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A normal quartic polynomial is a quartic polynomial whose fourth degree term coefficient tensor is positive definite. Its minimization problem is one of the simplest cases of nonconvex global optimization, and has engineering applications. We call a direction a global descent direction of a function at a point if there is another point with a lower function(More)
In this paper, a new nonmonotone line search rule is proposed,which is verified to be an improved version of the nonmonotone line search technique proposed by Zhang and Hager. Unlike the Zhang and Hager’s method, our nonmonotone line search is proved to own a nice property similar to the standard Armijo line search. In virtue of such a property, global(More)
Search for Majorana fermions renewed interest in semiconductor-superconductor interfaces, while a quest for higher-order non-Abelian excitations demands formation of superconducting contacts to materials with fractionalized excitations, such as a two-dimensional electron gas in a fractional quantum Hall regime. Here we report induced superconductivity in(More)
In this paper a class of mobile parallel robots with the structural configuration of PPUU (Prismatic-Prismatic- Universal-Universal) is investigated in detail. Firstly a singularity analysis corresponding to different configured cases of the revolute axes of the robot's U-joint based on the screw theory is developed and a brief comparison of the four cases(More)
In this paper, the Mobile Parallel Robot (MPR) with structural configurations of PPUU (Prismatic - Prismatic - Universal - Universal) is developed. The inverse kinematics is firstly derived and a specific control system is presented. The control system integrates the features of parallel robot and mobile robot. Five control modules are included in the(More)
Compared with the existing mobile robot, the Mobile Parallel Robot (MPR) has more powerful climbing ability and more adaptive behaviors. This paper expands the complex agent using Deterministic Finite Automaton (DFA) from the wheeled mobile robot to a MPR successfully, and the monocular vision part is improved to stereo vision. The action status model with(More)
In this paper, a novel type of parallel robot with four degree of freedoms is presented and investigated, which expends the family of few DOFs parallel robots. The parallel robot has two rotation and two translation degree of freedoms. The aspects about its configuration and kinematics analysis are discussed firstly, and a comparison of its singularity,(More)