In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),...In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.展开更多
According to the Wide Area Network model, we formulate Internet flow control as a constrained convex programming problem, where the objective is to maximize the total utility of all sources over their transmission rat...According to the Wide Area Network model, we formulate Internet flow control as a constrained convex programming problem, where the objective is to maximize the total utility of all sources over their transmission rates. Based on this formulation, flow control can be converted to a normal unconstrained optimization problem through the barrier function method, so that it can be solved by means of a gradient projection algorithm with properly rate iterations. We prove that the algorithm converges to the global optimal point, which is also a stable proportional fair rate allocation point, provided that the step size is properly chosen. The main difficulty facing the realization of iteration algorithm is the distributed computation of congestion measure. Fortunately, Explicit Congestion Notification (ECN) is likely to be used to improve the performance of TCP in the near future. By using ECN, it is possible to realize the iteration algorithm in IP networks. Our algorithm is divided into two parts, algorithms in the router and in the source. The router marks the ECN bit with a probability that varies as its buffer occupancy varies, so that the congestion measure of links can be communicated to the source when the marked ECN bits are reflected back from its destination. Source rates are then updated by all sessions according to the received congestion measure. The main advantage of our scheme is its fast convergence ability and robustness; it can also provide the network with zero packet loss by properly choosing the queue threshold and provide differentiated service to users by applying different utility functions.展开更多
Using Euler’s first-order explicit(EE)method and the peridynamic differential operator(PDDO)to discretize the time and internal crystal-size derivatives,respectively,the Euler’s first-order explicit method–peridyna...Using Euler’s first-order explicit(EE)method and the peridynamic differential operator(PDDO)to discretize the time and internal crystal-size derivatives,respectively,the Euler’s first-order explicit method–peridynamic differential operator(EE–PDDO)was obtained for solving the one-dimensional population balance equation in crystallization.Four different conditions during crystallization were studied:size-independent growth,sizedependent growth in a batch process,nucleation and size-independent growth,and nucleation and size-dependent growth in a continuous process.The high accuracy of the EE–PDDO method was confirmed by comparing it with the numerical results obtained using the second-order upwind and HR-van methods.The method is characterized by non-oscillation and high accuracy,especially in the discontinuous and sharp crystal size distribution.The stability of the EE–PDDO method,choice of weight function in the PDDO method,and optimal time step are also discussed.展开更多
Fujian cuisine is a distinctive Chinese cuisine.Today,there are many faults and mistakes in the translation of the dish names,which leads to the failure and inconvenience of cross-cultural communication.The paper is a...Fujian cuisine is a distinctive Chinese cuisine.Today,there are many faults and mistakes in the translation of the dish names,which leads to the failure and inconvenience of cross-cultural communication.The paper is an attempt to probe into the appropriate translation of Fujian dish names by the employment of explicitation.展开更多
Based on corpus-related software and strategic framework of explicitation translation in applied texts,this paper uses Report on the Work of the Government as an example and explore the explicitation in political text...Based on corpus-related software and strategic framework of explicitation translation in applied texts,this paper uses Report on the Work of the Government as an example and explore the explicitation in political texts.According to the research results,political texts have shown explicitation in four sectors of the framework,especially the sector of first person plural pronouns,with quantity,language,culture,and others as influential factors.展开更多
文摘In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.
文摘According to the Wide Area Network model, we formulate Internet flow control as a constrained convex programming problem, where the objective is to maximize the total utility of all sources over their transmission rates. Based on this formulation, flow control can be converted to a normal unconstrained optimization problem through the barrier function method, so that it can be solved by means of a gradient projection algorithm with properly rate iterations. We prove that the algorithm converges to the global optimal point, which is also a stable proportional fair rate allocation point, provided that the step size is properly chosen. The main difficulty facing the realization of iteration algorithm is the distributed computation of congestion measure. Fortunately, Explicit Congestion Notification (ECN) is likely to be used to improve the performance of TCP in the near future. By using ECN, it is possible to realize the iteration algorithm in IP networks. Our algorithm is divided into two parts, algorithms in the router and in the source. The router marks the ECN bit with a probability that varies as its buffer occupancy varies, so that the congestion measure of links can be communicated to the source when the marked ECN bits are reflected back from its destination. Source rates are then updated by all sessions according to the received congestion measure. The main advantage of our scheme is its fast convergence ability and robustness; it can also provide the network with zero packet loss by properly choosing the queue threshold and provide differentiated service to users by applying different utility functions.
文摘Using Euler’s first-order explicit(EE)method and the peridynamic differential operator(PDDO)to discretize the time and internal crystal-size derivatives,respectively,the Euler’s first-order explicit method–peridynamic differential operator(EE–PDDO)was obtained for solving the one-dimensional population balance equation in crystallization.Four different conditions during crystallization were studied:size-independent growth,sizedependent growth in a batch process,nucleation and size-independent growth,and nucleation and size-dependent growth in a continuous process.The high accuracy of the EE–PDDO method was confirmed by comparing it with the numerical results obtained using the second-order upwind and HR-van methods.The method is characterized by non-oscillation and high accuracy,especially in the discontinuous and sharp crystal size distribution.The stability of the EE–PDDO method,choice of weight function in the PDDO method,and optimal time step are also discussed.
文摘Fujian cuisine is a distinctive Chinese cuisine.Today,there are many faults and mistakes in the translation of the dish names,which leads to the failure and inconvenience of cross-cultural communication.The paper is an attempt to probe into the appropriate translation of Fujian dish names by the employment of explicitation.
文摘Based on corpus-related software and strategic framework of explicitation translation in applied texts,this paper uses Report on the Work of the Government as an example and explore the explicitation in political texts.According to the research results,political texts have shown explicitation in four sectors of the framework,especially the sector of first person plural pronouns,with quantity,language,culture,and others as influential factors.
