The basic concepts about the active structures and some attributes of the modes were presented in paper “Liner Active Structures and Modes]( I) ". The characteristics of the active discrete systems and active be...The basic concepts about the active structures and some attributes of the modes were presented in paper “Liner Active Structures and Modes]( I) ". The characteristics of the active discrete systems and active beams were discussed, especially, the stability of the active structures and the orthogonality of the eigenvectors. The notes about modes were portrayed by a model of a seven-storeyed building with sensors and actuators. The concept of the adjoint active structure was extended from the discrete systems to the beams that were the representations of the continuous structures. Two types of beams with different placements of the measuring and actuating systems were discussed in detail. One is the beam with the discrete sensors and actuators, and the other is the beam with distributed sensor and actuator function. The orthogonality conditions were derived with the modal shapes of the active beam and its adjoint active beam. An example shows that the variation of eigenvalues with feedback amplitude for the homo-configuration and non-homo-configuration active structures.展开更多
In this paper, we address the characteristic model-based discrete-time consensus problem of networked robotic manipulators with dynamic uncertainties. The research objective is to achieve joint-position consensus of m...In this paper, we address the characteristic model-based discrete-time consensus problem of networked robotic manipulators with dynamic uncertainties. The research objective is to achieve joint-position consensus of multiple robotic agents interconnected on directed graphs containing a spanning tree. A novel characteristic model-based distributed adaptive control scenario is proposed with a state-relied projection estimation law and a characteristic model-based distributed controller. The performance analysis is also unfolded where the uniform ultimate boundedness(UUB) of consensus errors is derived by resorting to the discrete-time-domain stability analysis tool and the graph theory. Finally, numerical simulations illustrate the effectiveness of the proposed theoretical strategy.展开更多
To improve the efficiency of the discrete unified gas kinetic scheme(DUGKS)in capturing cross-scale flow physics,an adaptive partitioning-based discrete unified gas kinetic scheme(ADUGKS)is developed in this work.The ...To improve the efficiency of the discrete unified gas kinetic scheme(DUGKS)in capturing cross-scale flow physics,an adaptive partitioning-based discrete unified gas kinetic scheme(ADUGKS)is developed in this work.The ADUGKS is designed from the discrete characteristic solution to the Boltzmann-BGK equation,which contains the initial distribution function and the local equilibrium state.The initial distribution function contributes to the calculation of free streaming fluxes and the local equilibrium state contributes to the calculation of equilibrium fluxes.When the contribution of the initial distribution function is negative,the local flow field can be regarded as the continuous flow and the Navier-Stokes(N-S)equations can be used to obtain the solution directly.Otherwise,the discrete distribution functions should be updated by the Boltzmann equation to capture the rarefaction effect.Given this,in the ADUGKS,the computational domain is divided into the DUGKS cell and the N-S cell based on the contribu-tion of the initial distribution function to the calculation of free streaming fluxes.In the N-S cell,the local flow field is evolved by solving the N-S equations,while in the DUGKS cell,both the discrete velocity Boltzmann equation and the correspond-ing macroscopic governing equations are solved by a modified DUGKS.Since more and more cells turn into the N-S cell with the decrease of the Knudsen number,a significant acceleration can be achieved for the ADUGKS in the continuum flow regime as compared with the DUGKS.展开更多
文摘The basic concepts about the active structures and some attributes of the modes were presented in paper “Liner Active Structures and Modes]( I) ". The characteristics of the active discrete systems and active beams were discussed, especially, the stability of the active structures and the orthogonality of the eigenvectors. The notes about modes were portrayed by a model of a seven-storeyed building with sensors and actuators. The concept of the adjoint active structure was extended from the discrete systems to the beams that were the representations of the continuous structures. Two types of beams with different placements of the measuring and actuating systems were discussed in detail. One is the beam with the discrete sensors and actuators, and the other is the beam with distributed sensor and actuator function. The orthogonality conditions were derived with the modal shapes of the active beam and its adjoint active beam. An example shows that the variation of eigenvalues with feedback amplitude for the homo-configuration and non-homo-configuration active structures.
基金supported by the National Natural Science Foundation of China(Grant Nos.6133300861273153&61304027)
文摘In this paper, we address the characteristic model-based discrete-time consensus problem of networked robotic manipulators with dynamic uncertainties. The research objective is to achieve joint-position consensus of multiple robotic agents interconnected on directed graphs containing a spanning tree. A novel characteristic model-based distributed adaptive control scenario is proposed with a state-relied projection estimation law and a characteristic model-based distributed controller. The performance analysis is also unfolded where the uniform ultimate boundedness(UUB) of consensus errors is derived by resorting to the discrete-time-domain stability analysis tool and the graph theory. Finally, numerical simulations illustrate the effectiveness of the proposed theoretical strategy.
基金the National Natural Science Foundation of China(12202191,92271103)Natural Science Foundation of Jiangsu Province(BK20210273)+1 种基金Fund of Prospective Layout of Scientific Research for NUAA(Nanjing University of Aeronautics and Astronautics)Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD).
文摘To improve the efficiency of the discrete unified gas kinetic scheme(DUGKS)in capturing cross-scale flow physics,an adaptive partitioning-based discrete unified gas kinetic scheme(ADUGKS)is developed in this work.The ADUGKS is designed from the discrete characteristic solution to the Boltzmann-BGK equation,which contains the initial distribution function and the local equilibrium state.The initial distribution function contributes to the calculation of free streaming fluxes and the local equilibrium state contributes to the calculation of equilibrium fluxes.When the contribution of the initial distribution function is negative,the local flow field can be regarded as the continuous flow and the Navier-Stokes(N-S)equations can be used to obtain the solution directly.Otherwise,the discrete distribution functions should be updated by the Boltzmann equation to capture the rarefaction effect.Given this,in the ADUGKS,the computational domain is divided into the DUGKS cell and the N-S cell based on the contribu-tion of the initial distribution function to the calculation of free streaming fluxes.In the N-S cell,the local flow field is evolved by solving the N-S equations,while in the DUGKS cell,both the discrete velocity Boltzmann equation and the correspond-ing macroscopic governing equations are solved by a modified DUGKS.Since more and more cells turn into the N-S cell with the decrease of the Knudsen number,a significant acceleration can be achieved for the ADUGKS in the continuum flow regime as compared with the DUGKS.
