Based on clonal selection theory, the main mechanisms of a clone in immune system, which are explored field artificial intelligence, analyzed. An system algorithm, antibody is put forward. Compared with an improved gene new algorithm shown to be evolutionary strategy capable solving complex machine learning tasks, like multi-modal optimization. Using Markov chain theories, it proved that convergent.

In this article, we investigate the impact of hardware impairments (HIs) on performance non-orthogonal multiple access (NOMA) based integrated satellite-terrestrial relay networks (ISTRNs). Particularly, obtain novel closed-form expression for outage probability (OP) considered NOMA-based ISTRNs with HIs. Furthermore, to get further insights effect HIs system in high signal-to-noise ratios (SNRs) scenario, asymptotic OP is also obtained, which provides an efficient way evaluate performance,...

To improve the control performance of a permanent magnet synchronous motor (PMSM) under external disturbances, an improved active disturbance rejection (IADRC) algorithm is proposed. Since nonlinear function in conventional ADRC not smooth enough at breakpoints, which directly affects performance, innovative proposed to effectively convergence and stability. On this basis, IADRC constructed, comparative simulation results with other show that faster response speed, higher accuracy stronger...

In this paper, we investigate the performance of two-way multiple relay non-orthogonal access (NOMA) based networks with hardware impairments (HIs). Especially, opportunistic selection scheme is applied to enhance spectral efficiency along spatial diversity. With increasing relay's processing capacity, decode-and-forward (DF) protocol considered in networks. Based on proposed and NOMA protocol, closed-form expressions for outage probability (OP) system are derived. order study energy (EE)...

In apple harvesting robot, the first key part is machine vision system. Identifying single objects from fruit images and foremost task in However, main problem affecting identification of fruits that regions image taken unstructured orchard environment are overlapping some cases. On basis studies on segmentation boundary tracking, this paper proposed a new method for partition recognition apples based curvature. After whole one-pixel was extracted, curvature at every point calculated. Then...

With the emerging of wearable robots, safety and effectiveness human-robot physical interaction have attracted extensive attention. Recent studies suggest that online measurement force between robot human body is essential to aspects above in exoskeletons. However, a large proportion existing exoskeletons monitor sense delivered torque through an indirect-measure method, which estimated by motor current. Direct force/torque measuring low-cost compact sensors remains open problem. This paper...

SUMMARY Inspired by the mechanisms of idiotypic network hypothesis and ant finding food, a hybrid colony immune algorithm (AC-INA) for motion planning is presented. Taking environment surrounding robot action as antigen antibody respectively, an artificial constructed through stimulation suppression between antibody, searched using improved (ACA) with pseudo- random-proportional rule super excellent optimization strategy. To further accelerate convergence speed AC-INA realize optimal dynamic...

Being difficult to attain the precise mathematical models, traditional control methods such as proportional integral (PI) and differentiation (PID) cannot meet demands for real time robustness when applied in some nonlinear systems. The neural network controller is a good replacement overcome these shortcomings. However, performance of directly determined by model. In this paper, new model constructed with structure topology between regular random connection modes based on complex network,...

Inspired by related mechanisms of ant colony and idiotypic network hypothesis, a model immune is proposed to solve the problem path planning in complex environment. The mechanism stimulation suppression between antigen antibody used find path, which solves environment modeling algorithm, improves efficiency. algorithm search network, optimal effect. To overcome local minimum, strategies retracing instruction definition punishing are confirmed their usefulness. Compared with corresponding...

A technique for optimal trajectory planning of robot manipulators is presented. It consists linking two points in the operational space while minimizing a cost function, taking into account dynamic equations motion as well bounds on joint velocities, accelerations, jerks and force/torques. We choose function weighted balance traveling time mechanical energy actuators. Also, novel ranking penalty designed to deal with constraints. Furthermore, Environment-Gene evolutionary Immune Clonal...

The precision of short-term load forecasting for electric power systems directly affects the economic benefit systems. However, since relationship between and factors influencing is nonlinear, it difficult to identify its nonlinearity by using conventional methods. A nonlinear model based on artificial immune network presented in this paper. design learning neural system uses regulation programming, defined. This paper presents method forecasting, compared with method. result indicates that...

In this paper, based on the relationship between chaos and evolution of chaotic theory, is combined with a genetic algorithm. A new hybrid strategy proposed in order to overcome weakness simple algorithm (SGA). The GA applied neural networks simulations show that better than SGA speed searching precision optimization.

The trajectory tracking control problem of nonholonomic mobile robots with parameter uncertainties has been analyzed. kinematics and dynamical models are taken into account, the rule based on model is as desired virtual control, adaptive sliding mode controller designed, take account both model, robot can not only track smoothly, but also be robust to uncertainties. Based Lyapunov theory, system stable. Finally, simulations performed uncertainties, results show that proposed effectively.

Ethernet, which is gradually being used in the process bus communication of automation devices, has become focus manufacturers and customers. In order to fulfill requirements, IEC TC57 will publish IEC61850 standard for substation network communication. All evidences show that technology, based on manufacturing message specification (MMS), TCP/IP trend next system. The above platform have many benefits manufacture system integration. This paper firstly gives basic principles integration...

Based on the immune response and network theory, main mechanisms of interaction among antibody molecules, an artificial agent model system for multi-autonomous robots are put forward.By simulating experiments physical experiments, it indicates that presented cooperation approach can achieve a self-organizing is more robust flexible in dynamic environment.