Hierarchical motion planning at the acceleration level based on task priority matrix for space robot

Nonlinear Dynamics - A capacitive micromachined ultrasonic transducer (CMUT) due to many benefits is being considered as an imaging and therapeutic technology recently. The critical challenge is to...     

Limit for the Euler-genus distributions of ladder-like sequences of graphs

Journal of Algebraic Combinatorics - In this paper, we demonstrate a method for calculating the production matrices for the Euler-genus polynomials of H-linear families of graphs. Particularly, for...     

Study on propagation efficiency and fidelity of subthreshold signal in feed-forward hybrid neural network under electromagnetic radiation

Nonlinear Dynamics - The hybrid neural model provides a computationally effective and biophysics-based neuron behavior model, which maintains its simplicity by incorporating the dynamics...     

A visible light responsive molecularly imprinted photoelectrochemical sensor for the sensitive detection of BSA

Journal of Solid State Electrochemistry - A molecularly imprinted photoelectrochemical (PEC) cathodic sensor was developed for the detection of bovine serum albumin (BSA). The PEC sensor was...     

Portfolio Selection and Risk Control for an Insurer With Uncertain Time Horizon and Partial Information in an Anticipating Environment

Methodology and Computing in Applied Probability - This paper is devoted to the study of an optimal investment and risk control problem for an insurer. The risky asset process and the insurance...     

基于步态切换的欠驱动双足机器人控制方法

由于高维、非线性、欠驱动等特点, 3-D双足机器人的稳定性控制依然是一个研究难点. 一些传统的控制方法, 如基于事件的反馈控制方法和PD控制方法, 抗扰动能力较弱, 鲁棒性较差. 通过观察, 人类受到外部扰动影响时, 会通过调整步态重新获得稳定性,相较之下仅依靠一个步态获得的稳定性是有限的. 受此启发, 本文针对上述问题提出一种基于步态切换的欠驱动3-D双足机器人控制方法. 首先, 以能耗最少为优化目标, 通过非线性优化方法预先设计多组不同步长、步速的步态作为参考步态, 以构建一个步态库; 然后, 通过综合考虑步态切换过程中的稳定性与能效, 建立了多目标步态切换函数; 最后, 将该步态切换函数作为优化目标, 并求解该最小化问题获得下一步的参考步态, 从而实现步态切换, 达到使用步态库?多轨迹方法来提高鲁棒性的目的. 在仿真实验中运用该步态切换控制方法, 欠驱动3-D双足机器人可实现相对高度在[-20, 20] mm内随机变化的不平整地面上行走, 而仅采用单步态控制策略则无法克服这样的外部扰动, 从而说明了基于步态切换的欠驱动双足机器人控制方法的有效性.      

旋转对爆炸成型杆式侵彻体毁伤威力的影响

为进一步提高周向多爆炸成型侵彻体战斗部的毁伤效能，结合数值模拟方法，设计了一种爆炸成型杆式侵彻体战斗部。基于复合装药的爆轰加载控制方式，使得药型罩成型为密实的杆式侵彻体，通过调整半预制药型罩的斜置角度，对毁伤元的旋转速度施加控制，进而提高其空中飞行姿态的稳定性，提高毁伤元的毁伤威力。对不同斜置角度的战斗部原理样机进行了静爆实验，实验结果与模拟结果的对比表明，半预制药型罩斜置角度为1.5°时，爆炸成型杆式侵彻体的着靶姿态最好，对45钢靶板侵彻深度最大。通过药型罩斜置，在保证杆式侵彻体成型质量的同时，可以有效提高侵彻体的侵彻威力。     

Improved synchronization criteria of Lur’e systems under sampled-data control

Nonlinear Dynamics - In this paper, we address the issue of $$\mathcal {H}_{\infty }$$ synchronization for two identical chaotic systems with time-varying delays and uncertainties under...     

Sample preparation for mass spectrometry imaging of leaf tissues: a case study on analyte delocalization

Analytical and Bioanalytical Chemistry - Appropriate sample preparation is pivotally important to obtain high-quality mass spectrometry imaging (MSI) data. Unlike mammalian tissues, preparation of...