Although classical WENOCU schemes can achieve high-order accuracy by introducing a moderate constant parameter C to increase the contribution of optimal weights,they exhibit distinct numerical dissipation in smooth re...Although classical WENOCU schemes can achieve high-order accuracy by introducing a moderate constant parameter C to increase the contribution of optimal weights,they exhibit distinct numerical dissipation in smooth regions.This study presents an extension of our previous research which confirmed that adaptively adjusting parameter C can indeed overcome the inadequacy of the usage of a constant small value.Cmin is applied near a discontinuity while Cmax is used elsewhere and they are switched according to the variation of the local flow-field property.This study provides the reference values of the adaptive parameter C of WENOCU4 and systematically evaluates the comprehensive performance of three different switches(labeled as the binary,continuous,and hyperbolic tangent switches,respectively)based on an optimized efficient WENOCU4 scheme(labeled as EWENOCU4).Varieties of 1D scalar equations,empirical dispersion relation analysis,and multi-dimensional benchmark cases of Euler equations are analyzed.Generally,the dissipation and dispersion properties of these three switches are similar.Especially,employing the binary switch,EWENOCU4 achieves the best comprehensive properties.Specifically,the binary switch can efficiently filter more misidentifications in smooth regions than others do,particularly for the cases of 1 D scalar equations and Euler equations.Also,the computational efficiency of the binary switch is superior to that of the hyperbolic tangent switch.Moreover,the optimized scheme exhibits high-resolution spectral properties in the wavenumber space.Therefore,employing the binary switch is a more cost-effective improvement for schemes and is particularly suitable for the simulation of complex shock/turbulence interaction.This study provides useful guidance for the reference values of parameter C and the evaluation of adaptive switches.展开更多
An improved nonlinear adaptive switching control method is presented to relax the assumption on the higher order nonlinear terms of a class of discrete-time non-affine nonlinear systems. The proposed control strategy ...An improved nonlinear adaptive switching control method is presented to relax the assumption on the higher order nonlinear terms of a class of discrete-time non-affine nonlinear systems. The proposed control strategy is composed of a linear adaptive controller, a neural network(NN) based nonlinear adaptive controller and a switching mechanism. An incremental model is derived to represent the considered system and an improved robust adaptive law is chosen to update the parameters of the linear adaptive controller. A new performance criterion of the switching mechanism is designed to select the proper controller. Using this control scheme, all the signals in the system are proved to be bounded. Numerical examples verify the effectiveness of the proposed algorithm.展开更多
A 5.0-V 2.0-A flyback power supply controller providing constant-voltage （CV） and constant-current （CC） output regulation without the use of an optical coupler is presented. Dual-close-loop control is proposed her...A 5.0-V 2.0-A flyback power supply controller providing constant-voltage （CV） and constant-current （CC） output regulation without the use of an optical coupler is presented. Dual-close-loop control is proposed here due to its better regulation performance of tolerance over process and temperature compared with open loop control used in common. At the same time, the two modes, CC and CV, could switch to each other automatically and smoothly according to the output voltage level not sacrificing the regulation accuracy at the switching phase, which overcomes the drawback of the digital control scheme depending on a hysteresis comparator to change the mode. On-chip compensation using active capacitor multiplier technique is applied to stabilize the voltage loop, eliminate an additional package pin, and save on the die area. The system consumes as little as 100 mW at no-load condition without degrading the transient response performance by utilizing the adaptive switching frequency control mode. The proposed controller has been implemented in a commercial 0.35μm 40-V BCD process, and the active chip area is 1.5×1.0 mm^2. The total error of the output voltage due to line and load variations is less than 4-1.7%.展开更多
