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A method based on variable horizon predictive control is proposed in the paper for nominal trajectory guidance. Firstly, a feasible reference trajectory is generated by the Gauss pseudospectral method. Then, curvature is employed to represent the smoothness of obtained trajectory and predictive horizon is selected according to the curvature. Different predictive control optimal problems are established...
Glazing deposition rate model is a key issue of the off-line trajectory planning for robotic spray glazing. In order to perform the automatic trajectory planning, achieve the accuracy control of glaze film thickness, a modeling method of the glazing thickness deposition rate fitted by the artificial neural network is presented. Based on the experimental data of the glazing thickness, the model is...
The cognitive algorithm of multi-degree of freedom neurons (MDFNs) was an important implementation method for Bionic Pattern Recognition (BPR), which was computed by high dimensional Euclidean geometrics. This paper proposed a new method for computing the MDFNs based on Clifford algebra, and gave out the corresponding proves to this method. Especially, the computing expressions for Clifford distant...
The neighborhood structure of a pixel in an image can be described more accurately by its two principal curvatures than its gradient or mean curvature-based estimation. Based on this idea, we propose a novel method - minimum principal curvature-driven diffusion, in which the two principal curvatures are used in a curvature-driven diffusion equation for image filtering. The main advantage of the proposed...
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