With the rapid development of space science projects,large deployable mechanisms have been widely used.However,due to the effects of mechanical friction and gravitational acceleration,on-orbit mechanisms cannot be alw...With the rapid development of space science projects,large deployable mechanisms have been widely used.However,due to the effects of mechanical friction and gravitational acceleration,on-orbit mechanisms cannot be always deployed to the expected pose.For some precision optical mechanisms,even a minor deviation can result in significant error,so it needs to be measured and corrected.In this paper,the deployment process was modeled and simplified as rotation under single-rotation-axis constraint and translation under single-direction constraint.To solve the problem,a method based on cross-ratio invariability was proposed.The proposed method does not rely on camera calibration techniques,as well as artificial marking points,both of which are necessary in PnP.Instead,only three calibration images before launch and a measurement image on orbit were required.Simulations and experiments demonstrated that the proposed method is more accurate than PnP.In addition,experiments also proved that the feasibility of the proposed method under dark conditions with the aid of a light source and some reflective marking points.展开更多
The frequency invariability of the warped modal signal and the warped signal autocorrelation function in shallow water is discussed.A method is proposed for passive source-range estimation based on the frequency invar...The frequency invariability of the warped modal signal and the warped signal autocorrelation function in shallow water is discussed.A method is proposed for passive source-range estimation based on the frequency invariability and warping transform of signal autocorrelation function received by a single hydrophone in a range-independent or weak range-dependent shallow water environment.In the method,a guided source with a known range is employed to provide the crucial and relative invariant scaled features.The experimental data in shallow water with an iso-speed profile and a fluctuated thermocline are used to verify this approach.The relative errors of the source range estimation are basically less than 10%.展开更多
To enhance the computational efficiency of spatio-temporally discretized phase-field models,we present a high-speed solver specifically designed for the Poisson equations,a component frequently used in the numerical c...To enhance the computational efficiency of spatio-temporally discretized phase-field models,we present a high-speed solver specifically designed for the Poisson equations,a component frequently used in the numerical computation of such models.This efficient solver employs algorithms based on discrete cosine transformations(DCT)or discrete sine transformations(DST)and is not restricted by any spatio-temporal schemes.Our proposed methodology is appropriate for a variety of phase-field models and is especially efficient when combined with flow field systems.Meanwhile,this study has conducted an extensive numerical comparison and found that employing DCT and DST techniques not only yields results comparable to those obtained via the Multigrid(MG)method,a conventional approach used in the resolution of the Poisson equations,but also enhances computational efficiency by over 90%.展开更多
In this paper,we introduce the notions of bounded invariance complexity,bounded invariance complexity in the mean and mean Lyapunov-stability for control systems.Then we characterize these notions by introducing six t...In this paper,we introduce the notions of bounded invariance complexity,bounded invariance complexity in the mean and mean Lyapunov-stability for control systems.Then we characterize these notions by introducing six types of equi-invariability.As a by-product,two new dichotomy theorems for the control system on the control sets are established.展开更多
This paper attempts to form a bridge between a sum of the divisors function and the gamma function, proposing a novel approach that could have significant implications for classical problems in number theory, specific...This paper attempts to form a bridge between a sum of the divisors function and the gamma function, proposing a novel approach that could have significant implications for classical problems in number theory, specifically the Robin inequality and the Riemann hypothesis. The exploration of using invariant properties of these functions to derive insights into twin primes and sequential primes is a potentially innovative concept that deserves careful consideration by the mathematical community.展开更多
In the field of automated fruit harvesting,precise and efficient fruit target recognition and localization play a pivotal role in enhancing the efficiency of harvesting robots.However,this domain faces two core challe...In the field of automated fruit harvesting,precise and efficient fruit target recognition and localization play a pivotal role in enhancing the efficiency of harvesting robots.However,this domain faces two core challenges:firstly,the dynamic nature of the automatic picking process requires fruit target detection algorithms to adapt to multi-view characteristics,ensuring effective recognition of the same fruit from different perspectives.Secondly,fruits in natural environments often suffer from interference factors such as overlapping,occlusion,and illumination fluctuations,which increase the difficulty of image capture and recognition.To address these challenges,this study conducted an in-depth analysis of the key features in fruit recognition and discovered that the stem,body,and base serve as constant and core information in fruit identification,exhibiting long-term dependent semantic relationships during the recognition process.These invariant features provide a stable foundation for dynamic fruit recognition,contributing to improved