This paper deals with the stabilization of dynamic systems for two omni directional mobile robots by using the inner product of two vectors, one is from a robot's position to another's, the other is from a ro...This paper deals with the stabilization of dynamic systems for two omni directional mobile robots by using the inner product of two vectors, one is from a robot's position to another's, the other is from a robot's target point to another's. The multi step control laws given can exponentially stabilize the dynamic system and make the distance between two robots be greater than or equal to the collision free safe distance. The application of it to two omni directional mobile robots is described. Simulation result shows that the proposed controller is effective.展开更多
Pulsed dynamic electrolysis(PDE),driven by renewable energy,has emerged as an innovative electrocatalytic conversion method,demonstrating significant potential in addressing global energy challenges and promoting sust...Pulsed dynamic electrolysis(PDE),driven by renewable energy,has emerged as an innovative electrocatalytic conversion method,demonstrating significant potential in addressing global energy challenges and promoting sustainable development.Despite significant progress in various electrochemical systems,the regulatory mechanisms of PDE in energy and mass transfer and the lifespan extension of electrolysis systems,particularly in water electrolysis(WE)for hydrogen production,remain insufficiently explored.Therefore,there is an urgent need for a deeper understanding of the unique contributions of PDE in mass transfer enhancement,microenvironment regulation,and hydrogen production optimization,aiming to achieve low-energy consumption,high catalytic activity,and long-term stability in the generation of target products.Here,this review critically examines the microenvironmental effects of PDE on energy and mass transfer,the electrode degradation mechanisms in the lifespan extension of electrolysis systems,and the key factors in enhancing WE for hydrogen production,providing a comprehensive summary of current research progress.The review focuses on the complex regulatory mechanisms of frequency,duty cycle,amplitude,and other factors in hydrogen evolution reaction(HER)performance within PDE strategies,revealing the interrelationships among them.Finally,the potential future directions and challenges for transitioning from laboratory studies to industrial applications are proposed.展开更多
The integration of renewable energy sources(RESs)with inverter interfaces has fundamentally reshaped power system dynamics,challenging traditional stability analysis frameworks designed for synchronous generator-domin...The integration of renewable energy sources(RESs)with inverter interfaces has fundamentally reshaped power system dynamics,challenging traditional stability analysis frameworks designed for synchronous generator-dominated grids.Conventional classifica-tions,which decouple voltage,frequency,and rotor angle stability,fail to address the emerging strong voltage‒angle coupling effects caused by RES dynamics.This coupling introduces complex oscillation modes and undermines system robustness,neces-sitating novel stability assessment tools.Recent studies focus on eigenvalue distributions and damping redistribution but lack quantitative criteria and interpretative clarity for coupled stability.This work proposes a transient energy-based framework to resolve these gaps.By decomposing transient energy into subsystem-dissipated components and coupling-induced energy exchange,the method establishes stability criteria compatible with a broad variety of inverter-interfaced devices while offering an intuitive energy-based interpretation for engineers.The coupling strength is also quantified by defining the relative coupling strength index,which is directly related to the transient energy interpretation of the coupled stability.Angle‒voltage coupling may induce instability by injecting transient energy into the system,even if the individual phase angle and voltage dynamics themselves are stable.The main contributions include a systematic stability evaluation framework and an energy decomposition approach that bridges theoretical analysis with practical applicability,addressing the urgent need for tools for managing modern power system evolving stability challenges.展开更多
In this paper,we investigate the dynamical stability of transonic shock solutions for the full compressible Euler system in a two dimensional nozzle with a symmetric divergent part.Building upon the existence and uniq...In this paper,we investigate the dynamical stability of transonic shock solutions for the full compressible Euler system in a two dimensional nozzle with a symmetric divergent part.Building upon the existence and uniqueness results for steady symmetric transonic shock solutions to the nonisentropic Euler system established in[Z.P.Xin and H.C.Yin,The transonic shock in a nozzle,2-D and 3-D complete Euler systems,J.Differential Equations 245(2008)],we prove the dynamical stability of the transonic shock solutions under small perturbations.More precisely,if the initial unsteady transonic flow is located in the symmetric divergent part of the nozzle and the flow is a symmetric small perturbation of the steady transonic flow,we use the characteristic method to establish the dynamical stability.展开更多
This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots.The calibration of visual parameters is not only complicated,but also needs great consumption of calculated time so that t...This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots.The calibration of visual parameters is not only complicated,but also needs great consumption of calculated time so that the accurate calibration is impossible in some situations for high requirement of real timing.Hence,it is interesting and important to consider the design of stabilizing controllers for nonholonomic kinematic systems with uncalibrated visual parameters.A novel uncertain model of these nonholonomic kinematic systems is proposed.Based on this model,a stabilizing controller is discussed by using dynamic feedback and two-step techniques.The proposed robust controller makes the mobile robot image pose and the orientation converge to the desired configuration despite the lack of depth information and the lack of precise visual parameters.The stability of the closed loop system is rigorously proved.The simulation is given to show the effectiveness of the presented controllers.展开更多
