Output measurement for nonlinear optimal control problems is an interesting issue. Because the structure of the real plant is complex, the output channel could give a significant response corresponding to the real pla...Output measurement for nonlinear optimal control problems is an interesting issue. Because the structure of the real plant is complex, the output channel could give a significant response corresponding to the real plant. In this paper, a least squares scheme, which is based on the Gauss-Newton algorithm, is proposed. The aim is to approximate the output that is measured from the real plant. In doing so, an appropriate output measurement from the model used is suggested. During the computation procedure, the control trajectory is updated iteratively by using the Gauss-Newton recursion scheme. Consequently, the output residual between the original output and the suggested output is minimized. Here, the linear model-based optimal control model is considered, so as the optimal control law is constructed. By feed backing the updated control trajectory into the dynamic system, the iterative solution of the model used could approximate to the correct optimal solution of the original optimal control problem, in spite of model-reality differences. For illustration, current converted and isothermal reaction rector problems are studied and the results are demonstrated. In conclusion, the efficiency of the approach proposed is highly presented.展开更多
为了优化基于设计图纸建立的结构有限元模型,得到结构的基准有限元模型,提出了一种基于牛顿插值法的高维模型表示(High-dimensional Model representation based on Newton Interpolation, NEWTHDMR)的结构有限元模型修正方法。NEWT-HDM...为了优化基于设计图纸建立的结构有限元模型,得到结构的基准有限元模型,提出了一种基于牛顿插值法的高维模型表示(High-dimensional Model representation based on Newton Interpolation, NEWTHDMR)的结构有限元模型修正方法。NEWT-HDMR可以描述结构参数与响应之间的黑箱函数关系以取代有限元软件,联合结构真实响应残差和构造目标函数;结合Jaya算法,通过迭代求解结构待修正参数的修正值,进而修正结构有限元模型。利用简支梁数值模型验证本文提出方法的有效性,并分析对比一阶NEWT–HDMR和二阶NEWT-HDMR在修正精度上的差异。结果表明,NEWT-HDMR模型修正结果可以满足工程要求且二阶NEWT-HDMR修正精度更高,验证该方法在结构有限元模型修正中应用的可行性和可靠性。展开更多
Cargo airdrop has long been one of the most important measures to deal with urgent immediate needs, such as providing as- sists in military operations and sending relief to disaster areas, just to name a few. Because ...Cargo airdrop has long been one of the most important measures to deal with urgent immediate needs, such as providing as- sists in military operations and sending relief to disaster areas, just to name a few. Because it is carried out during flight, it is necessary to investigate the influences of the drop process on flight characteristics to ensure successful execution of the task. This article mainly studies the modeling of flight systems in large flying transport planes with cargo moving in it. By buildi...展开更多
This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF（degrees of freedom） manipulator robot in order to enhance its achievable workspace and application profile. Since the ...This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF（degrees of freedom） manipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems： the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of a bounded quaternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dynamics which is simplified for control（nonlinear） design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy.展开更多
Generalized linear mixed models (GLMMs) are typically constructed by incorporating random effects into the linear predictor. The random effects are usually assumed to be normally distributed with mean zero and varianc...Generalized linear mixed models (GLMMs) are typically constructed by incorporating random effects into the linear predictor. The random effects are usually assumed to be normally distributed with mean zero and variance-covariance identity matrix. In this paper, we propose to release random effects to non-normal distributions and discuss how to model the mean and covariance structures in GLMMs simultaneously. Parameter estimation is solved by using Quasi-Monte Carlo (QMC) method through iterative Newton-Raphson (NR) algorithm very well in terms of accuracy and stabilization, which is demonstrated by real binary salamander mating data analysis and simulation studies.展开更多
The present article is a continuation of a recently published paper [1] in which we have modeled the composition and structure of neutrons and other hadrons using the Rotating Lepton Model (RLM) which is a Bohr type m...The present article is a continuation of a recently published paper [1] in which we have modeled the composition and structure of neutrons and other hadrons using the Rotating Lepton Model (RLM) which is a Bohr type model employing the relativistic gravitational attraction between three ultrafast rotating neutrinos as the centripetal force. The RLM accounts for special relativity and also for the De Broglie equation of quantum mechanics. In this way this force was shown to reach the value of the Strong Force while the values of the masses of the rotating relativistic neutrinos reach those of quarks. Masses computed for twelve hadrons and bosons are in very close (~2%) agreement with the experimental values. Here we use the same RLM approach to describe the composition and structure and to compute the masses of Pions and Kaons which are important zero spin mesons. Contrary to hadrons and bosons which have been found via the RLM to comprise the heaviest neutrino eigenmass m<sub>3</sub>, in the case of mesons the intermediate neutrino mass eigenstate m<sub>2</sub> is found to play the dominant role. This can explain why the lowest masses of mesons are generally smaller than those of hadrons and bosons. Thus in the case of Pions it is found that they comprise three rotating m<sub>2</sub> mass eigenstate neutrinos and the computed mass of 136.6 MeV/c<sup>2</sup> is in good agreement with the experimental value of 134.977 MeV/c<sup>2</sup>. The Kaon structure is found to consist of six m<sub>2</sub> mass eigenstate neutrinos arranged in two parallel pion-type rotating triads. The computed Kaon mass differs less that 2% from the experimental K<sup>±</sup> and K°values of 493.677 MeV/c<sup>2</sup> and 497.648 MeV/c<sup>2</sup> respectively. This, in conjunction with the experimentally observed decay products of the Kaons, provides strong support for the proposed K structure.展开更多
