采用σ-修正法也能保证系统的输出有界.

机器人多级自适应控制器的设计与数字仿真

本文提出了用多级自适应控制的方法实现机器人关节系统的自适应控制,并给出了两级自适应控制器的设计方法.最后以某机器人关节系统为对象对两级自适应控制器进行了仿真分析.

The multi-weight neuron with geometry algorithm and its application

A novel approach for multi-dimension signals processing, that is multi-weight neural network based on high dimensional geometry theory, is proposed. With this theory, the geometry algorithm for building the multi-weight neuron is mentioned. To illustrate the advantage of the novel approach, a Chinese speech emotion recognition experiment has been done. From this experiment, the human emotions are classified into 6 archetypal classes: fear, anger, happiness, sadness, surprise and disgust. And the amplitude, pitch frequency and formant are used as the feature parameters for speech emotion recognition. Compared with traditional GSVM model, the new method has its superiority. It is noted that this method has significant values for researches and applications henceforth.

Application of multi-weighted neuron for iris recognition

In this paper, from the cognition science point of view, we constructed a neuron of multi-weighted neural network, and proposed a new method for iris recognition based on multi-weighted neuron. In this method, irises are trained as "cognition" one class by one class, and it doesn't influence the original recognition knowledge for samples of the new added class. The results of experiments show the correct rejection rate is 98.9%, the correct cognition rate and the error recognition rate are 95.71% and 3.5% respectively. The experimental results demonstrate that the correct rejection rate of the test samples excluded in the classes of training samples is very high. It proves the proposed method for iris recognition is effective.

Genetic mechanisms of multi-antimicrobial resistance in a pathogenic Edwardsiella tarda strain

TX01, a pathogenic Edwardsiella tarda strain isolated from diseased fish at an epidemic-inflicted fish farm in China, exhibits resistance to multiple classes of antimicrobial agents. The genes (kn(R). catA3, and tet(A), respectively) encoding resistance to kanamycin, chloramphenicol, and tetracycline were cloned and found to be 99-100% identical to the corresponding genes carried by known plasmids and transposons of human, animal, and environmental isolates. Further study demonstrated that TX01 harbors a plasmid, pETX, which proved to be (i) the carrier of the tet and cut operons; (ii) a mobile genetic element that is capable of transferring between bacteria of different genera. These results, which, to our knowledge, documented for the first time the co-existence of chloramphenicol and tetracycline resistance determinants on a conjugative plasmid in a pathogenic E tarda strain, indicated that gene acquisition via horizontal transferring of pETX-like mobile genetic entities may have played an important part in the dissemination of antimicrobial resistance and that there have existed for some time widespread genetic exchanges between bacteria of human, animal/fish, and environmental origins. (C) 2008 Elsevier B.V. All rights reserved.