Dynesys,a pedicle-based dynamic stabilization system,was introduced to overcome some undesirable complications of fusion procedures.Nevertheless,the theoretical advantages of Dynesys over fusion have not been clearly ...Dynesys,a pedicle-based dynamic stabilization system,was introduced to overcome some undesirable complications of fusion procedures.Nevertheless,the theoretical advantages of Dynesys over fusion have not been clearly confirmed.The purpose of this editorial was to compare clinical and radiological outcomes of patients who underwent Dynesys system with those who underwent posterior lumbar fusion according to the existing literature and to see if the application of the Dynesys system is superior to the traditional lumbar fusion surgery.According to published clinical reports,the short-term effects of the Dynesys dynamic stabilization system are similar to that of traditional lumbar fusion surgery.Three comparative studies of Dynesys dynamic stabilization and fusion surgery with medium-term follow-up are encouraging.However,the results from four single-treatment-arm and small-sample studies of case series with long-term follow-up were not encouraging.In the present circumstances,it is not possible to conclude that the Dynesys dynamic stabilization system is superior to fusion surgery for lumbar degenerative diseases.展开更多
BACKGROUND In recent years,the mechanical concept of intervertebral disc regeneration has become more and more popular due to the increasing awareness of the importance of preservation of spine movement.Interestingly,...BACKGROUND In recent years,the mechanical concept of intervertebral disc regeneration has become more and more popular due to the increasing awareness of the importance of preservation of spine movement.Interestingly,there is increasing evidence,however,that dynamic stabilization systems may compensate nonphysiological loads,limit pathological movement,normalize disc height and intradiscal pressure,and provide an adaptive environment for disc regeneration.CASE SUMMARY The patient was a 54-year-old man,who presented with a 10-year history of mechanical back pain,which had become progressively serious and radiated into the left lower limb with numbness 3 mo prior.He had decreased muscle strength(class IV)of the left dorsal extensor and plantar flexor.Magnetic resonance imaging scans showed L3-S1 disc degeneration and L4-L5 disc herniation.Because the patient did not respond to various conservative treatments,he underwent a posterior L4-5 discectomy with fixation of the BioFlex dynamic stabilization system(Bio-Spine,Seoul,Korea).Preoperative symptoms were relieved and lumbar function was markedly improved after the operation.L4-L5 disc rehydration of instrumented segment was noted on magnetic resonance imaging at the 2-year follow-up.CONCLUSION Rehydration of the degenerated disc in our patient indicates that the BioFlex dynamic stabilization system may promote disc regeneration.Further research is needed to provide more evidence to support lumbar disc rehydration in the bridged segment using this system.展开更多
This paper presents a novel fixed-time stabilization control(FSC)method for a class of strict-feedback nonlinear systems involving unmodelled system dynamics.The key feature of the proposed method is the design of two...This paper presents a novel fixed-time stabilization control(FSC)method for a class of strict-feedback nonlinear systems involving unmodelled system dynamics.The key feature of the proposed method is the design of two dynamic parameters.Specifically,a set of auxiliary variables is first introduced through state transformation.These variables combine the original system states and the two introduced dynamic parameters,facilitating the closed-loop system stability analyses.Then,the two dynamic parameters are delicately designed by utilizing the Lyapunov method,ensuring that all the closed-loop system states are globally fixed-time stable.Compared with existing results,the“explosion of complexity”problem of backstepping control is avoided.Moreover,the two designed dynamic parameters are dependent on system states rather than a time-varying function,thus the proposed controller is still valid beyond the given fixedtime convergence instant.The effectiveness of the proposed method is demonstrated through two practical systems.展开更多
We propose a novel rumor propagation model with guidance mechanism in hetero geneous complex networks.Firstly,the sharp threshold of rumor propagation,global stability of the information-equilibrium and information-pr...We propose a novel rumor propagation model with guidance mechanism in hetero geneous complex networks.Firstly,the sharp threshold of rumor propagation,global stability of the information-equilibrium and information-prevailingequilibrium under R_(0)<1 and R_(0)>1 is carried out by Lyapunov method and LaSalle's invariant principle.Next,we design an aperiodically intermittent stochastic stabilization method to suppress the rumor propagation.By using the Ito formula and exponential martingale inequality,the expression of the minimum control intensity is calculated.This method can effectively stabilize the rumor propagation by choosing a suitable perturb intensity and a perturb time ratio,while minimizing the control cost.Finally,numerical examples are given to illustrate the analysis and method of the paper.展开更多
The purpose of this case study is to describe the chiropractic care of a 4-year-old male patient with agenesis of the corpus callosum. Methods: Chiropractic care plan consisted of weekly appointments with the inclusio...The purpose of this case study is to describe the chiropractic care of a 4-year-old male patient with agenesis of the corpus callosum. Methods: Chiropractic care plan consisted of weekly appointments with the inclusion of at-home exercises coupled with academic intervention of physical and occupational therapies and assistive gait devices. Functional changes were monitored via objective clinic findings, independent clinical examination, and parental observation. Results: Agitated flexion contracted non-weight bearing child with gastrointestinal dysfunction and developmentally shunted growth responds to co-managed chiropractic care. Focus on aiding structural balance helped improve the weight bearing movement and mobility, physical calmness and contentment, emotional and verbal communication, as well as gastointestinal function. Discussion: This therapeutic approach decreased aberrant posture and enhanced quality of life. Conclusion: Chiropractic care in combination with academic intervention improved this child’s postural abnormalities, attitude, and cognitive development warranting consideration in subsequent care investigation.展开更多
Finite time stability and stabilization are studied for hy-brid dynamic systems. By combining multiple Lyapunov function and finite time Lyapunov function, a sufficient condition of finite time stability is given for ...Finite time stability and stabilization are studied for hy-brid dynamic systems. By combining multiple Lyapunov function and finite time Lyapunov function, a sufficient condition of finite time stability is given for the system. Compared with the previ-ous works, our results have less conservativeness. Furthermore, based on the state partition of continuous and resetting parts of system, a hybrid feedback controller is constructed, which stabi-lizes the closed-loop systems in finite time. Finally, a numerical example is provided to demonstrate the effectiveness of the pro-posed method.展开更多