In today's Internet routing infrastructure,designers have addressed scal-ing concerns in routing constrained multiobjective optimization problems examining latency and mobility concerns as a secondary constrain.In...In today's Internet routing infrastructure,designers have addressed scal-ing concerns in routing constrained multiobjective optimization problems examining latency and mobility concerns as a secondary constrain.In tactical Mobile Ad-hoc Network(MANET),hubs can function based on the work plan in various social affairs and the internally connected hubs are almost having the related moving standards where the topology between one and the other are tightly coupled in steady support by considering the touchstone of hubs such as a self-sorted out,self-mending and self-administration.Clustering in the routing process is one of the key aspects to increase MANET performance by coordinat-ing the pathways using multiple criteria and analytics.We present a Group Adaptive Hybrid Routing Algorithm(GAHRA)for gathering portability,which pursues table-driven directing methodology in stable accumulations and on-request steering strategy for versatile situations.Based on this aspect,the research demonstrates an adjustable framework for commuting between the table-driven approach and the on-request approach,with the objectives of enhancing the out-put of MANET routing computation in each hub.Simulation analysis and replication results reveal that the proposed method is promising than a single well-known existing routing approach and is well-suited for sensitive MANET applications.展开更多
In the typhoon adaptive observation based on conditional nonlinear optimal perturbation (CNOP), the ‘on-off’ switch caused by moist physical parameterization in prediction models prevents the conventional adjoint me...In the typhoon adaptive observation based on conditional nonlinear optimal perturbation (CNOP), the ‘on-off’ switch caused by moist physical parameterization in prediction models prevents the conventional adjoint method from providing correct gradient during the optimization process. To address this problem, the capture of CNOP, when the "on-off" switches are included in models, is treated as non-smooth optimization in this study, and the genetic algorithm (GA) is introduced. After detailed algorithm procedures are formulated using an idealized model with parameterization "on-off" switches in the forcing term, the impacts of "on-off" switches on the capture of CNOP are analyzed, and three numerical experiments are conducted to check the effectiveness of GA in capturing CNOP and to analyze the impacts of different initial populations on the optimization result. The result shows that GA is competent for the capture of CNOP in the context of the idealized model with parameterization ‘on-off’ switches in this study. Finally, the advantages and disadvantages of GA in capturing CNOP are analyzed in detail.展开更多
Multiantenna technology can be implemented in several modes.These modes have varying characteristics and are used in different scenarios.This paper introduces Beamforming(BF),Cyclic Delay Diversity(CDD),Spatial Divers...Multiantenna technology can be implemented in several modes.These modes have varying characteristics and are used in different scenarios.This paper introduces Beamforming(BF),Cyclic Delay Diversity(CDD),Spatial Diversity(SD),Spatial Multiplexing(SM),and other multiantenna technologies.It also analyzes various technical features and their application scenarios.An adaptive multiantenna switching algorithm is proposed that chooses a suitable mode for sending data according to the scenario or wireless channel conditions.This switching algorithm improves multiantenna technology and enhances the quality of wireless network communications.展开更多
In recent years, cyber attacks have posed great challenges to the development of cyber-physical systems. It is of great significance to study secure state estimation methods to ensure the safe and stable operation of ...In recent years, cyber attacks have posed great challenges to the development of cyber-physical systems. It is of great significance to study secure state estimation methods to ensure the safe and stable operation of the system. This paper proposes a secure state estimation for multi-input and multi-output continuous-time linear cyber-physical systems with sparse actuator and sensor attacks. First, for sparse sensor attacks, we propose an adaptive switching mechanism to mitigate the impact of sparse sensor attacks by filtering out their attack modes. Second, an unknown input sliding mode observer is designed to not only observe the system states, sensor attack signals, and measurement noise present in the system but also counteract the effects of sparse actuator attacks through an unknown input matrix. Finally, for the design of an unknown input sliding mode state observer, the feasibility of the observing system is demonstrated by means of Lyapunov functions. Additionally, simulation experiments are conducted to show the effectiveness of this method.展开更多
