With the rapid development of intelligent navigation technology,efficient and safe path planning for mobile robots has become a core requirement.To address the challenges of complex dynamic environments,this paper pro...With the rapid development of intelligent navigation technology,efficient and safe path planning for mobile robots has become a core requirement.To address the challenges of complex dynamic environments,this paper proposes an intelligent path planning framework based on grid map modeling.First,an improved Safe and Smooth A*(SSA*)algorithm is employed for global path planning.By incorporating obstacle expansion and cornerpoint optimization,the proposed SSA*enhances the safety and smoothness of the planned path.Then,a Partitioned Dynamic Window Approach(PDWA)is integrated for local planning,which is triggered when dynamic or sudden static obstacles appear,enabling real-time obstacle avoidance and path adjustment.A unified objective function is constructed,considering path length,safety,and smoothness comprehensively.Multiple simulation experiments are conducted on typical port grid maps.The results demonstrate that the improved SSA*significantly reduces the number of expanded nodes and computation time in static environmentswhile generating smoother and safer paths.Meanwhile,the PDWA exhibits strong real-time performance and robustness in dynamic scenarios,achieving shorter paths and lower planning times compared to other graph search algorithms.The proposedmethodmaintains stable performance across maps of different scales and various port scenarios,verifying its practicality and potential for wider application.展开更多
In this article,by employing the Hirota bilinear approach and the long wave limit method,we not only derive soliton solutions,lump solutions,and hybrid solutions for the(2+1)-dimensional Yu-Toda-Sasa-Fukuyama(YTSF)equ...In this article,by employing the Hirota bilinear approach and the long wave limit method,we not only derive soliton solutions,lump solutions,and hybrid solutions for the(2+1)-dimensional Yu-Toda-Sasa-Fukuyama(YTSF)equation,but also analyze the dynamical behaviors of nonlinear local wave propagation in shallow water.Firstly,based on the Hirota bilinear approach,one to four-order soliton solutions of the YTSF equation are obtained,and the effects of different parameters on the amplitude,propagation trajectory,and displacement of solitons are investigated.Secondly,using the long wave limit approach,one to three-order lump solutions and various physical quantities of the YTSF equation are derived.It is found that the real and imaginary parts of the parameter pi dominate the propagation trajectory and the shape of lump waves,respectively.Furthermore,we construct the hybrid solution for the YTSF equation,leading to the conclusion that the interaction between lumps and solitons constitutes an elastic collision.To intuitively understand the dynamic behaviors of these solutions,we conduct numerical simulations to present vivid three-dimensional visualizations.展开更多
Online three-dimensional(3D)path planning in dynamic environments is a fundamental problem for achieving autonomous navigation of unmanned aerial vehicles(UAVs).However,existing methods struggle to model traversable d...Online three-dimensional(3D)path planning in dynamic environments is a fundamental problem for achieving autonomous navigation of unmanned aerial vehicles(UAVs).However,existing methods struggle to model traversable dynamic gaps,resulting in conservative and suboptimal trajectories.To address these challenges,this paper proposes a hierarchical reinforcement learning(RL)framework that integrates global path guidance,local trajectory generation,predictive safety evaluation,and neural network-based decision-making.Specifically,the global planner provides long-term navigation guidance,and the local module then utilizes an improved 3D dynamic window approach(DWA)to generate dynamically feasible candidate trajectories.To enhance safety in dense dynamic scenarios,the algorithm introduces a predictive axis-aligned bounding box(AABB)strategy to model the future occupancy of obstacles,combined with convex hull verification for efficient trajectory safety assessment.Furthermore,a double deep Q-network(DDQN)is employed with structured feature encoding,enabling the neural network to reliably select the optimal trajectory from the candidate set,thereby improving robustness and generalization.Comparative experiments conducted in a high-fidelity simulation environment show that the algorithm outperforms existing algorithms,reducing the average number of collisions to 0.2 while shortening the average task completion time by approximately 15%,and achieving a success rate of 97%.展开更多
Wave driven unmanned surface vehicle(WUSV) is a new concept ocean robot drived by wave energy and solar energy,and it is very suitable for the vast ocean observations with incomparable endurance.Its dynamic modeling i...Wave driven unmanned surface vehicle(WUSV) is a new concept ocean robot drived by wave energy and solar energy,and it is very suitable for the vast ocean observations with incomparable endurance.Its dynamic modeling is very important because it is the theoretical foundation for further study in the WUSV motion control and efficiency analysis.In this work,the multibody system of WUSV was described based on D-H approach.Then,the driving principle was analyzed and the dynamic model of WUSV in longitudinal profile is established by Lagrangian mechanics.Finally,the motion simulation of WUSV and comparative analysis are completed by setting different inputs of sea state.Simulation results show that the WUSV dynamic model can correctly reflect the WUSV longitudinal motion process,and the results are consistent with the wave theory.展开更多
