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In this paper a Conventional PD Controller and Fuzzy Neural Controller for trajectory tracking of mobile robot platform is presented. Using computed torque method is given input- torque on mobile robot wheels. The locomotion control structure is based on integration of kinematics and dynamics model of mobile robot base. The proposed Control scheme and Fuzzy Neural Algorithm could be useful for building an autonomous non-destructive testing system based on wheeled mobile robot. Fuzzy Neural Network-Rule base, is optimized using Genetic Algorithm. Simulations are done using Matlab software. Key words:Mobile Robot, Conventional, Fuzzy Logic, Neural Network, Genetic Algorithm, trajectory tracking,

控制数学问题的MATLAB求解，包括：微积分与积分变换问题求解，线性代数、积分方程和差分方程求解(Solution for Control Mathematics Problem )

一种遗传算法和萤火虫算法相结合的新型元启发式算法，经过测试，算法具有良好的性能。(Capacitated facility location problem (CFLP) is a well-known combinatorial optimization problem with applications in distribution and production planning that is classified as an NP-Hard problem. The aim is to determine where to locate facilities and how to move commodities such that the customers’ demands are satisfied and the total cost minimized. In this paper, a new hybrid optimization method called Hybrid Evolutionary Firefly-Genetic Algorithm is proposed, which is inspired by social behavior of fireflies and the phenomenon of bioluminescent communication. The method combines the discrete Firefly Algorithm (FA) with the standard Genetic Algorithm (GA). It is devoted to the detailed description of the problem, and an adaption of the algorithm. Computational results on random generated problems consisting of 2000 locations and 2000 customers are reported. )

说明：  对调色板,图像类型,图像文件格式进行了简要介绍，可以了解matlab工作环境。(On the palette, image type, image file format was introduced, we can understand matlab work environment.)

将波束空间求根MUSIC算法应用于电力系统谐波检测(Roots of the beam space MUSIC algorithm is applied to the power system harmonic detection)

Generation of a PPM-UWB signal in the case of a sinusoidal modulating signal and rectangular pulses

解耦，恢复原信号，基于小波变换的数字水印算法matlab代码，迭代自组织数据分析。( Decoupling, restore the original signal, Based on wavelet transform digital watermarking algorithm matlab code, Iterative self-organizing data analysis.)

孙志忠书：偏微分方程数值解，第三章第三节，抛物方程的外推算法(extrapolation for parabolic patial differential equation)

matlab语言写的细胞自动机数字水印算法(matlab language of cellular automata Digital Watermarking Algorithm)

compute alpha stable wavelet coefficients