For improving the performance of differential geometric guidance command(DGGC), a new formation of this guidance law is proposed, which can guarantee the finite time convergence(FTC) of the line of sight(LOS) rate to ...For improving the performance of differential geometric guidance command(DGGC), a new formation of this guidance law is proposed, which can guarantee the finite time convergence(FTC) of the line of sight(LOS) rate to zero or its neighborhood against maneuvering targets in three-dimensional(3D) space. The extended state observer(ESO) is employed to estimate the target acceleration, which makes the new DGGC more applicable to practical interception scenarios. Finally, the effectiveness of this newly proposed guidance command is demonstrated by the numerical simulation results.展开更多
Borrowing the framework of the geometric approach, this paper tries to analyze and explain why it is possible for the extended state observer (ESO) to estimate the state vector and total disturbance accurately. The ge...Borrowing the framework of the geometric approach, this paper tries to analyze and explain why it is possible for the extended state observer (ESO) to estimate the state vector and total disturbance accurately. The geometric approach has provided an elegant and rigorous framework to redefine some key concepts in modern control theory, such as controllability and observability. Moreover, those concepts can be extended to deal with systems in the presence of inaccessible disturbances, such as controlled invariants and conditioned invariants. It is shown in this paper that the augmented system of the ESO is unknown-state unknown-input completely reconstructable in finite time interval. A numerical simulation is given to verify the state vector and total disturbance can be estimated accurately by the ESO if the augmented system is unknown-state unknown-input completely reconstructable.展开更多
A new analytical model for geometric size and forming force prediction in incremental flanging(IF)is presented in this work.The complex deformation characteristics of IF are considered in the modeling process,which ca...A new analytical model for geometric size and forming force prediction in incremental flanging(IF)is presented in this work.The complex deformation characteristics of IF are considered in the modeling process,which can accurately describe the strain and stress states in IF.Based on strain analysis,the model can predict the material thickness distribution and neck height after IF.By considering contact area,strain characteristics,material thickness changes,and friction,the model can predict specific moments and corresponding values of maximum axial forming force and maximum horizontal forming force during IF.In addition,an IF experiment involving different tool diameters,flanging diameters,and opening hole diameters is conducted.On the basis of the experimental strain paths,the strain characteristics of different deformation zones are studied,and the stable strain ratio is quantitatively described through two dimensionless parameters:relative tool diameter and relative hole diameter.Then,the changing of material thickness and forming force in IF,and the variation of minimum material thickness,neck height,maximum axial forming force,and maximum horizontal forming force with flanging parameters are studied,and the reliability of the analytical model is verified in this process.Finally,the influence of the horizontal forming force on the tool design and the fluctuation of the forming force are explained.展开更多
The proposed hybrid optimization algorithm integrates particle swarm optimizatio(PSO)with Ant Colony Optimization(ACO)to improve a number of pitfalls within PSO methods traditionally considered and/or applied to indus...The proposed hybrid optimization algorithm integrates particle swarm optimizatio(PSO)with Ant Colony Optimization(ACO)to improve a number of pitfalls within PSO methods traditionally considered and/or applied to industrial robots.Particle Swarm Optimization may frequently suffer from local optima and inaccuracies in identifying the geometric parameters,which are necessary for applications requiring high-accuracy performances.The proposed approach integrates pheromone-based learning of ACO with the D-H method of developing an error model;hence,the global search effectiveness together with the convergence accuracy is further improved.Comparison studies of the hybrid PSO-ACO algorithm show higher precision and effectiveness in the optimization of geometric error parameters compared to the traditional methods.This is a remarkable reduction of localization errors,thus yielding accuracy and reliability in industrial robotic systems,as the results show.This approach improves performance in those applications that demand high geometric calibration by reducing the geometric error.The paper provides an overview of input for developing robotics and automation,giving importance to precision in industrial engineering.The proposed hybrid methodology is a good way to enhance the working accuracy and effectiveness of industrial robots and shall enable their wide application to complex tasks that require a high degree of accuracy.展开更多
The influence of geometric configuration on the friction characteristics during incremental sheet forming of AA5052 was analyzed by integrating surface morphology and its characteristic parameters,along with plastic s...The influence of geometric configuration on the friction characteristics during incremental sheet forming of AA5052 was analyzed by integrating surface morphology and its characteristic parameters,along with plastic strain,contact pressure,and area.The interface promotes lubrication and support when wall angles were≤40°,a 0.5 mm-thin sheet was used,and a 10 mm-large tool radius was employed.This mainly results in micro-plowing and plastic extrusion flow,leading to lower friction coefficient.However,when wall angles exceed 40°,significant plastic strain roughening occurs,leading to inadequate lubrication on the newly formed surface.Increased sheet thickness and decreased tool radius elevate contact pressure.These actions trigger micro-cutting and adhesion,potentially leading to localized scuffing and dimple tears,and higher friction coefficient.The friction mechanisms remain unaffected by the part’s plane curve features.As the forming process progresses,abrasive wear intensifies,and surface morphology evolves unfavorably for lubrication and friction reduction.展开更多
This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hype...This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.展开更多
