Collective motion of self-propelled particles: Stabilizing symmetric formations on closed curves

We provide feedback control laws to stabilize formations of multiple, unit speed particles on smooth, convex, and closed curves with definite curvature. As in previous work we exploit an analogy with coupled phase oscillators to provide controls which isolate symmetric particle formations that are invariant to rigid translation of all the particles. In this work, we do not require all particles to be able to communicate; rather we assume that inter-particle communication is limited and can be modeled by a fixed, connected, and undirected graph. Because of their unique spectral properties, the Laplacian matrices of circulant graphs play a key role. The methodology is demonstrated using a superellipse, which is a type of curve that includes circles, ellipses, and rounded rectangles. These results can be used in applications involving multiple autonomous vehicles that travel at constant speed around fixed beacons. ©2006 IEEE.

Rhythmic stabilization of periodic orbits in a wedge

The paper addresses the rhythmic stabilization of periodic orbits in a wedge billiard with actuated edges. The output feedback strategy, based on the sole measurement of impact times, results from the combination of a stabilizing state feedback control law and a nonlinear deadbeat state estimator. It is shown that the robustness of both the control law and the observer leads to a simple rhythmic controller achieving a large basin of attraction. Copyright © 2005 IFAC.

Stabilization of periodic orbits in a wedge billiard

This paper introduces a stabilization problem for an elementary impact control system in the plane. The rich dynamical properties of the wedge billiard, combined to the relevance of the associated stabilization problem for feedback control issues in legged robotics make it a valuable benchmark for energy-based stabilization of impact control systems.

Laser diode integrated with a dual-waveguide spot-size converter by low-energy ion implantation quantum well intermixing

A ridge laser diode monolithically integrated with a buried-ridge-structure dual-waveguide spot-size converter operating at 1.58 mu m is successfully fabricated by means of low-energy ion implantation quantum well intermixing and asymmetric twin waveguide technology. The passive waveguide is optically combined with a laterally tapered active core to control the mode size. The devices emit in a single transverse and quasi single longitudinal mode with a side mode suppression ratio of 40.0dB although no grating is fabricated in the LD region. The threshold current is 50 mA. The beam divergence angles in the horizontal and vertical directions are as small as 7.3 degrees x 18.0 degrees, respectively, resulting in 3.0dB coupling loss With a cleaved single-mode optical fibre.

Quantum measurement of single electron state by a quantum point contact

Closely related to the quantum information processing in solid states, we study the quantum measurement of single electron state by a mesoscopic charge-sensitive detector, namely the quantum point contact (QPC). We find that the conventional Lindblad-type master equation is not appropriate for describing the underlying measurement dynamics. The treatment developed in this work properly accounts for the energy-exchange between the detector and the measured system, and its role on the detailed-balance relation. A valid description for the QPC measurement dynamics is provided which may have impact on the study of quantum measurement and quantum feedback control in solid states.

一种基于PID反馈控制的分时调度算法

近年来 ,在实时操作系统的研究中 ,已开始将反馈控制融入操作系统的任务调度 将这一想法与分时操作系统相结合 ,提出一种基于PID反馈控制的分时调度算法 它能根据任务对CPU带宽的个性化需求 ,并考虑开放的分时系统中CPU占用率的不确定动态变化特性 ,动态地分配CPU带宽 ,使CPU对任务集的处理效果始终处于最佳状态 性能分析实验结果表明 ,它不仅兼容传统的分时调度架构 ,还具有良好的动态、静态特性及鲁棒性 ,且引入的调度费用较低

模糊反馈控制实时调度算法

为了解决模糊不确定任务集在不可预测环境下的动态抢占调度问题,应用模糊规则和模糊调度理论,提出一个基于模糊反馈控制的调度算法,并建立相应的调度架构.该架构由基本调度器和模糊反馈控制两部分组成.用模糊调度算法作为基本调度器的调度算法,将任务集按不同优先级等级进行划分,优先级等级高的任务优先调度,从而使得更多的重要任务得到调度;模糊控制器与任务流调节策略一起构成模糊反馈控制部分.仿真结果表明,模糊反馈控制调度可以很好地控制任务的截止期错失率,解决任务特征可能是模糊不确定或不可预测民政部下的调度问题,提高重要任务的调度成功率.