The electronic structure for C 60 was semi empirically investigated by using MD (molecular dynamics) and MNDO (modified neglect of diatomic overlap) approach of quantum chemistry.Especially,taking both σ and ...The electronic structure for C 60 was semi empirically investigated by using MD (molecular dynamics) and MNDO (modified neglect of diatomic overlap) approach of quantum chemistry.Especially,taking both σ and π orbitals into account,one electron energy levels,those symmetries and π orbital occupancies as well as electron excitation energies for different select rules,cohesive energy,ionization energies and electronic affinity forces were calculated.The obtained molecular orbital ratio shows a wide separation of σ and π types,and near HOMO and LUMO levels there are π orbitals mainly.The calculated semi empirical calculation results are in good agreement with experimental and ab initio calculation data.展开更多
A novel mapping equivalent approach is proposed in this paper, which can be used for analyzing and realizing a memristor-based dynamical circuit equivalently by a nonlinear dynamical circuit with the same topologies a...A novel mapping equivalent approach is proposed in this paper, which can be used for analyzing and realizing a memristor-based dynamical circuit equivalently by a nonlinear dynamical circuit with the same topologies and circuit parameters. A memristor-based chaotic circuit and the corresponding Chua＇s chaotic circuit with two output differentiators are taken as examples to illustrate this approach. Equivalent dynamical analysis and realization of the memristor-based chaotic circuit are performed by using Chua＇s chaotic circuit. The results indicate that the outputs of memristor-based chaotic circuit and the corresponding outputs of Chua＇s chaotic circuit have identical dynamics. The proposed approach verified by numerical simulations and experimental observations is useful in designing and analyzing memristor-based dynamical circuits.展开更多
A comparison of arithmetic operations of two dynamic process optimization approaches called quasi-sequential approach and reduced Sequential Quadratic Programming(rSQP)simultaneous approach with respect to equality co...A comparison of arithmetic operations of two dynamic process optimization approaches called quasi-sequential approach and reduced Sequential Quadratic Programming(rSQP)simultaneous approach with respect to equality constrained optimization problems is presented.Through the detail comparison of arithmetic operations,it is concluded that the average iteration number within differential algebraic equations(DAEs)integration of quasi-sequential approach could be regarded as a criterion.One formula is given to calculate the threshold value of average iteration number.If the average iteration number is less than the threshold value,quasi-sequential approach takes advantage of rSQP simultaneous approach which is more suitable contrarily.Two optimal control problems are given to demonstrate the usage of threshold value.For optimal control problems whose objective is to stay near desired operating point,the iteration number is usually small.Therefore,quasi-sequential approach seems more suitable for such problems.展开更多
The Langevin approach has been applied to model the random open and closing dynamics of ion channels. It has long been known that the gate-based Langevin approach is not sufficiently accurate to reproduce the statisti...The Langevin approach has been applied to model the random open and closing dynamics of ion channels. It has long been known that the gate-based Langevin approach is not sufficiently accurate to reproduce the statistics of stochastic channel dynamics in Hodgkin–Huxley neurons. Here, we introduce a modified gate-based Langevin approach with rescaled noise strength to simulate stochastic channel dynamics. The rescaled independent gate and identical gate Langevin approaches improve the statistical results for the mean membrane voltage, inter-spike interval, and spike amplitude.展开更多
Presents the mobile robots dynamic motion planning problem with a task to find an obstacle free route that requires minimum travel time from the start point to the destination point in a changing environment, due to t...Presents the mobile robots dynamic motion planning problem with a task to find an obstacle free route that requires minimum travel time from the start point to the destination point in a changing environment, due to the obstacle’s moving. An Genetic Algorithm fuzzy (GA Fuzzy) based optimal approach proposed to find any obstacle free path and the GA used to select the optimal one, points out that using this learned knowledge off line, a mobile robot can navigate to its goal point when it faces new scenario on line. Concludes with the optimal rule base given and the simulation results showing its effectiveness.展开更多
The path planning problem of complex wild environment with multiple elements still poses challenges.This paper designs an algorithm that integrates global and local planning to apply to the wild environmental path pla...The path planning problem of complex wild environment with multiple elements still poses challenges.This paper designs an algorithm that integrates global and local planning to apply to the wild environmental path planning.The modeling process of wild environment map is designed.Three optimization strategies are designed to improve the A-Star in overcoming the problems of touching the edge of obstacles,redundant nodes and twisting paths.A new weighted cost function is designed to achieve different planning modes.Furthermore,the improved dynamic window approach(DWA)is designed to avoid local optimality and improve time efficiency compared to traditional DWA.For the necessary path re-planning of wild environment,the improved A-Star is integrated with the improved DWA to solve re-planning problem of unknown and moving obstacles in wild environment with multiple elements.The improved fusion algorithm effectively solves problems and consumes less time,and the simulation results verify the effectiveness of improved algorithms above.展开更多