The study aims at modelling and assessment of survival probability of a component experiencing two kinds of shocks namely, damage shock and fatal shock. Shocks are occurring randomly in time as events of a Poisson Pro...The study aims at modelling and assessment of survival probability of a component experiencing two kinds of shocks namely, damage shock and fatal shock. Shocks are occurring randomly in time as events of a Poisson Process. The two cases of fixed/random threshold of components are studied. Survival probabilities of proposed models are derived. Maximum likelihood estimators (MLEs) of survival probabilities are obtained using the data from life testing experiments. Fisher information and asymptotic distribution of MLEs of parameters are obtained when a constant threshold is considered. Computation and comparison of estimators of two cases (constant threshold and random threshold) are made through simulation studies. The study recommends the consideration of threshold as a random variable.展开更多
This paper presents a rheology-based approach to animate realistic face model. The dynamic and biorheological characteristics of the force member （muscles） and stressed member （face） are considered. The stressed f...This paper presents a rheology-based approach to animate realistic face model. The dynamic and biorheological characteristics of the force member （muscles） and stressed member （face） are considered. The stressed face can be modeled as viscoelastic bodies with the Hooke bodies and Newton bodies connected in a composite series-parallel manner. Then, the stress-strain relationship is derived, and the constitutive equations established. Using these constitutive equations, the face model can be animated with the force generated by muscles. Experimental results show that this method can realistically simulate the mechanical properties and motion characteristics of human face, and performance of this method is satisfactory.展开更多
Assuming a Winterberg model for space where the vacuum consists of a very stiff two-component superfluid made up of positive and negative mass planckions, Q theory is the hypothesis, that Planck charge, <i>q<...Assuming a Winterberg model for space where the vacuum consists of a very stiff two-component superfluid made up of positive and negative mass planckions, Q theory is the hypothesis, that Planck charge, <i>q<sub>pl</sub></i>, was created at the same time as Planck mass. Moreover, the repulsive force that like-mass planckions experience is, in reality, due to the electrostatic force of repulsion between like charges. These forces also give rise to what appears to be a gravitational force of attraction between two like planckions, but this is an illusion. In reality, gravity is electrostatic in origin if our model is correct. We determine the spring constant associated with planckion masses, and find that, <img src="Edit_770c2a48-039c-4cc9-8f66-406c0cfc565c.png" width="90" height="15" alt="" />, where <i>ζ</i>(3) equals Apery’s constant, 1.202 …, and, <i>n</i><sub>+</sub>(0)=<i>n</i>_(0), is the relaxed, <i>i.e.</i>, <img src="Edit_813d5a6f-b79a-49ba-bdf7-5042541b58a0.png" width="25" height="12" alt="" />, number density of the positive and negative mass planckions. In the present epoch, we estimate that, <i>n</i><sub>+</sub>(0) equals, 7.848E54 m<sup>-3</sup>, and the relaxed distance of separation between nearest neighbor positive, or negative, planckion pairs is, <i>l</i><sub>+</sub>(0)=<i>l</i><sub>_</sub>(0)=5.032E-19 meters. These values were determined using box quantization for the positive and negative mass planckions, and considering transitions between energy states, much like as in the hydrogen atom. For the cosmos as a whole, given a net smeared macroscopic gravitational field of, <img src="Edit_efc8003d-5297-4345-adac-4ac95536934d.png" width="80" height="15" alt="" />, due to all the ordinary, and bound, matter contained within the observable universe, an average displacement from equilibrium for the planckion masses is a mere 7.566E-48 meters, within the vacuum made up of these particles. On the surface of the earth, where, <i>g</i>=9.81m/s<sup>2</sup>, the displacement amounts to, 7.824E-38 meters. All of these displacements are due to increased gravitational pressure within the vacuum, which in turn is caused by applied gravitational fields. The gravitational potential is also derived and directly related to gravitational pressure.展开更多
文摘Output measurement for nonlinear optimal control problems is an interesting issue. Because the structure of the real plant is complex, the output channel could give a significant response corresponding to the real plant. In this paper, a least squares scheme, which is based on the Gauss-Newton algorithm, is proposed. The aim is to approximate the output that is measured from the real plant. In doing so, an appropriate output measurement from the model used is suggested. During the computation procedure, the control trajectory is updated iteratively by using the Gauss-Newton recursion scheme. Consequently, the output residual between the original output and the suggested output is minimized. Here, the linear model-based optimal control model is considered, so as the optimal control law is constructed. By feed backing the updated control trajectory into the dynamic system, the iterative solution of the model used could approximate to the correct optimal solution of the original optimal control problem, in spite of model-reality differences. For illustration, current converted and isothermal reaction rector problems are studied and the results are demonstrated. In conclusion, the efficiency of the approach proposed is highly presented.