In this paper, for a class of high-order stochastic nonlinear systems with zero dynamics which are neither necessarily feedback linearizable nor affine in the control input, the problem of state feedback stabilization...In this paper, for a class of high-order stochastic nonlinear systems with zero dynamics which are neither necessarily feedback linearizable nor affine in the control input, the problem of state feedback stabilization is investigated for the first time. Under some weaker assumptions, a smooth state feedback controller is designed, which ensures that the closed-loop system has an almost surely unique solution on [0,∞）, the equilibrium at the origin of the closed-loop system is globally asymptotically stable in probability, and all the states can be regulated to the origin almost surely. A simulation example demonstrates the control scheme.展开更多
We investigate theoretically the ionization properties of the valence electron for the alkali metal atom Na in an intense pulsed laser field by solving numerically the time-dependent Schrodinger equation with an accur...We investigate theoretically the ionization properties of the valence electron for the alkali metal atom Na in an intense pulsed laser field by solving numerically the time-dependent Schrodinger equation with an accurate l-dependent model potential.By calculating the variations of the ionization probabilities with laser peak intensity for wavelengths ranging from 200 nm to 600 nm,our results present a dynamic stabilization trend for the Na atom initially in its ground state（3 s） and the excited states（3 p and 4 s） exposed to an intense pulsed laser field.Especially a clear ＂window＂ of dynamic stabilization at lower laser intensities and longer wavelengths for the initial state 4 s（the second excited state） is found.By analyzing the time-dependent population distributions of the valence electron in the bound states with the different values of principal quantum number n and orbital quantum number l,we can attribute the dynamic stabilization to the periodic population in the low-excited states since the valence electron oscillates rapidly between the lowly excited states and the continuum states.展开更多
This paper deals with the dynamic output feedback stabilization problem of deterministic finite automata(DFA).The static form of this problem is defined and solved in previous studies via a set of equivalent condition...This paper deals with the dynamic output feedback stabilization problem of deterministic finite automata(DFA).The static form of this problem is defined and solved in previous studies via a set of equivalent conditions.In this paper,the dynamic output feedback(DOF)stabilization of DFAs is defined in which the controller is supposed to be another DFA.The DFA controller will be designed to stabilize the equilibrium point of the main DFA through a set of proposed equivalent conditions.It has been proven that the design problem of DOF stabilization is more feasible than the static output feedback(SOF)stabilization.Three simulation examples are provided to illustrate the results of this paper in more details.The first example considers an instance DFA and develops SOF and DOF controllers for it.The example explains the concepts of the DOF controller and how it will be implemented in the closed-loop DFA.In the second example,a special DFA is provided in which the DOF stabilization is feasible,whereas the SOF stabilization is not.The final example compares the feasibility performance of the SOF and DOF stabilizations through applying them to one hundred random-generated DFAs.The results reveal the superiority of the DOF stabilization.展开更多
This study is dedicated to the development of a direct optimal control-based algorithm for trajectory optimization problems that accounts for the closed-loop stability of the trajectory tracking error dynamics already...This study is dedicated to the development of a direct optimal control-based algorithm for trajectory optimization problems that accounts for the closed-loop stability of the trajectory tracking error dynamics already during the optimization.Consequently,the trajectory is designed such that the Linear Time-Varying(LTV)dynamic system,describing the controller’s error dynamics,is stable,while additionally the desired optimality criterion is optimized and all enforced constraints on the trajectory are fulfilled.This is achieved by means of a Lyapunov stability analysis of the LTV dynamics within the optimization problem using a time-dependent,quadratic Lyapunov function candidate.Special care is taken with regard to ensuring the correct definiteness of the ensuing matrices within the Lyapunov stability analysis,specifically considering a numerically stable formulation of these in the numerical optimization.The developed algorithm is applied to a trajectory design problem for which the LTV system is part of the path-following error dynamics,which is required to be stable.The main benefit of the proposed scheme in this context is that the designed trajectory trades-off the required stability and robustness properties of the LTV dynamics with the optimality of the trajectory already at the design phase and thus,does not produce unstable optimal trajectories the system must follow in the real application.展开更多
The impulsive motion of a dynamically stabilized robot—Gyrover, which is a single-wheel gyroscopically stabilized robot is studied. A method based on the D’Alembert-Lagrange principle is proposed to develop the impu...The impulsive motion of a dynamically stabilized robot—Gyrover, which is a single-wheel gyroscopically stabilized robot is studied. A method based on the D’Alembert-Lagrange principle is proposed to develop the impulsive dynamic model of the single wheel robot. This method that can be used to find ways to investigate a single wheel mobile robot rolling on a rough terrain is tested using the experimental platform Gyrover. The conditions of falling over without actuators are addressed. Simulations that validate the analysis are provided as well.展开更多
