The variational integrators of autonomous Birkhoff systems are obtained by the discrete variational principle. The geometric structure of the discrete autonomous Birkhoff system is formulated. The discretization of ma...The variational integrators of autonomous Birkhoff systems are obtained by the discrete variational principle. The geometric structure of the discrete autonomous Birkhoff system is formulated. The discretization of mathematical pendulum shows that the discrete variational method is as effective as symplectic scheme for the autonomous Birkhoff systems.展开更多
This paper studies a distributed optimal consensus problem for multiple double integrators under bounded velocity and acceleration. Assigned with an in dividual and private convex cost which is dependent on the positi...This paper studies a distributed optimal consensus problem for multiple double integrators under bounded velocity and acceleration. Assigned with an in dividual and private convex cost which is dependent on the position, each age nt n eeds to achieve consensus at the optimum of the aggregate cost under bounded velocity and acceleration. Based on relative positions and velocities to neighbor agents, we design a distributed control law by including the integration feedback of position and velocity errors. By employing quadratic Lyapunov functions, we solve the optimal consensus problem of double-integrators when the fixed topology is strongly connected and weight-balanced. Furthermore, if an initial estimate of the optimum can be known, then control gains can be properly selected to achieve an exponentially fast convergence under bounded velocity and acceleration. The result still holds when the relative velocity is not available, and we also discuss an extension for heterogeneous Euler-Lagrange systems by in verse dynamics control. A nu meric example is provided to illustrate the result.展开更多
Integrator based model is used to describe a wide range of systems in robotics. In this paper, we present an axis-coupled trajectory generation algorithm for chains of integrators with an arbitrary order. Special noti...Integrator based model is used to describe a wide range of systems in robotics. In this paper, we present an axis-coupled trajectory generation algorithm for chains of integrators with an arbitrary order. Special notice has been given to problems with pre-existing nominal plans, which are common in robotic applications. It also handles various type of constraints that can be satisfied on an entire time interval, including non-convex ones which can be transformed into a series of convex constraints through time segmentation. The proposed approach results in a linearly constrained quadratic programming problem, which can be solved effectively with off-the-shelf solvers. A closed-form solution is achievable with only the boundary constraints considered. Finally, the proposed method is tested in real experiments using quadrotors which represent high-order integrator systems.展开更多
In this paper, we propose a variational integrator for nonlinear Schrodinger equations with variable coefficients. It is shown that our variational integrator is naturally multi-symplectic. The discrete multi-symplect...In this paper, we propose a variational integrator for nonlinear Schrodinger equations with variable coefficients. It is shown that our variational integrator is naturally multi-symplectic. The discrete multi-symplectic structure of the integrator is presented by a multi-symplectic form formula that can be derived from the discrete Lagrangian boundary function. As two examples of nonlinear Schrodinger equations with variable coefficients, cubic nonlinear Schrodinger equations and Gross-Pitaevskii equations are extensively studied by the proposed integrator. Our numerical simulations demonstrate that the integrator is capable of preserving the mass, momentum, and energy conservation during time evolutions. Convergence tests are presented to verify that our integrator has second-order accuracy both in time and space.展开更多
N-body simulations of the Sun, the planets, and small celestial bodies are frequently used to model the evolution of the Solar System. Large numbers of numerical integrators for performing such simulations have been d...N-body simulations of the Sun, the planets, and small celestial bodies are frequently used to model the evolution of the Solar System. Large numbers of numerical integrators for performing such simulations have been developed and used;see, for example, [1,2]. The primary objective of this paper is to analyse and compare the efficiency and the error growth for different numerical integrators. Throughout the paper, the error growth is examined in terms of the global errors in the positions and velocities, and the relative errors in the energy and angular momentum of the system. We performed numerical experiments for the different integrators applied to the Jovian problem over a long interval of duration, as long as one million years, with the local error tolerance ranging from 10-16 to 10-18.展开更多
ZTE Corporation has signed strategic telecommunications software agreement with two leading providers in Europe and Latin America to optimize its offerings for target customers in