In current precision and ultraprecision machining practice,the positioning and control of actuation systems,such as slideways and spindles,are heavily dependent on the use of linear or rotary encoders.However,position...In current precision and ultraprecision machining practice,the positioning and control of actuation systems,such as slideways and spindles,are heavily dependent on the use of linear or rotary encoders.However,positioning control is passive because of the lack of direct monitoring and control of the tool and workpiece positions in the dynamic machining process and also because it is assumed that the machining system is rigid and the cutting dynamics are stable.In ultraprecision machining of freeform surfaces using slow tool servo mode in particular,however,account must be taken of the machining dynamics and dynamic synchronization of the cutting tool and workpiece positioning.The important question also arises as to how ultraprecision machining systems can be designed and developed to work better in this application scenario.In this paper,an innovative dynamics-oriented engineering approach is presented for ultraprecision machining of freeform surfaces using slow tool servo mode.The approach is focused on seamless integration of multibody dynamics,cutting forces,and machining dynamics,while targeting the positioning and control of the tool–workpiece loop in the machining system.The positioning and motion control between the cutting tool and workpiece surface are further studied in the presence of interfacial interactions at the tool tip and workpiece surface.The interfacial cutting physics and dynamics are likely to be at the core of in-process monitoring applicable to ultraprecision machining systems.The approach is illustrated using a virtual machining system developed and supported with simulations and experimental trials.Furthermore,the paper provides further explorations and discussion on implementation perspectives of the approach,in combination with case studies,as well as discussing its fundamental and industrial implications.展开更多
An attempt has been made to study the behavior of nailed vertical excavations in medium dense to dense cohesionless soil under seismic conditions using a pseudo-dynamic approach. The effect of several parameters such ...An attempt has been made to study the behavior of nailed vertical excavations in medium dense to dense cohesionless soil under seismic conditions using a pseudo-dynamic approach. The effect of several parameters such as angle of internal friction of soil （φ）, horizontal （kh） and vertical （kv） earthquake acceleration coefficients, amplification factor （fa）, length of nails （L）, angle of nail inclination （a） and vertical spacing of nails （S） on the stability of nailed vertical excavations has been explored. The limit equilibrium method along with a planar failure surface is used to derive the formulation involved with the pseudo-dynamic approach, considering axial pullout of the installed nails. A comparison of the pseudo-static and pseudo-dynamic approaches has been established in order to explore the effectiveness of the pseudo-dynamic approach over pseudo-static analysis, since most of the seismic stability studies on nailed vertical excavations are based on the latter. The results are expressed in terms of the global factor of safety （FOS）. Seismic stability, i.e., the FOS of nailed vertical excavations is found to decrease with increase in the horizontal and vertical earthquake forces. The present values of FOS are compared with those available in the literature.展开更多
We present a general numerical simulation method to solve non-Markovian dynamics of an open quantum system influenced by quantum Brownian motion.Based on the determined memory kernel function,this method enables the r...We present a general numerical simulation method to solve non-Markovian dynamics of an open quantum system influenced by quantum Brownian motion.Based on the determined memory kernel function,this method enables the resolution of non-Markovian dynamics for a wide range of system Hamiltonians and spectral densities.The system dynamics are described by exact integro-differential operator equations without any common approximations and they are simulated in this work by definite-number equations with stochastic initial conditions.This approach ensures the applicability of mature numerical methods and maintains computational complexity that remains largely invariant,even when dealing with more complex models.The high accuracy of our simulation is evident from a comparison with the results obtained from corresponding exact master equations,underscoring the reliability and precision of our method.展开更多
