To effectively extract multi-scale information from observation data and improve computational efficiency,a multi-scale second-order autoregressive recursive filter(MSRF)method is designed.The second-order autoregress...To effectively extract multi-scale information from observation data and improve computational efficiency,a multi-scale second-order autoregressive recursive filter(MSRF)method is designed.The second-order autoregressive filter used in this study has been attempted to replace the traditional first-order recursive filter used in spatial multi-scale recursive filter(SMRF)method.The experimental results indicate that the MSRF scheme successfully extracts various scale information resolved by observations.Moreover,compared with the SMRF scheme,the MSRF scheme improves computational accuracy and efficiency to some extent.The MSRF scheme can not only propagate to a longer distance without the attenuation of innovation,but also reduce the mean absolute deviation between the reconstructed sea ice concentration results and observations reduced by about 3.2%compared to the SMRF scheme.On the other hand,compared with traditional first-order recursive filters using in the SMRF scheme that multiple filters are executed,the MSRF scheme only needs to perform two filter processes in one iteration,greatly improving filtering efficiency.In the two-dimensional experiment of sea ice concentration,the calculation time of the MSRF scheme is only 1/7 of that of SMRF scheme.This means that the MSRF scheme can achieve better performance with less computational cost,which is of great significance for further application in real-time ocean or sea ice data assimilation systems in the future.展开更多
This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. ...This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems(FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backsteppingcontrol technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme isdeveloped under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinearUWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulationvalidate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach.展开更多
In this article we consider the asymptotic behavior of extreme distribution with the extreme value index γ>0 . The rates of uniform convergence for Fréchet distribution are constructed under the second-order ...In this article we consider the asymptotic behavior of extreme distribution with the extreme value index γ>0 . The rates of uniform convergence for Fréchet distribution are constructed under the second-order regular variation condition.展开更多
This paper describes an intelligent integrated control of an acrobot, which is an underactuated mechanical system with second-order nonholonomic constraints. The control combines a model-free fuzzy control, a fuzzy sl...This paper describes an intelligent integrated control of an acrobot, which is an underactuated mechanical system with second-order nonholonomic constraints. The control combines a model-free fuzzy control, a fuzzy sliding-mode control and a model-based fuzzy control. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. Then the fuzzy sliding-mode controller is employed to control the movement that the acrobot enters the balance area from the swing-up area. The model-based fuzzy controller, which is based on a Takagi-Sugeno fuzzy model, is used to balance the acrobot. The stability of the fuzzy control system for balance control is guaranteed by a common symmetric positive matrix, which satisfies linear matrix inequalities.展开更多
This paper proposes a distributed control method based on the differential flatness(DF) property of robot swarms. The swarm DF mapping is established for underactuated differentially flat dynamics, according to the co...This paper proposes a distributed control method based on the differential flatness(DF) property of robot swarms. The swarm DF mapping is established for underactuated differentially flat dynamics, according to the control objective. The DF mapping refers to the fact that the system state and input of each robot can be derived algebraically from the flat outputs of the leaders and the cooperative errors and their finite order derivatives. Based on the proposed swarm DF mapping, a distributed controller is designed. The distributed implementation of swarm DF mapping is achieved through observer design. The effectiveness of the proposed method is validated through a numerical simulation of quadrotor swarm synchronization.展开更多
Second-order axially moving systems are common models in the field of dynamics, such as axially moving strings, cables, and belts. In the traditional research work, it is difficult to obtain closed-form solutions for ...Second-order axially moving systems are common models in the field of dynamics, such as axially moving strings, cables, and belts. In the traditional research work, it is difficult to obtain closed-form solutions for the forced vibration when the damping effect and the coupling effect of multiple second-order models are considered.In this paper, Green's function method based on the Laplace transform is used to obtain closed-form solutions for the forced vibration of second-order axially moving systems. By taking the axially moving damping string system and multi-string system connected by springs as examples, the detailed solution methods and the analytical Green's functions of these second-order systems are given. The mode functions and frequency equations are also obtained by the obtained Green's functions. The reliability and convenience of the results are verified by several examples. This paper provides a systematic analytical method for the dynamic analysis of second-order axially moving systems, and the obtained Green's functions are applicable to different second-order systems rather than just string systems. In addition, the work of this paper also has positive significance for the study on the forced vibration of high-order systems.展开更多