Two new fourth-order three-stage symplectic integrators are specifically designed for a family of Hamiltonian systems,such as the harmonic oscillator,mathematical pendulum and latticeφ4 model.When the nonintegrable l...Two new fourth-order three-stage symplectic integrators are specifically designed for a family of Hamiltonian systems,such as the harmonic oscillator,mathematical pendulum and latticeφ4 model.When the nonintegrable latticeφ4 system is taken as a test model,numerical comparisons show that the new methods have a great advantage over the second-order Verlet symplectic integrators in the accuracy of energy,become explicitly better than the usual non-gradient fourth-order seven-stage symplectic integrator of Forest and Ruth,and are almost equivalent to a fourth-order seven-stage force gradient symplectic integrator of Chin.As the most important advantage,the new integrators are convenient for solving the variational equations of many Hamiltonian systems so as to save a great deal of the computational cost when scanning a lot of orbits for chaos.展开更多
A discrete total variation calculus with variable time steps is presented for mechanico-electrical systems where there exist non-potential and dissipative forces. By using this discrete variation calculus, the symplec...A discrete total variation calculus with variable time steps is presented for mechanico-electrical systems where there exist non-potential and dissipative forces. By using this discrete variation calculus, the symplectic-energy-first integrators for mechanico-electrical systems are derived. To do this, the time step adaptation is employed. The discrete variational principle and the Euler-Lagrange equation are derived for the systems. By using this discrete algorithm it is shown that mechanico-electrical systems are not symplectic and their energies are not conserved unless they are Lagrange mechanico-electrical systems. A practical example is presented to illustrate these results.展开更多
Based on the Magnus integrator method established in linear dynamic systems, an efficiently improved modified Magnus integrator method was proposed for the second-order dynamic systems with time-dependent high frequen...Based on the Magnus integrator method established in linear dynamic systems, an efficiently improved modified Magnus integrator method was proposed for the second-order dynamic systems with time-dependent high frequencies. Firstly, the secondorder dynamic system was reformulated as the first-order system and the frame of reference was transfered by introducing new variables so that highly oscillatory behaviour inherits from the entries in the meantime. Then the modified Magnus integrator method based on local linearization was appropriately designed for solving the above new form and some improved also were presented. Finally, numerical examples show that the proposed methods appear to be quite adequate for integration for highly oscillatory dynamic systems including Hamiltonian systems problem with long time and effectiveness.展开更多
This paper develops a new approach to construct variational integrators. A simplified unconventional Hamilton＇s variational principle corresponding to initial value problems is proposed, which is convenient for appli...This paper develops a new approach to construct variational integrators. A simplified unconventional Hamilton＇s variational principle corresponding to initial value problems is proposed, which is convenient for applications. The displacement and mo- mentum are approximated with the same Lagrange interpolation. After the numerical integration and variational operation, the original problems are expressed as algebraic equations with the displacement and momentum at the interpolation points as unknown variables. Some particular variational integrators are derived. An optimal scheme of choosing initial values for the Newton-Raphson method is presented for the nonlinear dynamic system. In addition, specific examples show that the proposed integrators are symplectic when the interpolation point coincides with the numerical integration point, and both are Gaussian quadrature points. Meanwhile, compared with the same order symplectic Runge-Kutta methods, although the accuracy of the two methods is almost the same, the proposed integrators are much simpler and less computationally expensive.展开更多
In this work,a consistent and physically accurate implementation of the general framework of unified second-order time accurate integrators via the well-known GSSSS framework in the Discrete Element Method is presente...In this work,a consistent and physically accurate implementation of the general framework of unified second-order time accurate integrators via the well-known GSSSS framework in the Discrete Element Method is presented.The improved tangential displacement evaluation in the present implementation of the discrete element method has been derived and implemented to preserve the consistency of the correct time level evaluation during the time integration process in calculating the algorithmic tangential displacement.Several numerical examples have been used to validate the proposed tangential displacement evaluation;this is in contrast to past practices which only seem to attain the first-order time accuracy due to inconsistent time level implementation with different algorithms for normal and tangential directions.The comparisons with the existing implementation and the superiority of the proposed implementation are given in terms of the convergence rate with improved numerical accuracy in time.Moreover,several schemes via the unified second-order time integrators within the framework of the GSSSS family have been carried out based on the proposed correct implementation.All the numerical results demonstrate that using the existing state-of-the-art implementation reduces the time accuracy to be first-order accurate in time,while the proposed implementation preserves the correct time accuracy to yield second-order.展开更多