Considering the self-excited and forced vibrations in high-speed milling processes, a novel method for dynamic optimization of system stability is used to determine the cutting parameters and structural parameters by ...Considering the self-excited and forced vibrations in high-speed milling processes, a novel method for dynamic optimization of system stability is used to determine the cutting parameters and structural parameters by increasing the chatter free material removal rate （CF-MRR） and surface finish. The method is hased on the theory of the chatter stability and the semi-bandwidth of the resonant region. The objective function of the method is material removal rate（MRR）,the constraints are chatter stability and surface finish, and the optimizing variables are cutting and structural parameters. The optimization procedure is stated. The method is applied to a milling system and CF-MRR is increased 18.86%. It is shown that the influences of the chatter stability and the resonance are simultaneously considered in the dynamic optimization of the milling system for increasing CF-MRR and the surface finish.展开更多
The equations of motion of an insect with flapping wings are derived and then simplified to that of a flying body using the ＂rigid body＂ assumption. On the basis of the simplified equations of motion, the longitudin...The equations of motion of an insect with flapping wings are derived and then simplified to that of a flying body using the ＂rigid body＂ assumption. On the basis of the simplified equations of motion, the longitudinal dynamic flight stability of four insects （hoverfly, cranefly, dronefly and hawkmoth） in hovering flight is studied （the mass of the insects ranging from 11 to 1,648 mg and wingbeat frequency from 26 to 157Hz）. The method of computational fluid dynamics is used to compute the aerodynamic derivatives and the techniques of eigenvalue and eigenvector analysis are used to solve the equations of motion. The validity of the ＂rigid body＂ assumption is tested and how differences in size and wing kinematics influence the applicability of the ＂rigid body＂ assumption is investigated. The primary findings are： （1） For insects considered in the present study and those with relatively high wingbeat frequency （hoverfly, drone fly and bumblebee）, the ＂rigid body＂ assumption is reasonable, and for those with relatively low wingbeat frequency （cranefly and howkmoth）, the applicability of the ＂rigid body＂ assumption is questionable. （2） The same three natural modes of motion as those reported recently for a bumblebee are identified, i.e., one unstable oscillatory mode, one stable fast subsidence mode and one stable slow subsidence mode. （3） Approximate analytical expressions of the eigenvalues, which give physical insight into the genesis of the natural modes of motion, are derived. The expressions identify the speed derivative Mu （pitching moment produced by unit horizontal speed） as the primary source of the unstable oscillatory mode and the stable fast subsidence mode and Zw （vertical force produced by unit vertical speed） as the primary source of the stable slow subsidence mode.展开更多
The lateral dynamic flight stability of a hovering model insect （dronefly） was studied using the method of computational fluid dynamics to compute the stability derivatives and the techniques of eigenvalue and eigen...The lateral dynamic flight stability of a hovering model insect （dronefly） was studied using the method of computational fluid dynamics to compute the stability derivatives and the techniques of eigenvalue and eigenvector analysis for solving the equations of motion. The main results are as following. （i） Three natural modes of motion were identified： one unstable slow divergence mode （mode 1）, one stable slow oscillatory mode （mode 2）, and one stable fast subsidence mode （mode 3）. Modes 1 and 2 mainly consist of a rotation about the horizontal longitudinal axis （x-axis） and a side translation; mode 3 mainly consists of a rotation about the x-axis and a rotation about the vertical axis. （ii） Approximate analytical expressions of the eigenvalues are derived, which give physical insight into the genesis of the natural modes of motion. （iii） For the unstable divergence mode, td, the time for initial disturbances to double, is about 9 times the wingbeat period （the longitudinal motion of the model insect was shown to be also unstable and td of the longitudinal unstable mode is about 14 times the wingbeat period）. Thus, although the flight is not dynamically stable, the instability does not grow very fast and the insect has enough time to control its wing motion to suppress the disturbances.展开更多
The performance of the vehicle dynamics stability control system（DSC） is dominated by the accurate estimation of tire forces in real-time.The characteristics of tire forces are determined by tire dynamic states and ...The performance of the vehicle dynamics stability control system（DSC） is dominated by the accurate estimation of tire forces in real-time.The characteristics of tire forces are determined by tire dynamic states and parameters,which vary in an obviously large scope along with different working conditions.Currently,there have been many methods based on the nonlinear observer to estimate the tire force and dynamic parameters,but they were only used in off-line analysis because of the computation complexity and the dynamics differences of four tires in the steering maneuver conditions were not considered properly.This paper develops a novel algorithm to observe tire parameters in real-time controller for DSC.The algorithm is based on the sensor-fusion technology with the signals of DSC sensors,and the tire parameters are estimated during a set of maneuver courses.The calibrated tire parameters in the control cycle are treated as the elementary states for vehicle dynamics observation,in which the errors between the calculated and the measured vehicle dynamics are used as the correcting factors for the tire parameter observing process.The test process with a given acceleration following a straight line is used to validate the estimation method of the longitudinal stiffness;while the test process with a given steering angle is used to validate the estimated value of the cornering stiffness.The ground test result shows that the proposed algorithm can estimate the tire stiffness accurately with an acceptable computation cost for real-time controller only using DSC sensor signal.The proposed algorithm can be an efficient algorithm for estimating the tire dynamic parameters in vehicle dynamics stability control system,and can be used to improve the robustness of the DSC controller.展开更多
文摘This paper deals with the stabilization of dynamic systems for two omni directional mobile robots by using the inner product of two vectors, one is from a robot's position to another's, the other is from a robot's target point to another's. The multi step control laws given can exponentially stabilize the dynamic system and make the distance between two robots be greater than or equal to the collision free safe distance. The application of it to two omni directional mobile robots is described. Simulation result shows that the proposed controller is effective.