recognition accuracy and robustness.Specifically,the morphology and position of the stem,body,and base are relatively fixed,and the effective extraction of these features plays a crucial role in fruit recognition.This paper proposes a novel model,TransSSA,and designs two innovative modules to effectively extract fruit image features.The Self-Attention Core Feature Extraction(SAF)module integrates YOLOV8 and Swin Transformer as backbone networks and introduces the Shuffle Attention self-attention mechanism,significantly enhancing the ability to extract core features.This module focuses on constant features such as the stem,body,and base,ensuring accurate fruit recognition in different environments.On the other hand,the Squeeze and Excitation Aggregation(SAE)module combines the network’s ability to capture channel patterns with global knowledge,further optimizing the extraction of effective features.Additionally,to improve detection accuracy,this studymodifies the regression loss function to EIOU.To validate the effectiveness of the TransSSA model,this study conducted extensive visualization analysis to support the interpretability of the SAF and SAE modules.Experimental results demonstrate that TransSSA achieves a performance of 91.3%on a tomato dataset,fully proving its innovative capabilities.Through this research,we provide amore effective solution for using fruit harvesting robots in complex environments.展开更多
The differential system ẋ=ax−yz,ẏ=−by+xz,ż=−cz+x^(2),where a,b and c are positive real parameters,has been studied numerically due to the big variety of strange attractors that it can exhibit.This system has a Darboux...The differential system ẋ=ax−yz,ẏ=−by+xz,ż=−cz+x^(2),where a,b and c are positive real parameters,has been studied numerically due to the big variety of strange attractors that it can exhibit.This system has a Darboux invariant when c=2b.Using this invariant and the Poincarécompactification technique we describe analytically its global dynamics.展开更多
This paper tackles uncertainties between planning and actual models.It extends the concept of RCI(robust control invariant)tubes,originally a parameterized representation of closed-loop control robustness in tradition...This paper tackles uncertainties between planning and actual models.It extends the concept of RCI(robust control invariant)tubes,originally a parameterized representation of closed-loop control robustness in traditional feedback control,to the domain of motion planning for autonomous vehicles.Thus,closed-loop system uncertainty can be preemptively addressed during vehicle motion planning.This involves selecting collision-free trajectories to minimize the volume of robust invariant tubes.Furthermore,constraints on state and control variables are translated into constraints on the RCI tubes of the closed-loop system,ensuring that motion planning produces a safe and optimal trajectory while maintaining flexibility,rather than solely optimizing for the open-loop nominal model.Additionally,to expedite the solving process,we were inspired by L2gain to parameterize the RCI tubes and developed a parameterized explicit iterative expression for propagating ellipsoidal uncertainty sets within closedloop systems.Furthermore,we applied the pseudospectral orthogonal collocation method to parameterize the optimization problem of transcribing trajectories using high-order Lagrangian polynomials.Finally,under various operating conditions,we incorporate both the kinematic and dynamic models of the vehicle and also conduct simulations and analyses of uncertainties such as heading angle measurement,chassis response,and steering hysteresis.Our proposed robust motion planning framework has been validated to effectively address nearly all bounded uncertainties while anticipating potential tracking errors in control during the planning phase.This ensures fast,closed-loop safety and robustness in vehicle motion planning.展开更多
In this paper,we study scalar curvature rigidity of non-smooth metrics on smooth manifolds with non-positive Yamabe invariant.We prove that if the scalar curvature is not less than the Yamabe invariant in the distribu...In this paper,we study scalar curvature rigidity of non-smooth metrics on smooth manifolds with non-positive Yamabe invariant.We prove that if the scalar curvature is not less than the Yamabe invariant in the distributional sense,then the manifold must be isometric to an Einstein manifold.This result extends Theorem 1.4 in Jiang,Sheng and Zhang[27],from a special case where the manifolds have zero Yamabe invariant to general cases where the manifolds have non-positive Yamabe invariant.展开更多
The topological states of the two-leg and three-leg ladders formed by two trivial quantum wires with different lattice constants are theoretically investigated. Firstly, we take two trivial quantum wires with a lattic...The topological states of the two-leg and three-leg ladders formed by two trivial quantum wires with different lattice constants are theoretically investigated. Firstly, we take two trivial quantum wires with a lattice constant ratio of 1:2 as an example. For the symmetric nearest-neighbor intra-chain hopping two-leg ladder, the inversion symmetry protected topological insulator phase with two degenerate topological edge states appears. When the inversion symmetry is broken, the topological insulators with one or two topological edge states of different energies and topological metals with edge states embedded in the bulk states could emerge depending on the filling factor. The topological origin of these topological states in the two-leg ladders is the topological properties of the Chern insulators and Chern metals. According to the arrangement of two trivial quantum wires, we construct two types of three-leg ladders. Each type of the three-leg ladder could be divided into one trivial subspace and one topological nontrivial subspace by unitary transformation. The topological nontrivial subspace corresponds to the effective two-leg ladder model. As the filling factor changes, the system could be in topological insulators or topological metals phases. When the two-leg ladder is constructed by two trivial quantum wires with a lattice constant ratio of 1:3 and 2:3, the system could also realize rich topological states such as the topological insulators and topological metals with the topological edge states. These rich topological states in the two-leg and three-leg ladders could be confirmed by current experimental techniques.展开更多