This study is concerned with the three-dimensional(3D)stagnation-point for the mixed convection flow past a vertical surface considering the first-order and secondorder velocity slips.To the authors’knowledge,this is...This study is concerned with the three-dimensional(3D)stagnation-point for the mixed convection flow past a vertical surface considering the first-order and secondorder velocity slips.To the authors’knowledge,this is the first study presenting this very interesting analysis.Nonlinear partial differential equations for the flow problem are transformed into nonlinear ordinary differential equations(ODEs)by using appropriate similarity transformation.These ODEs with the corresponding boundary conditions are numerically solved by utilizing the bvp4c solver in MATLAB programming language.The effects of the governing parameters on the non-dimensional velocity profiles,temperature profiles,skin friction coefficients,and the local Nusselt number are presented in detail through a series of graphs and tables.Interestingly,it is reported that the reduced skin friction coefficient decreases for the assisting flow situation and increases for the opposing flow situation.The numerical computations of the present work are compared with those from other research available in specific situations,and an excellent consensus is observed.Another exciting feature for this work is the existence of dual solutions.An important remark is that the dual solutions exist for both assisting and opposing flows.A linear stability analysis is performed showing that one solution is stable and the other solution is not stable.We notice that the mixed convection and velocity slip parameters have strong effects on the flow characteristics.These effects are depicted in graphs and discussed in this paper.The obtained results show that the first-order and second-order slip parameters have a considerable effect on the flow,as well as on the heat transfer characteristics.展开更多
In this paper, we define some new sets of non-elementary functions in a group of solutions x(t) that are sine and cosine to the upper limit of integration in a non-elementary integral that can be arbitrary. We are usi...In this paper, we define some new sets of non-elementary functions in a group of solutions x(t) that are sine and cosine to the upper limit of integration in a non-elementary integral that can be arbitrary. We are using Abel’s methods, described by Armitage and Eberlein. The key is to start with a non-elementary integral function, differentiating and inverting, and then define a set of three functions that belong together. Differentiating these functions twice gives second-order nonlinear ODEs that have the defined set of functions as solutions. We will study some of the second-order nonlinear ODEs, especially those that exhibit limit cycles. Using the methods described in this paper, it is possible to define many other sets of non-elementary functions that are giving solutions to some second-order nonlinear autonomous ODEs.展开更多
This work presents a comprehensive second-order predictive modeling (PM) methodology designated by the acronym 2<sup>nd</sup>-BERRU-PMD. The attribute “2<sup>nd</sup>” indicates that this met...This work presents a comprehensive second-order predictive modeling (PM) methodology designated by the acronym 2<sup>nd</sup>-BERRU-PMD. The attribute “2<sup>nd</sup>” indicates that this methodology incorporates second-order uncertainties (means and covariances) and second-order sensitivities of computed model responses to model parameters. The acronym BERRU stands for “Best- Estimate Results with Reduced Uncertainties” and the last letter (“D”) in the acronym indicates “deterministic,” referring to the deterministic inclusion of the computational model responses. The 2<sup>nd</sup>-BERRU-PMD methodology is fundamentally based on the maximum entropy (MaxEnt) principle. This principle is in contradistinction to the fundamental principle that underlies the extant data assimilation and/or adjustment procedures which minimize in a least-square sense a subjective user-defined functional which is meant to represent the discrepancies between measured and computed model responses. It is shown that the 2<sup>nd</sup>-BERRU-PMD methodology generalizes and extends current data assimilation and/or data adjustment procedures while overcoming the fundamental limitations of these procedures. In the accompanying work (Part II), the alternative framework for developing the “second- order MaxEnt predictive modelling methodology” is presented by incorporating probabilistically (as opposed to “deterministically”) the computed model responses.展开更多
This work presents a comprehensive second-order predictive modeling (PM) methodology based on the maximum entropy (MaxEnt) principle for obtaining best-estimate mean values and correlations for model responses and par...This work presents a comprehensive second-order predictive modeling (PM) methodology based on the maximum entropy (MaxEnt) principle for obtaining best-estimate mean values and correlations for model responses and parameters. This methodology is designated by the acronym 2<sup>nd</sup>-BERRU-PMP, where the attribute “2<sup>nd</sup>” indicates that this methodology incorporates second- order uncertainties (means and covariances) and second (and higher) order sensitivities of computed model responses to model parameters. The acronym BERRU stands for “Best-Estimate Results with Reduced Uncertainties” and the last letter (“P”) in the acronym indicates “probabilistic,” referring to the MaxEnt probabilistic inclusion of the computational model responses. This is in contradistinction to the 2<sup>nd</sup>-BERRU-PMD methodology, which deterministically combines the computed model responses with the experimental information, as presented in the accompanying work (Part I). Although both the 2<sup>nd</sup>-BERRU-PMP and the 2<sup>nd</sup>-BERRU-PMD methodologies yield expressions that include second (and higher) order sensitivities of responses to model parameters, the respective expressions for the predicted responses, for the calibrated predicted parameters and for their predicted uncertainties (covariances), are not identical to each other. Nevertheless, the results predicted by both the 2<sup>nd</sup>-BERRU-PMP and the 2<sup>nd</sup>-BERRU-PMD methodologies encompass, as particular cases, the results produced by the extant data assimilation and data adjustment procedures, which rely on the minimization, in a least-square sense, of a user-defined functional meant to represent the discrepancies between measured and computed model responses.展开更多
