Chen Haiyong

Research on Improved Multidimensional Scaling Localization Algorithm for Wireless Sensor Network

Wireless sensor networks, which are energy limited, low hardware configuration and proneness to invalidation, puts a high demand on the positioning algorithm. Therefore the improved multidimensional scaling (IMDS) algorithm is proposed. In IMDS, firstly, local positioning areas (LPA) are established by an adaptive search algorithm. So the centralized multidimensional scaling algorithm is changed into a distributed algorithm. Then the shortest path distances between nodes on LPA are corrected with the geometric correction method (GCM) and adjusting weight correction method (AWCM). The distances between nodes become more accurate. Finally, with information of the public nodes of LPA and anchor nodes, we get the wireless sensor nodes coordinates through coordinate transformation by the SMACOF algorithm and the classical multidimensional scaling algorithm.

Predictive image based visual servoing of manipulators with multiple constraints

A novel image based visual servoing (IBVS) method under the predictive control frame is proposed in order to solve the visual tracking problem of robot manipulator with multiple constraints. A vision predictive frame is presented by employing the motion model between cameras velocity and image features. And the design step of vision predictive controller is presented. Then, an effective vision predictive control method with a suitable predictive time horizon is obtained. In simulation, the role of predictive time horizon is analyzed and evaluated, and several simulation results are gained by using the proposed method. Finally, the interesting and satisfactory results are illustrated.