Passive daytime radiative cooling technology has demonstrated energy-saving potential during the cooling season in buildings.To address the challenge of extra heat loss during the heating season,a temperature-adaptive...Passive daytime radiative cooling technology has demonstrated energy-saving potential during the cooling season in buildings.To address the challenge of extra heat loss during the heating season,a temperature-adaptive radiative cooler(TARC)was developed with a phase change material(PCM)cover and a multilayer daytime radiative cooler(DRC).During a warm month when the ambient temperature exceeded 20℃,the TARC system demonstrated cooling effects as static DRC,and the TARC and DRC achieved average daytime cooling temperatures of 2.5℃ and 4.5℃,respectively.However,during a colder period in December,TARC achieved an average temperature in the cooling space higher than the ambient temperature during the daytime due to the PCM cover being able to switch off infrared radiation from DRC and absorb solar radiation.To maximize energy savings in cooling and heating seasons,we established numerical models for the optimization of PCM cover and TARC.The simulation results showed that the optimized TARC could achieve a daily average temperature drop of 4.1℃ on a hot day and a temperature increase of 1.0℃ on a cold day under the same climatic conditions as the experiments.Further simulations highlight the potential of TARC systems for cross-seasonal applications.展开更多
The time-scaling transformation is a widely used approach within the computational framework of control parameterization for optimizing the switching times of control variables.However,the conventional time-scaling tr...The time-scaling transformation is a widely used approach within the computational framework of control parameterization for optimizing the switching times of control variables.However,the conventional time-scaling transformation has the limitation that the switching times and the number of switches for each control component must be the same.In this paper,we present a novel technique to solve constrained optimal control problems that allows for adaptively optimizing the switching times for each control component.Numerical results demonstrate that this proposed method provides better flexibility in control strategy and yields improved performance.展开更多
Multi-frame coding is supported by the emerging H.264. It is important for the enhancement of both coding efficiency and error robustness. In this paper, error resilient schemes for H.264 based on multi-frame were inv...Multi-frame coding is supported by the emerging H.264. It is important for the enhancement of both coding efficiency and error robustness. In this paper, error resilient schemes for H.264 based on multi-frame were investigated. Error robust H.264 video transmission schemes were introduced for the applications with and without a feedback channel. The experimental results demonstrate the effectiveness of the proposed schemes.展开更多
The remarkable skill of changing its grasp status and relocating its fingers to perform continuous in-hand manipulation is essential for a multifingered anthropomorphic hand.A commonly utilized method of manipulation ...The remarkable skill of changing its grasp status and relocating its fingers to perform continuous in-hand manipulation is essential for a multifingered anthropomorphic hand.A commonly utilized method of manipulation involves a series of basic movements executed by a high-level controller.However,it remains unclear how these primitives evolve into sophisticated finger gaits during manipulation.Here,we propose an adaptive finger gait-based manipulation method that offers real-time regulation by dynamically changing the primitive interval to ensure the force/moment balance of the object.Successful manipulation relies on contact events that act as triggers for real-time online replanning of multifinger manipulation.We identify four basic motion primitives of finger gaits and create a heuristic finger gait that enables the continuous object rotation of a round cup.Our experimental results verify the effectiveness of the proposed method.Despite the constant breaking and reengaging of contact between the fingers and the object during manipulation,the robotic hand can reliably manipulate the object without failure.Even when the object is subjected to interfering forces,the proposed method demonstrates robustness in managing interference.This work has great potential for application to the dexterous operation of anthropomorphic multifingered hands.展开更多
Multi-agent systems(MASs) are ubiquitous in natural and artificial systems. This paper aims to establish the finite-time adaptive consensus criterion for a class of MASs with nonlinear dynamics. Traditionally, the fin...Multi-agent systems(MASs) are ubiquitous in natural and artificial systems. This paper aims to establish the finite-time adaptive consensus criterion for a class of MASs with nonlinear dynamics. Traditionally, the finite-time consensus criterion is often established based on the prior information on Lipschitz constants and the eigenvalues of Laplacian matrix. However, it is difficult to acquire the above prior information for most real-world engineering systems. To overcome the above difficulty, this paper develops the finite-time consensus criteria for a class of MASs with nonlinear dynamics via adaptive technique. In detail, we design the finite-time distributed node-based and edge-based adaptive consensus protocols for a class of MASs with fixed and switching topologies. Numerical simulations are also given to validate the proposed finite-time adaptive consensus criterion.展开更多
