The hybrid game system suffers from the constantly time-varying environment and the heterogeneous behaviors of decision-making subjects (players) when the hybrid situation emerges, bringing significant challenges to situation representation and strategic reasoning. With the help of the powerful modeling ability of hybrid systems for situation representation and reasoning in network topology, we propose the six-tuple hybrid game model based on modified hybrid stochastic timed Petri nets (M-HSTPN) to reveal the internal cross-level operating mechanisms. Then, we carry out the nonlinear mapping relationship between the hybrid game elements and the symbols of M-HSTPN. Taking the intelligent drones combat problem as an example, we compare differential game, event game, and proposed hybrid game scheme in pursuit–evasion trajectories, action timing, bombing sequence, and formation. The proposed M-HSTPN-based hybrid game scheme can effectively describe the constantly changing pursuit–evasion trajectories and select the action timing to reduce the energy consumption of interception and the target-missing quantity. Furthermore, the proposed hybrid game scheme can reason the optimal bombing sequence and narrow the scope of optimal formation through enriching payoff evaluation indexes with the current hybrid situation compared with the event game scheme and differential game scheme.

Tactile sensing plays a crucial role in robot manipulation, robot interaction, and health monitoring. Because of high sensitivity, simple structure, and superior interference immunity, optical tactile sensors based on optical imaging or optical conduction have been one of the most active research. Herein, a novel liquid lens-based optical sensor (LLOS) is presented. Different with existed optical tactile sensors, the main body of the proposed sensor belongs to a variable-focus optical lens with a liquid-membrane structure, and its focal length is changed with the contact force, thereby changing the propagation direction of light and affecting the perceived light intensity of the photosensitive element. By conducting some testing experiments, the LLOS demonstrates fast response (about 0.021 s), stable dynamic response characteristics, and good linearity ( R -squared is about 0.99), repeated measurement accuracy (<0.006 V), and measurement accuracy (<0.2 N). Hence, the LLOS provides a new and promising method to measure tactile and has potential application in robotics nondestructive grasping and interactive input devices.

This method proposed a mapping relationship between mirror-angles and target position. It employed two galvano-mirrors to quickly control the optical path, improved the sensing field-of-view and the real-time performance for highly dynamic targets.

For designing the decision model of hybrid systems, there are sophisticated quantitative and qualitative attributes such as discrete events, continuous processes, stochasticity, and time delay. Meanwhile, the inherent heterogeneity and concurrency existing in hybrid systems trigger multiple decision challenges, including behavior uncertainty and states consistency. It is difficult to express the complicated nonlinear mapping relationship between decision results and hybrid situations. This proposes the decision-making scheme M-HSTPN-DL with a three-tier architecture based on modified hybrid stochastic timed Petri net (M-HSTPN) and deep learning (DL). Among them, M-HSTPN describes the various hybrid situations, and DL models are taken as the decision model to express the nonlinear relationship between decision results and hybrid situations. Then the training and calling mechanism of decision models is introduced. Taking the hybrid system of bearing fault diagnosis as an example, we compare the decision-making ability of multiple decision models and analyze the advantage of M-HSTPN-DL. It has proven to be that the M-HSTPN-DL architecture can adequately represent the hybrid situation and solves the complex decision- making problem of hybrid systems.

Trivalent gallium cations are introduced to passivate the surface defects of the CsPbBr3 QDs. The resultant Ga-modified perovskite QDs are used to fabricate perovskite LEDs, which exhibit remarkably improved brightness and stability, compare with pristine QD-derived devices.

The real-time and stability performance are both crucial for the active vision system (AVS) to gaze the high dynamic targets (HDTs). This study focused on the robust optical axis control mechanism of monocular AVS based on pan-tilt mirrors. We proposed an adaptive self-window to accommodate the HDTs within the region of interest. The minimum-envelope-ellipse and unscented-Kalman-filter methods were proposed to compensate and predict the angle of optical axis when the HDTs were blocked. The static and dynamic compensation error rates were less than 1.46% and 2.71%, prediction error rate was less than 13.88%, improving the gazing stability while ensuring real-time performance.

We proposed a liquid lens-based optical sensor with a liquid-membrane variable- focus optical lens structure, and its focal length is changed with the contact force, thereby affecting the perceived light intensity of the photosensitive element.

Liquid-filled variable focus lens is capable of dynamically changing its focal lengths. In this work, we investigated the thickness of the elastic membrane that affected the dynamic response of liquid lens.

The development of micro-sized light emitting diode (LED) displays has driven the research of micro-LED mass-transfer technology. To date, various transfer technologies are proposed, but ample room for improvements in the transfer yield and transfer accuracy still remains. Furthermore, whether these techniques are suited for the subsequent bonding process is not well investigated, which is essential for achieving a good electric connection between micro-LEDs and driver electronics. Here a systematical solution, termed as "tape-assisted laser transfer," which is not only suited for high-yield micro-LED transfer but also well compatible with subsequent bonding process, is developed. Using a low-cost adhesive tape as the support substrate, the method allows fast and wafer-level transfer of micro-LED with extremely high yield (approximate to 99.8%) and minimized transfer displacement (<0.5 mu m), based on a laser lift-off (LLO) process. Combined with a shadow mask, the LLO process also allows the selective transfer of micro-LED to the tape. Such thin film micro-LEDs are well compatible with the subsequent "bumpless" bonding process using low-melting point solder. Representative display devices including planar display and deformable display are further developed, suggesting the method has a good potential for developing high-resolution micro-LED display panels for the applications in VR/AR, wearables, and smart glasses.

Based on vector diffraction theory, We theoretically demonstrate the focus depth of the optical needle is independent of the apodization function of the focusing objective by focusing a narrow annulus of azimuthally polarized beams.