This paper studies the problem of designing a modelbased decentralized dynamic periodic event-triggering mechanism(DDPETM)for networked control systems(NCSs)subject to packet losses and external disturbances.Firstly,t...This paper studies the problem of designing a modelbased decentralized dynamic periodic event-triggering mechanism(DDPETM)for networked control systems(NCSs)subject to packet losses and external disturbances.Firstly,the entire NCSs,comprising the triggering mechanism,packet losses and output-based controller,are unified into a hybrid dynamical framework.Secondly,by introducing dynamic triggering variables,the DDPETM is designed to conserve network resources while guaranteeing desired performance properties and tolerating the maximum allowable number of successive packet losses.Thirdly,some stability conditions are derived using the Lyapunov approach.Differing from the zero-order-hold(ZOH)case,the model-based control sufficiently exploits the model information at the controller side.Between two updates,the controller predicts the plant state based on the models and received feedback information.With the model-based control,less transmission may be expected than with ZOH.Finally,numerical examples and comparative experiments demonstrate the effectiveness of the proposed method.展开更多
4 semi-analytical approach for the dynamic response of general thin plates whichemployes finite element discretization in space domain and a series of representation intime demain is developed on the basis of Curtin v...4 semi-analytical approach for the dynamic response of general thin plates whichemployes finite element discretization in space domain and a series of representation intime demain is developed on the basis of Curtin variational principles.The formulationof time series is also investigated so that the dynamic response of plates with arbitraryshape and boundary constraints can be achieved with adequate accuracy.展开更多
In order to accurately predict and control the aging process of dams, new information should be collected continuously to renew the quantitative evaluation of dam safety levels. Owing to the complex structural charact...In order to accurately predict and control the aging process of dams, new information should be collected continuously to renew the quantitative evaluation of dam safety levels. Owing to the complex structural characteristics of dams, it is quite difficult to predict the time-varying factors affecting their safety levels. It is not feasible to employ dynamic reliability indices to evaluate the actual safety levels of dams. Based on the relevant regulations for dam safety classification in China, a dynamic probability description of dam safety levels was developed. Using the Bayesian approach and effective information mining, as well as real-time information, this study achieved more rational evaluation and prediction of dam safety levels. With the Bayesian expression of discrete stochastic variables, the a priori probabilities of the dam safety levels determined by experts were combined wfth the likelihood probability of the real-time check information, and the probability information for the evaluation of dam safety levels was renewed. The probability index was then applied to dam rehabilitation decision-making. This method helps reduce the difficulty and uncertainty of the evaluation of dam safety levels and complies with the current safe decision-making regulations for dams in China. It also enhances the application of current risk analysis methods for dam safety levels.展开更多
In this paper,we consider the B?hmer–Vandersloot(BV)model of loop quantum black holes obtained from the improved dynamics approach.We adopt the Saini–Singh gauge,in which it was found analytically that the BV spacet...In this paper,we consider the B?hmer–Vandersloot(BV)model of loop quantum black holes obtained from the improved dynamics approach.We adopt the Saini–Singh gauge,in which it was found analytically that the BV spacetime is geodesically complete.We show that black/white hole horizons do not exist in this geodesically complete spacetime.Instead,there exists only an infinite number of transition surfaces,which always separate trapped regions from anti-trapped ones.Comments on the improved dynamics approach adopted in other models of loop quantum black holes are also given.展开更多
We present quantum mechanical vibrational computations beyond the harmonic approximation from effective second order perturbative and variation perturbation treatments defined as static approaches, as well as vibratio...We present quantum mechanical vibrational computations beyond the harmonic approximation from effective second order perturbative and variation perturbation treatments defined as static approaches, as well as vibrational analysis from density functional theory molecular dynamics trajectories at 300 and 600 K. The four schemes are compared in terms of prediction of fundamental transitions, and simulation of the corresponding medium infrared spectrum at the same level of theory using the B3LYP/6-31＋G（d,p） description of the electronic structure. We summarize conclusions about advantages and drawbacks of these two approaches and report the main results obtained for semi-rigid and flexible molecules.展开更多
In this paper,a genetic algorithm (GA) is investigated to deal with cell-by-cell dynamic spectrumallocation (DSA) in the heterogeneous scenario with temporal and spatial traffic demand changes,whichis also known as a ...In this paper,a genetic algorithm (GA) is investigated to deal with cell-by-cell dynamic spectrumallocation (DSA) in the heterogeneous scenario with temporal and spatial traffic demand changes,whichis also known as a difficult combinatorial optimization problem.A new two-dimensional chromosome encodingscheme is defined according to characteristics of the heterogeneous scenario,which prevents forminginvalid solutions during the genetic operation and enables much faster convergence.A novel randomcoloring gene generation function is presented which is the basic operation for initialization and mutationin the genetic algorithm.Simulative comparison demonstrates that the proposed GA-based cell-by-cellDSA outperforms the conventional contiguous DSA scheme both in terms of spectral efficiency gain andquality of service (QoS) satisfaction.展开更多