This work illustrates the innovative results obtained by applying the recently developed the 2<sup>nd</sup>-order predictive modeling methodology called “2<sup>nd</sup>- BERRU-PM”, where the ...This work illustrates the innovative results obtained by applying the recently developed the 2<sup>nd</sup>-order predictive modeling methodology called “2<sup>nd</sup>- BERRU-PM”, where the acronym BERRU denotes “best-estimate results with reduced uncertainties” and “PM” denotes “predictive modeling.” The physical system selected for this illustrative application is a polyethylene-reflected plutonium (acronym: PERP) OECD/NEA reactor physics benchmark. This benchmark is modeled using the neutron transport Boltzmann equation (involving 21,976 uncertain parameters), the solution of which is representative of “large-scale computations.” The results obtained in this work confirm the fact that the 2<sup>nd</sup>-BERRU-PM methodology predicts best-estimate results that fall in between the corresponding computed and measured values, while reducing the predicted standard deviations of the predicted results to values smaller than either the experimentally measured or the computed values of the respective standard deviations. The obtained results also indicate that 2<sup>nd</sup>-order response sensitivities must always be included to quantify the need for including (or not) the 3<sup>rd</sup>- and/or 4<sup>th</sup>-order sensitivities. When the parameters are known with high precision, the contributions of the higher-order sensitivities diminish with increasing order, so that the inclusion of the 1<sup>st</sup>- and 2<sup>nd</sup>-order sensitivities may suffice for obtaining accurate predicted best- estimate response values and best-estimate standard deviations. On the other hand, when the parameters’ standard deviations are sufficiently large to approach (or be outside of) the radius of convergence of the multivariate Taylor-series which represents the response in the phase-space of model parameters, the contributions stemming from the 3<sup>rd</sup>- and even 4<sup>th</sup>-order sensitivities are necessary to ensure consistency between the computed and measured response. In such cases, the use of only the 1<sup>st</sup>-order sensitivities erroneously indicates that the computed results are inconsistent with the respective measured response. Ongoing research aims at extending the 2<sup>nd</sup>-BERRU-PM methodology to fourth-order, thus enabling the computation of third-order response correlations (skewness) and fourth-order response correlations (kurtosis).展开更多
The results of second-order Raman-scattering experiments on n- and p-type 4H-SiC are presented,covering the acoustic and the optical overtone spectral regions.Some of the observed structures in the spectra are assigne...The results of second-order Raman-scattering experiments on n- and p-type 4H-SiC are presented,covering the acoustic and the optical overtone spectral regions.Some of the observed structures in the spectra are assigned to particular phonon branches and the points in the Brillouin zone from which the scattering originates.There exists a doublet at 626/636cm -1 with energy difference about 10cm -1 in both n- and p-type 4H-SiC,which is similar to the doublet structure with the same energy difference founded in hexagonal GaN,ZnO, and AlN.The cutoff frequency at 1926cm -1 of the second-order Raman is not the overtone of the A 1(LO) peak of the n-type doping 4H-SiC,but that of the undoping one.The second-order Raman spectrum of 4H-SiC can hardly be affected by doping species or doping density.展开更多
In this paper we discuss the anti-periodic problem for a class of abstractnonlinear second-order evolution equations associated with maximal monotone operators in Hilbertspaces and give some new assumptions on operato...In this paper we discuss the anti-periodic problem for a class of abstractnonlinear second-order evolution equations associated with maximal monotone operators in Hilbertspaces and give some new assumptions on operators. We establish the existence and uniqueness ofanti-periodic solutions, which improve andgeneralize the results that have been obtained. Finally weillustrate the abstract theory by discussing a simple example of an anti-periodic problem fornonlinear partial differential equations.展开更多
When developing a humanoid myo-control hand,not only the mechanical structure should be considered to afford a high dexterity,but also the myoelectric (electromyography,EMG) control capability should be taken into acc...When developing a humanoid myo-control hand,not only the mechanical structure should be considered to afford a high dexterity,but also the myoelectric (electromyography,EMG) control capability should be taken into account to fully accomplish the actuation tasks.This paper presents a novel humanoid robotic myocontrol hand (AR hand Ⅲ) which adopted an underac- tuated mechanism and a forearm myocontrol EMG method.The AR hand Ⅲ has five fingers and 15 joints,and actuated by three embedded motors.Underactuation can be found within each finger and between the rest three fingers (the middle finger,the ring finger and the little finger) when the hand is grasping objects.For the EMG control,two specific methods are proposed:the three-fingered hand gesture configuration of the AR hand Ⅲ and a pattern classification method of EMG signals based on a statistical learning algorithm-Support Vector Machine (SVM).Eighteen active hand gestures of a testee are recognized ef- fectively,which can be directly mapped into the motions of AR hand Ⅲ.An on-line EMG control scheme is established based on two different decision functions:one is for the discrimination between the idle and active modes,the other is for the recog- nition of the active modes.As a result,the AR hand Ⅲ can swiftly follow the gesture instructions of the testee with a time delay less than 100 ms.展开更多
