【61075121】时变问题求解的神经动力学新方法、模型及理论分析国家自然基金项目

时变问题求解的神经动力学新方法、模型及理论分析

项目批准号： 61075121

批准年份： 2010

学科分类： F0601.人工智能基础

项目负责人：张雨浓

资助类别：面上项目

负责人职称：教授

依托单位：中山大学

资助金额： 35万元

关键词：新方法;时变;梯度法;神经网络;导数信息

起止时间： 2011-01-01到2013-12-31

中英文摘要
结题摘要
结题报告
项目成果
项目参与人

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序号	标题	类型	作者
1	Repetitive Motion Planning and Control of Redundant Robot Manipulators	专著	张雨浓\|张智军\|
2	Minimum-effort redundancy resolution of robot manipulators unified by quadratic programming	会议论文	Li, Kene\|Zhang, Yunong\|
3	Zhang dynamics and gradient dynamics with tracking-control application	会议论文	Zhang Yunong\|Yin Yonghua\|Wu Huarong\|Guo Dongsheng\|
4	Discrete-time Zhang neural network and numerical algorithm for time-varying quadratic minimization	会议论文	Zhang, Yunong\|Mu, Bingguo\|Zheng, Huicheng\|
5	Zhang neural network, Getz-Marsden dynamic system, and discrete-time algorithms for time-varying matrix inversion with application to robots' kinematic control	期刊论文	Guo Dongsheng\|Zhang Yunong\|
6	两输入幂激励前向神经网络权值与结构确定	期刊论文	张雨浓\|劳稳超\|余晓填\|李钧\|
7	Zhang dynamics and Newton-Raphson iteration for time-varying and static reciprocals computation	会议论文	Zhang Yunong\|Xie Yunjia\|Li Fen\|Tan Hongzhou\|
8	Solving time-varying nonlinear inequalities using continuous and discrete-time Zhang dynamics	期刊论文	Xiao, Lin\|Zhang, Yunong\|
9	三输入伯努利神经网络权值与结构双确定	期刊论文	张雨浓\|罗飞恒\|陈锦浩\|黎卫兵\|
10	Zhang fractals yielded via solving nonlinear equations by discrete-time complex-valued ZD	会议论文	Wu Huarong\|Li Fen\|Li Zhan\|Zhang Yunong\|
11	Solving for time-varying and static cube roots in real and complex domains via discrete-time ZD models	期刊论文	Zhang, Yunong\|Ke, Zhende\|Guo, Dongsheng\|Li, Fen\|
12	一点超前数值差分公式的提出、研究与实践	期刊论文	张雨浓\|陈宇曦\|陈锦浩\|殷勇华\|
13	Superior robustness of power-sum activation functions in Zhang neural networks for time-varying quadratic programs perturbed with large implementation errors	期刊论文	Yang, Yiwen\|Zhang, Yunong\|
14	Different Zhang functions leading to different Zhang-dynamics models illustrated via time-varying reciprocal solving	期刊论文	Zhang Yunong\|Li Fen\|Yang Yiwen\|Li Zhan\|
15	多输入Sigmoid激励函数神经网络权值与结构确定法	期刊论文	GUO Dong-sheng\|曲璐\|陈俊维\|刘锦荣\|郭东生\|ZHANG Yu-nong\|Qu Lu\|CHEN Jun-wei\|LIU Jin-rong\|
16	Real-time joystick control and experiments of redundant manipulators using cosine-based velocity mapping	会议论文	Zhang, Yunong\|Xie, Ling\|Zhang, Zhijun\|Li, Kene\|Xiao, Lin\|
17	Z-Type and G-Type ZISR (Zhang Inverse Square Root) Solving	会议论文	Zhang, Yunong\|Li, Zhen\|Xie, Yunjia\|Tan, Hongzhou\|Chen, Pei\|
18	重复运动速度层和加速度层方案的等效性	期刊论文	张智军\|张雨浓\|
19	Time-varying quadratic programming by zhang neural network equipped with a time-varying design parameter γ(t)	会议论文	Li, Zhan\|Zhang, Yunong\|
20	Manipulability-maximizing self-motion planning and control of redundant manipulators with experimental validation	会议论文	Zhang Yunong\|Dongsheng Guo\|Li Kene\|Li Jun\|
21	Zhang fractals yielded via solving time-varying nonlinear complex equations by discrete-time complex-valued ZD	会议论文	Zhang Yunong\|Jin Long\|Zhang Zhijun\|Xiao Lin\|Fu Senbo\|