For the problem of set point regulation of the liquid level in coupled tank systems, we present a continuous sliding mode control(SMC) with a "conditional integrator", which only provides integral action ins...For the problem of set point regulation of the liquid level in coupled tank systems, we present a continuous sliding mode control(SMC) with a "conditional integrator", which only provides integral action inside the boundary layer. For a special choice of the controller parameters, our design can be viewed as a PID controller with anti-windup and achieves robust regulation.The proposed controller recovers the transient response performance without control chattering. Both full-state feedback as well as output-feedback designs are presented in this work. Our output-feedback design uses a high-gain observer(HGO) which recovers the performance of a state-feedback design where plant parameters are assumed to be known. We consider both interacting as well as non-interacting tanks and analytical results for stability and transient performance are presented in both the cases. The proposed controller continuous SMC with conditional integrators(CSMCCI) provides superior results in terms of the performance measures as well as performance indices than ideal SMC, continuous SMC(CSMC) and continuous SMC with conventional integrator(CSMCI). Experimental results demonstrate good tracking performance in spite of unmodeled dynamics and disturbances.展开更多
In this paper,the authors study the problem of distributed Nash equilibrium seeking of N-player games with high-order integrator dynamics subject to disturbances generated by an uncertain exosystem.Similar problems ha...In this paper,the authors study the problem of distributed Nash equilibrium seeking of N-player games with high-order integrator dynamics subject to disturbances generated by an uncertain exosystem.Similar problems have been studied for disturbances with an exactly known exosystem.Compared with the existing results of high-order integrator dynamics,which can only handle sinusoidal disturbances with known frequencies,this paper aims to handle multi-tone disturbances with unknown frequencies by introducing an adaptive control technique to estimate the unknown frequencies.Technically,when the exosystem is known,the disturbance can be dealt with by the Luenburger observer.In contrast,the Luenburger observer cannot deal with an uncertain exosystem.The authors combine the internal model design and some adaptive control technique to solve the proposed problem.Further,the authors also establish the sufficient condition to guarantee the convergence of the estimated unknown frequencies to the actual values of these frequencies.Two examples are given to verify the proposed algorithm.展开更多
This paper presents decentralized solutions for pursuit-evasion problems involving high-order integrators with intracoalition cooperation and intercoalition confrontation.Distinct error variables and hyper-variables a...This paper presents decentralized solutions for pursuit-evasion problems involving high-order integrators with intracoalition cooperation and intercoalition confrontation.Distinct error variables and hyper-variables are introduced to ensure the control strategies to be independent of the relative velocities,accelerations and higher order information of neighbors.Consequently,our approach only requires agents to exchange position information or to measure the relative positions of the neighbors.The distributed strategies take into consideration the goals of intracoalition cooperation or intercoalition confrontation of the players.Furthermore,after establishing a sufficient and necessary condition for a class of high-order integrators,we present conditions for capture and formation control with exponential convergence for three scenarios:one-pursuer-one-evader,multiple-pursuer-one-evader,and multiple-pursuer-multiple-evader.It is shown that the conditions depend on the structure of the communication graph,the weights in the control law,and the expected formation configuration.Finally,the effectiveness of the proposed algorithm is demonstrated through simulation results.展开更多
Understanding the neural underpinning of human gait and balance is one of the most pertinent challenges for 21st-century translational neuroscience due to the profound impact that falls and mobility disturbances have ...Understanding the neural underpinning of human gait and balance is one of the most pertinent challenges for 21st-century translational neuroscience due to the profound impact that falls and mobility disturbances have on our aging population.Posture and gait control does not happen automatically,as previously believed,but rather requires continuous involvement of central nervous mechanisms.To effectively exert control over the body,the brain must integrate multiple streams of sensory information,including visual,vestibular,and somatosensory signals.The mechanisms which underpin the integration of these multisensory signals are the principal topic of the present work.Existing multisensory integration theories focus on how failure of