The author proposes to obtain the dynamic stiffness for the multiply-supported structures condensed to the supports in the frequency domain using the modal approach. Thus, previously proposed approach, requiring the d...The author proposes to obtain the dynamic stiffness for the multiply-supported structures condensed to the supports in the frequency domain using the modal approach. Thus, previously proposed approach, requiring the dynamic inertia matrix for the single-base system, is extended for the multiply-supported systems. Modal analysis is performed twice： once for the structural model with one base fixed, then for the same model with all bases fixed. The applicability of the proposed approach is checked for a sample two-base system enabling analytical solutions both in precise and modal approaches. The format of the condensed dynamic stiffness in the frequency domain enables to combine finite-element-method （FEM） codes like ABAQUS and Soil-Structure Interaction （SSI） codes like SASSI or CLASSI in a complex to perform effective soil-structure interaction analysis.展开更多
文摘With the rapid development of intelligent navigation technology,efficient and safe path planning for mobile robots has become a core requirement.To address the challenges of complex dynamic environments,this paper proposes an intelligent path planning framework based on grid map modeling.First,an improved Safe and Smooth A*(SSA*)algorithm is employed for global path planning.By incorporating obstacle expansion and cornerpoint optimization,the proposed SSA*enhances the safety and smoothness of the planned path.Then,a Partitioned Dynamic Window Approach(PDWA)is integrated for local planning,which is triggered when dynamic or sudden static obstacles appear,enabling real-time obstacle avoidance and path adjustment.A unified objective function is constructed,considering path length,safety,and smoothness comprehensively.Multiple simulation experiments are conducted on typical port grid maps.The results demonstrate that the improved SSA*significantly reduces the number of expanded nodes and computation time in static environmentswhile generating smoother and safer paths.Meanwhile,the PDWA exhibits strong real-time performance and robustness in dynamic scenarios,achieving shorter paths and lower planning times compared to other graph search algorithms.The proposedmethodmaintains stable performance across maps of different scales and various port scenarios,verifying its practicality and potential for wider application.
基金Supported by the National Natural Science Foundation of China(12001424,12271324)the Natural Science Basic research program of Shaanxi Province(2021JZ-21)+1 种基金the China Postdoctoral Science Foundation(2020M673332)Xi’an University,Xi’an Science and Technology Plan Wutongshu Technology Transfer Action Innovation Team(25WTZD07)。
文摘In this article,by employing the Hirota bilinear approach and the long wave limit method,we not only derive soliton solutions,lump solutions,and hybrid solutions for the(2+1)-dimensional Yu-Toda-Sasa-Fukuyama(YTSF)equation,but also analyze the dynamical behaviors of nonlinear local wave propagation in shallow water.Firstly,based on the Hirota bilinear approach,one to four-order soliton solutions of the YTSF equation are obtained,and the effects of different parameters on the amplitude,propagation trajectory,and displacement of solitons are investigated.Secondly,using the long wave limit approach,one to three-order lump solutions and various physical quantities of the YTSF equation are derived.It is found that the real and imaginary parts of the parameter pi dominate the propagation trajectory and the shape of lump waves,respectively.Furthermore,we construct the hybrid solution for the YTSF equation,leading to the conclusion that the interaction between lumps and solitons constitutes an elastic collision.To intuitively understand the dynamic behaviors of these solutions,we conduct numerical simulations to present vivid three-dimensional visualizations.
基金supported by the Postgraduate Research&Practice Innovation Program of Nanjing University of Aeronautics and Astronautics(NUAA)(No.xcxjh20251502)。
文摘Online three-dimensional(3D)path planning in dynamic environments is a fundamental problem for achieving autonomous navigation of unmanned aerial vehicles(UAVs).However,existing methods struggle to model traversable dynamic gaps,resulting in conservative and suboptimal trajectories.To address these challenges,this paper proposes a hierarchical reinforcement learning(RL)framework that integrates global path guidance,local trajectory generation,predictive safety evaluation,and neural network-based decision-making.Specifically,the global planner provides long-term navigation guidance,and the local module then utilizes an improved 3D dynamic window approach(DWA)to generate dynamically feasible candidate trajectories.To enhance safety in dense dynamic scenarios,the algorithm introduces a predictive axis-aligned bounding box(AABB)strategy to model the future occupancy of obstacles,combined with convex hull verification for efficient trajectory safety assessment.Furthermore,a double deep Q-network(DDQN)is employed with structured feature encoding,enabling the neural network to reliably select the optimal trajectory from the candidate set,thereby improving robustness and generalization.Comparative experiments conducted in a high-fidelity simulation environment show that the algorithm outperforms existing algorithms,reducing the average number of collisions to 0.2 while shortening the average task completion time by approximately 15%,and achieving a success rate of 97%.