22	Different-level two-norm and infinity-norm minimization to remedy joint-torque instability/divergence for redundant robot manipulators	期刊论文	Guo Dongsheng\|Zhang Yunong\|
23	Discrete-time Zhang neural network and numerical algorithm for time-varying linear equations solving	会议论文	Zhang, Yunong\|Mu, Bingguo\|Zheng, Huicheng\|
24	Jordan标准形简记形式之补正及仿真验证	期刊论文	张雨浓\|黎卫兵\|易称福\|林业宏\|
25	The link and comparison between velocity-level and acceleration-level repetitive motion planning schemes verified via PA10 robot arm	期刊论文	Yunong Zhang\|Huarong Wu\|Dongsheng Guo\|Lin Xiao\|Hong Zhu\|
26	Convergence and stability results of Zhang neural network solving systems of time-varying nonlinear equations	会议论文	Zhang Yunong\|Shi Yanyan\|Xiao Lin\|Mu Bingguo\|
27	Discrete-time ZNN algorithms for time-varying quadratic programming subject to time-varying equality constraint	会议论文	Ke, Zhende\|Yang, Yiwen\|Zhang, Yunong\|
28	一种基于LVI求解二次规划问题的数值算法(英文)	期刊论文	张雨浓\|李学忠\|张智军\|李钧\|
29	A time-varying coefficient-based manipulability-maximizing scheme for motion control of redundant robots subject to varying joint-velocity limits	期刊论文	Zhang, Yunong\|Li, Jun\|Zhang, Zhijun\|
30	未知目标函数数值积分公式MATLAB完备给出与实践	期刊论文	张雨浓\|任成坤\|金龙\|刘锦荣\|殷勇华\|
31	Link Between and Comparison and Combination of Zhang Neural Network and Quasi-Newton BFGS Method for Time-Varying Quadratic Minimization	期刊论文	Zhang, Yunong\|Mu, Bingguo\|Zheng, Huicheng\|
32	Equivalence of position-level and velocity-level redundancy-resolution schemes	会议论文	Zhang Yunong\|Wu Huarong\|Xiao Lin\|Fu Senbo\|
33	多输入Laguerre正交多项式前向神经网络权值与结构确定法	期刊论文	张雨浓\|刘锦荣\|殷勇华\|肖林\|
34	Encoder based online motion planning and feedback control of redundant manipulators	期刊论文	Zhang, Yunong\|Li, Weibing\|Yu, Xiaotian\|Wu, Huarong\|Li, Jun\|
35	Different Zhang functions resulting in different ZNN models demonstrated via time-varying linear matrix–vector inequalities solving	期刊论文	Lin Xiao\|Yunong Zhang\|
36	基于前向和中间差分的离散ZNN的定常矩阵求逆方法	期刊论文	张雨浓\|黎卫兵\|郭东生\|张智军\|侯占伟\|
37	Acceleration-level repetitive motion planning of redundant planar robots solved by a simplified LVI-based primal-dual neural network	期刊论文	Zhang, Yunong\|Wu, Huarong\|Zhang, Zhijun\|Xiao, Lin\|Guo, Dongsheng\|
38	Growing-Type WASD for Power-Activation Neuronet to Model and Forecast Monthly Time Series	会议论文	Zhang, Yunong\|Lao, Wenchao\|Jin, Long\|Chen, Jinhao\|Liu, Jinrong\|
39	Complex-valued Zhang neural network for online complex-valued time-varying matrix inversion	期刊论文	Zhang, Yunong\|Li, Zhan\|Li, Kene\|
40	On the LVI-based numerical method (E47 algorithm) for solving quadratic programming problems	会议论文	Zhang, Yunong\|Fu, Senbo\|Zhang, Zhijun\|Xiao, Lin\|Li, Xuezhong\|
41	Using GD to conquer the singularity problem of conventional controller for output tracking of nonlinear system of a class	期刊论文	Zhang, Yunong\|Yu, Xiaotian\|Yin, Yonghua\|Xiao, Lin\|Fan, Zhengping\|
42	Repetitive motion planning and control on redundant robot manipulators with push-rod-type joints	期刊论文	Zhijun Zhang\|Yunong Zhang\|
43	Effective parameter range for equivalence of velocity-level and acceleration-level redundancy resolution schemes	期刊论文	Zhang Yunong\|Wu Huarong\|Guo Dongsheng\|Xiao Lin\|