文摘为了优化基于设计图纸建立的结构有限元模型,得到结构的基准有限元模型,提出了一种基于牛顿插值法的高维模型表示(High-dimensional Model representation based on Newton Interpolation, NEWTHDMR)的结构有限元模型修正方法。NEWT-HDMR可以描述结构参数与响应之间的黑箱函数关系以取代有限元软件,联合结构真实响应残差和构造目标函数;结合Jaya算法,通过迭代求解结构待修正参数的修正值,进而修正结构有限元模型。利用简支梁数值模型验证本文提出方法的有效性,并分析对比一阶NEWT–HDMR和二阶NEWT-HDMR在修正精度上的差异。结果表明,NEWT-HDMR模型修正结果可以满足工程要求且二阶NEWT-HDMR修正精度更高,验证该方法在结构有限元模型修正中应用的可行性和可靠性。
基金National Natural Science Foundation of China (60134010)Aeronautical Science Foundation of China (2007ZD53053)
文摘Cargo airdrop has long been one of the most important measures to deal with urgent immediate needs, such as providing as- sists in military operations and sending relief to disaster areas, just to name a few. Because it is carried out during flight, it is necessary to investigate the influences of the drop process on flight characteristics to ensure successful execution of the task. This article mainly studies the modeling of flight systems in large flying transport planes with cargo moving in it. By buildi...
基金supported by CONACYT-Mexico,Lab Ex PERSYVAL-Lab(No.ANR-11-LABX-0025)Equipex ROBOTEX(No.ANR-10-EQPX-44-01)
文摘This paper proposes a simple solution for the stabilization of a mini-quadcopter carrying a 3DoF（degrees of freedom） manipulator robot in order to enhance its achievable workspace and application profile. Since the motion of the arm induces torques which degrade the stability of the system, in the present work, we consider the stabilization of both subsystems： the quadcopter and the robotic arm. The mathematical model of the system is based on quaternions. Likewise, an attitude control law consisting of a bounded quaternion-based feedback stabilizes the quadcopter to a desired attitude while the arm is evolving. The next stage is the translational dynamics which is simplified for control（nonlinear） design purposes. The aforementioned controllers are based on saturation functions whose stability is explicitly proved in the Lyapunov sense. Finally, experimental results and a statistical study validate the proposed control strategy.
文摘Generalized linear mixed models (GLMMs) are typically constructed by incorporating random effects into the linear predictor. The random effects are usually assumed to be normally distributed with mean zero and variance-covariance identity matrix. In this paper, we propose to release random effects to non-normal distributions and discuss how to model the mean and covariance structures in GLMMs simultaneously. Parameter estimation is solved by using Quasi-Monte Carlo (QMC) method through iterative Newton-Raphson (NR) algorithm very well in terms of accuracy and stabilization, which is demonstrated by real binary salamander mating data analysis and simulation studies.
