In this review, we describe the current models of dorsal and ventral streams in vision, audition and touch. Available theories take their first steps from the model of Milner and Goodale, which was developed to explai...In this review, we describe the current models of dorsal and ventral streams in vision, audition and touch. Available theories take their first steps from the model of Milner and Goodale, which was developed to explain how human actions can be efficiently carried out using visual information. Since then, similar concepts have also been applied to other sensory modalities. We propose that advances in the knowledge of brain functioning can be achieved through models explaining action and perception patterns independently from sensory modalities.展开更多
This paper focuses on the problem of control law optimization for marine vessels working in a dynamical positioning （DP） regime. The approach proposed here is based on the use of a special unified multipurpose contr...This paper focuses on the problem of control law optimization for marine vessels working in a dynamical positioning （DP） regime. The approach proposed here is based on the use of a special unified multipurpose control law structure constructed on the basis of nonlinear asymptotic observers, that allows the decoupling of a synthesis into simpler particular optimization problems. The primary reason for the observers is to restore deficient information concerning the unmeasured velocities of the vessel. Using a number of separate items in addition to the observers, it is possible to achieve desirable dynamical features of the closed loop connection. The most important feature is the so-called dynamical corrector, and this paper is therefore devoted to solving its optimal synthesis in marine vessels controlled by DP systems under the action of sea wave disturbances. The problem involves the need for minimal intensity of the control action determined by high frequency sea wave components. A specialized approach for designing the dynamical corrector is proposed and the applicability and effectiveness of the approach are illustrated using a practical example of underwater DP system synthesis.展开更多
In this paper, the asymptotic stability of Port-Hamiltonian (PH) systems with constant inputs is studied. Constant inputs are useful for stabilizing systems at their nonzero equilibria and can be realized by step sign...In this paper, the asymptotic stability of Port-Hamiltonian (PH) systems with constant inputs is studied. Constant inputs are useful for stabilizing systems at their nonzero equilibria and can be realized by step signals. To achieve this goal, two methods based on integral action and comparison principle are presented in this paper. These methods change the convex Hamiltonian function and the restricted damping matrix of the previous results into a Hamiltonian function with a local minimum and a positive semidefinite matrix, respectively. Due to common conditions of Hamiltonian function and damping matrix, the proposed method asymptotically stabilizes more classes of PH systems with constant inputs than the existing methods. Finally, the validity and advantages of the presented methods are shown in an example.展开更多
For n-body problems with quasihomogeneous potentials in ?k (2[ n/2] ? k) we prove that the minimum of the Lagrangian action integral defined on the zero mean loop space is exactly the circles with center at the origin...For n-body problems with quasihomogeneous potentials in ?k (2[ n/2] ? k) we prove that the minimum of the Lagrangian action integral defined on the zero mean loop space is exactly the circles with center at the origin and the configuration of the n-bodies is always a regular n - 1 simplex with fixed side length.展开更多
To address the problem of high-performance trajectory tracking of a class of uncertain nonlinear systems,this paper proposes a novel proportional-integral-like funnel control(PI-like FC)strategy with rigorous theoreti...To address the problem of high-performance trajectory tracking of a class of uncertain nonlinear systems,this paper proposes a novel proportional-integral-like funnel control(PI-like FC)strategy with rigorous theoretical guarantees.The proposed method retains the prescribed transient performance capabilities inherent to funnel control while introducing an integral action to enhance steady-state accuracy.To mitigate the potential issue caused by integral action,aσ-modification mechanism is incorporated into the control design.The resulting PI-like funnel controller operates without requiring precise system models or detailed knowledge of the nonlinearities,thereby ensuring simplicity in design,ease of implementation,and broad applicability.Rigorous analysis establishes the closed-loop stability and guarantees that the tracking error remains strictly confined within predefined performance bounds.Simulation studies further validate the effectiveness and robustness of the proposed approach in achieving accurate trajectory tracking for uncertain nonlinear systems.展开更多
The natural philosophy which is implied in Zhouyi is a philosophy of generation. This is a metaphor for life and the unity of cosmology, ontology and axiology, based on a practice of life which is a unity of moral and...The natural philosophy which is implied in Zhouyi is a philosophy of generation. This is a metaphor for life and the unity of cosmology, ontology and axiology, based on a practice of life which is a unity of moral and cognitive practice. This article suggests that, based on the implications of the original classic text of Zhouyi and its commentaries, the characteristics and meaning of Chinese natural philosophy can be understood through the cosmology of morality, the ontology of unity of heaven, earth and humanity, the theory of practice that integrates knowing with action, and the methodology of wholly generating. I argue that this unique natural philosophy is not only the origin of the transcendental values of Chinese culture, but also the metaphysical foundation of ancient science in China. In the great transformation of history and dialogue between East and West in 21 st century, it creates a unity of different cultures of human beings from different ways which are harmonious but not uniform.展开更多
文摘In this review, we describe the current models of dorsal and ventral streams in vision, audition and touch. Available theories take their first steps from the model of Milner and Goodale, which was developed to explain how human actions can be efficiently carried out using visual information. Since then, similar concepts have also been applied to other sensory modalities. We propose that advances in the knowledge of brain functioning can be achieved through models explaining action and perception patterns independently from sensory modalities.