Switched systems play an imperative role in modeling many real industrial systems with abrupt changes.Due to possible exposure to unreliable and complex physical environments,switching dynamics may simultaneously face...Switched systems play an imperative role in modeling many real industrial systems with abrupt changes.Due to possible exposure to unreliable and complex physical environments,switching dynamics may simultaneously face multiple faults,including the unexpected controller disconnect,the temporary mismatch between subsystems and desired corresponding controllers,and the intermittent disordering of mode transitions.These commonly arising faults may result in severe and detrimental impacts on the reliability and convergence of the closed-loop solution,thereby bringing significant yet challenging issues to be tackled.This paper provides the first attempt to investigate the stabilization problem for a class of constrained switched linear systems with multiple faults under mode-dependent dwell time(MDT).From a set-theory perspective,we demonstrate a critical necessary and sufficient stability condition for switched systems without uncertainties.Moreover,the non-conservative stability criterion is further extended to the perturbed switched systems with rigorous proof.A switching communication network example verifies the validity of the theoretical result and demonstrates their advantages.展开更多
We constructed a new set of diabatic poten-tial energy surfaces(PESs)for the two low-est states involved in Li+Li_(2)reaction by us-ing the fundamental-invariant neural net-work method.The Li_(3)system exhibits a coni...We constructed a new set of diabatic poten-tial energy surfaces(PESs)for the two low-est states involved in Li+Li_(2)reaction by us-ing the fundamental-invariant neural net-work method.The Li_(3)system exhibits a coni-cal intersection(CI)at the geometric D_(3)h symmetries with the energy of the CI point significantly lower than the ground-state en-ab initio ergy of the diatomic molecule.The diabaitc PESs accurately reproduce adiabatic en-ergies,derivative coupling,and energy gradient information,thereby providing a high-fideli-ty description of the CI between the two lowest electronic states.Quantum dynamical calcu-lations have revealed significant non-adiabatic effects in the Li+Li_(2)reaction.展开更多
A new two-state diabatic potential energy matrix(DPEM)for H3 has been constructed,based on the fun-damental invariant neural network(FI-NN)diabatization method pro-posed in our previous work[Phys.Chem.Chem.Phys.21,150...A new two-state diabatic potential energy matrix(DPEM)for H3 has been constructed,based on the fun-damental invariant neural network(FI-NN)diabatization method pro-posed in our previous work[Phys.Chem.Chem.Phys.21,15040(2019)].In that initial effort,a two-state DPEM was constructed only with a 10 eV energy threshold.The current work aims to expand the en-ergy range and improve the accura-cy of DPEM.This is achieved by the utilization of full configuration inter-action(FCI)with aug-cc-pVnZ ba-sis sets and complete basis set(CBS)extrapolation.The original dataset is augmented with additional points with higher adiabatic energies,which give rise to a total of 10985 data points.The DPEM constructed in this work now enables accurate representation of adiabatic energies up to 18 eV.Quantum dynamic calculations based on this DPEM are nearly identical to those obtained from benchmark surfaces,which makes it the most accurate DPEM for the H3 system to date,therefore facilitating detailed exploration of reaction mechanisms at higher collision energies.展开更多
Choosing appropriate background field data is crucial for gravity field matching navigation.Current research mainly uses gravity anomaly data or gravity gradient data as background fields.However,using gravity gradien...Choosing appropriate background field data is crucial for gravity field matching navigation.Current research mainly uses gravity anomaly data or gravity gradient data as background fields.However,using gravity gradient invariants in existing research is seldom a concern.The gravity gradient tensor has three invariants,named as I_(1),I_(2)and I_(3).I_(1) is a Laplace operator outside the Earth and a Poison operator inside the Earth.The focus of this study is to discuss the performance of the other two invariants of gravity gradients in matching navigation based on the Iterative Closest Contour Point(ICCP)algorithm and compare the matching results with that of the gravity gradient Tzz.The results show that they have almost the same performance when there is no noise,and the background data noises have a large impact on the matching results.There are differences in the anti-interference ability of observation noises for the different components.Under the same random noises in the observations,I2performs a little better than the other two components in terms of position error standard deviation.According to the investigations,since attitude errors can not be avoided and influence the positioning based on Tzz,we recommend adopting invariants of gravity gradients,especially I2,for matching navigation in actual cases.展开更多