cognitive processes thought to be involved in multisensory integration leads to falls in older adults.Insufficient emphasis,however,has been placed on specific contributions of individual sensory modalities to multisensory integration processes and cross-modal interactions that occur between the sensory modalities in relation to gait and balance.In the present work,we review the contributions of somatosensory,visual,and vestibular modalities,along with their multisensory intersections to gait and balance in older adults and patients with Parkinson’s disease.We also review evidence of vestibular contributions to multisensory temporal binding windows,previously shown to be highly pertinent to fall risk in older adults.Lastly,we relate multisensory vestibular mechanisms to potential neural substrates,both at the level of neurobiology(concerning positron emission tomography imaging)and at the level of electrophysiology(concerning electroencephalography).We hope that this integrative review,drawing influence across multiple subdisciplines of neuroscience,paves the way for novel research directions and therapeutic neuromodulatory approaches,to improve the lives of older adults and patients with neurodegenerative diseases.展开更多
BACKGROUND Addressing the growing challenge of hospitalizing chronic multimorbid patients,this study examines the strain these conditions impose on healthcare systems at a local level,focusing on a pilot program.Chron...BACKGROUND Addressing the growing challenge of hospitalizing chronic multimorbid patients,this study examines the strain these conditions impose on healthcare systems at a local level,focusing on a pilot program.Chronic diseases and complex patients require comprehensive management strategies to reduce healthcare burdens and improve patient outcomes.If proven effective,this pilot model has the potential to be replicated in other healthcare settings to enhance the management of chronic multimorbid patients.AIM To evaluate the effectiveness of the high complexity unit(HCU)in managing chronic multimorbid patients through a multidisciplinary care model and to compare it with standard hospital care.METHODS The study employed a descriptive longitudinal approach,analyzing data from the Basic Minimum Data Set(BMDS)to compare hospitalization variables among the HCU,the Internal Medicine Service,and other services at Antequera Hospital throughout 2022.The HCU,designed for patients with complex chronic conditions,integrates a patient-centered model emphasizing multidisciplinary care and continuity post-discharge.RESULTS The study employed a descriptive longitudinal approach,analyzing data from the BMDS to compare hospitalization variables among the HCU,the Internal Medicine Service,and other services at Antequera Hospital throughout 2022.The HCU,designed for patients with complex chronic conditions,integrates a patient-centered model emphasizing multidisciplinary care and continuity post-discharge.CONCLUSION This study demonstrates the effectiveness of the HCU in managing patients with complex chronic diseases through a multidisciplinary approach.The coordinated care provided by the HCU results in improved patient outcomes,reduced unnecessary hospitalizations,and better management of patient complexity.The superiority of the HCU compared to standard care is evident in key outcomes such as fewer readmissions and higher patient satisfaction,reinforcing its value as a model of care to be replicated.展开更多
基金supported by the National Natural Science Foundation of China (Grant Nos. 10872084 and 10932002)the Research Program of Higher Education of Liaoning Province,China (Grant No. 2008S098)+3 种基金the Program of Supporting Elitists of Higher Education of Liaoning Province,China (Grant No. 2008RC20)the Program of Constructing Liaoning Provincial Key Laboratory,China (Grant No. 2008403009)the Foundation Research Plan of Liaoning educational Bureau,China (Grant No. L2010147)the Youth fund of Liaoning University,China (Grant No. 2008LDQN04)
文摘The variational integrators of autonomous Birkhoff systems are obtained by the discrete variational principle. The geometric structure of the discrete autonomous Birkhoff system is formulated. The discretization of mathematical pendulum shows that the discrete variational method is as effective as symplectic scheme for the autonomous Birkhoff systems.
文摘This paper studies a distributed optimal consensus problem for multiple double integrators under bounded velocity and acceleration. Assigned with an in dividual and private convex cost which is dependent on the position, each age nt n eeds to achieve consensus at the optimum of the aggregate cost under bounded velocity and acceleration. Based on relative positions and velocities to neighbor agents, we design a distributed control law by including the integration feedback of position and velocity errors. By employing quadratic Lyapunov functions, we solve the optimal consensus problem of double-integrators when the fixed topology is strongly connected and weight-balanced. Furthermore, if an initial estimate of the optimum can be known, then control gains can be properly selected to achieve an exponentially fast convergence under bounded velocity and acceleration. The result still holds when the relative velocity is not available, and we also discuss an extension for heterogeneous Euler-Lagrange systems by in verse dynamics control. A nu meric example is provided to illustrate the result.