44	Different-level simultaneous resolution of robot redundancy with end-effector path tracked and with joint velocity and acceleration both minimized	会议论文	Zhang Yunong\|Li Kene\|Guo Dongsheng\|Cai Binghuang\|
45	Comparison on Zhang neural dynamics and gradient-based neural dynamics for online solution of nonlinear time-varying equation	期刊论文	Yunong Zhang\|Chenfu Yi\|Dongsheng Guo\|Jinhuan Zheng\|
46	神经网络与机器人科研项目申请与实践	专著	张雨浓\|李克讷\|
47	A new inequality-based obstacle-avoidance MVN scheme and its application to redundant robot manipulators	期刊论文	Guo, Dongsheng\|Zhang, Yunong\|
48	Zhang dynamics with modified error-functions for online solution of nonlinear equations so as to avoid local minima	会议论文	Zhang, Yunong\|Ke, Zhende\|Li, Kene\|Li, Zhan\|
49	(半)正/负定矩阵数学符号表示的科学性分析	期刊论文	张雨浓\|陈锦浩\|林业宏\|
50	一组一点外推的数值积分公式的提出与验证	期刊论文	张雨浓\|何良宇\|金龙\|曲璐\|刘锦荣\|
51	Discrete-time ZNN algorithms for time-varying linear matrix-vector inequality solving	会议论文	Zhang Yunong\|Jin Long\|Xiao Lin\|Fu Senbo\|
52	Bi-criteria torque minimization of redundant robots performing different end-effector trajectories by using simplified LVI-PDNN	会议论文	Zhang Yunong\|Guo Dongsheng\|
53	Time-Varying Quadratic Programming by Zhang Neural Network Equipped with a Time-Varying Design Parameter gamma(t)	会议论文	Li, Zhan\|Zhang, Yunong\|
54	On hyperbolic sine activation functions used in ZNN for time-varying matrix square roots finding	会议论文	Zhang Yunong\|Zhende Ke\|
55	Unification and comparison on bi-criteria velocity, acceleration and torque minimization illustrated via three-link planar robot arm	会议论文	Zhang, Yunong\|Guo, Dongsheng\|Li, Jun\|Li, Kene\|
56	龙格现象难题破解之系数与阶次双确定方法	期刊论文	张雨浓\|李名鸣\|陈锦浩\|劳稳超\|吴华荣\|
57	QP-based SMP scheme for robots with pseudoinverse method compared and singularities discussed	会议论文	Zhang Yunong\|Xiao Lin\|
58	Time-varying Moore-Penrose inverse solving shows different Zhang functions leading to different ZNN models	会议论文	Zhang Yunong\|Xie Yunjia\|Tan Hongzhou\|
59	Common Nature of Learning Between Back-Propagation and Hopfield-Type Neural Networks for Generalized Matrix Inversion With Simplified Models	期刊论文	Zhang, Yunong\|Guo, Dongsheng\|Li, Zhan\|
60	牛顿方法的用导一致性	期刊论文	张雨浓\|陈宇曦\|付森波\|肖林\|
61	Remedy scheme and theoretical analysis of joint-angle drift phenomenon for redundant robot manipulators	期刊论文	Zhang, Yunong\|Guo, Dongsheng\|Cai, Binghuang\|Chen, Ke\|
62	Comparison on continuous-time Zhang dynamics and Newton-Raphson iteration for online solution of nonlinear equations	会议论文	Zhang, Yunong\|Ke, Zhende\|Li, Zhan\|Guo, Dongsheng\|
63	Novel recurrent neural network for time-varying problems solving	期刊论文	Guo Dongsheng\|Zhang Yunong\|
64	Two new types of Zhang neural networks solving systems of time-varying nonlinear inequalities	期刊论文	Xiao Lin\|Zhang Yunong\|
65	Zhang neural network versus gradient-based neural network for time-varying linear matrix equation solving	期刊论文	Guo, Dongsheng\|Yi, Chenfu\|Zhang, Yunong\|
66	基于权值与结构确定法的单极Sigmoid神经网络分类器	期刊论文	张雨浓\|陈俊维\|刘锦荣\|曲璐\|黎卫兵\|
67	Design and implementation of a zero-initial-velocity self-motion scheme on a six-DOF planar robot manipulator	期刊论文	Kene Li\|Yunong Zhang\|
