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Soft robot arms possess such characteristics as light weight, simple structure and good adaptability to the environment, among others. On the other hand, robust control of soft robot arms presents many difficulties. Based on these reasons, this paper presents a novel design and modelling of a fuzzy active disturbance rejection control (FADRC) controller for a soft PAM arm. The soft arm comprises three contractile and one extensor PAMs, which can vary its stiffness independently of its position in space. Force analysis for the soft arm is conducted, and stiffness model of the arm is established based on the relational model of contractile and extensor PAM. The accuracy of stiffness model for the soft arm was verified through experiments. Associated to this, a controller based on the fuzzy adaptive theory and ADRC, FADRC, has been designed to control the arm. The fuzzy adaptive theory is used to adjust the parameters of the ADRC, the control algorithm has the ability to control stiffness and position of the soft arm. In this paper, FADRC was further verified through comparative experiments on the soft arm. This paper reinforces the hypothesis that FADRC control, as an algorithm, indeed possesses good robustness and adaptive abilities.

Automatic control theory is tightly related with other majors such as mechanical engineering and electrical engineering. Control theory education is an essential part of those majors and has significant effect on students' engineering practice and innovative ability. However, current control theory courses use the "teaching by telling" approach to teach students mathematical derivation centered knowledge, which cuts off the natural connection between the theory and application and leaves students illprepared for the engineering profession. This paper proposes to use a rapid control prototyping centered approach to fill the gap between theory and application and help to improve the learning quality. The main idea is to introduce digital simulation and hardware-in-loop simulation into the teaching practice. Digital simulation can accelerate the learning efficiency while the hardware-in-loop simulation can establish the connection between the theory and application.  Index Terms-control theory education, rapid control prototyping, digital simulation, hardware-in-loop simulation Zhong Luo was born in 1978 and the birth place is Wulanchabu city, China. He received the B.S., M.S. and Ph.D. degrees in

In this paper, a novel global point cloud descriptor is proposed for reliable object recognition and pose estimation, which can be effectively applied to robot grasping operation. The viewpoint feature histogram (VFH) is widely used in three-dimensional (3D) object recognition and pose estimation in real scene obtained by depth sensor because of its recognition performance and computational efficiency. However, when the object has a mirrored structure, it is often difficult to distinguish the mirrored poses relative to the viewpoint using VFH. In order to solve this difficulty, this study presents an improved feature descriptor named orthogonal viewpoint feature histogram (OVFH), which contains two components: a surface shape component and an improved viewpoint direction component. The improved viewpoint component is calculated by the orthogonal vector of the viewpoint direction, which is obtained based on the reference frame estimated for the entire point cloud. The evaluation of OVFH using a publicly available data set indicates that it enhances the ability to distinguish between mirrored poses while ensuring object recognition performance. The proposed method uses OVFH to recognize and register objects in the database and obtains precise poses by using the iterative closest point (ICP) algorithm. The experimental results show that the proposed approach can be effectively applied to guide the robot to grasp objects with mirrored poses.

Online bipartite matching and allocation models are widely used to analyze and design markets such as Internet advertising, online labor, and crowdsourcing. Traditionally, vertices on one side of the market are fixed and known a priori, while vertices on the other side arrive online and are matched by a central agent to the offline side. The issue of possible conflicts among offline agents emerges in various real scenarios when we need to match each online agent with a set of offline agents.For example, in event-based social networks (e.g., Meetup), offline events conflict for some users since they will be unable to attend mutually-distant events at proximate times; in advertising markets, two competing firms may prefer not to be shown to one user simultaneously; and in online recommendation systems (e.g., Amazon Books), books of the same type “conflict” with each other in some sense due to the diversity requirement for each online buyer.The conflict nature inherent among certain offline agents raises significant challenges in both modeling and online algorithm design. In this paper, we propose a unifying model, generalizing the conflict models proposed in (She et al., TKDE 2016) and (Chen et al., TKDE 16). Our model can capture not only a broad class of conflict constraints on the offline side (which is even allowed to be sensitive to each online agent), but also allows a general arrival pattern for the online side (which is allowed to change over the online phase). We propose an efficient linear programming (LP) based online algorithm and prove theoretically that it has nearly-optimal online performance. Additionally, we propose two LP-based heuristics and test them against two natural baselines on both real and synthetic datasets. Our LP-based heuristics experimentally dominate the baseline algorithms, aligning with our theoretical predictions and supporting our unified approach.

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In tandem airfoil configuration or multiple-lifting-surface layouts, due to the flow interaction among their lifting surfaces, the aerodynamic characteristics can be affected by each other. In accordance with Prandtl's classical lifting-line theory, a method to calculate the section lift coefficient for the tandem wing configuration or multiple-lifting-surface system is presented. In that method, the form of Fourier sine series is used to express the variation of the section circulation which changes continuously along the wingspan. The accuracy of the numerical solutions obtained by the method has been validated by the data obtained from computational fluid dynamics and tunnel experiment. By varying the design parameters, such as the gap, the stagger, the incidence angle, the wingspan, the taper ratio as well as the aspect ratio, a series of tandem wing configurations are tested to analyze the lift coefficient and the induced drag of each lifting surface. From the results, it can be seen that the bigger negative gap and stagger can produce better lift characteristic for tandem wing configuration. Besides, it will also be beneficial for the lift characteristic when the incidence angle and the wingspan of fore wing are appropriately declined or if the incidence angle and the wingspan of hind wing are appropriately increased.