This paper deals with nonholonomic systems in chained form with unknown covariance stochastic disturbances The objective is to design the almost global adaptive asymptotical controllers in probability Uo and u1 for th...This paper deals with nonholonomic systems in chained form with unknown covariance stochastic disturbances The objective is to design the almost global adaptive asymptotical controllers in probability Uo and u1 for the systems by using discontinuous control. A switching control law Uo is designed to almost globally asymptotically stabilize the state x0 in both the singular Xo（t0）=0 case and the non-singular Xo（to）≠O case. Then the state scaling technique is introduced for the discontinuous feedback into the （x1, x2,…, xn）-subsystem. Thereby, by using backstepping technique the global adaptive asymptotical control law u1 has been presented for （x1, x2, …, xn） -subsystem for both different Uo in non-singular x0 （t0）≠0 case and the singular case X0 （t0）=0. The control algorithm validity is proved by simulation.展开更多
With the increasing data volume of train on-board system,real-time performance has become the most critical factor to ensure the safety of train operation.Considering that standard Ethernet cannot meet the real-time r...With the increasing data volume of train on-board system,real-time performance has become the most critical factor to ensure the safety of train operation.Considering that standard Ethernet cannot meet the real-time requirement of existing train communication network(TCN),the time-sensitive network(TSN)technology for TCN is introduced.To solve the time-delay problem,an adaptive switch queue selection mechanism for traffic scheduling is proposed.Firstly,the topology model of TCN based on TSN and the traffic model are described.Then,the K shortest path routing algorithm based on load balancing provides the optimal routing for the scheduling process.Finally,the adaptive switch queue selection mechanism is introduced to solve the aggregation flow conflict problem effectively,queue resources are properly allocated,and the gate control list(GCL)of each frame in the queue is obtained.Experimental results show that compared with the traditional constraint model,the schedulability of the model with an adaptive switch queue selection mechanism increases by 33.0%,and the maximum end-to-end delay and network jitter decrease by 19.1%and 18.6%on average respectively.It can provide theoretical support and application reference for the real-time performance optimization of TCN based on TSN.展开更多
An appropriate acquisition configuration in terms of signal quality can optimize the acquisition performance. In view of this, a new approach of acquisition assisted by the control voltage of automatic gain control(AG...An appropriate acquisition configuration in terms of signal quality can optimize the acquisition performance. In view of this, a new approach of acquisition assisted by the control voltage of automatic gain control(AGC) is proposed. This approach judges the signal power according to the AGC control voltage and switches the working modes correspondingly and adaptively. Non-coherent accumulation times and the detection threshold are reconfigured according to the working mode. Theoretical derivation and verification by simulation in typical situations are provided, and the algorithm is shown to be superior in terms of the mean acquisition time, especially in strong signal scenarios compared with the conventional algorithm.展开更多
This paper develops a sequential convex programming(SCP)-based method to solve the minimum-fuel variable-specific-impulse low-thrust transfer problem considering shutdown constraint,with emphasize on improving the com...This paper develops a sequential convex programming(SCP)-based method to solve the minimum-fuel variable-specific-impulse low-thrust transfer problem considering shutdown constraint,with emphasize on improving the computational efficiency.The variable parameter engine is more applicable for many low-thrust scenarios,therefore,both a continuously variable model and a ladder variable model are adopted.First,the original problem is convexified by processing the constraint feasible domain,which is composed of the nonlinear dynamic equations and second-order equality constraint,into convex sets.Then,the approximation is generated to close the optimal solution of the low-thrust problem by iteratively solving the convexified subproblem.Moreover,the switching self-detection and adaptive node refinement methods are presented,which can improve the accuracy of the solution and accelerate the convergence during the approximation process and is especially necessary and effective in the scenarios with shutdown constraint.In numerical simulations,the comparison with the homotopic approach shows that the proposed method only needs 4%computational time as that of the homotopic approach,and two variable-specificimpulse examples further demonstrate the effectiveness and efficiency of the proposed method.展开更多