基金Project(2012-Z05)supported by the State Key Laboratory of Robotics,ChinaProjects(61233013,51179183)supported by the National Natural Science Foundation of China
文摘Wave driven unmanned surface vehicle(WUSV) is a new concept ocean robot drived by wave energy and solar energy,and it is very suitable for the vast ocean observations with incomparable endurance.Its dynamic modeling is very important because it is the theoretical foundation for further study in the WUSV motion control and efficiency analysis.In this work,the multibody system of WUSV was described based on D-H approach.Then,the driving principle was analyzed and the dynamic model of WUSV in longitudinal profile is established by Lagrangian mechanics.Finally,the motion simulation of WUSV and comparative analysis are completed by setting different inputs of sea state.Simulation results show that the WUSV dynamic model can correctly reflect the WUSV longitudinal motion process,and the results are consistent with the wave theory.
文摘The electronic structure for C 60 was semi empirically investigated by using MD (molecular dynamics) and MNDO (modified neglect of diatomic overlap) approach of quantum chemistry.Especially,taking both σ and π orbitals into account,one electron energy levels,those symmetries and π orbital occupancies as well as electron excitation energies for different select rules,cohesive energy,ionization energies and electronic affinity forces were calculated.The obtained molecular orbital ratio shows a wide separation of σ and π types,and near HOMO and LUMO levels there are π orbitals mainly.The calculated semi empirical calculation results are in good agreement with experimental and ab initio calculation data.
基金supported by the National Natural Science Foundation of China(Grant No.51277017)the Natural Science Foundation of Jiangsu Province,China(Grant No.BK2012583)
文摘A novel mapping equivalent approach is proposed in this paper, which can be used for analyzing and realizing a memristor-based dynamical circuit equivalently by a nonlinear dynamical circuit with the same topologies and circuit parameters. A memristor-based chaotic circuit and the corresponding Chua＇s chaotic circuit with two output differentiators are taken as examples to illustrate this approach. Equivalent dynamical analysis and realization of the memristor-based chaotic circuit are performed by using Chua＇s chaotic circuit. The results indicate that the outputs of memristor-based chaotic circuit and the corresponding outputs of Chua＇s chaotic circuit have identical dynamics. The proposed approach verified by numerical simulations and experimental observations is useful in designing and analyzing memristor-based dynamical circuits.
基金Supported by the National Natural Science Foundation of China（20676117） the National Creative Research Groups Science Foundation of China（60421002）
文摘A comparison of arithmetic operations of two dynamic process optimization approaches called quasi-sequential approach and reduced Sequential Quadratic Programming(rSQP)simultaneous approach with respect to equality constrained optimization problems is presented.Through the detail comparison of arithmetic operations,it is concluded that the average iteration number within differential algebraic equations(DAEs)integration of quasi-sequential approach could be regarded as a criterion.One formula is given to calculate the threshold value of average iteration number.If the average iteration number is less than the threshold value,quasi-sequential approach takes advantage of rSQP simultaneous approach which is more suitable contrarily.Two optimal control problems are given to demonstrate the usage of threshold value.For optimal control problems whose objective is to stay near desired operating point,the iteration number is usually small.Therefore,quasi-sequential approach seems more suitable for such problems.
基金Project supported by the National Natural Science Foundation for Distinguished Young Scholars of China(Grant No.11125419)the National Natural Science Foundation of China(Grant No.10925525)+1 种基金the Funds for the Leading Talents of Fujian ProvinceChina
文摘The Langevin approach has been applied to model the random open and closing dynamics of ion channels. It has long been known that the gate-based Langevin approach is not sufficiently accurate to reproduce the statistics of stochastic channel dynamics in Hodgkin–Huxley neurons. Here, we introduce a modified gate-based Langevin approach with rescaled noise strength to simulate stochastic channel dynamics. The rescaled independent gate and identical gate Langevin approaches improve the statistical results for the mean membrane voltage, inter-spike interval, and spike amplitude.
文摘Presents the mobile robots dynamic motion planning problem with a task to find an obstacle free route that requires minimum travel time from the start point to the destination point in a changing environment, due to the obstacle’s moving. An Genetic Algorithm fuzzy (GA Fuzzy) based optimal approach proposed to find any obstacle free path and the GA used to select the optimal one, points out that using this learned knowledge off line, a mobile robot can navigate to its goal point when it faces new scenario on line. Concludes with the optimal rule base given and the simulation results showing its effectiveness.