When signal-to-interference ratio is low, the energy of strong interference leaked from the side lobe of beam pattern will infect the detection of weak target. Therefore, the beam pattern needs to be op...When signal-to-interference ratio is low, the energy of strong interference leaked from the side lobe of beam pattern will infect the detection of weak target. Therefore, the beam pattern needs to be optimized. The existing Dolph-Chebyshev weighting method can get the lowest side lobe level under given main lobe width, but for the other non-uniform circular array and nonlinear array, the low side lobe pattern needs to be designed specially. The second order cone programming optimization （SOCP） algorithm proposed in the paper transforms the optimization of the beam pattern into a standard convex optimization problem. Thus there is a paradigm to follow for any array formation, which not only achieves the purpose of Dolph-Chebyshev weighting, but also solves the problem of the increased side lobe when the signal is at end fire direction The simulation proves that the SOCP algorithm can detect the weak target better than the conventional beam forming.展开更多
The optimal attitude control of an underactuated spacecraft is investigated in this paper. The flywheels of the spacecraft can somehow only provide control inputs in two independent directions. The dynamic equations a...The optimal attitude control of an underactuated spacecraft is investigated in this paper. The flywheels of the spacecraft can somehow only provide control inputs in two independent directions. The dynamic equations are formulated for the spacecraft under a nonholonomic constraint resulting from the constant time-rate of the total angular momentum of the system. The reorientation of such underactuated spacecraft is transformed into an optimal control problem. A genetic algorithm is proposed to derive the control laws of the two flywheels angle velocity inputs. The control laws are approximated by the discrete orthogonal wavelets. The numerical simulations indicate that the genetic algorithm with the wavelet approximation is an effective approach to deal with the optimal reorientation of underactuated spacecraft.展开更多
The multi-modes feature, the measure of the manipulating flexibility, andself-reconfiguration control method of the underactuated redundant manipulators are investigatedbased on the optimizing technology. The relation...The multi-modes feature, the measure of the manipulating flexibility, andself-reconfiguration control method of the underactuated redundant manipulators are investigatedbased on the optimizing technology. The relationship between the configuration of the joint spaceand the manipulating flexibility of the underactuated redundant manipulator is analyzed, a newmeasure of manipulating flexibility ellipsoid for the underactuated redundant manipulator withpassive joints in locked mode is proposed, which can be used to get the optimal configuration forthe realization of the self-reconfiguration control. Furthermore, a time-varying nonlinear controlmethod based on harmonic inputs is suggested for fulfilling the self-reconfiguration. A simulationexample of a three-DOFs underactuated manipulator with one passive joint features some aspects ofthe investigations.展开更多
A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path.The proposed controller is based on nonswitch analytic model predictive contr...A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path.The proposed controller is based on nonswitch analytic model predictive control.It is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and nonsingular.The problem of ill-defined relative degree is solved.The path-following ability of the nonlinear system is guaranteed.Numerical simulations are provided to demonstrate the effectiveness of the proposed control law.展开更多
In this paper, using finite-time control method, we consider the disturbance analysis of a second-order system with unknown but bounded disturbance. We show that the states of the second-order system will be stabilize...In this paper, using finite-time control method, we consider the disturbance analysis of a second-order system with unknown but bounded disturbance. We show that the states of the second-order system will be stabilized to a region containing the origin. The radius of this region is determined by the control parameters and can be rendered as small as desired. The rigorous stability analysis is also given. Compared with the conventional PD control law, the finite-time control law yields a better disturbance rejection performance. Numerical simulation results show the effectiveness of the method.展开更多
An adaptive robust control algorithm for ship straight path control system in the presence of both modeling uncertainties and the bounded disturbances is proposed. Motivated by the backstepping approach, the algorithm...An adaptive robust control algorithm for ship straight path control system in the presence of both modeling uncertainties and the bounded disturbances is proposed. Motivated by the backstepping approach, the algorithm is developed by using the dissipation theory, such that the resulting dosed-loop system is both strictly dissipative and asymptotically adaptively stable for all admissible uncertainties. Also, it is able to steer an underactuated ship along a prescribed straight path with ultimate bounds under external disturbances induced by wave, wind and ocean current. When there are no disturbances, the straight path control can be implemented in a locally asymptotically stable manner. Simulation results on an ocean-going training ship ‘YULONG＇ are presented to validate the effectiveness of the algorithm.展开更多
基金The National Key Research and Development Program of China under contract No.2023YFC3107701the National Natural Science Foundation of China under contract No.42375143.