Lie symmetry analysis is applied to a(3+1)-dimensional combined potential Kadomtsev-Petviashvili equation with B-type Kadomtsev-Petviashvili equation(pKP-BKP equation)and the corresponding similarity reduction equatio...Lie symmetry analysis is applied to a(3+1)-dimensional combined potential Kadomtsev-Petviashvili equation with B-type Kadomtsev-Petviashvili equation(pKP-BKP equation)and the corresponding similarity reduction equations are obtained with the different infinitesimal generators.Invariant solutions with arbitrary functions and constants for the(3+1)-dimensional pKP-BKP equation,including the lump solution,the periodic-lump solution,the two-kink solution,the breather solution and the lump-two-kink solution,have been studied analytically and graphically.展开更多
Time scale is a new and powerful tool for dealing with complex dynamics problems. The main result of this study is the exact invariants and adiabatic invariants of the generalized Birkhoffian system and the constraine...Time scale is a new and powerful tool for dealing with complex dynamics problems. The main result of this study is the exact invariants and adiabatic invariants of the generalized Birkhoffian system and the constrained Birkhoffian system on time scales. Firstly, we establish the differential equations of motion for the above two systems and give the corresponding Noether symmetries and exact invariants. Then, the perturbation to the Noether symmetries and the adiabatic invariants for the systems mentioned above under the action of slight disturbance are investigated, respectively. Finally, two examples are provided to show the practicality of the findings.展开更多
This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative ...This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic variable.The addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI set.With the designed controller,the involved fuzzy system is ensured to be asymptotically stable.Two examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.展开更多
Structural nonlinearities such as freeplay will affect the stability and even flight safety of the fin-actuator system.There is a lack of a practical method for designing Active Flutter Suppression (AFS) control laws ...Structural nonlinearities such as freeplay will affect the stability and even flight safety of the fin-actuator system.There is a lack of a practical method for designing Active Flutter Suppression (AFS) control laws for nonlinear fin-actuator systems.A design method for the AFS controller of the nonlinear all-movable fin-electromechanical actuator system is established by combining the inverse system and the Immersion and Invariance (I&I) theory.First,the composite control law combining the inverse system principle and internal model control is used to offset the nonlinearity and dynamics of the actuator,so that its driving torque can follow the ideal signal.Then,the ideal torque of the actuator is designed employing the I&I theory.The unfavorable oscillation of the fin is suppressed by making the output torque of the actuator track the ideal signal.The simulation results reveal that the proposed AFS method can increase the flutter speed of the nonlinear finactuator system with freeplay,and a set of controller parameters is also applicable for wider freeplay within a certain range.The power required for the actuator does not exceed the power that can be provided by the commonly used aviation actuator.This method can also resist a certain level of noise and external disturbance.展开更多
The presentation and modeling of turbulence anisotropy are crucial for studying large-scale turbulence structures and constructing turbulence models.However,accurately capturing anisotropic Reynolds stresses often rel...The presentation and modeling of turbulence anisotropy are crucial for studying large-scale turbulence structures and constructing turbulence models.However,accurately capturing anisotropic Reynolds stresses often relies on expensive direct numerical simulations(DNS).Recently,a hot topic in data-driven turbulence modeling is how to acquire accurate Reynolds stresses by the Reynolds-averaged Navier-Stokes(RANS)simulation and a limited amount of data from DNS.Many existing studies use mean flow characteristics as the input features of machine learning models to predict high-fidelity Reynolds stresses,but these approaches still lack robust generalization capabilities.In this paper,a deep neural network(DNN)is employed to build a model,mapping from tensor invariants of RANS mean flow features to the anisotropy invariants of high-fidelity Reynolds stresses.From the aspects of tensor analysis and input-output feature design,we try to enhance the generalization of the model while preserving invariance.A functional framework of Reynolds stress anisotropy invariants is derived theoretically.Complete irreducible invariants are then constructed from a tensor group,serving as alternative input features for DNN.Additionally,we propose a feature selection method based on the Fourier transform of periodic flows.The results demonstrate that the data-driven model achieves a high level of accuracy in predicting turbulence anisotropy of flows over periodic hills and converging-diverging channels.Moreover,the well-trained model exhibits strong generalization capabilities concerning various shapes and higher Reynolds numbers.This approach can also provide valuable insights for feature selection and data generation for data-driven turbulence models.展开更多
We propose a method to construct Hopf insulators based on the study of topological defects from the geometric perspective of Hopf invariant I.Firstly,we prove two types of topological defects naturally inhering in the...We propose a method to construct Hopf insulators based on the study of topological defects from the geometric perspective of Hopf invariant I.Firstly,we prove two types of topological defects naturally inhering in the inner differential structure of the Hopf mapping.One type is the four-dimensional point defects.展开更多
基金Supported in part by the National Natural Science Foundation of China(No.62271148).
