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.     

基于Nie-Tan算法的区间二型模糊集质心计算:改变主变量采样个数

计算区间二型模糊集的质心(也称降型)是区间二型模糊逻辑系统中的一个重要模块。Karnik-Mendel(KM)迭代算法通常被认为是计算区间二型模糊集质心的标准算法。尽管如此,KM算法涉及复杂的计算过程,不利于实时应用。在各种改进类算法中,非迭代的Nie-Tan(NT)算法可节省计算消耗。此外,连续版本NT(CNT,continuous version of NT)算法被证明是计算质心的准确算法。本文比较了离散版本NT算法中求和运算和连续版本NT算法中求积分运算,通过四个计算机仿真例子证实了当适度增加区间二型模糊集主变量采样个数时,NT算法的计算结果可以精确地逼近CNT算法。     

Free vibration analysis of cracked beams by using rigid segment method

This paper deals with the analysis of influence of crack parameters to the modal characteristics of beams at various boundary conditions by using rigid segment method. The beam was discretized by a number of rigid segments which were connected by elastic joints with three degrees of freedom, while the crack was described by cracked element based on fracture mechanics. This model allows detection of coupling between the axial and transverse vibrations under the special boundary conditions. The proposed approach covers both the Euler–Bernoulli and Timoshenko beam model. The efficiency of the method was shown through the few numerical examples.     

旋转流动的低模分析及仿真研究

为了探讨Couette-Taylor流从层流到湍流过渡的方式以及流动发展到湍流之后混沌吸引子的某些特征等问题,采用低模分析方法研究了Couette-Taylor流的部分动力学行为及仿真问题,讨论了Couette-Taylor流三模态类Lorenz型方程组的动力学行为,包括定态的失稳、极限环的出现、分岔与混沌的演变和全局稳定性分析等。通过线性稳定性分析和数值模拟等方法给出了此三维模型分岔与混沌等动力学行为及其演化历程,并借此解释了Couette-Taylor流试验中观察到的部分涡流的演化过程.基于系统的分岔图、Lyapunov指数谱、功率谱、Poincaré(庞加莱)截面和返回映射等揭示了系统混沌行为的普适特征.     

Hamiltonicity of edge chromatic critical graphs

Vizing conjectured that every edge chromatic critical graph contains a 2-factor. Believing that stronger properties hold for this class of graphs, Luo and Zhao (2013) showed that every edge chromatic critical graph of order $n$ with maximum degree at least $\frac{6n}{7}$ is Hamiltonian. Furthermore, Luo et al. (2016) proved that every edge chromatic critical graph of order $n$ with maximum degree at least $\frac{4n}{5}$ is Hamiltonian. In this paper, we prove that every edge chromatic critical graph of order $n$ with maximum degree at least $\frac{3n}{4}$ is Hamiltonian. Our approach is inspired by the recent development of Kierstead path and Tashkinov tree techniques for multigraphs.     

Particle separation in microfluidics using different modal ultrasonic standing waves

Microfluidic technology has great advantages in the precise manipulation of micro and nano particles, and the separation of micro and nano particles based on ultrasonic standing waves has attracted much attention for its high efficiency and simplicity of structure. This paper proposes a device that uses three modes of ultrasonic standing waves to continuously separate particles with positive acoustic contrast factor in microfluidics. Three modes of acoustic standing waves are used simultaneously in different parts of the microchannel. According to the different acoustic radiation force received by the particles, the particles are finally separated to the pressure node lines on both sides and the center of the microchannel. In this separation method, initial hydrodynamic focusing and satisfying various equilibrium constraints during the separation process are the key. Through numerical simulation, the resonance frequency of the interdigital transducer, the distribution of sound pressure in the liquid, and the relationship between the interdigital electrode voltage and the output sound pressure are obtained. Finally, the entire separation process in the microchannel was simulated, and the separation of the two particles was successfully achieved. This work has laid a certain theoretical foundation for the rapid diagnosis of diseases in practical applications.     

Effect of ion velocity on SHI-induced mixing in Ti/Bi system

Energetic ion beams are proving to be versatile tools for modification and depth profiling of materials. The energy and ion species are the deciding factor in the ion-beam-induced materials modification. Among the various parameters such as electronic energy loss, fluence and heat of mixing, velocity of the ions used for irradiation plays an important role in mixing at the interface. The present study is carried out to find the effect of the velocity of swift heavy ions on interface mixing of a Ti/Bi bilayer system. Ti/Bi/C was deposited on Si substrate at room temperature by an electron gun in a high-vacuum deposition system. Carbon layer is deposited on top to avoid oxidation of the samples. Eighty mega electron volts Au ions and 100?MeV Ag ions with same value of S_e for Ti are used for the irradiation of samples at the fluences 1?×?10¹³–1?×?10¹⁴ ions/cm². Different techniques like Rutherford backscattering spectroscopy, atomic force microscopy and grazing incidence X-ray diffraction were used to characterize the pristine and irradiated samples. The mixing effect is explained in the framework of the thermal spike model. It has been found that the mixing rate is higher for low-velocity Au ions in comparison to high-velocity Ag ions. The result could be explained as due to less energy deposition in thermal spike by high-velocity ions.     

A compressible two-phase flow framework for Large Eddy Simulations of liquid-propellant rocket engines

Atomization of liquid jets is a key feature of many propulsion systems, such as jet engines, internal combustion engines or liquid-propellant rocket engines (LRE). As it controls the characteristics of the spray, atomization has a great influence on the complex interaction between phenomena such as evaporation, turbulence, acoustics and combustion. In this context, Computational Fluid Dynamics is a promising way to bring better understanding of dynamic phenomena involving atomization, such as e.g. high-frequency combustion instabilities in LRE. However the unsteady simulation of primary atomization in reactive compressible two-phase flows is very challenging, due to the variety of the spatial and temporal scales, as well as to the high density, velocity and temperature gradients which require robust and efficient numerical methods. To address this issue, a numerical strategy is proposed in this paper, which is able to describe the dynamics of the whole chain of mechanisms from the liquid injection to its atomization and combustion. Primary atomization is modeled by a coupling between a homogeneous diffuse interface model and a kinetic-based Eulerian model for the spray. This strategy is successfully applied to the unsteady simulation of an operating point of the Onera’s Mascotte test bench, representative of one coaxial injector of LRE operating under subcritical conditions. The dynamics of the liquid core is retrieved and the flame shape as well as Sauter mean diameters are in good agreement with experimental results. These results demonstrate the ability of the strategy to deal with the harsh conditions of cryogenic combustion, and provide a promising framework for future studies of combustion instabilities in LRE.     

A Nine-modes Truncation of the Plane Incompressible Navier-Stokes Equations

In this paper a nine-modes truncation of Navier-Stokes equations for a two-dimensional incompressible fluid on a torus is obtained. The stationary solutions, the existence of attractor and the global stability of the equations are firmly proved. What is more, that the force f acts on the mode ks and k7 respectively produces two systems, which lead to a much richer and varied phenomenon. Numerical simulation is given at last, which shows a stochastic behavior approached through an involved sequence of bifurcations.