Bøger af Yunong Zhang

This book aims to solve the discrete implementation problems of continuous-time neural network models while improving the performance of neural networks by using various Zhang Time Discretization (ZTD) formulas.The authors summarize and present the systematic derivations and complete research of ZTD formulas from special 3S-ZTD formulas to general NS-ZTD formulas. These finally led to their proposed discrete-time Zhang neural network (DTZNN) algorithms, which are more efficient, accurate, and elegant. This book will open the door to scientific and engineering applications of ZTD formulas and neural networks, and will be a major inspiration for studies in neural network modeling, numerical algorithm design, prediction, and robot manipulator control.The book will benefit engineers, senior undergraduates, graduate students, and researchers in the fields of neural networks, computer mathematics, computer science, artificial intelligence, numerical algorithms, optimization, robotics, and simulation modeling.

Introduces a revolutionary, quadratic-programming based approach to solving long-standing problems in motion planning and control of redundant manipulatorsThis book describes a novel quadratic programming approach to solving redundancy resolutions problems with redundant manipulators. Known as ``QP-unified motion planning and control of redundant manipulators'' theory, it systematically solves difficult optimization problems of inequality-constrained motion planning and control of redundant manipulators that have plagued robotics engineers and systems designers for more than a quarter century.An example of redundancy resolution could involve a robotic limb with six joints, or degrees of freedom (DOFs), with which to position an object. As only five numbers are required to specify the position and orientation of the object, the robot can move with one remaining DOF through practically infinite poses while performing a specified task. In this case redundancy resolution refers to the process of choosing an optimal pose from among that infinite set. A critical issue in robotic systems control, the redundancy resolution problem has been widely studied for decades, and numerous solutions have been proposed. This book investigates various approaches to motion planning and control of redundant robot manipulators and describes the most successful strategy thus far developed for resolving redundancy resolution problems.* Provides a fully connected, systematic, methodological, consecutive, and easy approach to solving redundancy resolution problems* Describes a new approach to the time-varying Jacobian matrix pseudoinversion, applied to the redundant-manipulator kinematic control* Introduces The QP-based unification of robots' redundancy resolution* Illustrates the effectiveness of the methods presented using a large number of computer simulation results based on PUMA560, PA10, and planar robot manipulators* Provides technical details for all schemes and solvers presented, for readers to adopt and customize them for specific industrial applicationsRobot Manipulator Redundancy Resolution is must-reading for advanced undergraduates and graduate students of robotics, mechatronics, mechanical engineering, tracking control, neural dynamics/neural networks, numerical algorithms, computation and optimization, simulation and modelling, analog, and digital circuits. It is also a valuable working resource for practicing robotics engineers and systems designers and industrial researchers.

It also uses simulations to substantiate their efficacy and show the feasibility of the presented ZD approach (i.e., different ZFs leading to different ZD models), which is further applied to the repetitive motion planning (RMP) of redundant robots, showing its application potential.

This book offers the latest in the parallel solution of integral equations for both in-core and out-of-core modes. User-friendly computer code is provided, with a strong and unique capability for solving challenging electromagnetic field problems consisting of complex material structures.

The real-time solution to a mathematical problem arises in numerous fields of science, engineering, and business. This book presents ZNN, ZD or ZND theory that formalises these problems and solutions in the time-varying context, and provides compact models that could solve those dynamic problems.

This book presents four typical motion planning schemes based on optimization techniques, including the fundamental RMP scheme and its extensions. These schemes are unified as quadratic programs, which are solved by neural networks or numerical algorithms.