基金Project supported by the National Natural Science Foundation of China(Nos.11522222,11925207,and 11472305)the Scientific Research Plan of National University of Defense Technology in 2019(No.ZK19-02)the Postgraduate Scientific Research Innovation Project of Hunan Province(Nos.CX20200008 and CX20200084),China。
文摘Although classical WENOCU schemes can achieve high-order accuracy by introducing a moderate constant parameter C to increase the contribution of optimal weights,they exhibit distinct numerical dissipation in smooth regions.This study presents an extension of our previous research which confirmed that adaptively adjusting parameter C can indeed overcome the inadequacy of the usage of a constant small value.Cmin is applied near a discontinuity while Cmax is used elsewhere and they are switched according to the variation of the local flow-field property.This study provides the reference values of the adaptive parameter C of WENOCU4 and systematically evaluates the comprehensive performance of three different switches(labeled as the binary,continuous,and hyperbolic tangent switches,respectively)based on an optimized efficient WENOCU4 scheme(labeled as EWENOCU4).Varieties of 1D scalar equations,empirical dispersion relation analysis,and multi-dimensional benchmark cases of Euler equations are analyzed.Generally,the dissipation and dispersion properties of these three switches are similar.Especially,employing the binary switch,EWENOCU4 achieves the best comprehensive properties.Specifically,the binary switch can efficiently filter more misidentifications in smooth regions than others do,particularly for the cases of 1 D scalar equations and Euler equations.Also,the computational efficiency of the binary switch is superior to that of the hyperbolic tangent switch.Moreover,the optimized scheme exhibits high-resolution spectral properties in the wavenumber space.Therefore,employing the binary switch is a more cost-effective improvement for schemes and is particularly suitable for the simulation of complex shock/turbulence interaction.This study provides useful guidance for the reference values of parameter C and the evaluation of adaptive switches.
基金Supported by the National Natural Science Foundation of China(61333010,21376077,61203157)the Natural Science Foundation of Shanghai(14ZR1421800)State Key Laboratory of Synthetical Automation for Process Industries(PAL-N201404)
文摘An improved nonlinear adaptive switching control method is presented to relax the assumption on the higher order nonlinear terms of a class of discrete-time non-affine nonlinear systems. The proposed control strategy is composed of a linear adaptive controller, a neural network(NN) based nonlinear adaptive controller and a switching mechanism. An incremental model is derived to represent the considered system and an improved robust adaptive law is chosen to update the parameters of the linear adaptive controller. A new performance criterion of the switching mechanism is designed to select the proper controller. Using this control scheme, all the signals in the system are proved to be bounded. Numerical examples verify the effectiveness of the proposed algorithm.
文摘A 5.0-V 2.0-A flyback power supply controller providing constant-voltage （CV） and constant-current （CC） output regulation without the use of an optical coupler is presented. Dual-close-loop control is proposed here due to its better regulation performance of tolerance over process and temperature compared with open loop control used in common. At the same time, the two modes, CC and CV, could switch to each other automatically and smoothly according to the output voltage level not sacrificing the regulation accuracy at the switching phase, which overcomes the drawback of the digital control scheme depending on a hysteresis comparator to change the mode. On-chip compensation using active capacitor multiplier technique is applied to stabilize the voltage loop, eliminate an additional package pin, and save on the die area. The system consumes as little as 100 mW at no-load condition without degrading the transient response performance by utilizing the adaptive switching frequency control mode. The proposed controller has been implemented in a commercial 0.35μm 40-V BCD process, and the active chip area is 1.5×1.0 mm^2. The total error of the output voltage due to line and load variations is less than 4-1.7%.