文摘Integrator based model is used to describe a wide range of systems in robotics. In this paper, we present an axis-coupled trajectory generation algorithm for chains of integrators with an arbitrary order. Special notice has been given to problems with pre-existing nominal plans, which are common in robotic applications. It also handles various type of constraints that can be satisfied on an entire time interval, including non-convex ones which can be transformed into a series of convex constraints through time segmentation. The proposed approach results in a linearly constrained quadratic programming problem, which can be solved effectively with off-the-shelf solvers. A closed-form solution is achievable with only the boundary constraints considered. Finally, the proposed method is tested in real experiments using quadrotors which represent high-order integrator systems.
基金supported by the National Natural Science Foundation of China(Grant No.11401259)the Fundamental Research Funds for the Central Universities,China(Grant No.JUSRR11407)
文摘In this paper, we propose a variational integrator for nonlinear Schrodinger equations with variable coefficients. It is shown that our variational integrator is naturally multi-symplectic. The discrete multi-symplectic structure of the integrator is presented by a multi-symplectic form formula that can be derived from the discrete Lagrangian boundary function. As two examples of nonlinear Schrodinger equations with variable coefficients, cubic nonlinear Schrodinger equations and Gross-Pitaevskii equations are extensively studied by the proposed integrator. Our numerical simulations demonstrate that the integrator is capable of preserving the mass, momentum, and energy conservation during time evolutions. Convergence tests are presented to verify that our integrator has second-order accuracy both in time and space.
文摘N-body simulations of the Sun, the planets, and small celestial bodies are frequently used to model the evolution of the Solar System. Large numbers of numerical integrators for performing such simulations have been developed and used;see, for example, [1,2]. The primary objective of this paper is to analyse and compare the efficiency and the error growth for different numerical integrators. Throughout the paper, the error growth is examined in terms of the global errors in the positions and velocities, and the relative errors in the energy and angular momentum of the system. We performed numerical experiments for the different integrators applied to the Jovian problem over a long interval of duration, as long as one million years, with the local error tolerance ranging from 10-16 to 10-18.
文摘ZTE Corporation has signed strategic telecommunications software agreement with two leading providers in Europe and Latin America to optimize its offerings for target customers in
基金by the National Natural Science Foundation of China under Grant No 10873007.
文摘Two new fourth-order three-stage symplectic integrators are specifically designed for a family of Hamiltonian systems,such as the harmonic oscillator,mathematical pendulum and latticeφ4 model.When the nonintegrable latticeφ4 system is taken as a test model,numerical comparisons show that the new methods have a great advantage over the second-order Verlet symplectic integrators in the accuracy of energy,become explicitly better than the usual non-gradient fourth-order seven-stage symplectic integrator of Forest and Ruth,and are almost equivalent to a fourth-order seven-stage force gradient symplectic integrator of Chin.As the most important advantage,the new integrators are convenient for solving the variational equations of many Hamiltonian systems so as to save a great deal of the computational cost when scanning a lot of orbits for chaos.
基金Project supported by the National Natural Science Foundation of China (Grant Nos 10672143 and 60575055)the State Key Laboratory of Scientific and Engineering Computing, Chinese Academy of Sciencesthe Natural Science Foundation of Henan Province Government, China (Grant No 0511022200)
文摘A discrete total variation calculus with variable time steps is presented for mechanico-electrical systems where there exist non-potential and dissipative forces. By using this discrete variation calculus, the symplectic-energy-first integrators for mechanico-electrical systems are derived. To do this, the time step adaptation is employed. The discrete variational principle and the Euler-Lagrange equation are derived for the systems. By using this discrete algorithm it is shown that mechanico-electrical systems are not symplectic and their energies are not conserved unless they are Lagrange mechanico-electrical systems. A practical example is presented to illustrate these results.
基金Project supported by the National Natural Science Foundation of China (No.10572119)Program for New Century Excellent Talent of Ministry of Education of China (No.NCET-04-0958)the Open Foundation of State Key Laboratory of Structural Analysis of Industrial Equipmentthe Doctorate Foundation of Northwestern Polytechnical University
文摘Based on the Magnus integrator method established in linear dynamic systems, an efficiently improved modified Magnus integrator method was proposed for the second-order dynamic systems with time-dependent high frequencies. Firstly, the secondorder dynamic system was reformulated as the first-order system and the frame of reference was transfered by introducing new variables so that highly oscillatory behaviour inherits from the entries in the meantime. Then the modified Magnus integrator method based on local linearization was appropriately designed for solving the above new form and some improved also were presented. Finally, numerical examples show that the proposed methods appear to be quite adequate for integration for highly oscillatory dynamic systems including Hamiltonian systems problem with long time and effectiveness.