文摘To effectively extract multi-scale information from observation data and improve computational efficiency,a multi-scale second-order autoregressive recursive filter(MSRF)method is designed.The second-order autoregressive filter used in this study has been attempted to replace the traditional first-order recursive filter used in spatial multi-scale recursive filter(SMRF)method.The experimental results indicate that the MSRF scheme successfully extracts various scale information resolved by observations.Moreover,compared with the SMRF scheme,the MSRF scheme improves computational accuracy and efficiency to some extent.The MSRF scheme can not only propagate to a longer distance without the attenuation of innovation,but also reduce the mean absolute deviation between the reconstructed sea ice concentration results and observations reduced by about 3.2%compared to the SMRF scheme.On the other hand,compared with traditional first-order recursive filters using in the SMRF scheme that multiple filters are executed,the MSRF scheme only needs to perform two filter processes in one iteration,greatly improving filtering efficiency.In the two-dimensional experiment of sea ice concentration,the calculation time of the MSRF scheme is only 1/7 of that of SMRF scheme.This means that the MSRF scheme can achieve better performance with less computational cost,which is of great significance for further application in real-time ocean or sea ice data assimilation systems in the future.
基金the National Natural Science Foundation of China under Grant U22A2043.
文摘This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems(FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backsteppingcontrol technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme isdeveloped under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinearUWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulationvalidate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach.
文摘In this article we consider the asymptotic behavior of extreme distribution with the extreme value index γ>0 . The rates of uniform convergence for Fréchet distribution are constructed under the second-order regular variation condition.
文摘This paper describes an intelligent integrated control of an acrobot, which is an underactuated mechanical system with second-order nonholonomic constraints. The control combines a model-free fuzzy control, a fuzzy sliding-mode control and a model-based fuzzy control. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. Then the fuzzy sliding-mode controller is employed to control the movement that the acrobot enters the balance area from the swing-up area. The model-based fuzzy controller, which is based on a Takagi-Sugeno fuzzy model, is used to balance the acrobot. The stability of the fuzzy control system for balance control is guaranteed by a common symmetric positive matrix, which satisfies linear matrix inequalities.
基金Project supported by the National Natural Science Foundation of China (Nos. 62373025, 12332004,62003013, and 11932003)。
文摘This paper proposes a distributed control method based on the differential flatness(DF) property of robot swarms. The swarm DF mapping is established for underactuated differentially flat dynamics, according to the control objective. The DF mapping refers to the fact that the system state and input of each robot can be derived algebraically from the flat outputs of the leaders and the cooperative errors and their finite order derivatives. Based on the proposed swarm DF mapping, a distributed controller is designed. The distributed implementation of swarm DF mapping is achieved through observer design. The effectiveness of the proposed method is validated through a numerical simulation of quadrotor swarm synchronization.
基金Project supported by the National Natural Science Foundation of China (No. 12272323)。
文摘Second-order axially moving systems are common models in the field of dynamics, such as axially moving strings, cables, and belts. In the traditional research work, it is difficult to obtain closed-form solutions for the forced vibration when the damping effect and the coupling effect of multiple second-order models are considered.In this paper, Green's function method based on the Laplace transform is used to obtain closed-form solutions for the forced vibration of second-order axially moving systems. By taking the axially moving damping string system and multi-string system connected by springs as examples, the detailed solution methods and the analytical Green's functions of these second-order systems are given. The mode functions and frequency equations are also obtained by the obtained Green's functions. The reliability and convenience of the results are verified by several examples. This paper provides a systematic analytical method for the dynamic analysis of second-order axially moving systems, and the obtained Green's functions are applicable to different second-order systems rather than just string systems. In addition, the work of this paper also has positive significance for the study on the forced vibration of high-order systems.