基金Partially Supported by the Russian Foundation for Basic Research(RFBR) under Research Project No.14-07-00083a
文摘This paper focuses on the problem of control law optimization for marine vessels working in a dynamical positioning （DP） regime. The approach proposed here is based on the use of a special unified multipurpose control law structure constructed on the basis of nonlinear asymptotic observers, that allows the decoupling of a synthesis into simpler particular optimization problems. The primary reason for the observers is to restore deficient information concerning the unmeasured velocities of the vessel. Using a number of separate items in addition to the observers, it is possible to achieve desirable dynamical features of the closed loop connection. The most important feature is the so-called dynamical corrector, and this paper is therefore devoted to solving its optimal synthesis in marine vessels controlled by DP systems under the action of sea wave disturbances. The problem involves the need for minimal intensity of the control action determined by high frequency sea wave components. A specialized approach for designing the dynamical corrector is proposed and the applicability and effectiveness of the approach are illustrated using a practical example of underwater DP system synthesis.
基金supported by the National Nature Science Fund of China(No.61603311).
文摘In this paper, the asymptotic stability of Port-Hamiltonian (PH) systems with constant inputs is studied. Constant inputs are useful for stabilizing systems at their nonzero equilibria and can be realized by step signals. To achieve this goal, two methods based on integral action and comparison principle are presented in this paper. These methods change the convex Hamiltonian function and the restricted damping matrix of the previous results into a Hamiltonian function with a local minimum and a positive semidefinite matrix, respectively. Due to common conditions of Hamiltonian function and damping matrix, the proposed method asymptotically stabilizes more classes of PH systems with constant inputs than the existing methods. Finally, the validity and advantages of the presented methods are shown in an example.
基金This work was supported by MSTC, the National Natural Science Foundation of China and QSSTF.
文摘For n-body problems with quasihomogeneous potentials in ?k (2[ n/2] ? k) we prove that the minimum of the Lagrangian action integral defined on the zero mean loop space is exactly the circles with center at the origin and the configuration of the n-bodies is always a regular n - 1 simplex with fixed side length.
基金supported by the National Natural Science Foundation of China(Grant Nos.62173097,62121004,U2013601)the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2022A515011239,2024B1515120004)the Local Innovative and Research Team Project of Guangdong Special Support Program(Grant No.2019BT02X353)。
文摘To address the problem of high-performance trajectory tracking of a class of uncertain nonlinear systems,this paper proposes a novel proportional-integral-like funnel control(PI-like FC)strategy with rigorous theoretical guarantees.The proposed method retains the prescribed transient performance capabilities inherent to funnel control while introducing an integral action to enhance steady-state accuracy.To mitigate the potential issue caused by integral action,aσ-modification mechanism is incorporated into the control design.The resulting PI-like funnel controller operates without requiring precise system models or detailed knowledge of the nonlinearities,thereby ensuring simplicity in design,ease of implementation,and broad applicability.Rigorous analysis establishes the closed-loop stability and guarantees that the tracking error remains strictly confined within predefined performance bounds.Simulation studies further validate the effectiveness and robustness of the proposed approach in achieving accurate trajectory tracking for uncertain nonlinear systems.
文摘The natural philosophy which is implied in Zhouyi is a philosophy of generation. This is a metaphor for life and the unity of cosmology, ontology and axiology, based on a practice of life which is a unity of moral and cognitive practice. This article suggests that, based on the implications of the original classic text of Zhouyi and its commentaries, the characteristics and meaning of Chinese natural philosophy can be understood through the cosmology of morality, the ontology of unity of heaven, earth and humanity, the theory of practice that integrates knowing with action, and the methodology of wholly generating. I argue that this unique natural philosophy is not only the origin of the transcendental values of Chinese culture, but also the metaphysical foundation of ancient science in China. In the great transformation of history and dialogue between East and West in 21 st century, it creates a unity of different cultures of human beings from different ways which are harmonious but not uniform.