文摘With the rapid development of space science projects,large deployable mechanisms have been widely used.However,due to the effects of mechanical friction and gravitational acceleration,on-orbit mechanisms cannot be always deployed to the expected pose.For some precision optical mechanisms,even a minor deviation can result in significant error,so it needs to be measured and corrected.In this paper,the deployment process was modeled and simplified as rotation under single-rotation-axis constraint and translation under single-direction constraint.To solve the problem,a method based on cross-ratio invariability was proposed.The proposed method does not rely on camera calibration techniques,as well as artificial marking points,both of which are necessary in PnP.Instead,only three calibration images before launch and a measurement image on orbit were required.Simulations and experiments demonstrated that the proposed method is more accurate than PnP.In addition,experiments also proved that the feasibility of the proposed method under dark conditions with the aid of a light source and some reflective marking points.
基金supported by the Program of "One Hundred Talented People" of the Chinese Academy of Sciencesthe National Natural Science Foundation of China(Grant Nos.11174312,10974218 and 11125420)
文摘The frequency invariability of the warped modal signal and the warped signal autocorrelation function in shallow water is discussed.A method is proposed for passive source-range estimation based on the frequency invariability and warping transform of signal autocorrelation function received by a single hydrophone in a range-independent or weak range-dependent shallow water environment.In the method,a guided source with a known range is employed to provide the crucial and relative invariant scaled features.The experimental data in shallow water with an iso-speed profile and a fluctuated thermocline are used to verify this approach.The relative errors of the source range estimation are basically less than 10%.
基金Supported by Shanxi Province Natural Science Research(202203021212249)Special/Youth Foundation of Taiyuan University of Technology(2022QN101)+3 种基金National Natural Science Foundation of China(12301556)Research Project Supported by Shanxi Scholarship Council of China(2021-029)International Cooperation Base and Platform Project of Shanxi Province(202104041101019)Basic Research Plan of Shanxi Province(202203021211129)。
文摘To enhance the computational efficiency of spatio-temporally discretized phase-field models,we present a high-speed solver specifically designed for the Poisson equations,a component frequently used in the numerical computation of such models.This efficient solver employs algorithms based on discrete cosine transformations(DCT)or discrete sine transformations(DST)and is not restricted by any spatio-temporal schemes.Our proposed methodology is appropriate for a variety of phase-field models and is especially efficient when combined with flow field systems.Meanwhile,this study has conducted an extensive numerical comparison and found that employing DCT and DST techniques not only yields results comparable to those obtained via the Multigrid(MG)method,a conventional approach used in the resolution of the Poisson equations,but also enhances computational efficiency by over 90%.
基金National Natural Science Foundation of China(Grant No.11771459)supported by Research Funds of Guangdong University of Foreign Studies(Grant Nos.299-X5218165 and 299-X5219222)+3 种基金Guangdong Basic and Applied Basic Research Foundation(Grant No.2019A1515110932)supported by National Natural Science Foundation of China(Grant Nos.11701584 and 11871228)the Natural Science Research Project of Guangdong Province(Grant No.2018KTSCX122)。
文摘In this paper,we introduce the notions of bounded invariance complexity,bounded invariance complexity in the mean and mean Lyapunov-stability for control systems.Then we characterize these notions by introducing six types of equi-invariability.As a by-product,two new dichotomy theorems for the control system on the control sets are established.
文摘This paper attempts to form a bridge between a sum of the divisors function and the gamma function, proposing a novel approach that could have significant implications for classical problems in number theory, specifically the Robin inequality and the Riemann hypothesis. The exploration of using invariant properties of these functions to derive insights into twin primes and sequential primes is a potentially innovative concept that deserves careful consideration by the mathematical community.
基金supported in part by the Basic Research Project of Science and Technology Department of Jilin Province,China(Grant No.202002044JC).
文摘In the field of automated fruit harvesting,precise and efficient fruit target recognition and localization play a pivotal role in enhancing the efficiency of harvesting robots.However,this domain faces two core challenges:firstly,the dynamic nature of the automatic picking process requires fruit target detection algorithms to adapt to multi-view characteristics,ensuring effective recognition of the same fruit from different perspectives.Secondly,fruits in natural environments often suffer from interference factors such as overlapping,occlusion,and illumination fluctuations,which increase the difficulty of image capture and recognition.To address these challenges,this study conducted an in-depth analysis of the key features in fruit recognition and discovered that the stem,body,and base serve as constant and core information in fruit identification,exhibiting long-term dependent semantic relationships during the recognition process.These invariant features provide a stable foundation for dynamic fruit recognition,contributing to improved recognition accuracy and robustness.Specifically,the morphology and position of the stem,body,and base are relatively fixed,and the effective extraction of these features plays a crucial role in fruit recognition.This paper proposes a novel model,TransSSA,and designs two innovative modules to effectively extract fruit image features.The Self-Attention Core Feature Extraction(SAF)module integrates YOLOV8 and Swin Transformer as backbone networks and introduces the Shuffle Attention self-attention mechanism,significantly enhancing the ability to extract core features.This module focuses on constant features such as the stem,body,and base,ensuring accurate fruit recognition in different environments.On the other hand,the Squeeze and Excitation Aggregation(SAE)module combines the network’s ability to capture channel patterns with global knowledge,further optimizing the extraction of effective features.Additionally,to improve detection accuracy,this studymodifies the regression loss function to EIOU.To validate the effectiveness of the TransSSA model,this study conducted extensive visualization analysis to support the interpretability of the SAF and SAE modules.Experimental results demonstrate that TransSSA achieves a performance of 91.3%on a tomato dataset,fully proving its innovative capabilities.Through this research,we provide amore effective solution for using fruit harvesting robots in complex environments.
