类Lyapunov理论在类人形机器人任务空间内跟踪的应用

考虑了类人形机器人的各种不确定因素,提出了其手臂控制的新方法.基于类Lyapunov方法,设计出具有鲁棒性功能的任务空间控制器.该方法得到的控制器不但在有限确定时间内达到稳定跟踪,而且不需要雅可比矩阵求逆,对一定类型的外部干扰具有鲁棒性功能.最后通过数值仿真显示了所得结果的有效性及其应用方法.

水下机器人的神经网络自适应控制

研究了水下机器人神经网络直接自适应控制方法,采用Lyapunov稳定性理论,证明了存在有界外界干扰和有界神经网络逼近误差条件下,水下机器人控制系统的跟踪误差一致稳定有界.为了进一步验证该水控制方法的正确性和稳定性,利用水下机器人实验平台进行了动力定位实验、单自由度跟踪实验和水平面跟踪实验等验证实验.

Stabilization of Uncertain Nonholonomic Dynamic Systems with Bounded Inputs

The sliding mode approach and the multi-step control strategy are exploited to propose a stabilizing controller for uncertain nonholonomic dynamic systems with bounded inputs. This controller can stabilize the system to an arbitrarily small neighborhood about its equilibrium in a finite time .Its application to a nonholonomic wheeled mobile robot is described. Simulation result shows that the proposed controller is effective

Optimal bounded control of first-passage failure of quasi-integrable Hamiltonian systems with wide-band random excitation

The optimal bounded control of quasi-integrable Hamiltonian systems with wide-band random excitation for minimizing their first-passage failure is investigated. First, a stochastic averaging method for multi-degrees-of-freedom (MDOF) strongly nonlinear quasi-integrable Hamiltonian systems with wide-band stationary random excitations using generalized harmonic functions is proposed. Then, the dynamical programming equations and their associated boundary and final time conditions for the control problems of maximizinig reliability and maximizing mean first-passage time are formulated based on the averaged It$\ddot{\rm o}$ equations by applying the dynamical programming principle. The optimal control law is derived from the dynamical programming equations and control constraints. The relationship between the dynamical programming equations and the backward Kolmogorov equation for the conditional reliability function and the Pontryagin equation for the conditional mean first-passage time of optimally controlled system is discussed. Finally, the conditional reliability function, the conditional probability density and mean of first-passage time of an optimally controlled system are obtained by solving the backward Kolmogorov equation and Pontryagin equation. The application of the proposed procedure and effectiveness of control strategy are illustrated with an example.

Receptivity To Free-Stream Disturbance Waves For Hypersonic Flow Over A Blunt Cone

A high-order shock-fitting finite difference scheme is studied and used to do direction numerical simulation (DNS) of hypersonic unsteady flow over a blunt cone with fast acoustic waves in the free stream, and the receptivity problem in the blunt cone hypersonic boundary layers is studied. The results show that the acoustic waves are the strongest disturbance in the blunt cone hypersonic boundary layers. The wave modes of disturbance in the blunt cone boundary layers are first, second, and third modes which are generated and propagated downstream along the wall. The results also show that as the frequency decreases, the amplitudes of wave modes of disturbance increase, but there is a critical value. When frequency is over the critial value, the amplitudes decrease. Because of the discontinuity of curvature along the blunt cone body, the maximum amplitudes as a function of frequencies are not monotone.

Vertically forced surface wave in weakly viscous fluids bounded in a circular cylindrical vessel

Two-time scale perturbation expansions were developed in weakly viscous fluids to investigate surface wave motions by linearizing the Navier-Stokes equation in a circular cylindrical vessel which is subject to a vertical oscillation. The fluid field was divided into an outer potential flow region and an inner boundary layer region. A linear amplitude equation of slowly varying complex amplitude, which incorporates a damping term and external excitation, was derived for the weakly viscid fluids. The condition for the appearance of stable surface waves was obtained and the critical curve was determined. In addition, an analytical expression for the damping coefficient was determined and the relationship between damping and other related parameters (such as viscosity, forced amplitude, forced frequency and the depth of fluid, etc.) was presented. Finally, the influence both of the surface tension and the weak viscosity on the mode formation was described by comparing theoretical and experimental results. The results show that when the forcing frequency is low, the viscosity of the fluid is prominent for the mode selection. However, when the forcing frequency is high, the surface tension of the fluid is prominent.

Optimal bounded control of first-passage failure of strongly non-linear oscillators under combined harmonic and white-noise excitations

A procedure for designing the optimal bounded control of strongly non-linear oscillators under combined harmonic and white-noise excitations for minimizing their first-passage failure is proposed. First, a stochastic averaging method for strongly non-linear oscillators under combined harmonic and white-noise excitations using generalized harmonic functions is introduced. Then, the dynamical programming equations and their boundary and final time conditions for the control problems of maximizing reliability and of maximizing mean first-passage time are formulated from the averaged Ito equations by using the dynamical programming principle. The optimal control law is derived from the dynamical programming equations and control constraint. Finally, the conditional reliability function, the conditional probability density and mean of the first-passage time of the optimally controlled system are obtained from solving the backward Kolmogorov equation and Pontryagin equation. An example is given to illustrate the proposed procedure and the results obtained are verified by using those from digital simulation. (C) 2003 Elsevier Ltd. All rights reserved.

Complete solution of the columbus problem for large-disturbance cases

The Columbus problem has been rigorously solved by Lyapunov's direct approach to the continuous system in gencral cases of large disturbance and the theory has proved to be in strict consistency with Kelvin's experiments.