基金financially supported by the Key Research and Development Program of Heilongjiang Province(No.2024ZXJ03C06)National Natural Science Foundation of China(No.52476192,No.52106237)+1 种基金Natural Science Foundation of Heilongjiang Province(No.YQ2022E027)Technology Project of China Datang Technology Innovation Co.,Ltd(No.DTKC-2024-20610).
文摘Pulsed dynamic electrolysis(PDE),driven by renewable energy,has emerged as an innovative electrocatalytic conversion method,demonstrating significant potential in addressing global energy challenges and promoting sustainable development.Despite significant progress in various electrochemical systems,the regulatory mechanisms of PDE in energy and mass transfer and the lifespan extension of electrolysis systems,particularly in water electrolysis(WE)for hydrogen production,remain insufficiently explored.Therefore,there is an urgent need for a deeper understanding of the unique contributions of PDE in mass transfer enhancement,microenvironment regulation,and hydrogen production optimization,aiming to achieve low-energy consumption,high catalytic activity,and long-term stability in the generation of target products.Here,this review critically examines the microenvironmental effects of PDE on energy and mass transfer,the electrode degradation mechanisms in the lifespan extension of electrolysis systems,and the key factors in enhancing WE for hydrogen production,providing a comprehensive summary of current research progress.The review focuses on the complex regulatory mechanisms of frequency,duty cycle,amplitude,and other factors in hydrogen evolution reaction(HER)performance within PDE strategies,revealing the interrelationships among them.Finally,the potential future directions and challenges for transitioning from laboratory studies to industrial applications are proposed.
基金supported by the Science and Technology Project of China Southern Power Grid Co.,Ltd under Grant 036000KC23090004(GDKJXM20231026).
文摘The integration of renewable energy sources(RESs)with inverter interfaces has fundamentally reshaped power system dynamics,challenging traditional stability analysis frameworks designed for synchronous generator-dominated grids.Conventional classifica-tions,which decouple voltage,frequency,and rotor angle stability,fail to address the emerging strong voltage‒angle coupling effects caused by RES dynamics.This coupling introduces complex oscillation modes and undermines system robustness,neces-sitating novel stability assessment tools.Recent studies focus on eigenvalue distributions and damping redistribution but lack quantitative criteria and interpretative clarity for coupled stability.This work proposes a transient energy-based framework to resolve these gaps.By decomposing transient energy into subsystem-dissipated components and coupling-induced energy exchange,the method establishes stability criteria compatible with a broad variety of inverter-interfaced devices while offering an intuitive energy-based interpretation for engineers.The coupling strength is also quantified by defining the relative coupling strength index,which is directly related to the transient energy interpretation of the coupled stability.Angle‒voltage coupling may induce instability by injecting transient energy into the system,even if the individual phase angle and voltage dynamics themselves are stable.The main contributions include a systematic stability evaluation framework and an energy decomposition approach that bridges theoretical analysis with practical applicability,addressing the urgent need for tools for managing modern power system evolving stability challenges.
基金supported in part by NSFC(Grant Nos.12271205,12171498).
文摘In this paper,we investigate the dynamical stability of transonic shock solutions for the full compressible Euler system in a two dimensional nozzle with a symmetric divergent part.Building upon the existence and uniqueness results for steady symmetric transonic shock solutions to the nonisentropic Euler system established in[Z.P.Xin and H.C.Yin,The transonic shock in a nozzle,2-D and 3-D complete Euler systems,J.Differential Equations 245(2008)],we prove the dynamical stability of the transonic shock solutions under small perturbations.More precisely,if the initial unsteady transonic flow is located in the symmetric divergent part of the nozzle and the flow is a symmetric small perturbation of the steady transonic flow,we use the characteristic method to establish the dynamical stability.
基金supported by the National Natural Science Foundation of China(No.60874002)the Key Program of Scientific Innovation of Shanghai Education Committee(No.09zz158)the Shanghai Key Discipline(No.S30501)
文摘This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots.The calibration of visual parameters is not only complicated,but also needs great consumption of calculated time so that the accurate calibration is impossible in some situations for high requirement of real timing.Hence,it is interesting and important to consider the design of stabilizing controllers for nonholonomic kinematic systems with uncalibrated visual parameters.A novel uncertain model of these nonholonomic kinematic systems is proposed.Based on this model,a stabilizing controller is discussed by using dynamic feedback and two-step techniques.The proposed robust controller makes the mobile robot image pose and the orientation converge to the desired configuration despite the lack of depth information and the lack of precise visual parameters.The stability of the closed loop system is rigorously proved.The simulation is given to show the effectiveness of the presented controllers.