基金Project supported by the National Natural Science Foundation of China(Nos.11172334 and11202247)the Fundamental Research Funds for the Central Universities(No.2013390003161292)
文摘This paper develops a new approach to construct variational integrators. A simplified unconventional Hamilton＇s variational principle corresponding to initial value problems is proposed, which is convenient for applications. The displacement and mo- mentum are approximated with the same Lagrange interpolation. After the numerical integration and variational operation, the original problems are expressed as algebraic equations with the displacement and momentum at the interpolation points as unknown variables. Some particular variational integrators are derived. An optimal scheme of choosing initial values for the Newton-Raphson method is presented for the nonlinear dynamic system. In addition, specific examples show that the proposed integrators are symplectic when the interpolation point coincides with the numerical integration point, and both are Gaussian quadrature points. Meanwhile, compared with the same order symplectic Runge-Kutta methods, although the accuracy of the two methods is almost the same, the proposed integrators are much simpler and less computationally expensive.
文摘In this work,a consistent and physically accurate implementation of the general framework of unified second-order time accurate integrators via the well-known GSSSS framework in the Discrete Element Method is presented.The improved tangential displacement evaluation in the present implementation of the discrete element method has been derived and implemented to preserve the consistency of the correct time level evaluation during the time integration process in calculating the algorithmic tangential displacement.Several numerical examples have been used to validate the proposed tangential displacement evaluation;this is in contrast to past practices which only seem to attain the first-order time accuracy due to inconsistent time level implementation with different algorithms for normal and tangential directions.The comparisons with the existing implementation and the superiority of the proposed implementation are given in terms of the convergence rate with improved numerical accuracy in time.Moreover,several schemes via the unified second-order time integrators within the framework of the GSSSS family have been carried out based on the proposed correct implementation.All the numerical results demonstrate that using the existing state-of-the-art implementation reduces the time accuracy to be first-order accurate in time,while the proposed implementation preserves the correct time accuracy to yield second-order.
文摘For the problem of set point regulation of the liquid level in coupled tank systems, we present a continuous sliding mode control(SMC) with a "conditional integrator", which only provides integral action inside the boundary layer. For a special choice of the controller parameters, our design can be viewed as a PID controller with anti-windup and achieves robust regulation.The proposed controller recovers the transient response performance without control chattering. Both full-state feedback as well as output-feedback designs are presented in this work. Our output-feedback design uses a high-gain observer(HGO) which recovers the performance of a state-feedback design where plant parameters are assumed to be known. We consider both interacting as well as non-interacting tanks and analytical results for stability and transient performance are presented in both the cases. The proposed controller continuous SMC with conditional integrators(CSMCCI) provides superior results in terms of the performance measures as well as performance indices than ideal SMC, continuous SMC(CSMC) and continuous SMC with conventional integrator(CSMCI). Experimental results demonstrate good tracking performance in spite of unmodeled dynamics and disturbances.
基金supported in part by the Research Grants Council of the Hong Kong Special Administration Region under Grant No.14201420in part by the National Natural Science Foundation of China under GrantNo.61973260.
文摘In this paper,the authors study the problem of distributed Nash equilibrium seeking of N-player games with high-order integrator dynamics subject to disturbances generated by an uncertain exosystem.Similar problems have been studied for disturbances with an exactly known exosystem.Compared with the existing results of high-order integrator dynamics,which can only handle sinusoidal disturbances with known frequencies,this paper aims to handle multi-tone disturbances with unknown frequencies by introducing an adaptive control technique to estimate the unknown frequencies.Technically,when the exosystem is known,the disturbance can be dealt with by the Luenburger observer.In contrast,the Luenburger observer cannot deal with an uncertain exosystem.The authors combine the internal model design and some adaptive control technique to solve the proposed problem.Further,the authors also establish the sufficient condition to guarantee the convergence of the estimated unknown frequencies to the actual values of these frequencies.Two examples are given to verify the proposed algorithm.