Numerical Solution for Polymer Transient Flows in a Circle Bounded Composite Formation

A new numerical model for transient flows of polymer solution in a circular bounded composite formation is presented in this paper. Typical curves of the wellbore transient pressure are yielded by FEM. The effects of non-Newtonian power-law index, mobility and boundary distance have been considered. It is found that for the mobility ratio larger than 1, which is favorable for the polymer flooding, the pressure derivative curve in log-log form rises up without any hollow. On the other hand, if the pressure derivative curve has a hollow and then is raised up, we say that the polymer flooding fails. Finally, the new model has been extended to more complicated boundary case.

Receptivity to free-stream disturbance waves for blunt cone axial symmetry hypersonic boundary layer

Based on high-order compact upwind scheme, a high-order shock-fitting finite difference scheme is studied to simulate the generation of boundary layer disturbance waves due to free-stream waves. Both steady and unsteady flow solutions of the receptivity problem are obtained by resolving the full Navier-Stokes equations. The interactions of bow-shock and free-stream disturbance are researched. Direct numerical simulation (DNS) of receptivity to free-stream disturbances for blunt cone hypersonic boundary layers is performed.

Specklegram in a grapefruit fiber and its response to external mechanical disturbance in a single-multiple-single mode fiber structure

Specklegram in multimode fiber has successfully been used as a sensor for detecting mechanical disturbance. Speckles in a multimode pure silica grapefruit fiber are observed and compared to that of a step-index multimode fiber, showing different features between them. The sensitivities to external disturbance of two kinds of fiber were measured, based on single-multiple-single mode (SMS) fiber structure. Experimental results show that the grapefruit fiber shows higher sensitivity than does the step-index multimode fiber. The transmission spectrum of the grapefruit fiber was measured as well, showing some oscillation features that are significantly different from that of a step-index multimode fiber. The experiments may provide suggestions to understand the mechanisms of light propagation in grapefruit fibers. (D 2008 Optical Society of America.

Altitudinal Ranging of Black-Crested Gibbons at Mt. Wuliang, Yunnan: Effects of Food Distribution, Temperature and Human Disturbance

We studied the altitudinal ranging of one habituated group of black-crested gibbons (Nomascus concolor) at Dazhaizi, Mt. Wuliang, Yunnan, China, between March 2005 and April 2006. The group ranged from 1,900 to 2,680 m above sea level. Food distribution was the driving force behind the altitudinal ranging patterns of the study group. They spent 83.2% of their time ranging between 2,100 and 2,400 m, where 75.8% of important food patches occurred. They avoided using the area above 2,500 m despite a lack of human disturbance there, apparently because there were few food resources. Temperature had a limited effect on seasonal altitudinal ranging but probably explained the diel altitudinal ranging of the group, which tended to use the lower zone in the cold morning and the higher zone in the warm afternoon. Grazing goats, the main disturbance, were limited to below 2,100 m, which was defined as the high-disturbance area (HDA). Gibbons spent less time in the HDA and, when ranging there, spent more time feeding and travelling and less time resting and singing. Human activities directly influenced gibbon behaviour, might cause forest degradation and create dispersal barriers between populations. Copyright (C) 2010 S. Karger AG, Basel

Food web of benthic macro invertebrates in a large Yangtze River-connected lake: the role of flood disturbance

This Study was conducted in Lake Dongtinghu, a large river-connected lake on the Yangtze River flood-plain, China. Our goal was to determine trophic relationships among benthic macroinvertebrates, as well as the effects of flood disturbance on the benthic food web of a river-connected lake. Macroinvertebrates in the lake fed mainly on detritus and plankton (both zooplankton and phytoplankton). Food web Structure in Lake Dongtinghu was characterized by molluscs as the dominant group, low connectance, high level of omnivory. based oil detritus and primary production, and most ingestion concentrating on a few links. Our analyses showed that flood disturbance is an important factor affecting the benthic food web in Lake Dongtinghu. The numbers of species and functional feeding groups (FFGs), and the density and biomass of macroinvertebrates decreased significantly during flooding. Connectance was higher during the flood season than in other seasons, indicating that floods have a strong effect on connectance in this Yangtze River-connected lake. Flood effects on the benthic web were also evident in the decrease of niche overlaps within and anion, FFGs. Our results provide useful information regarding biodiversity conservation on the Yangtze floodplain. Reconstructing and maintaining natural and regular flow regimes between Yangtze lakes and the river is essential for restoration of macroinvertebrates on the floodplain.

A Global Crisis for Seagrass Ecosystems

Seagrasses, marine flowering plants, have a long evolutionary history but are now challenged with rapid environmental changes as a result of coastal human population pressures. Seagrasses provide key ecological services, including organic carbon production and export, nutrient cycling, sediment stabilization, enhanced biodiversity, and trophic transfers to adjacent habitats in tropical and temperate regions. They also serve as “coastal canaries,” global biological sentinels of increasing anthropogenic influences in coastal ecosystems, with large-scale losses reported worldwide. Multiple stressors, including sediment and nutrient runoff, physical disturbance, invasive species, disease, commercial fishing practices, aquaculture, overgrazing, algal blooms, and global warming, cause seagrass declines at scales of square meters to hundreds of square kilometers. Reported seagrass losses have led to increased awareness of the need for seagrass protection, monitoring, management, and restoration. However, seagrass science, which has rapidly grown, is disconnected from public awareness of seagrasses, which has lagged behind awareness of other coastal ecosystems. There is a critical need for a targeted global conservation effort that includes a reduction of watershed nutrient and sediment inputs to seagrass habitats and a targeted educational program informing regulators and the public of the value of seagrass meadows.