文摘Dynesys,a pedicle-based dynamic stabilization system,was introduced to overcome some undesirable complications of fusion procedures.Nevertheless,the theoretical advantages of Dynesys over fusion have not been clearly confirmed.The purpose of this editorial was to compare clinical and radiological outcomes of patients who underwent Dynesys system with those who underwent posterior lumbar fusion according to the existing literature and to see if the application of the Dynesys system is superior to the traditional lumbar fusion surgery.According to published clinical reports,the short-term effects of the Dynesys dynamic stabilization system are similar to that of traditional lumbar fusion surgery.Three comparative studies of Dynesys dynamic stabilization and fusion surgery with medium-term follow-up are encouraging.However,the results from four single-treatment-arm and small-sample studies of case series with long-term follow-up were not encouraging.In the present circumstances,it is not possible to conclude that the Dynesys dynamic stabilization system is superior to fusion surgery for lumbar degenerative diseases.
基金Supported by Foundation of Capital Medical Development,Beijing,China,No.2010026.
文摘BACKGROUND In recent years,the mechanical concept of intervertebral disc regeneration has become more and more popular due to the increasing awareness of the importance of preservation of spine movement.Interestingly,there is increasing evidence,however,that dynamic stabilization systems may compensate nonphysiological loads,limit pathological movement,normalize disc height and intradiscal pressure,and provide an adaptive environment for disc regeneration.CASE SUMMARY The patient was a 54-year-old man,who presented with a 10-year history of mechanical back pain,which had become progressively serious and radiated into the left lower limb with numbness 3 mo prior.He had decreased muscle strength(class IV)of the left dorsal extensor and plantar flexor.Magnetic resonance imaging scans showed L3-S1 disc degeneration and L4-L5 disc herniation.Because the patient did not respond to various conservative treatments,he underwent a posterior L4-5 discectomy with fixation of the BioFlex dynamic stabilization system(Bio-Spine,Seoul,Korea).Preoperative symptoms were relieved and lumbar function was markedly improved after the operation.L4-L5 disc rehydration of instrumented segment was noted on magnetic resonance imaging at the 2-year follow-up.CONCLUSION Rehydration of the degenerated disc in our patient indicates that the BioFlex dynamic stabilization system may promote disc regeneration.Further research is needed to provide more evidence to support lumbar disc rehydration in the bridged segment using this system.
基金supported by the National Natural Science Foundation of China(61821004,U1964207,20221017-10)。
文摘This paper presents a novel fixed-time stabilization control(FSC)method for a class of strict-feedback nonlinear systems involving unmodelled system dynamics.The key feature of the proposed method is the design of two dynamic parameters.Specifically,a set of auxiliary variables is first introduced through state transformation.These variables combine the original system states and the two introduced dynamic parameters,facilitating the closed-loop system stability analyses.Then,the two dynamic parameters are delicately designed by utilizing the Lyapunov method,ensuring that all the closed-loop system states are globally fixed-time stable.Compared with existing results,the“explosion of complexity”problem of backstepping control is avoided.Moreover,the two designed dynamic parameters are dependent on system states rather than a time-varying function,thus the proposed controller is still valid beyond the given fixedtime convergence instant.The effectiveness of the proposed method is demonstrated through two practical systems.
基金Project supported by the Guangzhou Science and Technology Project(Grant No.20210202710)Scientific Research Project of Guangzhou University(Grant No.YG2020010)。
文摘We propose a novel rumor propagation model with guidance mechanism in hetero geneous complex networks.Firstly,the sharp threshold of rumor propagation,global stability of the information-equilibrium and information-prevailingequilibrium under R_(0)<1 and R_(0)>1 is carried out by Lyapunov method and LaSalle's invariant principle.Next,we design an aperiodically intermittent stochastic stabilization method to suppress the rumor propagation.By using the Ito formula and exponential martingale inequality,the expression of the minimum control intensity is calculated.This method can effectively stabilize the rumor propagation by choosing a suitable perturb intensity and a perturb time ratio,while minimizing the control cost.Finally,numerical examples are given to illustrate the analysis and method of the paper.
文摘The purpose of this case study is to describe the chiropractic care of a 4-year-old male patient with agenesis of the corpus callosum. Methods: Chiropractic care plan consisted of weekly appointments with the inclusion of at-home exercises coupled with academic intervention of physical and occupational therapies and assistive gait devices. Functional changes were monitored via objective clinic findings, independent clinical examination, and parental observation. Results: Agitated flexion contracted non-weight bearing child with gastrointestinal dysfunction and developmentally shunted growth responds to co-managed chiropractic care. Focus on aiding structural balance helped improve the weight bearing movement and mobility, physical calmness and contentment, emotional and verbal communication, as well as gastointestinal function. Discussion: This therapeutic approach decreased aberrant posture and enhanced quality of life. Conclusion: Chiropractic care in combination with academic intervention improved this child’s postural abnormalities, attitude, and cognitive development warranting consideration in subsequent care investigation.