文摘In today's Internet routing infrastructure,designers have addressed scal-ing concerns in routing constrained multiobjective optimization problems examining latency and mobility concerns as a secondary constrain.In tactical Mobile Ad-hoc Network(MANET),hubs can function based on the work plan in various social affairs and the internally connected hubs are almost having the related moving standards where the topology between one and the other are tightly coupled in steady support by considering the touchstone of hubs such as a self-sorted out,self-mending and self-administration.Clustering in the routing process is one of the key aspects to increase MANET performance by coordinat-ing the pathways using multiple criteria and analytics.We present a Group Adaptive Hybrid Routing Algorithm(GAHRA)for gathering portability,which pursues table-driven directing methodology in stable accumulations and on-request steering strategy for versatile situations.Based on this aspect,the research demonstrates an adjustable framework for commuting between the table-driven approach and the on-request approach,with the objectives of enhancing the out-put of MANET routing computation in each hub.Simulation analysis and replication results reveal that the proposed method is promising than a single well-known existing routing approach and is well-suited for sensitive MANET applications.
基金Application investigation of conditional nonlinear optimal perturbation in typhoon adaptive observation (40830955)
文摘In the typhoon adaptive observation based on conditional nonlinear optimal perturbation (CNOP), the ‘on-off’ switch caused by moist physical parameterization in prediction models prevents the conventional adjoint method from providing correct gradient during the optimization process. To address this problem, the capture of CNOP, when the "on-off" switches are included in models, is treated as non-smooth optimization in this study, and the genetic algorithm (GA) is introduced. After detailed algorithm procedures are formulated using an idealized model with parameterization "on-off" switches in the forcing term, the impacts of "on-off" switches on the capture of CNOP are analyzed, and three numerical experiments are conducted to check the effectiveness of GA in capturing CNOP and to analyze the impacts of different initial populations on the optimization result. The result shows that GA is competent for the capture of CNOP in the context of the idealized model with parameterization ‘on-off’ switches in this study. Finally, the advantages and disadvantages of GA in capturing CNOP are analyzed in detail.
基金supported by the National Science and Technology Major Project of the Ministry of Science and Technology of China under Grant No.2009ZX03003
文摘Multiantenna technology can be implemented in several modes.These modes have varying characteristics and are used in different scenarios.This paper introduces Beamforming(BF),Cyclic Delay Diversity(CDD),Spatial Diversity(SD),Spatial Multiplexing(SM),and other multiantenna technologies.It also analyzes various technical features and their application scenarios.An adaptive multiantenna switching algorithm is proposed that chooses a suitable mode for sending data according to the scenario or wireless channel conditions.This switching algorithm improves multiantenna technology and enhances the quality of wireless network communications.
基金supported by the National Science Foundation of China(Nos.62271293,61903238)the Natural Science Foundation of Shandong Province,China(No.ZR2021MF035)the Social Science Planning Project of Shandong Province,China(No.22CYYJ13).
文摘In recent years, cyber attacks have posed great challenges to the development of cyber-physical systems. It is of great significance to study secure state estimation methods to ensure the safe and stable operation of the system. This paper proposes a secure state estimation for multi-input and multi-output continuous-time linear cyber-physical systems with sparse actuator and sensor attacks. First, for sparse sensor attacks, we propose an adaptive switching mechanism to mitigate the impact of sparse sensor attacks by filtering out their attack modes. Second, an unknown input sliding mode observer is designed to not only observe the system states, sensor attack signals, and measurement noise present in the system but also counteract the effects of sparse actuator attacks through an unknown input matrix. Finally, for the design of an unknown input sliding mode state observer, the feasibility of the observing system is demonstrated by means of Lyapunov functions. Additionally, simulation experiments are conducted to show the effectiveness of this method.
基金supported by the National Natural Science Foundation of China(NSFC)(No.51908299)Qing Chuang science and technology plan of colleges and universities in Shandong Province(Sub-Title:Innovative Research Team of Advanced Energy Equipment),Jinan Science and Technology Bureau(No.2021GXRC083,202333015)+1 种基金Science,Education and Industry Integration Innovation Pilot Project from Qilu University of Technology(Shandong Academy of Sciences)(No.2022JBZ02-01)Ningbo Natural Science Foundation(2024J090).
