模糊逻辑在机器人逆运动学求解中的应用

冗余机器人逆运动学求解的方法很多，多数都不能很好的满足实时控制的要求，本文运用模糊逻辑的思想，构造了一种逆运动学求解方法，其计算量较其它方法大大减小，且满足实时控制的要求，仿真结果也证明了该方法的可行性。     

Inverse Problem for a Class of Two-Dimensional Diffusion Equations with Piecewise Constant Coefficients

In this paper, we consider an inverse problem for a class of two-dimensional diffusion equations with piecewise constant coefficients. This problem is studied using an explicit formula for the relevant spectral measures and an asymptotic expansion of the solution of the diffusion equations. A numerical method that reduces the inverse problem to a sequence of nonlinear least-square problems is proposed and tested on synthetic data.     

Inverse gas chromatography in the study of polymer degradation. Part 4: A study of model systems for reinforced vulcanizates

Summary Inverse gas chromatography with olefinic stationary phases, impregnated with silica gel or carbon black, and air as carrier gas has been found to yield characteristic shifts of retention data and concomitant changes in peak shape. The plots of retention index versus oxygen flow obtained indicate carbon black to have significant antioxidant properties, which are not altogether lost on solvent extraction. On the other hand, silica gel yields results consistence with the existence of a novel chain scission repair process.     

Multiple-magnetic field 139La NMR and density functional theory investigation of the solid lanthanum(III) halides

Results from a solid-state ¹³⁹La NMR spectroscopic investigation of the anhydrous lanthanum(III) halides (LaX₃; X=F, Cl, Br, I) at applied magnetic fields of 7.0, 9.4, 11.7, 14.1, and 17.6 T are presented and highlight the advantages of working at high applied magnetic field strengths. The ¹³⁹La quadrupolar coupling constants are found to range from 15.55 to 24.0 MHz for LaCl₃ and LaI₃, respectively. The lanthanum isotropic chemical shifts exhibit an inverse halogen dependence with values ranging from −135 ppm for LaF₃ to 700 ppm for LaI₃, which represents nearly half of the total lanthanum chemical shift range. The spans of the magnetic shielding tensors also vary widely, from 35 to 650 ppm for the solid LaF₃ through LaI₃. DFT calculations of the ¹³⁹La electric field gradient and magnetic shielding tensors have been performed and provide a qualitative interpretation of the trends observed experimentally.     

Minimum energy pulse synthesis via the inverse scattering transform

This paper considers a variety of problems in the design of selective RF-pulses. We apply a formula of Zakharov and Manakov to directly relate the energy of an RF-envelope to the magnetization profile and certain auxiliary parameters used in the inverse scattering transform (IST) approach to RF-pulse synthesis. This allows a determination of the minimum possible energy for a given magnetization profile. We give an algorithm to construct both the minimum energy RF-envelope as well as any other envelope that produces a given magnetization profile. This includes an algorithm for solving the Gel'fand-Levitan-Marchenko equations with bound states. The SLR method is analyzed in terms of traditional scattering data, and shown to be a special (singular) case of the IST approach. RF-envelopes are computed for a variety of examples.     

Entropy,Periodicity, and Graphs with Zero Euler Characteristic

Let G be a graph which contains exactly one simple closed curve. We prove that a continuous map f : G → G has zero topological entropy if and only if there exist at most k ≤ |(Edg(G) End(G) 3)/2] different odd numbers n1,...,nk such that Per(f) is contained in ∪i=1^k ∪j=0^∞ ni2^j, where Edg(G) is the number of edges of G and End(G) is the number of end points of G.     

An Arc as the Inverse Limit of a Single Bonding Map of Type N on [0,1]

Let I = [0, 1], c ₁, c ₂ ∈ (0, 1) with c ₁ < c ₂ and f : I⊸I be a continuous map satisfying: are both strictly increasing and is strictly decreasing. Let A = {x ∈ [0, c ₁]∣f(x) = x}, a=max A, a ₁ =max(A\{a}), and B = {x ∈ [c ₂, 1]∣f(x) = x}, b=minB, b ₁ =min(B\{b}). Then the inverse limit (I, f) is an arc if and only if one of the following three conditions holds: (1) If c ₁ < f (c ₁) ≤ c ₂ (resp. c ₁ ≤ f (c ₂) < c ₂), then f has a single fixed point, a period two orbit, but no points of period greater than two or f has more than one fixed point but no points of other periods, furthermore, if A≠φ and B≠φ, then f (c ₂) > a (resp. f (c ₁) < b). (2) If f (c ₁) ≤ c ₁ (resp. f (c ₂) ≥ c ₂), then f has more than one fixed point, furthermore, if B≠φ and A\ {a} ≠φ, f (c ₂) ≥ a or if a ₁ < f (c ₂) < a, f ² (c ₂) > f (c ₂), (resp. f has more than one fixed point, furthermore, if A≠φ and B\{b}≠φ, f (c ₁) ≤ b or if b < f (c ₂) < b ₁, f ² (c ₁) < f (c ₁)). (3) If f (c ₁) > c ₂ and f (c ₂) < c ₁, then f has a single fixed point, a single period two orbit lying in I\(u, v) but no points of period greater than two, where u, v ∈ [c ₁, c ₂] such that f (u) = c ₂ and f (v) = c ₁. Supported by the National Natural Science Foundation of China (No. 19961001, No. 60334020) and Outstanding Young Scientist Research Fund. (No. 60125310)     

Asymptotic Expansions of the Heat Kernel of the Laplacian for General Annular Bounded Domains with Robin Boundary Conditions：Further Results

The asymptotic expansions of the trace of the heat kernel θ(t)=∑^∞v=1^exp(-tλv) for small positive t,where {λv} are the eigenvalues of the negative Laplacian -△n=-∑^ni=1(D/Dx^1)^2 in R^2(n=2 or 3),are studied for a general annular bounded domain Ω with a smooth inner boundary DΩ1 and a smooth outer boundary DΩ2,where a finite number of piecewise smooth Robin boundary conditions(D/Dnj γh)Ф=0 on the components Гj(j= 1,...,m) of (DΩ1 and on the components Гj (j=k 1,…,m) of of DΩ2 are considered such that DΩl=U^kj=lГj and DΩ2= U^m=k 1Гj and where the coefficients γj(j=1,...,m) are piecewise smooth positive functions. Some applications of θ(t) for an ideal gas enclosed in the general annular bounded domain Ω are given. Further results are also obtained.     

Statistical Inference in a Linear Model for Spatially Located Sensors and Random Input

In the paper we consider a random linear model for observations provided by spatially located sensors measuring signals coming from one source. For this model a set of sufficient and complete statistics are found, and it is shown that the maximum likelihood estimators of unknown parameters (characteristics of the source) are functions of those statistics. The problem of nonnegative estimators of variance components of the model is shortly discussed. Comparisons of the mean squared errors of several estimators are given. Numerical example concerning hunting for defects in solar cells is considered in details.