基金supported by the Agencia Estatal de Investigación grant PID2019-104658GB-I00the H2020 European Research Council grant MSCA-RISE-2017-777911+2 种基金AGAUR(Generalitat de Catalunya)grant 2021SGR00113the Reial Acadèmia de Ciències i Arts de Barcelonasupported by FCT/Portugal through CAMGSD,IST-ID,projects UIDB/04459/2020 and UIDP/04459/2020.
文摘The differential system ẋ=ax−yz,ẏ=−by+xz,ż=−cz+x^(2),where a,b and c are positive real parameters,has been studied numerically due to the big variety of strange attractors that it can exhibit.This system has a Darboux invariant when c=2b.Using this invariant and the Poincarécompactification technique we describe analytically its global dynamics.
基金Supported by National Natural Science Foundation of China(Grant Nos.52025121,52394263)National Key R&D Plan of China(Grant No.2023YFD2000301)+2 种基金Foundation of State Key Laboratory of Automobile Safety and Energy Saving of China(Grant No.KFZ2201)the Jiangsu Provincial Scientific Research Center of Applied Mathematics under(Grant No.BK20233002)Special Fund of Jiangsu Province for the Transformation of Scientific and Technological Achievements under(Grant No.BA2021023)。
文摘This paper tackles uncertainties between planning and actual models.It extends the concept of RCI(robust control invariant)tubes,originally a parameterized representation of closed-loop control robustness in traditional feedback control,to the domain of motion planning for autonomous vehicles.Thus,closed-loop system uncertainty can be preemptively addressed during vehicle motion planning.This involves selecting collision-free trajectories to minimize the volume of robust invariant tubes.Furthermore,constraints on state and control variables are translated into constraints on the RCI tubes of the closed-loop system,ensuring that motion planning produces a safe and optimal trajectory while maintaining flexibility,rather than solely optimizing for the open-loop nominal model.Additionally,to expedite the solving process,we were inspired by L2gain to parameterize the RCI tubes and developed a parameterized explicit iterative expression for propagating ellipsoidal uncertainty sets within closedloop systems.Furthermore,we applied the pseudospectral orthogonal collocation method to parameterize the optimization problem of transcribing trajectories using high-order Lagrangian polynomials.Finally,under various operating conditions,we incorporate both the kinematic and dynamic models of the vehicle and also conduct simulations and analyses of uncertainties such as heading angle measurement,chassis response,and steering hysteresis.Our proposed robust motion planning framework has been validated to effectively address nearly all bounded uncertainties while anticipating potential tracking errors in control during the planning phase.This ensures fast,closed-loop safety and robustness in vehicle motion planning.
基金Supported by the National Key Research and Development Program of China(2022YFA1005501)the Natural Science Foundation of Jiangsu Province(BK20241433).
文摘In this paper,we study scalar curvature rigidity of non-smooth metrics on smooth manifolds with non-positive Yamabe invariant.We prove that if the scalar curvature is not less than the Yamabe invariant in the distributional sense,then the manifold must be isometric to an Einstein manifold.This result extends Theorem 1.4 in Jiang,Sheng and Zhang[27],from a special case where the manifolds have zero Yamabe invariant to general cases where the manifolds have non-positive Yamabe invariant.
基金Project supported by the National Natural Science Foundation of China (Grant Nos. 12074101 and 11604081)sponsored by the Natural Science Foundation of Henan Province, China (Grant No. 212300410040)。
文摘The topological states of the two-leg and three-leg ladders formed by two trivial quantum wires with different lattice constants are theoretically investigated. Firstly, we take two trivial quantum wires with a lattice constant ratio of 1:2 as an example. For the symmetric nearest-neighbor intra-chain hopping two-leg ladder, the inversion symmetry protected topological insulator phase with two degenerate topological edge states appears. When the inversion symmetry is broken, the topological insulators with one or two topological edge states of different energies and topological metals with edge states embedded in the bulk states could emerge depending on the filling factor. The topological origin of these topological states in the two-leg ladders is the topological properties of the Chern insulators and Chern metals. According to the arrangement of two trivial quantum wires, we construct two types of three-leg ladders. Each type of the three-leg ladder could be divided into one trivial subspace and one topological nontrivial subspace by unitary transformation. The topological nontrivial subspace corresponds to the effective two-leg ladder model. As the filling factor changes, the system could be in topological insulators or topological metals phases. When the two-leg ladder is constructed by two trivial quantum wires with a lattice constant ratio of 1:3 and 2:3, the system could also realize rich topological states such as the topological insulators and topological metals with the topological edge states. These rich topological states in the two-leg and three-leg ladders could be confirmed by current experimental techniques.