文摘Passive daytime radiative cooling technology has demonstrated energy-saving potential during the cooling season in buildings.To address the challenge of extra heat loss during the heating season,a temperature-adaptive radiative cooler(TARC)was developed with a phase change material(PCM)cover and a multilayer daytime radiative cooler(DRC).During a warm month when the ambient temperature exceeded 20℃,the TARC system demonstrated cooling effects as static DRC,and the TARC and DRC achieved average daytime cooling temperatures of 2.5℃ and 4.5℃,respectively.However,during a colder period in December,TARC achieved an average temperature in the cooling space higher than the ambient temperature during the daytime due to the PCM cover being able to switch off infrared radiation from DRC and absorb solar radiation.To maximize energy savings in cooling and heating seasons,we established numerical models for the optimization of PCM cover and TARC.The simulation results showed that the optimized TARC could achieve a daily average temperature drop of 4.1℃ on a hot day and a temperature increase of 1.0℃ on a cold day under the same climatic conditions as the experiments.Further simulations highlight the potential of TARC systems for cross-seasonal applications.
基金Shanghai Key Laboratory of Pure Mathematics and Mathematical Practice(No.22DZ2229014)Science and Technology Commission of Shanghai Municipality(No.20JC1413900).
文摘The time-scaling transformation is a widely used approach within the computational framework of control parameterization for optimizing the switching times of control variables.However,the conventional time-scaling transformation has the limitation that the switching times and the number of switches for each control component must be the same.In this paper,we present a novel technique to solve constrained optimal control problems that allows for adaptively optimizing the switching times for each control component.Numerical results demonstrate that this proposed method provides better flexibility in control strategy and yields improved performance.
文摘Multi-frame coding is supported by the emerging H.264. It is important for the enhancement of both coding efficiency and error robustness. In this paper, error resilient schemes for H.264 based on multi-frame were investigated. Error robust H.264 video transmission schemes were introduced for the applications with and without a feedback channel. The experimental results demonstrate the effectiveness of the proposed schemes.
基金This work was supported by the National Natural Science Foundation of China(U2013212)the Key Research and Development Program of Zhejiang,China(2021C04015)the Fundamental Research Funds for the Provincial Universities of Zhejiang,China(RF-C2019004).
文摘The remarkable skill of changing its grasp status and relocating its fingers to perform continuous in-hand manipulation is essential for a multifingered anthropomorphic hand.A commonly utilized method of manipulation involves a series of basic movements executed by a high-level controller.However,it remains unclear how these primitives evolve into sophisticated finger gaits during manipulation.Here,we propose an adaptive finger gait-based manipulation method that offers real-time regulation by dynamically changing the primitive interval to ensure the force/moment balance of the object.Successful manipulation relies on contact events that act as triggers for real-time online replanning of multifinger manipulation.We identify four basic motion primitives of finger gaits and create a heuristic finger gait that enables the continuous object rotation of a round cup.Our experimental results verify the effectiveness of the proposed method.Despite the constant breaking and reengaging of contact between the fingers and the object during manipulation,the robotic hand can reliably manipulate the object without failure.Even when the object is subjected to interfering forces,the proposed method demonstrates robustness in managing interference.This work has great potential for application to the dexterous operation of anthropomorphic multifingered hands.
基金supported by the National Basic Research Program of China("973"Project)(Grant No.2014CB845302)the National Science and Technology Major Project of China(Grant No.2014ZX10004001-014)the National Natural Science Foundation of China(Grant No.11472290)
文摘Multi-agent systems(MASs) are ubiquitous in natural and artificial systems. This paper aims to establish the finite-time adaptive consensus criterion for a class of MASs with nonlinear dynamics. Traditionally, the finite-time consensus criterion is often established based on the prior information on Lipschitz constants and the eigenvalues of Laplacian matrix. However, it is difficult to acquire the above prior information for most real-world engineering systems. To overcome the above difficulty, this paper develops the finite-time consensus criteria for a class of MASs with nonlinear dynamics via adaptive technique. In detail, we design the finite-time distributed node-based and edge-based adaptive consensus protocols for a class of MASs with fixed and switching topologies. Numerical simulations are also given to validate the proposed finite-time adaptive consensus criterion.