68	Optimal and Efficient Motion Planning of Redundant Robot Manipulators	专著	蔡炳煌\|张雨浓\|
69	Different Complex ZFs Leading to Different Complex ZNN Models for Time-Varying Complex Matrix Inversion	会议论文	Zhang, Yunong\|Guo, Dongsheng\|Li, Fen\|
70	Performance analysis of gradient neural network exploited for online time-varying quadratic minimization and equality-constrained quadratic programming	期刊论文	Zhang, Yunong\|Yang, Yiwen\|Ruan, Gongqin\|
71	Different Zhang Functions Leading to Different ZD Models Illustrated via Time-Varying Square Roots Finding	会议论文	Zhang, Yunong\|Yin, Yonghua\|Guo, Dongsheng\|Li, Weibing\|Ke, Zhende\|
72	State adjustment of redundant robot manipulator based on quadratic programming	期刊论文	Li Kene\|Zhang Yunong\|
73	Simultaneous repetitive motion planning of two redundant robot arms for acceleration-level cooperative manipulation	期刊论文	Zhang, Yunong\|Wang, Ying\|Guo, Dongsheng\|Yu, Xiaotian\|Xiao, Lin\|
74	Zhang dynamics solving scalar-valued time-varying linear inequalities using different activation functions	会议论文	Zhang, Yunong\|Li, Fen\|
75	Three nonlinearly-activated discrete-time ZNN models for time-varying matrix inversion	会议论文	Zhang Yunong\|Jin Long\|Guo Dongsheng\|Fu Senbo\|Xiao Lin\|
76	Zhang neural network versus gradient neural network for solving time-varying linear inequalities	期刊论文	Xiao, Lin\|Zhang, Yunong\|
77	Different-level schemes’ equivalence for self-motion planning of robot manipulators	会议论文	Zhang Yunong\|Wu Huarong\|Zhang Zhijun\|Fu Senbo\|Yin Yonghua\|
78	Feedback-Type MWVN Scheme and Its Acceleration-Level Equivalent Scheme Proved by Zhang Dynamics	会议论文	Zhang, Yunong\|Li, Weibing\|Guo, Dongsheng\|Zhang, Zhijun\|Fu, Senbo\|
79	Different Zhang functions leading to different ZNN models illustrated via time-varying matrix square roots finding	期刊论文	Zhang, Yunong\|Li, Weibing\|Guo, Dongsheng\|Ke, Zhende\|
80	Variable joint-velocity limits of redundant robot manipulators handled by quadratic programming	期刊论文	Zhijun Zhang\|Yunong Zhang\|
81	Zhang Neural Networks and Neural-Dynamic Method	专著	Yunong Zhang\|Chenfu Yi\|
82	唯一性逻辑及其BP神经网络侦测	期刊论文	张雨浓\|邓健豪\|金龙\|刘锦荣\|殷勇华\|
83	Acceleration-level cyclic-motion generation of constrained redundant robots tracking different paths	期刊论文	Zhang Zhijun\|Zhang Yunong\|
84	Fault-tolerant motion planning and control of redundant manipulator	期刊论文	Li, Kene\|Zhang, Yunong\|
85	A new variant of the Zhang neural network for solving online time-varying linear inequalities	期刊论文	Guo Dongsheng\|Zhang Yunong\|
86	Different-level redundancy-resolution and its equivalent relationship analysis for robot manipulators using gradient-descent and Zhang et al.'s neural-dynamic methods	期刊论文	Cai Binghuang\|Zhang Yunong\|
87	Broyden-Method Aided Discrete ZNN Solving the Systems of Time-Varying Nonlinear Equations	会议论文	Zhang, Yunong\|Peng, Chen\|Li, Weibing\|Shi, Yanyan\|Ling, Yingbiao\|
88	Repetitive motion planning and control on redundant robot manipulators with push-rod-type joints	期刊论文	Zhijun Zhang\|Yunong Zhang\|

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