Quantized-states-based adaptive control against unknown slippage effects of uncertain mobile robots with input and state quantization

An adaptive tracking design strategy based on quantized state feedback is developed for uncertain nonholonomic mobile robots with unknown wheel slippage effects. All state variables and control torques are assumed to be quantized by the state and input quantizers, respectively, in a network control environment. Thus, the quantized state feedback information is only available for the tracking control design. An approximation-based adaptive controller using quantized states is recursively designed to ensure the robust adaptive tracking against unknown wheel slippage effects where the quantized-states-based adaptive mechanism is derived to compensate for unknown wheel slippage effects, system nonlinearities, and quantization errors. The boundedness of the quantization errors and estimated parameters in the closed-loop system is analyzed by presenting some theoretical lemmas. Based on these lemmas, we prove the uniform ultimate boundedness of closed-loop signals and the convergence of the trajectory tracking error in the presence of wheel slippage effects. Simulations verify the effectiveness of the resulting tracking scheme.     

Negative thermal expansion in NbF_3 and NbOF_2:A comparative theoretical study

Thermal expansion control is always an obstructive factor and challenging in high precision engineering field. Here,the negative thermal expansion of Nb F_3 and Nb OF_2 was predicted by first-principles calculation with density functional theory and the quasi-harmonic approximation(QHA). We studied the total charge density, thermal vibration, and lattice dynamic to investigate the thermal expansion mechanism. We found that the presence of O induced the relatively strong covalent bond in Nb OF_2, thus weakening the transverse vibration of F and O in Nb OF_2, compared with the case of Nb F_3.In this study, we proposed a way to tailor negative thermal expansion of metal fluorides by introducing the oxygen atoms.The present work not only predicts two NTE compounds, but also provides an insight on thermal expansion control by designing chemical bond type.     

Dynamical analysis,circuit realization,and application in pseudorandom number generators of a fractional-order laser chaotic system

A new five-dimensional fractional-order laser chaotic system (FOLCS) is constructed by incorporating complex variables and fractional calculus into a Lorentz-Haken-type laser system. Dynamical behavior of the system, circuit realization and application in pseudorandom number generators are studied. Many types of multi-stable states are discovered in the system. Interestingly, there are two types of state transition phenomena in the system, one is the chaotic state degenerates to a periodical state, and the other is the intermittent chaotic oscillation. In addition, the complexity of the system when two parameters change simultaneously is measured by the spectral entropy algorithm. Moreover, a digital circuit is design and the chaotic oscillation behaviors of the system are verified on this circuit. Finally, a pseudo-random sequence generator is designed using the FOLCS, and the statistical characteristics of the generated pseudo-random sequence are tested with the NIST-800-22. This study enriches the research on the dynamics and applications of FOLCS.     

On the Relative Twist Formula of l-adic Sheaves

We propose a conjecture on the relative twist formula of l-adic sheaves, which can be viewed as a generalization of Kato—Saito's conjecture. We verify this conjecture under some transversal assumptions. We also define a relative cohomological characteristic class and prove that its formation is compatible with proper push-forward. A conjectural relation is also given between the relative twist formula and the relative cohomological characteristic class.     

Generalized P(N)-graded Lie superalgebras

We generalize the P(N)-graded Lie superalgebras of Martinez-Zelmanov. This generalization is not so restrictive but suffcient enough so that we are able to have a classification for this generalized P(N)-graded Lie superalgebras. Our result is that the generalized P(N)-graded Lie super-algebra L is centrally isogenous to a matrix Lie superalgebra coordinated by an associative superalgebra with a super-involution. Moreover, L is P(N)-graded if and only if the coordinate algebra R is commutative and the super-involution is trivial. This recovers Martinez-Zelmanov's theorem for type P(N). We also obtain a generalization of Kac's coordinatization via Tits-Kantor-Koecher construction. Actually, the motivation of this generalization comes from the Fermionic-Bosonic module construction.     

Stabilization to a positive equilibrium for some reaction–diffusion systems

The aim of this paper is to study the asymptotic behavior of solutions for some reaction–diffusion systems in biology. First, we establish a Liouville type theorem for entire solutions of these reaction–diffusion systems. Based on this theorem, we derive the stabilization of the solutions of the reaction–diffusion system to the unique positive constant state, under the condition that this positive constant state is globally stable in the corresponding kinetic systems. Two specific examples about spreading phenomena from ecology and epidemiology are given to illustrate the application of this theory.     

移动加热器法生长碲锌镉晶体的组分输运与界面形貌研究

移动加热器法(THM)生长碲锌镉晶体时,界面稳定性对晶体生长的质量有很大影响。本文基于多物理场有限元仿真软件Comsol建立了THM生长碲锌镉晶体的数值模拟模型,讨论了Te边界层与组分过冷区之间的关系,对不同生长阶段的物理场、Te边界层与组分过冷区进行仿真研究,最后讨论了微重力对物理场分布的影响,并对比了微重力与正常重力下的生长界面形貌。模拟结果表明,Te边界层与组分过冷区的分布趋势是一致的,在不同生长阶段,流场中次生涡旋的位置会发生移动,从而导致生长界面的形貌随着生长的进行发生变化,同时微重力条件下形成的生长界面形貌最有利于单晶生长。因此,在晶体生长的中前期,对次生涡旋位置的控制和对组分过冷的削弱,是THM生长高质量晶体的有效方案。