基金supported in part by the Natural Sciences and Engineering Research Council of Canada(NSERC)supported by the National Natural Science Foundation of China under Grant 62303403Zhejiang Provincial Natural Science Foundation of China under Grants LR25F030004 and LQ24F030022。
文摘Switched systems play an imperative role in modeling many real industrial systems with abrupt changes.Due to possible exposure to unreliable and complex physical environments,switching dynamics may simultaneously face multiple faults,including the unexpected controller disconnect,the temporary mismatch between subsystems and desired corresponding controllers,and the intermittent disordering of mode transitions.These commonly arising faults may result in severe and detrimental impacts on the reliability and convergence of the closed-loop solution,thereby bringing significant yet challenging issues to be tackled.This paper provides the first attempt to investigate the stabilization problem for a class of constrained switched linear systems with multiple faults under mode-dependent dwell time(MDT).From a set-theory perspective,we demonstrate a critical necessary and sufficient stability condition for switched systems without uncertainties.Moreover,the non-conservative stability criterion is further extended to the perturbed switched systems with rigorous proof.A switching communication network example verifies the validity of the theoretical result and demonstrates their advantages.
基金supported by the National Natural Science Foundation of China(Nos.22103084 and 22233003 to Jiayu Huang,and No.22288201 to Dong H.Zhang)the Innovation Program for Quantum Science and Technology(No.2021ZD0303305)to Dong H.Zhangthe Dalian Innovation Support Program(No.2021RD05)to Dong H.Zhang.
文摘We constructed a new set of diabatic poten-tial energy surfaces(PESs)for the two low-est states involved in Li+Li_(2)reaction by us-ing the fundamental-invariant neural net-work method.The Li_(3)system exhibits a coni-cal intersection(CI)at the geometric D_(3)h symmetries with the energy of the CI point significantly lower than the ground-state en-ab initio ergy of the diatomic molecule.The diabaitc PESs accurately reproduce adiabatic en-ergies,derivative coupling,and energy gradient information,thereby providing a high-fideli-ty description of the CI between the two lowest electronic states.Quantum dynamical calcu-lations have revealed significant non-adiabatic effects in the Li+Li_(2)reaction.
基金supported by the National Natural Science Foundation of China(No.22288201)the Inno-vation Program for Quantum Science and Technology(No.2021ZD0303305)the Dalian Innovation Sup-port Program(No.2021RD05).
文摘A new two-state diabatic potential energy matrix(DPEM)for H3 has been constructed,based on the fun-damental invariant neural network(FI-NN)diabatization method pro-posed in our previous work[Phys.Chem.Chem.Phys.21,15040(2019)].In that initial effort,a two-state DPEM was constructed only with a 10 eV energy threshold.The current work aims to expand the en-ergy range and improve the accura-cy of DPEM.This is achieved by the utilization of full configuration inter-action(FCI)with aug-cc-pVnZ ba-sis sets and complete basis set(CBS)extrapolation.The original dataset is augmented with additional points with higher adiabatic energies,which give rise to a total of 10985 data points.The DPEM constructed in this work now enables accurate representation of adiabatic energies up to 18 eV.Quantum dynamic calculations based on this DPEM are nearly identical to those obtained from benchmark surfaces,which makes it the most accurate DPEM for the H3 system to date,therefore facilitating detailed exploration of reaction mechanisms at higher collision energies.
基金funded by the Key Laboratory of Smart Earth(No.KF2023YB01-12)the National Natural Science Foundation of China(No.42074017)+1 种基金the Key Laboratory Fund Project for Simulation of Complex Electronic Systems(614201004022210)the Chinese Academy of Sciences Youth Innovation Promotion Association(2022126)。
文摘Choosing appropriate background field data is crucial for gravity field matching navigation.Current research mainly uses gravity anomaly data or gravity gradient data as background fields.However,using gravity gradient invariants in existing research is seldom a concern.The gravity gradient tensor has three invariants,named as I_(1),I_(2)and I_(3).I_(1) is a Laplace operator outside the Earth and a Poison operator inside the Earth.The focus of this study is to discuss the performance of the other two invariants of gravity gradients in matching navigation based on the Iterative Closest Contour Point(ICCP)algorithm and compare the matching results with that of the gravity gradient Tzz.The results show that they have almost the same performance when there is no noise,and the background data noises have a large impact on the matching results.There are differences in the anti-interference ability of observation noises for the different components.Under the same random noises in the observations,I2performs a little better than the other two components in terms of position error standard deviation.According to the investigations,since attitude errors can not be avoided and influence the positioning based on Tzz,we recommend adopting invariants of gravity gradients,especially I2,for matching navigation in actual cases.
