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.     

Effect of Oil Viscosity on Hydraulic Cavitation Luminescence

Fluid Dynamics - The collapse of cavitation bubbles in a hydraulic system generates localized zones of high temperature and pressure and, under certain conditions, luminescence. In this study, we...     

New ANCF solid-beam element: relationship with Bézier volume and application on leaf spring modeling

Acta Mechanica Sinica - An eight-node solid-beam element based on absolute nodal coordinate formulation (ANCF) which uses cubic interpolation at the longitudinal direction and linear at the...     

A multifunctional silicotungstic acid-modified Li-rich manganese-based cathode material with excellent electrochemical properties

Journal of Solid State Electrochemistry - Li-rich layered oxide (LrLO) cathode has attracted much attention for Li-ion batteries in recent years due to its superior capacity of exceeding...     

Impact Force Identification on Carbon Fibre–Epoxy Honeycomb Composite Panel Based on Local Convex Curve Criterion

Experimental Mechanics - Identification of impact force is essential for various engineering applications, such as performance evaluation, design optimisation, noise suppression, and vibration...     

力学研究中"大数据"的启示、应用与挑战

大数据在全世界发展迅猛, 应用成效显著.大数据独特的思维和方法, 为科学研究与探索提供了全新的范式.力学研究中,高时空分辨率、多参数同步观测与高精度、大规模模拟手段的发展,为力学大数据的发展提供了契机,大数据、机器智能方法的应用正呈现快速上升趋势.本文旨在分析大数据思维方法在力学研究中的应用, 及其启示与挑战.首先从大数据资源、大数据科学及大数据技术3个层面分析了大数据的内涵及研究态势,概括了国内外政府及组织机构的大数据发展规划.而后对比分析了力学思维方法与大数据思维方法的特点,指出两者的本质区别在于数据使用方式的不同而带来的范式差异:大数据采用数据驱动模型替代力学中的偏微分方程组以描述问题,在复杂系统的分析、预测中优势显著.回顾了大数据方法在材料性能预测、材料本构建模、湍流建模、结构健康监测及试验力学等方面的最新研究进展,以及动态数据驱动与数字孪生等大数据驱动的建模模拟新范式.总结了大数据在力学研究中应用的3种方式, 即驱动已有模型改进,挖掘复杂隐含的规律, 以及替代已有的理论方法等. 最后,建议以力学研究为主体和牵引, 大数据与力学双驱动,推动大数据与力学交叉形成理论与方法突破、及学科发展新方向.      

The discrete Gaussian free field on a compact manifold

In this article we define the discrete Gaussian free field (DGFF) on a compact manifold. Since there is no canonical grid approximation of a manifold, we construct a random graph that suitably replaces the square lattice ${\mathbb{Z}}^d$ in Euclidean space, and prove that the scaling limit of the DGFF is given by the manifold continuum Gaussian free field (GFF). Furthermore using Voronoi tessellations we can interpret the DGFF as element of a Sobolev space and show convergence to the GFF in law with respect to the strong Sobolev topology.     

Noninvasive Temperature Measurement in Dental Materials Using Nd3+, Yb3+ Doped Nanoparticles Emitting in the Near Infrared Region

In this work, the application of near infrared (NIR)-emitting NaYbF₄:1%Tm³⁺@NaLuF₄:30%Nd³⁺ core–shell nanoparticles is reported for noninvasive probing and monitoring the temperature during photopolymerization of dental materials. When excited at 808 nm, the synthesized nanoparticles emit NIR photoluminescence (PL) with two distinctive peaks at 865 and 980 nm which correspond to radiative transitions from the doped Nd³⁺ and Yb³⁺ ions, respectively. Luminescence intensity ratio between these two bands is found to vary with temperature due to temperature-dependent electronic excitation energy transfer between Nd³⁺ and Yb³⁺ ions at the core/shell interface. This finding allows luminescence ratiometric evaluation of the in situ temperature during photopolymerization of resin cement (doped with nanoparticles) in a veneer placement procedure. In addition, the NIR emission also enables PL imaging of the distribution of the adhesive under the veneer. The results highlight that rare-earth ions–doped nanoparticles with both excitation and emission in the NIR spectral range are advantageous for both PL-based nanothermometry and imaging due to the reduced attenuation of NIR light by dental ceramics.