文摘The present article is a continuation of a recently published paper [1] in which we have modeled the composition and structure of neutrons and other hadrons using the Rotating Lepton Model (RLM) which is a Bohr type model employing the relativistic gravitational attraction between three ultrafast rotating neutrinos as the centripetal force. The RLM accounts for special relativity and also for the De Broglie equation of quantum mechanics. In this way this force was shown to reach the value of the Strong Force while the values of the masses of the rotating relativistic neutrinos reach those of quarks. Masses computed for twelve hadrons and bosons are in very close (~2%) agreement with the experimental values. Here we use the same RLM approach to describe the composition and structure and to compute the masses of Pions and Kaons which are important zero spin mesons. Contrary to hadrons and bosons which have been found via the RLM to comprise the heaviest neutrino eigenmass m<sub>3</sub>, in the case of mesons the intermediate neutrino mass eigenstate m<sub>2</sub> is found to play the dominant role. This can explain why the lowest masses of mesons are generally smaller than those of hadrons and bosons. Thus in the case of Pions it is found that they comprise three rotating m<sub>2</sub> mass eigenstate neutrinos and the computed mass of 136.6 MeV/c<sup>2</sup> is in good agreement with the experimental value of 134.977 MeV/c<sup>2</sup>. The Kaon structure is found to consist of six m<sub>2</sub> mass eigenstate neutrinos arranged in two parallel pion-type rotating triads. The computed Kaon mass differs less that 2% from the experimental K<sup>±</sup> and K°values of 493.677 MeV/c<sup>2</sup> and 497.648 MeV/c<sup>2</sup> respectively. This, in conjunction with the experimentally observed decay products of the Kaons, provides strong support for the proposed K structure.
文摘The study aims at modelling and assessment of survival probability of a component experiencing two kinds of shocks namely, damage shock and fatal shock. Shocks are occurring randomly in time as events of a Poisson Process. The two cases of fixed/random threshold of components are studied. Survival probabilities of proposed models are derived. Maximum likelihood estimators (MLEs) of survival probabilities are obtained using the data from life testing experiments. Fisher information and asymptotic distribution of MLEs of parameters are obtained when a constant threshold is considered. Computation and comparison of estimators of two cases (constant threshold and random threshold) are made through simulation studies. The study recommends the consideration of threshold as a random variable.
基金Project supported by the National Natural Science Foundation of China (Grant No.60772124)the Shanghai Leading Academic Discipline Project (Grant No.S30108)the Outstanding Young Teachers in University Foundation of Shanghai (Grant No.B37010708003)
文摘This paper presents a rheology-based approach to animate realistic face model. The dynamic and biorheological characteristics of the force member （muscles） and stressed member （face） are considered. The stressed face can be modeled as viscoelastic bodies with the Hooke bodies and Newton bodies connected in a composite series-parallel manner. Then, the stress-strain relationship is derived, and the constitutive equations established. Using these constitutive equations, the face model can be animated with the force generated by muscles. Experimental results show that this method can realistically simulate the mechanical properties and motion characteristics of human face, and performance of this method is satisfactory.
文摘Assuming a Winterberg model for space where the vacuum consists of a very stiff two-component superfluid made up of positive and negative mass planckions, Q theory is the hypothesis, that Planck charge, <i>q<sub>pl</sub></i>, was created at the same time as Planck mass. Moreover, the repulsive force that like-mass planckions experience is, in reality, due to the electrostatic force of repulsion between like charges. These forces also give rise to what appears to be a gravitational force of attraction between two like planckions, but this is an illusion. In reality, gravity is electrostatic in origin if our model is correct. We determine the spring constant associated with planckion masses, and find that, <img src="Edit_770c2a48-039c-4cc9-8f66-406c0cfc565c.png" width="90" height="15" alt="" />, where <i>ζ</i>(3) equals Apery’s constant, 1.202 …, and, <i>n</i><sub>+</sub>(0)=<i>n</i>_(0), is the relaxed, <i>i.e.</i>, <img src="Edit_813d5a6f-b79a-49ba-bdf7-5042541b58a0.png" width="25" height="12" alt="" />, number density of the positive and negative mass planckions. In the present epoch, we estimate that, <i>n</i><sub>+</sub>(0) equals, 7.848E54 m<sup>-3</sup>, and the relaxed distance of separation between nearest neighbor positive, or negative, planckion pairs is, <i>l</i><sub>+</sub>(0)=<i>l</i><sub>_</sub>(0)=5.032E-19 meters. These values were determined using box quantization for the positive and negative mass planckions, and considering transitions between energy states, much like as in the hydrogen atom. For the cosmos as a whole, given a net smeared macroscopic gravitational field of, <img src="Edit_efc8003d-5297-4345-adac-4ac95536934d.png" width="80" height="15" alt="" />, due to all the ordinary, and bound, matter contained within the observable universe, an average displacement from equilibrium for the planckion masses is a mere 7.566E-48 meters, within the vacuum made up of these particles. On the surface of the earth, where, <i>g</i>=9.81m/s<sup>2</sup>, the displacement amounts to, 7.824E-38 meters. All of these displacements are due to increased gravitational pressure within the vacuum, which in turn is caused by applied gravitational fields. The gravitational potential is also derived and directly related to gravitational pressure.