Novel electroabsorption modulator monolithically integrated with spot-size converter

A novel 1.55-μm spot-size converter integrated electroabsorption modulator was designed with conventional photolithography and chemical wet etching process. A ridge double-core structure was employed for the modulator, and a buried ridge double-core structure was incorporated for the spot-size converter. The passive waveguide was optically combined with a laterally tapered active waveguide to control the mode size. The figure of merit is 4.1667 dB/V(/100 μm) and the beam divergence angles in the horizontal and vertical directions were as small as 11.2 deg. and 13.0 deg., respectively.

The impact of plateau zokor Myospalax fontanierii burrows on alpine meadow vegetation on the Qinghai-Xizang (Tibetan) plateau

The impact of burrows constructed by plateau zokors Myospalax fontanierii (Milne-Edwards, 1867) on alpine meadow vegetation on the Qinghai-Xizang (Tibetan) plateau was investigated. Plant samples taken from quadrats directly over active zokor burrows, back-filled burrows, adjacent burrow controls, and random sites from a field, in which no burrows or mounds occurred were compared. The biomass of plants (below- and above-ground) directly over shallow active burrows was significantly lower than on control plots. This reduction in biomass was not significantly different than that between deep active burrows and control plots. There were no significant differences between above- and below-ground plant biomass on areas perpendicular to active burrows when compared to random sites. Back-filling soil in burrows could promote the growth of above-ground monocotyledonous plants. However, the burrowing activities of zokors had a negative effect on biomass of dicotyledonous plants.

一种新的角加速度估计方法及其应用

首先提出了一种新的基于卡尔曼滤波及牛顿预测的角加速度估计方法,在已知电机驱动系统位置信息的情况下,利用卡尔曼滤波实时估计系统的角加速度;同时采用牛顿预测方法解决估计算法的滞后问题,进一步提高了估计加速度的响应频带．以此为基础,本文进一步分析了利用估计加速度进行反馈控制以增强系统对外扰动的鲁棒性问题,提出了加速度反馈控制策略的设计准则并分析了稳定性．在一个直接驱动机器人关节上针对上述加速度估计及控制方法进行了实验研究:将估计加速度的实验结果与实测加速度(利用加速度计)的实验结果进行了比较分析,从而定量地揭示出估计加速度及其反馈控制在实际系统中的可行性及有效性．

一类非完整约束动力学系统的人工场导向控制

对于一类具有轮式移动机构的非完整动力学系统，本文通过建立人工场的方法来实现其位姿镇定、轨迹跟踪和路径跟踪等控制问题。人工场用于导向和控制方向角，而通过辅助的线速度控制以获取最佳收敛路径。控制器设计中同时兼顾动力学扰动及实际系统速度和输出力矩的饱和限制，所得控制器对于跟踪问题仅需知道期望位姿，而且结构简单、鲁棒性强、便于实现。

非完整约束轮式移动机器人人工场导向控制研究

导向控制在非完整约束轮式移动机器人的运动控制中具有重要作用，该文通过建立人工场的方法来引导和控制方向角，通过辅助的线速度控制前进或后退，以获得最佳收敛路径；同时考虑到实际系统速度饱和限制，从而设计出一种新的非连续位姿镇定律，并将该结果扩展，使得平面内任意点-点镇定、轨迹跟踪和路径跟踪问题均可得以实现，且对于跟踪问题仅需知道期望位姿，所得控制器不权设计简单，鲁棒性强，收敛速度快，还具有一定的普遍性。