基金Project supported by the Executive Agency for Higher Education Research Development and Innovation Funding of Romania(No.PN-III-P4-PCE-2021-0993)。
文摘This study is concerned with the three-dimensional(3D)stagnation-point for the mixed convection flow past a vertical surface considering the first-order and secondorder velocity slips.To the authors’knowledge,this is the first study presenting this very interesting analysis.Nonlinear partial differential equations for the flow problem are transformed into nonlinear ordinary differential equations(ODEs)by using appropriate similarity transformation.These ODEs with the corresponding boundary conditions are numerically solved by utilizing the bvp4c solver in MATLAB programming language.The effects of the governing parameters on the non-dimensional velocity profiles,temperature profiles,skin friction coefficients,and the local Nusselt number are presented in detail through a series of graphs and tables.Interestingly,it is reported that the reduced skin friction coefficient decreases for the assisting flow situation and increases for the opposing flow situation.The numerical computations of the present work are compared with those from other research available in specific situations,and an excellent consensus is observed.Another exciting feature for this work is the existence of dual solutions.An important remark is that the dual solutions exist for both assisting and opposing flows.A linear stability analysis is performed showing that one solution is stable and the other solution is not stable.We notice that the mixed convection and velocity slip parameters have strong effects on the flow characteristics.These effects are depicted in graphs and discussed in this paper.The obtained results show that the first-order and second-order slip parameters have a considerable effect on the flow,as well as on the heat transfer characteristics.
文摘In this paper, we define some new sets of non-elementary functions in a group of solutions x(t) that are sine and cosine to the upper limit of integration in a non-elementary integral that can be arbitrary. We are using Abel’s methods, described by Armitage and Eberlein. The key is to start with a non-elementary integral function, differentiating and inverting, and then define a set of three functions that belong together. Differentiating these functions twice gives second-order nonlinear ODEs that have the defined set of functions as solutions. We will study some of the second-order nonlinear ODEs, especially those that exhibit limit cycles. Using the methods described in this paper, it is possible to define many other sets of non-elementary functions that are giving solutions to some second-order nonlinear autonomous ODEs.
文摘This work presents a comprehensive second-order predictive modeling (PM) methodology designated by the acronym 2<sup>nd</sup>-BERRU-PMD. The attribute “2<sup>nd</sup>” indicates that this methodology incorporates second-order uncertainties (means and covariances) and second-order sensitivities of computed model responses to model parameters. The acronym BERRU stands for “Best- Estimate Results with Reduced Uncertainties” and the last letter (“D”) in the acronym indicates “deterministic,” referring to the deterministic inclusion of the computational model responses. The 2<sup>nd</sup>-BERRU-PMD methodology is fundamentally based on the maximum entropy (MaxEnt) principle. This principle is in contradistinction to the fundamental principle that underlies the extant data assimilation and/or adjustment procedures which minimize in a least-square sense a subjective user-defined functional which is meant to represent the discrepancies between measured and computed model responses. It is shown that the 2<sup>nd</sup>-BERRU-PMD methodology generalizes and extends current data assimilation and/or data adjustment procedures while overcoming the fundamental limitations of these procedures. In the accompanying work (Part II), the alternative framework for developing the “second- order MaxEnt predictive modelling methodology” is presented by incorporating probabilistically (as opposed to “deterministically”) the computed model responses.
文摘This work presents a comprehensive second-order predictive modeling (PM) methodology based on the maximum entropy (MaxEnt) principle for obtaining best-estimate mean values and correlations for model responses and parameters. This methodology is designated by the acronym 2<sup>nd</sup>-BERRU-PMP, where the attribute “2<sup>nd</sup>” indicates that this methodology incorporates second- order uncertainties (means and covariances) and second (and higher) order sensitivities of computed model responses to model parameters. The acronym BERRU stands for “Best-Estimate Results with Reduced Uncertainties” and the last letter (“P”) in the acronym indicates “probabilistic,” referring to the MaxEnt probabilistic inclusion of the computational model responses. This is in contradistinction to the 2<sup>nd</sup>-BERRU-PMD methodology, which deterministically combines the computed model responses with the experimental information, as presented in the accompanying work (Part I). Although both the 2<sup>nd</sup>-BERRU-PMP and the 2<sup>nd</sup>-BERRU-PMD methodologies yield expressions that include second (and higher) order sensitivities of responses to model parameters, the respective expressions for the predicted responses, for the calibrated predicted parameters and for their predicted uncertainties (covariances), are not identical to each other. Nevertheless, the results predicted by both the 2<sup>nd</sup>-BERRU-PMP and the 2<sup>nd</sup>-BERRU-PMD methodologies encompass, as particular cases, the results produced by the extant data assimilation and data adjustment procedures, which rely on the minimization, in a least-square sense, of a user-defined functional meant to represent the discrepancies between measured and computed model responses.