基金Industry-University-Research Cooperation Fund Project of the Eighth Research Institute of China Aerospace Science and Technology Corporation(No.USCAST2022-11)。
文摘The path planning problem of complex wild environment with multiple elements still poses challenges.This paper designs an algorithm that integrates global and local planning to apply to the wild environmental path planning.The modeling process of wild environment map is designed.Three optimization strategies are designed to improve the A-Star in overcoming the problems of touching the edge of obstacles,redundant nodes and twisting paths.A new weighted cost function is designed to achieve different planning modes.Furthermore,the improved dynamic window approach(DWA)is designed to avoid local optimality and improve time efficiency compared to traditional DWA.For the necessary path re-planning of wild environment,the improved A-Star is integrated with the improved DWA to solve re-planning problem of unknown and moving obstacles in wild environment with multiple elements.The improved fusion algorithm effectively solves problems and consumes less time,and the simulation results verify the effectiveness of improved algorithms above.
基金The authors are grateful for Ph.D.Scholarship funding support from Brunel University London and the UKEPSRC.
文摘In current precision and ultraprecision machining practice,the positioning and control of actuation systems,such as slideways and spindles,are heavily dependent on the use of linear or rotary encoders.However,positioning control is passive because of the lack of direct monitoring and control of the tool and workpiece positions in the dynamic machining process and also because it is assumed that the machining system is rigid and the cutting dynamics are stable.In ultraprecision machining of freeform surfaces using slow tool servo mode in particular,however,account must be taken of the machining dynamics and dynamic synchronization of the cutting tool and workpiece positioning.The important question also arises as to how ultraprecision machining systems can be designed and developed to work better in this application scenario.In this paper,an innovative dynamics-oriented engineering approach is presented for ultraprecision machining of freeform surfaces using slow tool servo mode.The approach is focused on seamless integration of multibody dynamics,cutting forces,and machining dynamics,while targeting the positioning and control of the tool–workpiece loop in the machining system.The positioning and motion control between the cutting tool and workpiece surface are further studied in the presence of interfacial interactions at the tool tip and workpiece surface.The interfacial cutting physics and dynamics are likely to be at the core of in-process monitoring applicable to ultraprecision machining systems.The approach is illustrated using a virtual machining system developed and supported with simulations and experimental trials.Furthermore,the paper provides further explorations and discussion on implementation perspectives of the approach,in combination with case studies,as well as discussing its fundamental and industrial implications.
文摘An attempt has been made to study the behavior of nailed vertical excavations in medium dense to dense cohesionless soil under seismic conditions using a pseudo-dynamic approach. The effect of several parameters such as angle of internal friction of soil （φ）, horizontal （kh） and vertical （kv） earthquake acceleration coefficients, amplification factor （fa）, length of nails （L）, angle of nail inclination （a） and vertical spacing of nails （S） on the stability of nailed vertical excavations has been explored. The limit equilibrium method along with a planar failure surface is used to derive the formulation involved with the pseudo-dynamic approach, considering axial pullout of the installed nails. A comparison of the pseudo-static and pseudo-dynamic approaches has been established in order to explore the effectiveness of the pseudo-dynamic approach over pseudo-static analysis, since most of the seismic stability studies on nailed vertical excavations are based on the latter. The results are expressed in terms of the global factor of safety （FOS）. Seismic stability, i.e., the FOS of nailed vertical excavations is found to decrease with increase in the horizontal and vertical earthquake forces. The present values of FOS are compared with those available in the literature.
基金supported by the National Natural Science Foundation of China(Grant No.12304389,12274053)the Science and Technology Research Project of Xiamen University of Technology(Grant No.YKJ19025R)the Scientific Research Foundation of NEU(Grant No.01270021920501*115)。
文摘We present a general numerical simulation method to solve non-Markovian dynamics of an open quantum system influenced by quantum Brownian motion.Based on the determined memory kernel function,this method enables the resolution of non-Markovian dynamics for a wide range of system Hamiltonians and spectral densities.The system dynamics are described by exact integro-differential operator equations without any common approximations and they are simulated in this work by definite-number equations with stochastic initial conditions.This approach ensures the applicability of mature numerical methods and maintains computational complexity that remains largely invariant,even when dealing with more complex models.The high accuracy of our simulation is evident from a comparison with the results obtained from corresponding exact master equations,underscoring the reliability and precision of our method.
基金supported by the National Natural Science Foundation of China(U21A20477,61722302,61573069,61903290)the Fundamental Research Funds for the Central Universities(DUT19ZD218).
文摘This paper studies the problem of designing a modelbased decentralized dynamic periodic event-triggering mechanism(DDPETM)for networked control systems(NCSs)subject to packet losses and external disturbances.Firstly,the entire NCSs,comprising the triggering mechanism,packet losses and output-based controller,are unified into a hybrid dynamical framework.Secondly,by introducing dynamic triggering variables,the DDPETM is designed to conserve network resources while guaranteeing desired performance properties and tolerating the maximum allowable number of successive packet losses.Thirdly,some stability conditions are derived using the Lyapunov approach.Differing from the zero-order-hold(ZOH)case,the model-based control sufficiently exploits the model information at the controller side.Between two updates,the controller predicts the plant state based on the models and received feedback information.With the model-based control,less transmission may be expected than with ZOH.Finally,numerical examples and comparative experiments demonstrate the effectiveness of the proposed method.