文摘Lie symmetry analysis is applied to a(3+1)-dimensional combined potential Kadomtsev-Petviashvili equation with B-type Kadomtsev-Petviashvili equation(pKP-BKP equation)and the corresponding similarity reduction equations are obtained with the different infinitesimal generators.Invariant solutions with arbitrary functions and constants for the(3+1)-dimensional pKP-BKP equation,including the lump solution,the periodic-lump solution,the two-kink solution,the breather solution and the lump-two-kink solution,have been studied analytically and graphically.
基金Supported by the National Natural Science Foundation of China (12172241, 12272248, 11972241, 12002228)Qing Lan Project of Colleges and Universities in Jiangsu Province。
文摘Time scale is a new and powerful tool for dealing with complex dynamics problems. The main result of this study is the exact invariants and adiabatic invariants of the generalized Birkhoffian system and the constrained Birkhoffian system on time scales. Firstly, we establish the differential equations of motion for the above two systems and give the corresponding Noether symmetries and exact invariants. Then, the perturbation to the Noether symmetries and the adiabatic invariants for the systems mentioned above under the action of slight disturbance are investigated, respectively. Finally, two examples are provided to show the practicality of the findings.
基金supported by the National Natural Science Foundation of China (62073303,61673356)Hubei Provincial Natural Science Foundation of China (2015CFA010)the 111 Project(B17040)。
文摘This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic variable.The addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI set.With the designed controller,the involved fuzzy system is ensured to be asymptotically stable.Two examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.
文摘Structural nonlinearities such as freeplay will affect the stability and even flight safety of the fin-actuator system.There is a lack of a practical method for designing Active Flutter Suppression (AFS) control laws for nonlinear fin-actuator systems.A design method for the AFS controller of the nonlinear all-movable fin-electromechanical actuator system is established by combining the inverse system and the Immersion and Invariance (I&I) theory.First,the composite control law combining the inverse system principle and internal model control is used to offset the nonlinearity and dynamics of the actuator,so that its driving torque can follow the ideal signal.Then,the ideal torque of the actuator is designed employing the I&I theory.The unfavorable oscillation of the fin is suppressed by making the output torque of the actuator track the ideal signal.The simulation results reveal that the proposed AFS method can increase the flutter speed of the nonlinear finactuator system with freeplay,and a set of controller parameters is also applicable for wider freeplay within a certain range.The power required for the actuator does not exceed the power that can be provided by the commonly used aviation actuator.This method can also resist a certain level of noise and external disturbance.
基金supported by the National Natural Science Foundation of China(Grant No.92152301).
文摘The presentation and modeling of turbulence anisotropy are crucial for studying large-scale turbulence structures and constructing turbulence models.However,accurately capturing anisotropic Reynolds stresses often relies on expensive direct numerical simulations(DNS).Recently,a hot topic in data-driven turbulence modeling is how to acquire accurate Reynolds stresses by the Reynolds-averaged Navier-Stokes(RANS)simulation and a limited amount of data from DNS.Many existing studies use mean flow characteristics as the input features of machine learning models to predict high-fidelity Reynolds stresses,but these approaches still lack robust generalization capabilities.In this paper,a deep neural network(DNN)is employed to build a model,mapping from tensor invariants of RANS mean flow features to the anisotropy invariants of high-fidelity Reynolds stresses.From the aspects of tensor analysis and input-output feature design,we try to enhance the generalization of the model while preserving invariance.A functional framework of Reynolds stress anisotropy invariants is derived theoretically.Complete irreducible invariants are then constructed from a tensor group,serving as alternative input features for DNN.Additionally,we propose a feature selection method based on the Fourier transform of periodic flows.The results demonstrate that the data-driven model achieves a high level of accuracy in predicting turbulence anisotropy of flows over periodic hills and converging-diverging channels.Moreover,the well-trained model exhibits strong generalization capabilities concerning various shapes and higher Reynolds numbers.This approach can also provide valuable insights for feature selection and data generation for data-driven turbulence models.
基金supported by the Natural Science Foundation of Beijing(Grant No.Z180007)the National Natural Science Foundation of China(Grant Nos.1157200511874003,and 51672018)。
文摘We propose a method to construct Hopf insulators based on the study of topological defects from the geometric perspective of Hopf invariant I.Firstly,we prove two types of topological defects naturally inhering in the inner differential structure of the Hopf mapping.One type is the four-dimensional point defects.