文摘This work illustrates the innovative results obtained by applying the recently developed the 2<sup>nd</sup>-order predictive modeling methodology called “2<sup>nd</sup>- BERRU-PM”, where the acronym BERRU denotes “best-estimate results with reduced uncertainties” and “PM” denotes “predictive modeling.” The physical system selected for this illustrative application is a polyethylene-reflected plutonium (acronym: PERP) OECD/NEA reactor physics benchmark. This benchmark is modeled using the neutron transport Boltzmann equation (involving 21,976 uncertain parameters), the solution of which is representative of “large-scale computations.” The results obtained in this work confirm the fact that the 2<sup>nd</sup>-BERRU-PM methodology predicts best-estimate results that fall in between the corresponding computed and measured values, while reducing the predicted standard deviations of the predicted results to values smaller than either the experimentally measured or the computed values of the respective standard deviations. The obtained results also indicate that 2<sup>nd</sup>-order response sensitivities must always be included to quantify the need for including (or not) the 3<sup>rd</sup>- and/or 4<sup>th</sup>-order sensitivities. When the parameters are known with high precision, the contributions of the higher-order sensitivities diminish with increasing order, so that the inclusion of the 1<sup>st</sup>- and 2<sup>nd</sup>-order sensitivities may suffice for obtaining accurate predicted best- estimate response values and best-estimate standard deviations. On the other hand, when the parameters’ standard deviations are sufficiently large to approach (or be outside of) the radius of convergence of the multivariate Taylor-series which represents the response in the phase-space of model parameters, the contributions stemming from the 3<sup>rd</sup>- and even 4<sup>th</sup>-order sensitivities are necessary to ensure consistency between the computed and measured response. In such cases, the use of only the 1<sup>st</sup>-order sensitivities erroneously indicates that the computed results are inconsistent with the respective measured response. Ongoing research aims at extending the 2<sup>nd</sup>-BERRU-PM methodology to fourth-order, thus enabling the computation of third-order response correlations (skewness) and fourth-order response correlations (kurtosis).
文摘The results of second-order Raman-scattering experiments on n- and p-type 4H-SiC are presented,covering the acoustic and the optical overtone spectral regions.Some of the observed structures in the spectra are assigned to particular phonon branches and the points in the Brillouin zone from which the scattering originates.There exists a doublet at 626/636cm -1 with energy difference about 10cm -1 in both n- and p-type 4H-SiC,which is similar to the doublet structure with the same energy difference founded in hexagonal GaN,ZnO, and AlN.The cutoff frequency at 1926cm -1 of the second-order Raman is not the overtone of the A 1(LO) peak of the n-type doping 4H-SiC,but that of the undoping one.The second-order Raman spectrum of 4H-SiC can hardly be affected by doping species or doping density.
文摘In this paper we discuss the anti-periodic problem for a class of abstractnonlinear second-order evolution equations associated with maximal monotone operators in Hilbertspaces and give some new assumptions on operators. We establish the existence and uniqueness ofanti-periodic solutions, which improve andgeneralize the results that have been obtained. Finally weillustrate the abstract theory by discussing a simple example of an anti-periodic problem fornonlinear partial differential equations.
基金supported by the National Natural Science Foundation (Grant No. 50435040 and 60675045)the National High Technology Research and Development Program (Grant No. 2006AA04Z228)the "111 Project" of China (No. B07018).
文摘When developing a humanoid myo-control hand,not only the mechanical structure should be considered to afford a high dexterity,but also the myoelectric (electromyography,EMG) control capability should be taken into account to fully accomplish the actuation tasks.This paper presents a novel humanoid robotic myocontrol hand (AR hand Ⅲ) which adopted an underac- tuated mechanism and a forearm myocontrol EMG method.The AR hand Ⅲ has five fingers and 15 joints,and actuated by three embedded motors.Underactuation can be found within each finger and between the rest three fingers (the middle finger,the ring finger and the little finger) when the hand is grasping objects.For the EMG control,two specific methods are proposed:the three-fingered hand gesture configuration of the AR hand Ⅲ and a pattern classification method of EMG signals based on a statistical learning algorithm-Support Vector Machine (SVM).Eighteen active hand gestures of a testee are recognized ef- fectively,which can be directly mapped into the motions of AR hand Ⅲ.An on-line EMG control scheme is established based on two different decision functions:one is for the discrimination between the idle and active modes,the other is for the recog- nition of the active modes.As a result,the AR hand Ⅲ can swiftly follow the gesture instructions of the testee with a time delay less than 100 ms.