文摘4 semi-analytical approach for the dynamic response of general thin plates whichemployes finite element discretization in space domain and a series of representation intime demain is developed on the basis of Curtin variational principles.The formulationof time series is also investigated so that the dynamic response of plates with arbitraryshape and boundary constraints can be achieved with adequate accuracy.
基金supported by the National Science and Technology Support Program of China (Program for the Eleventh Five-Year Plan, Grant No. 2006BAC14B03 and 2006BAC05B03)the National Natural Science Foundation of China (Grant No. 50679043)
文摘In order to accurately predict and control the aging process of dams, new information should be collected continuously to renew the quantitative evaluation of dam safety levels. Owing to the complex structural characteristics of dams, it is quite difficult to predict the time-varying factors affecting their safety levels. It is not feasible to employ dynamic reliability indices to evaluate the actual safety levels of dams. Based on the relevant regulations for dam safety classification in China, a dynamic probability description of dam safety levels was developed. Using the Bayesian approach and effective information mining, as well as real-time information, this study achieved more rational evaluation and prediction of dam safety levels. With the Bayesian expression of discrete stochastic variables, the a priori probabilities of the dam safety levels determined by experts were combined wfth the likelihood probability of the real-time check information, and the probability information for the evaluation of dam safety levels was renewed. The probability index was then applied to dam rehabilitation decision-making. This method helps reduce the difficulty and uncertainty of the evaluation of dam safety levels and complies with the current safe decision-making regulations for dams in China. It also enhances the application of current risk analysis methods for dam safety levels.
基金partially supported by the National Key Research and Development Program of China under Grant No.2020YFC2201504partially supported by a NSF grant with the grant number:PHY2308845。
文摘In this paper,we consider the B?hmer–Vandersloot(BV)model of loop quantum black holes obtained from the improved dynamics approach.We adopt the Saini–Singh gauge,in which it was found analytically that the BV spacetime is geodesically complete.We show that black/white hole horizons do not exist in this geodesically complete spacetime.Instead,there exists only an infinite number of transition surfaces,which always separate trapped regions from anti-trapped ones.Comments on the improved dynamics approach adopted in other models of loop quantum black holes are also given.
文摘We present quantum mechanical vibrational computations beyond the harmonic approximation from effective second order perturbative and variation perturbation treatments defined as static approaches, as well as vibrational analysis from density functional theory molecular dynamics trajectories at 300 and 600 K. The four schemes are compared in terms of prediction of fundamental transitions, and simulation of the corresponding medium infrared spectrum at the same level of theory using the B3LYP/6-31＋G（d,p） description of the electronic structure. We summarize conclusions about advantages and drawbacks of these two approaches and report the main results obtained for semi-rigid and flexible molecules.
基金Supported by the National Basic Research Program of China (No. 2007CB310606)
文摘In this paper,a genetic algorithm (GA) is investigated to deal with cell-by-cell dynamic spectrumallocation (DSA) in the heterogeneous scenario with temporal and spatial traffic demand changes,whichis also known as a difficult combinatorial optimization problem.A new two-dimensional chromosome encodingscheme is defined according to characteristics of the heterogeneous scenario,which prevents forminginvalid solutions during the genetic operation and enables much faster convergence.A novel randomcoloring gene generation function is presented which is the basic operation for initialization and mutationin the genetic algorithm.Simulative comparison demonstrates that the proposed GA-based cell-by-cellDSA outperforms the conventional contiguous DSA scheme both in terms of spectral efficiency gain andquality of service (QoS) satisfaction.
文摘The author proposes to obtain the dynamic stiffness for the multiply-supported structures condensed to the supports in the frequency domain using the modal approach. Thus, previously proposed approach, requiring the dynamic inertia matrix for the single-base system, is extended for the multiply-supported systems. Modal analysis is performed twice： once for the structural model with one base fixed, then for the same model with all bases fixed. The applicability of the proposed approach is checked for a sample two-base system enabling analytical solutions both in precise and modal approaches. The format of the condensed dynamic stiffness in the frequency domain enables to combine finite-element-method （FEM） codes like ABAQUS and Soil-Structure Interaction （SSI） codes like SASSI or CLASSI in a complex to perform effective soil-structure interaction analysis.
