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Method and device for controlling Boolean network robot

A Boolean network and control method technology, which is applied in the field of robot control to meet real-time requirements, speed up computation, and reduce computational complexity.

Active Publication Date: 2018-11-23
NORTH CHINA UNIV OF WATER RESOURCES & ELECTRIC POWER
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Problems solved by technology

[0009] The purpose of the present invention is to provide a control method and device of Boolean network robot, which is used to solve the problem of real-time control of Boolean network robot

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  • Method and device for controlling Boolean network robot
  • Method and device for controlling Boolean network robot
  • Method and device for controlling Boolean network robot

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Embodiment Construction

[0058] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0059] The invention provides a control device of a Boolean network robot, which includes a processor and a memory, and the processor is used for processing instructions stored in the memory to realize a control method of the Boolean network robot. The control method of the Boolean network robot constructs the Boolean network model of the robot, and then according to the dynamic description of the Boolean network, selects the superposition method or expansion method for each node to obtain the auxiliary matrix E ai , after obtaining the auxiliary matrix E ai After that, the node structure matrix M is obtained by calculation i , and finally use the network structure matrix L and the node structure matrix M i The corresponding relationship...

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Abstract

The invention relates to a method and device for controlling a Boolean network robot. The method comprises the steps that a Boolean network model of the robot is constructed; a superposition method ora method of development is adopted for obtaining auxiliary matrixes corresponding to all nodes in the Boolean network model according to dynamic description in the Boolean network model; a node structure matrix is computed according to the obtained auxiliary matrixes; a network structure matrix is obtained through the correspondence between the network structure matrix and the node structure matrix; and the Boolean network robot is controlled according to the network structure matrix. By transforming the computational problem of the network structure matrix into a solution to the auxiliary matrixes with special structures and then transforming computation of the auxiliary matrixes into a simple matrix operation through the superposition method or the method of development, the computational complexity is lowered, the computation speed is increased, and the real-time requirements in robot control are met.

Description

technical field [0001] The invention relates to a control method and device of a Boolean network robot, belonging to the technical field of robot control. Background technique [0002] Robot technology is more and more widely used in human production and life. In many application scenarios, robots are required to have certain real-time performance in order to respond to changes in environmental conditions in a timely manner. This requires the controller of the robot to have continuous real-time Ability to calculate dynamics. [0003] Boolean networks are prominent representatives of complex dynamical systems and have been shown to effectively capture important phenomena in gene regulation. From an engineering point of view, this model is attractive because it is not only simple to describe, but also capable of exhibiting rich and complex behavior, which is very suitable for robot control. The Boolean network robot uses the Boolean network as the dynamic model and realizes ...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16
Inventor 张晓华白娟段美霞
Owner NORTH CHINA UNIV OF WATER RESOURCES & ELECTRIC POWER
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