基金supported by the National Natural Science Foundation of China (60974139)
文摘Finite time stability and stabilization are studied for hy-brid dynamic systems. By combining multiple Lyapunov function and finite time Lyapunov function, a sufficient condition of finite time stability is given for the system. Compared with the previ-ous works, our results have less conservativeness. Furthermore, based on the state partition of continuous and resetting parts of system, a hybrid feedback controller is constructed, which stabi-lizes the closed-loop systems in finite time. Finally, a numerical example is provided to demonstrate the effectiveness of the pro-posed method.
基金Program for New Century Excellent Talents in University of China (NCET-05-0607)National Natural Science Fou-ndation of China (No.60774010)Project for Fundamental Research of Natural Sciences in Universities of Jingsu Province (No.07KJB510114)
文摘In this paper, for a class of high-order stochastic nonlinear systems with zero dynamics which are neither necessarily feedback linearizable nor affine in the control input, the problem of state feedback stabilization is investigated for the first time. Under some weaker assumptions, a smooth state feedback controller is designed, which ensures that the closed-loop system has an almost surely unique solution on [0,∞）, the equilibrium at the origin of the closed-loop system is globally asymptotically stable in probability, and all the states can be regulated to the origin almost surely. A simulation example demonstrates the control scheme.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.11465016,11664035,and 11764038)
文摘We investigate theoretically the ionization properties of the valence electron for the alkali metal atom Na in an intense pulsed laser field by solving numerically the time-dependent Schrodinger equation with an accurate l-dependent model potential.By calculating the variations of the ionization probabilities with laser peak intensity for wavelengths ranging from 200 nm to 600 nm,our results present a dynamic stabilization trend for the Na atom initially in its ground state（3 s） and the excited states（3 p and 4 s） exposed to an intense pulsed laser field.Especially a clear ＂window＂ of dynamic stabilization at lower laser intensities and longer wavelengths for the initial state 4 s（the second excited state） is found.By analyzing the time-dependent population distributions of the valence electron in the bound states with the different values of principal quantum number n and orbital quantum number l,we can attribute the dynamic stabilization to the periodic population in the low-excited states since the valence electron oscillates rapidly between the lowly excited states and the continuum states.
文摘This paper deals with the dynamic output feedback stabilization problem of deterministic finite automata(DFA).The static form of this problem is defined and solved in previous studies via a set of equivalent conditions.In this paper,the dynamic output feedback(DOF)stabilization of DFAs is defined in which the controller is supposed to be another DFA.The DFA controller will be designed to stabilize the equilibrium point of the main DFA through a set of proposed equivalent conditions.It has been proven that the design problem of DOF stabilization is more feasible than the static output feedback(SOF)stabilization.Three simulation examples are provided to illustrate the results of this paper in more details.The first example considers an instance DFA and develops SOF and DOF controllers for it.The example explains the concepts of the DOF controller and how it will be implemented in the closed-loop DFA.In the second example,a special DFA is provided in which the DOF stabilization is feasible,whereas the SOF stabilization is not.The final example compares the feasibility performance of the SOF and DOF stabilizations through applying them to one hundred random-generated DFAs.The results reveal the superiority of the DOF stabilization.
基金supported in part by the TUM University Foundation Fellowshipin part by the German Federal Ministry for Economic Affairs and Energy(BMWi)within the Federal Aeronautical Research Program LuFo V-3 through Project“HOTRUN”(No.20E1720A)。
文摘This study is dedicated to the development of a direct optimal control-based algorithm for trajectory optimization problems that accounts for the closed-loop stability of the trajectory tracking error dynamics already during the optimization.Consequently,the trajectory is designed such that the Linear Time-Varying(LTV)dynamic system,describing the controller’s error dynamics,is stable,while additionally the desired optimality criterion is optimized and all enforced constraints on the trajectory are fulfilled.This is achieved by means of a Lyapunov stability analysis of the LTV dynamics within the optimization problem using a time-dependent,quadratic Lyapunov function candidate.Special care is taken with regard to ensuring the correct definiteness of the ensuing matrices within the Lyapunov stability analysis,specifically considering a numerically stable formulation of these in the numerical optimization.The developed algorithm is applied to a trajectory design problem for which the LTV system is part of the path-following error dynamics,which is required to be stable.The main benefit of the proposed scheme in this context is that the designed trajectory trades-off the required stability and robustness properties of the LTV dynamics with the optimality of the trajectory already at the design phase and thus,does not produce unstable optimal trajectories the system must follow in the real application.
基金supported by the Knowledge Innovation Program of the Chinese Academy of Sciences(No.KGCX2-YW-152No.KGCX2-YW-156)+2 种基金Key Laboratory of Robotics and Intelligent System,Guangdong Province(No.2009A060800016)Shenzhen Fundamental Research Program(No.JC200903170431A)China Postdoctoral Science Foundation(No.20090460532)
文摘The impulsive motion of a dynamically stabilized robot—Gyrover, which is a single-wheel gyroscopically stabilized robot is studied. A method based on the D’Alembert-Lagrange principle is proposed to develop the impulsive dynamic model of the single wheel robot. This method that can be used to find ways to investigate a single wheel mobile robot rolling on a rough terrain is tested using the experimental platform Gyrover. The conditions of falling over without actuators are addressed. Simulations that validate the analysis are provided as well.