基金supported by KTH Digital Futures Postdoctoral Program.
文摘This paper presents decentralized solutions for pursuit-evasion problems involving high-order integrators with intracoalition cooperation and intercoalition confrontation.Distinct error variables and hyper-variables are introduced to ensure the control strategies to be independent of the relative velocities,accelerations and higher order information of neighbors.Consequently,our approach only requires agents to exchange position information or to measure the relative positions of the neighbors.The distributed strategies take into consideration the goals of intracoalition cooperation or intercoalition confrontation of the players.Furthermore,after establishing a sufficient and necessary condition for a class of high-order integrators,we present conditions for capture and formation control with exponential convergence for three scenarios:one-pursuer-one-evader,multiple-pursuer-one-evader,and multiple-pursuer-multiple-evader.It is shown that the conditions depend on the structure of the communication graph,the weights in the control law,and the expected formation configuration.Finally,the effectiveness of the proposed algorithm is demonstrated through simulation results.
文摘Understanding the neural underpinning of human gait and balance is one of the most pertinent challenges for 21st-century translational neuroscience due to the profound impact that falls and mobility disturbances have on our aging population.Posture and gait control does not happen automatically,as previously believed,but rather requires continuous involvement of central nervous mechanisms.To effectively exert control over the body,the brain must integrate multiple streams of sensory information,including visual,vestibular,and somatosensory signals.The mechanisms which underpin the integration of these multisensory signals are the principal topic of the present work.Existing multisensory integration theories focus on how failure of cognitive processes thought to be involved in multisensory integration leads to falls in older adults.Insufficient emphasis,however,has been placed on specific contributions of individual sensory modalities to multisensory integration processes and cross-modal interactions that occur between the sensory modalities in relation to gait and balance.In the present work,we review the contributions of somatosensory,visual,and vestibular modalities,along with their multisensory intersections to gait and balance in older adults and patients with Parkinson’s disease.We also review evidence of vestibular contributions to multisensory temporal binding windows,previously shown to be highly pertinent to fall risk in older adults.Lastly,we relate multisensory vestibular mechanisms to potential neural substrates,both at the level of neurobiology(concerning positron emission tomography imaging)and at the level of electrophysiology(concerning electroencephalography).We hope that this integrative review,drawing influence across multiple subdisciplines of neuroscience,paves the way for novel research directions and therapeutic neuromodulatory approaches,to improve the lives of older adults and patients with neurodegenerative diseases.
基金Supported by Fundación Progreso y Salud,No.AP-0306-2022-C3-F2.
文摘BACKGROUND Addressing the growing challenge of hospitalizing chronic multimorbid patients,this study examines the strain these conditions impose on healthcare systems at a local level,focusing on a pilot program.Chronic diseases and complex patients require comprehensive management strategies to reduce healthcare burdens and improve patient outcomes.If proven effective,this pilot model has the potential to be replicated in other healthcare settings to enhance the management of chronic multimorbid patients.AIM To evaluate the effectiveness of the high complexity unit(HCU)in managing chronic multimorbid patients through a multidisciplinary care model and to compare it with standard hospital care.METHODS The study employed a descriptive longitudinal approach,analyzing data from the Basic Minimum Data Set(BMDS)to compare hospitalization variables among the HCU,the Internal Medicine Service,and other services at Antequera Hospital throughout 2022.The HCU,designed for patients with complex chronic conditions,integrates a patient-centered model emphasizing multidisciplinary care and continuity post-discharge.RESULTS The study employed a descriptive longitudinal approach,analyzing data from the BMDS to compare hospitalization variables among the HCU,the Internal Medicine Service,and other services at Antequera Hospital throughout 2022.The HCU,designed for patients with complex chronic conditions,integrates a patient-centered model emphasizing multidisciplinary care and continuity post-discharge.CONCLUSION This study demonstrates the effectiveness of the HCU in managing patients with complex chronic diseases through a multidisciplinary approach.The coordinated care provided by the HCU results in improved patient outcomes,reduced unnecessary hospitalizations,and better management of patient complexity.The superiority of the HCU compared to standard care is evident in key outcomes such as fewer readmissions and higher patient satisfaction,reinforcing its value as a model of care to be replicated.
