In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters' optimization. Finally, a simulation example was provided and the designed controller was proved ideal.

Intrauterine growth restriction (IUGR), one of the major complications of pregnancy, is characterized by the low-birth weight and results in higher risks for long-term problems including developing metabolic and cardiovascular...

In order to improve the control performance of humanoid robot hand in workspace, an adaptive control method based on improved neural network was proposed. rival-penalized competitive learning and recursive orthogonal least-squares algorithms were applied to reinforce the learning capability of Gaussian radial basis function neural network and realize the real-time of neural network. Moreover, an improved neural network model for humanoid robot hand was established with Ge-Lee matrix and its operator, and a controller was designed. Finally, an example of humanoid robot hand finger was provided. The results showed that the proposed control method could effectively control the unknown nonlinear dynamic properties and load disturbances of the finger with a much smaller tracking errors.

Economy in coastal cities plays an important role in China. It is urgent to protect environment with economy developing. Four types of sea water quality can be regarded as states of Markov Chain. Transfer probability is viewed as the function of sewage and investment in environmental protection. Based on historical datum in Tianjin, the function is estimated by Random Forest. Given objective of sewage reduction and environmental investment, transfer probability matrix can be calculated and long-term proportion of four types of sea water is obtained. It provides scientific reference for design goal of sewage reduction and environmental investment in reason. Keywords -Environmental investment, sewage reduction, Markov chain, random forest ___________________________________ 978-1-61284-449-7/11/$26.00 ©2011 IEEE