基金Supported by the National Key Basic Research Program of China("973"Project)(2009CB724401)the China Postdoctoral Science Foundation(20070420208)the Postdoctoral Innovation Foundation of Shandong Province(200702023)~~
文摘Considering the self-excited and forced vibrations in high-speed milling processes, a novel method for dynamic optimization of system stability is used to determine the cutting parameters and structural parameters by increasing the chatter free material removal rate （CF-MRR） and surface finish. The method is hased on the theory of the chatter stability and the semi-bandwidth of the resonant region. The objective function of the method is material removal rate（MRR）,the constraints are chatter stability and surface finish, and the optimizing variables are cutting and structural parameters. The optimization procedure is stated. The method is applied to a milling system and CF-MRR is increased 18.86%. It is shown that the influences of the chatter stability and the resonance are simultaneously considered in the dynamic optimization of the milling system for increasing CF-MRR and the surface finish.
基金The project supported by the National Natural Science Foundation of China(10232010 and 10472008)
文摘The equations of motion of an insect with flapping wings are derived and then simplified to that of a flying body using the ＂rigid body＂ assumption. On the basis of the simplified equations of motion, the longitudinal dynamic flight stability of four insects （hoverfly, cranefly, dronefly and hawkmoth） in hovering flight is studied （the mass of the insects ranging from 11 to 1,648 mg and wingbeat frequency from 26 to 157Hz）. The method of computational fluid dynamics is used to compute the aerodynamic derivatives and the techniques of eigenvalue and eigenvector analysis are used to solve the equations of motion. The validity of the ＂rigid body＂ assumption is tested and how differences in size and wing kinematics influence the applicability of the ＂rigid body＂ assumption is investigated. The primary findings are： （1） For insects considered in the present study and those with relatively high wingbeat frequency （hoverfly, drone fly and bumblebee）, the ＂rigid body＂ assumption is reasonable, and for those with relatively low wingbeat frequency （cranefly and howkmoth）, the applicability of the ＂rigid body＂ assumption is questionable. （2） The same three natural modes of motion as those reported recently for a bumblebee are identified, i.e., one unstable oscillatory mode, one stable fast subsidence mode and one stable slow subsidence mode. （3） Approximate analytical expressions of the eigenvalues, which give physical insight into the genesis of the natural modes of motion, are derived. The expressions identify the speed derivative Mu （pitching moment produced by unit horizontal speed） as the primary source of the unstable oscillatory mode and the stable fast subsidence mode and Zw （vertical force produced by unit vertical speed） as the primary source of the stable slow subsidence mode.
基金supported by the National Natural Science Foundation of China(10732030)the 111 Project(B07009)
文摘The lateral dynamic flight stability of a hovering model insect （dronefly） was studied using the method of computational fluid dynamics to compute the stability derivatives and the techniques of eigenvalue and eigenvector analysis for solving the equations of motion. The main results are as following. （i） Three natural modes of motion were identified： one unstable slow divergence mode （mode 1）, one stable slow oscillatory mode （mode 2）, and one stable fast subsidence mode （mode 3）. Modes 1 and 2 mainly consist of a rotation about the horizontal longitudinal axis （x-axis） and a side translation; mode 3 mainly consists of a rotation about the x-axis and a rotation about the vertical axis. （ii） Approximate analytical expressions of the eigenvalues are derived, which give physical insight into the genesis of the natural modes of motion. （iii） For the unstable divergence mode, td, the time for initial disturbances to double, is about 9 times the wingbeat period （the longitudinal motion of the model insect was shown to be also unstable and td of the longitudinal unstable mode is about 14 times the wingbeat period）. Thus, although the flight is not dynamically stable, the instability does not grow very fast and the insect has enough time to control its wing motion to suppress the disturbances.
基金supported by National Natural Science Foundation of China (Grant No.50905092)
文摘The performance of the vehicle dynamics stability control system（DSC） is dominated by the accurate estimation of tire forces in real-time.The characteristics of tire forces are determined by tire dynamic states and parameters,which vary in an obviously large scope along with different working conditions.Currently,there have been many methods based on the nonlinear observer to estimate the tire force and dynamic parameters,but they were only used in off-line analysis because of the computation complexity and the dynamics differences of four tires in the steering maneuver conditions were not considered properly.This paper develops a novel algorithm to observe tire parameters in real-time controller for DSC.The algorithm is based on the sensor-fusion technology with the signals of DSC sensors,and the tire parameters are estimated during a set of maneuver courses.The calibrated tire parameters in the control cycle are treated as the elementary states for vehicle dynamics observation,in which the errors between the calculated and the measured vehicle dynamics are used as the correcting factors for the tire parameter observing process.The test process with a given acceleration following a straight line is used to validate the estimation method of the longitudinal stiffness;while the test process with a given steering angle is used to validate the estimated value of the cornering stiffness.The ground test result shows that the proposed algorithm can estimate the tire stiffness accurately with an acceptable computation cost for real-time controller only using DSC sensor signal.The proposed algorithm can be an efficient algorithm for estimating the tire dynamic parameters in vehicle dynamics stability control system,and can be used to improve the robustness of the DSC controller.
