Cooperative transport of extended payloads

In this paper we present experimental results for the dual robot transport of an extended payload. Two robotic rovers that were designed specifically for the extended payload transport task are described. Each rover incorporates a 4-DOF robot arm incorporating three active joints (one of which is a gripper), a passive wrist, and a mobile base which employs a rocker-bogie design. A set of behaviours has been developed to support the performance of the task, integrating simple sensing with controls. We describe the behaviours and their integration within the overall task structure. The experimental results presented focus on the manipulation elements of the task, but incorporate a complete cycle of pick-up, traversal, and putdown.

Complexity of Monte Carlo algorithms for a class of integral equations

In this work we study the computational complexity of a class of grid Monte Carlo algorithms for integral equations. The idea of the algorithms consists in an approximation of the integral equation by a system of algebraic equations. Then the Markov chain iterative Monte Carlo is used to solve the system. The assumption here is that the corresponding Neumann series for the iterative matrix does not necessarily converge or converges slowly. We use a special technique to accelerate the convergence. An estimate of the computational complexity of Monte Carlo algorithm using the considered approach is obtained. The estimate of the complexity is compared with the corresponding quantity for the complexity of the grid-free Monte Carlo algorithm. The conditions under which the class of grid Monte Carlo algorithms is more efficient are given.

A neurofuzzy network knowledge extraction and extended gram-Schmidt algorithm for model subspace decomposition

This paper introduces a new neurofuzzy model construction and parameter estimation algorithm from observed finite data sets, based on a Takagi and Sugeno (T-S) inference mechanism and a new extended Gram-Schmidt orthogonal decomposition algorithm, for the modeling of a priori unknown dynamical systems in the form of a set of fuzzy rules. The first contribution of the paper is the introduction of a one to one mapping between a fuzzy rule-base and a model matrix feature subspace using the T-S inference mechanism. This link enables the numerical properties associated with a rule-based matrix subspace, the relationships amongst these matrix subspaces, and the correlation between the output vector and a rule-base matrix subspace, to be investigated and extracted as rule-based knowledge to enhance model transparency. The matrix subspace spanned by a fuzzy rule is initially derived as the input regression matrix multiplied by a weighting matrix that consists of the corresponding fuzzy membership functions over the training data set. Model transparency is explored by the derivation of an equivalence between an A-optimality experimental design criterion of the weighting matrix and the average model output sensitivity to the fuzzy rule, so that rule-bases can be effectively measured by their identifiability via the A-optimality experimental design criterion. The A-optimality experimental design criterion of the weighting matrices of fuzzy rules is used to construct an initial model rule-base. An extended Gram-Schmidt algorithm is then developed to estimate the parameter vector for each rule. This new algorithm decomposes the model rule-bases via an orthogonal subspace decomposition approach, so as to enhance model transparency with the capability of interpreting the derived rule-base energy level. This new approach is computationally simpler than the conventional Gram-Schmidt algorithm for resolving high dimensional regression problems, whereby it is computationally desirable to decompose complex models into a few submodels rather than a single model with large number of input variables and the associated curse of dimensionality problem. Numerical examples are included to demonstrate the effectiveness of the proposed new algorithm.

Global asymptotic stability in a class of Putnam-type equations

In this paper, we initiate the study of a class of Putnam-type equation of the form x(n-1) = A(1)x(n) + A(2)x(n-1) + A(3)x(n-2)x(n-3) + A(4)/B(1)x(n)x(n-1) + B(2)x(n-2) + B(3)x(n-3) + B-4 n = 0, 1, 2,..., where A(1), A(2), A(3), A(4), B-1, B-2, B-3, B-4 are positive constants with A(1) + A(2) + A(3) + A(4) = B-1 + B-2 + B-3 + B-4, x(-3), x(-2), x(-1), x(0) are positive numbers. A sufficient condition is given for the global asymptotic stability of the equilibrium point c = 1 of such equations. (c) 2005 Elsevier Ltd. All rights reserved.

On two rational difference equations

In this paper, we study the oscillating property of positive solutions and the global asymptotic stability of the unique equilibrium of the two rational difference equations [GRAPHICS] and [GRAPHICS] where a is a nonnegative constant. (c) 2005 Elsevier Inc. All rights reserved.

On the system of rational difference equations x(n) = A+(1)over-bar y(n-p), y(n) = A+(gamma(n-1))over-bar x(n-r)y(n-5)

In this paper, we study the behavior of the positive solutions of the system of two difference equations [GRAPHICS] where p >= 1, r >= 1, s >= 1, A >= 0, and x(1-r), x(2-r),..., x(0), y(1-max) {p.s},..., y(0) are positive real numbers. (c) 2005 Elsevier Inc. All rights reserved.