Cyber-physical system (CPS) is a multidimensional complex system that integrates computation, communication, and physical environment with essential and broad application prospects. However, there is a kind of CPS containing discrete events, continuous processes, stochastic phenomena, time-delay, and decision. It suffers from several sophisticated modeling and decision-making challenges, including deep integration of cyber and physical world, intensive temporal properties, model uncertainty, concurrency, and behavioral control. In this article, we deal with the above problems from the perspective of hybrid systems. We propose the modeling methods of CPS based on the modified hybrid stochastic timed Petri net (M-HSTPN) with three-tier architecture and introduce the decision place to strengthen the decision-making ability of CPS. Its advantages lie in describing multiple problems in CPS at the same time by adopting a unified open architecture. By integrating the various modeling and decision-making challenges under a unified framework, it is easy to analyze the problem systematically. Taking the humanoid soccer robot CPSs (HSR-CPS) as an example, by analyzing factors that affect the action cycle and interception success rate of the HSRs, we show the powerful modeling and decision-making capabilities of the M-HSTPN for CPS.

Aiming at the problem of target loss caused by high-dynamic targets with unstable trajectories, the adaptive size of the self-window are performed based on the motion information to improve the stability of capturing targets.

In this paper, an interesting Hybrid Stochastic Timed Petri Net (HSTPN) is proposed for a class of hybrid systems. The proposed HSTPN can be adopted to represent hybrid systems with discrete, continuous, conflicting, time-delay and stochastic characteristics simultaneously. The proposed HSTPN outperforms conventional hybrid Petri net models in terms of describing the scalability and immediacy of hybrid systems. Advantages of the HSTPN on describing hybrid system are verified by establishing some equivalent models of HPN and its derived models.

Micro/nano positioning technologies have been attractive for decades in industrial and scientific applications fields. The actuators have inherent hysteresis that can cause system unexpected behave in some extend. In this research, the authors used extented unparallel Prandtl-Ishlinshii (EUPI) models to represent the input-output relationship of a piezo-driven micro position stage. Integral inverse (I-I) compensator is used for compensating the hysteresis characteristics of the micro positioning stage and compared with direct inverse (D-I) compensator and inverse model (I-M) compensator. However, the accuracy and the robustness of the I-I compensator are worse when there is noisy in the system, a novel sliding-mode-like-control with EUPI (SMLC-EUPI) method was proposed and analyzed by different trajectory tracking experiments in Matlab environment. Though the above strategies can alleviate most deviation, the adjustment of the SMLC’s parameters is very complex. So the fuzzy method is used to adjust these parameters and be verified by trajectory tracking experiments. Finally, for validating the proposed control method, the paper did the corresponding experiment in microscope with CMOS and obtained convincing results.

HSTPNSim is proposed as a kind of visual multi-disciplinary system modeling and simulation educational simulator for beginners. An example of grid automatic sorting system is taken for to introduce the function and simulation process of HSTPNSim. An electronic questionnaire is designed to investigate modeling works, operation experience, function evaluation, and promotion willingness.

Thousands of years ago, Go and Chinese chess were popular board games in China. The words "Chuhe Hanjie" that is often printed on Chinese chess game boards to divide the two player sides is a reference to the Chu-Han war; while it is far from proof that Chinese chess dates back to the Han dynasty, there is much evidence to show that the game has a long history. Computer game tournaments began comparatively late in China, but they have developed very quickly. This article summarizes the history of the development of computer game tournaments in China and discusses the reasons for the rapid development of computer game tournaments in China from several perspectives. Finally, we comment on the future of computer game tournaments in China.

In this paper, an interesting Hybrid Stochastic Timed Petri Net (HSTPN) is introduced synthetically for a class of hybrid systems with discrete, continuous, conflicting, time-delay and stochastic characteristics simultaneously. Each tuple of the model is performed in detail, the dynamic performance and reachability are analyzed. The proposed HSTPN outperforms conventional hybrid Petri net models in terms of describing the scalability and description capability to hybrid characteristics of hybrid systems. Taking the automatic sorting hybrid system as an example, through analyzing the complexity in modeling, we show how the HSTPN could be adopted to the automatic sorting hybrid system and finally the rationality and effectiveness of HSTPN model are verified.

Aiming to solving the problem of slow training speed and learning efficiency existed in the deep auto-encoder network, this paper puts forward a new kind of modified deep auto-encoder network model based on extreme learning machine (ELM-MDAE). Through training the deep auto-encoder networks with the training method of extreme learning machine, the classification accuracy and training time of ELM-MDAE are compared with traditional deep auto-encoder network utilizing the rolling bearing fault vibration dataset released by Case Western Reserve University in United States. Experiments turn out to be that the average diagnostic accuracy rate could reach to 98.42%, and the average training time is 3.70 s with the method established in this paper. Therefore, ELM-MDAE possesses a better classification ability and fewer training time.

Due to the advantages of high resolution, simple structure and small size, the piezoelectric driven micro-positioning stage has been widely used in the field of IC manufacturing and cell operation. However, it is difficult to deal with the nonlinear characteristics, such as hysteresis characteristic. And the traditional hysteresis compensation controller cannot meet the accuracy requirements and response speed of micro-positioning stage system. In this paper, by analyzing the model of the piezoelectric micro-positioning stage, the EUPI inverse hysteresis model (EUPI-IM) is used to compensate the internal hysteresis phenomena of piezoelectric driven micro positioning stage. In order to implement the proposed control algorithm, a DSP based embedded controller is designed and developed. TMS320F2812 is chosen to be the main controller. The hardware circuit and software program are designed and tested. Experiments show effectiveness of the proposed algorithm and the designed embedded controller. The average static tracking error ratio of EUPI-IM controller is about 2.86%. Thus, this method achieves a good control effect.