基金Special Item of National Major Scientific Apparatus Development(No.2013YQ140431)
文摘When signal-to-interference ratio is low, the energy of strong interference leaked from the side lobe of beam pattern will infect the detection of weak target. Therefore, the beam pattern needs to be optimized. The existing Dolph-Chebyshev weighting method can get the lowest side lobe level under given main lobe width, but for the other non-uniform circular array and nonlinear array, the low side lobe pattern needs to be designed specially. The second order cone programming optimization （SOCP） algorithm proposed in the paper transforms the optimization of the beam pattern into a standard convex optimization problem. Thus there is a paradigm to follow for any array formation, which not only achieves the purpose of Dolph-Chebyshev weighting, but also solves the problem of the increased side lobe when the signal is at end fire direction The simulation proves that the SOCP algorithm can detect the weak target better than the conventional beam forming.
基金supported by the National Natural Science Foundation of China (10772020)
文摘The optimal attitude control of an underactuated spacecraft is investigated in this paper. The flywheels of the spacecraft can somehow only provide control inputs in two independent directions. The dynamic equations are formulated for the spacecraft under a nonholonomic constraint resulting from the constant time-rate of the total angular momentum of the system. The reorientation of such underactuated spacecraft is transformed into an optimal control problem. A genetic algorithm is proposed to derive the control laws of the two flywheels angle velocity inputs. The control laws are approximated by the discrete orthogonal wavelets. The numerical simulations indicate that the genetic algorithm with the wavelet approximation is an effective approach to deal with the optimal reorientation of underactuated spacecraft.
基金This project is supported by National Natural Science Foundation of China (No.50375007,No.50475177).
文摘The multi-modes feature, the measure of the manipulating flexibility, andself-reconfiguration control method of the underactuated redundant manipulators are investigatedbased on the optimizing technology. The relationship between the configuration of the joint spaceand the manipulating flexibility of the underactuated redundant manipulator is analyzed, a newmeasure of manipulating flexibility ellipsoid for the underactuated redundant manipulator withpassive joints in locked mode is proposed, which can be used to get the optimal configuration forthe realization of the self-reconfiguration control. Furthermore, a time-varying nonlinear controlmethod based on harmonic inputs is suggested for fulfilling the self-reconfiguration. A simulationexample of a three-DOFs underactuated manipulator with one passive joint features some aspects ofthe investigations.
基金supported by the National Natural Science Foundation of China(No.50779033)the National High Technology Research and Development Program(863 Program)of China(No.2007AA11Z250)
文摘A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path.The proposed controller is based on nonswitch analytic model predictive control.It is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and nonsingular.The problem of ill-defined relative degree is solved.The path-following ability of the nonlinear system is guaranteed.Numerical simulations are provided to demonstrate the effectiveness of the proposed control law.
基金supported by National Natural Science Foundation of China (No.60504007)the PhD Programs Foundation of Ministry of Educationof China (No.20070286040)the Scientific Research Foundation of Graduate School of Southeast University
文摘In this paper, using finite-time control method, we consider the disturbance analysis of a second-order system with unknown but bounded disturbance. We show that the states of the second-order system will be stabilized to a region containing the origin. The radius of this region is determined by the control parameters and can be rendered as small as desired. The rigorous stability analysis is also given. Compared with the conventional PD control law, the finite-time control law yields a better disturbance rejection performance. Numerical simulation results show the effectiveness of the method.
文摘An adaptive robust control algorithm for ship straight path control system in the presence of both modeling uncertainties and the bounded disturbances is proposed. Motivated by the backstepping approach, the algorithm is developed by using the dissipation theory, such that the resulting dosed-loop system is both strictly dissipative and asymptotically adaptively stable for all admissible uncertainties. Also, it is able to steer an underactuated ship along a prescribed straight path with ultimate bounds under external disturbances induced by wave, wind and ocean current. When there are no disturbances, the straight path control can be implemented in a locally asymptotically stable manner. Simulation results on an ocean-going training ship ‘YULONG＇ are presented to validate the effectiveness of the algorithm.