文摘This paper deals with nonholonomic systems in chained form with unknown covariance stochastic disturbances The objective is to design the almost global adaptive asymptotical controllers in probability Uo and u1 for the systems by using discontinuous control. A switching control law Uo is designed to almost globally asymptotically stabilize the state x0 in both the singular Xo（t0）=0 case and the non-singular Xo（to）≠O case. Then the state scaling technique is introduced for the discontinuous feedback into the （x1, x2,…, xn）-subsystem. Thereby, by using backstepping technique the global adaptive asymptotical control law u1 has been presented for （x1, x2, …, xn） -subsystem for both different Uo in non-singular x0 （t0）≠0 case and the singular case X0 （t0）=0. The control algorithm validity is proved by simulation.
基金supported by the National Natural Science Foundation of China(52072081)Major Project of Science and Technology of Guangxi Province of China(Guike AB23075209)+2 种基金Guangxi Manufacturing Systems and Advanced Manufacturing Technology Key Laboratory Director Fund(24050-44-S015)Innovation Project of Guangxi Graduate Education(YCSW2024135)Major Talent Project in Guangxi Zhuang Autonomous Region。
文摘With the increasing data volume of train on-board system,real-time performance has become the most critical factor to ensure the safety of train operation.Considering that standard Ethernet cannot meet the real-time requirement of existing train communication network(TCN),the time-sensitive network(TSN)technology for TCN is introduced.To solve the time-delay problem,an adaptive switch queue selection mechanism for traffic scheduling is proposed.Firstly,the topology model of TCN based on TSN and the traffic model are described.Then,the K shortest path routing algorithm based on load balancing provides the optimal routing for the scheduling process.Finally,the adaptive switch queue selection mechanism is introduced to solve the aggregation flow conflict problem effectively,queue resources are properly allocated,and the gate control list(GCL)of each frame in the queue is obtained.Experimental results show that compared with the traditional constraint model,the schedulability of the model with an adaptive switch queue selection mechanism increases by 33.0%,and the maximum end-to-end delay and network jitter decrease by 19.1%and 18.6%on average respectively.It can provide theoretical support and application reference for the real-time performance optimization of TCN based on TSN.
基金supported by the National Natural Science Foundation of China(Grant No.61401026)the National High Technology Research and Development Program of China(Grant No.2014AA1070)
文摘An appropriate acquisition configuration in terms of signal quality can optimize the acquisition performance. In view of this, a new approach of acquisition assisted by the control voltage of automatic gain control(AGC) is proposed. This approach judges the signal power according to the AGC control voltage and switches the working modes correspondingly and adaptively. Non-coherent accumulation times and the detection threshold are reconfigured according to the working mode. Theoretical derivation and verification by simulation in typical situations are provided, and the algorithm is shown to be superior in terms of the mean acquisition time, especially in strong signal scenarios compared with the conventional algorithm.
基金supported by the National Key R&D Program of China(Grant No.2020YFC2201200)the National Natural Science Foundation of China(Grant No.U20B2001)。
文摘This paper develops a sequential convex programming(SCP)-based method to solve the minimum-fuel variable-specific-impulse low-thrust transfer problem considering shutdown constraint,with emphasize on improving the computational efficiency.The variable parameter engine is more applicable for many low-thrust scenarios,therefore,both a continuously variable model and a ladder variable model are adopted.First,the original problem is convexified by processing the constraint feasible domain,which is composed of the nonlinear dynamic equations and second-order equality constraint,into convex sets.Then,the approximation is generated to close the optimal solution of the low-thrust problem by iteratively solving the convexified subproblem.Moreover,the switching self-detection and adaptive node refinement methods are presented,which can improve the accuracy of the solution and accelerate the convergence during the approximation process and is especially necessary and effective in the scenarios with shutdown constraint.In numerical simulations,the comparison with the homotopic approach shows that the proposed method only needs 4%computational time as that of the homotopic approach,and two variable-specificimpulse examples further demonstrate the effectiveness and efficiency of the proposed method.