面向自主移动机器人的主动建模及控制方法研究

自主能力是传统的工业机器人向今天更具智能的先进机器人发展的最重要的使能技术之一。而实时建模与自主适应控制则是实现机器人自主能力的最为关键的两种技术。本文以中科院沈阳自动化所自行研制的正交全方位轮式移动机器人为实验平台，深入系统的研究了自主机器人基于UKF的在线建模技术及控制方法。首先，深入地研究了UKF算法，并证明了其稳定性。阐述了U变换的基本原理，对U变换的精度进行了分析，阐述了随机过程有界的概念。介绍了标准UKF算法和平方根UKF算法。在此基础上，提出了UKF基本算法的稳定性条件，并给出了相应的证明过程，为UKF算法的应用奠定了理论基础。其次，研究了基于UKF的非线性系统实时状态和参数联合估计方法，提出了基于UKF主动建模的控制方法。在联合估计中，将系统中的时变参数与其真实状态联合，组成增广状态向量，再利用UKF对该增广状态进行估计，从而得到状态和参数的估计值。基于UKF主动建模的控制方法，是将上述状态/参数联合估计方法与逆动力学控制相结合，实现针对机器人自身参数不确定性的自适应控制。仿真结果表明，UKF算法对系统状态和参数的变化具有良好的估计性能，所提出的控制方法能够有效的克服时变参数对系统控制性能的影响。第三，研究了基于UKF的故障在线辨识与容错控制方法。提出了一种针对驱动器故障的参数化模型表达方法，利用UKF联合估计方法对故障参数进行在线估计。将实时故障参数估计与逆动力学控制相结合，构造出实时容错控制方法。在分析了全方位正交轮式移动机器人结构的基础上，离线地建立起该机器人的运动学和动力学参考模型，并以该离线参考模型为基础，进行了容错控制实验研究。实验结果表明在系统驱动器发生故障时，基于UKF主动建模的容错控制方法能够有效的提高系统的性能。最后，提出了两种具有噪声统计特性自适应能力的UKF算法，即基于MIT规则和基于KF估计的自适应UKF算法。基于MIT规则的自适应UKF算法，以新息方差的实际值与估计值的差为指标函数，采用MIT规则作为自适应机制，在线地估计系统噪声统计特性，以此提高UKF方法对噪声统计特性的自适应能力。基于KF估计的自适应UKF算法由两个并行的主、辅滤波器构成。辅助滤波器利用KF估计系统噪声方差，主滤波器利用该噪声方差的估计值，进一步预测估计系统的状态和参数。仿真表明在系统的噪声统计特性发生变化时，所提出的两种自适应UKF算法能够自动的调整自身参数，以弥补由于先验知识不足而产生的估计误差。之后，比较了两种自适应UKF算法在估计的准确程度、估计所用的CPU时间、调节的难易程度三个方面的性能，并给出了比较结果。

有缆水下机器人主动升沉补偿控制研究

针对母船的升沉运动影响有缆水下机器人的释放与回收的工程实际需求,提出了利用液压绞车降低中继器的升沉速度来实现水下机器人主动升沉补偿控制的方法,来提高水下机器人释放与回收的安全性能。建立液压绞车的数学模型并设计主动升沉补偿前馈控制器。水下机器人主动升沉补偿实验表明液压系统的非线性降低了液压绞车主动升沉补偿前馈控制的升沉补偿效率。针对液压绞车的非线性特性,设计了液压绞车主动升沉补偿预测控制算法,仿真实验表明基于液压系统参数辨识的液压绞车主动升沉补偿预测控制可以得到较高的升沉补偿效率。

基于输入和机械手扰动补偿的水下机器人控制实验研究

以搭建的自治水下机器人-机械手系统为对象,通过水池实验分析了载体分系统的响应特性。针对传统的反馈控制在载体控制中的不足,将输入补偿项和机械手扰动补偿项作为载体控制的前馈项,设计了水下机器人复合校正控制器。水池实验验证了方法的可行性和有效性。