Accuracy allocation is crucial in the accuracy design of machining tools.Current accuracy allocation methods primarily focus on positional deviation,with little consideration for tool direction deviation.To address th...Accuracy allocation is crucial in the accuracy design of machining tools.Current accuracy allocation methods primarily focus on positional deviation,with little consideration for tool direction deviation.To address this issue,we propose a geometric error cost sensitivity-based accuracy allocation method for five-axis machine tools.A geometric error model consisting of 4l error components is constructed based on homogeneous transformation matrices.Volumetric points with positional and tool direction deviations are randomly sampled to evaluate the accuracy of the machine tool.The sensitivity of each error component at these sampling points is analyzed using the Sobol method.To balance the needs of geometric precision and manufacturing cost,a geometric error cost sensitivity function is developed to estimate the required cost.By allocating error components affecting tool direction deviation first and the remaining components second,this allocation scheme ensures that both deviations meet the requirements.We also perform numerical simulation of a BC-type(B-axis and C-axis type)five-axis machine tool to validate the method.The results show that the new allocation scheme reduces the total geometric error cost by 27.8%compared to a uniform allocation scheme,and yields the same positional and tool direction machining accuracies.展开更多
We present a new perspective on the P vs NP problem by demonstrating that its answer is inherently observer-dependent in curved spacetime, revealing an oversight in the classical formulation of computational complexit...We present a new perspective on the P vs NP problem by demonstrating that its answer is inherently observer-dependent in curved spacetime, revealing an oversight in the classical formulation of computational complexity theory. By incorporating general relativistic effects into complexity theory through a gravitational correction factor, we prove that problems can transition between complexity classes depending on the observer’s reference frame and local gravitational environment. This insight emerges from recognizing that the definition of polynomial time implicitly assumes a universal time metric, an assumption that breaks down in curved spacetime due to gravitational time dilation. We demonstrate the existence of gravitational phase transitions in problem complexity, where an NP-complete problem in one reference frame becomes polynomially solvable in another frame experiencing extreme gravitational time dilation. Through rigorous mathematical formulation, we establish a gravitationally modified complexity theory that extends classical complexity classes to incorporate observer-dependent effects, leading to a complete framework for understanding how computational complexity transforms across different spacetime reference frames. This finding parallels other self-referential insights in mathematics and physics, such as Gödel’s incompleteness theorems and Einstein’s relativity, suggesting a deeper connection between computation, gravitation, and the nature of mathematical truth.展开更多
The CNC machine tool is the fundamental equipment of the manufacturing industry,particularly in sectors where achieving high levels of accuracy is crucial.Geometric accuracy design is an important step in machine tool...The CNC machine tool is the fundamental equipment of the manufacturing industry,particularly in sectors where achieving high levels of accuracy is crucial.Geometric accuracy design is an important step in machine tool design and plays an essential role in determining the machining accuracy of the workpiece.Researchers have extensively studied methods to model,extract,optimize,and measure the geometric errors that affect the geometric accuracy of machine tools.This paper provides a comprehensive review of the state-of-the-art approaches and an overview of the latest research progress associated with geometric accuracy design in CNC machine tools.This paper explores the interrelated aspects of CNC machine tool accuracy design:modeling,analysis and optimization.Accuracy analysis,which includes geometric error modeling and sensitivity analysis,determines a machine tool’s output accuracy through its volumetric error model,given the known accuracy of its individual components.Conversely,accuracy allocation designs the accuracy of the machine tool components according to given output accuracy requirements to achieve optimization between the objectives of manufacturing cost,quality,reliability,and environmental impact.In addition to discussing design factors and evaluation methods,this paper outlines methods for verifying the accuracy of design results,aiming to provide a practical basis for ensuring that the designed accuracy is achieved.Finally,the challenges and future research directions in geometric accuracy design are highlighted.展开更多
The quantum geometric tensor(QGT)is a fundamental quantity for characterizing the geometric properties of quantum states and plays an essential role in elucidating various physical phenomena.The traditional QGT,defned...The quantum geometric tensor(QGT)is a fundamental quantity for characterizing the geometric properties of quantum states and plays an essential role in elucidating various physical phenomena.The traditional QGT,defned only for pure states,has limited applicability in realistic scenarios where mixed states are common.To address this limitation,we generalize the defnition of the QGT to mixed states using the purifcation bundle and the covariant derivative.Notably,our proposed defnition reduces to the traditional QGT when mixed states approach pure states.In our framework,the real and imaginary parts of this generalized QGT correspond to the Bures metric and the mean gauge curvature,respectively,endowing it with a broad range of potential applications.Additionally,using our proposed mixed-state QGT,we derive the geodesic equation applicable to mixed states.This work establishes a unifed framework for the geometric analysis of both pure and mixed states,thereby deepening our understanding of the geometric properties of quantum states.展开更多
Driven by practical applications, the achievement of distributed observers for nonlinear systems has emerged as a crucial advancement in recent years. However, existing theoretical advancements face certain limitation...Driven by practical applications, the achievement of distributed observers for nonlinear systems has emerged as a crucial advancement in recent years. However, existing theoretical advancements face certain limitations: They either fail to address more complex nonlinear phenomena, rely on hard-to-verify assumptions, or encounter difficulties in solving system parameters.Consequently, this paper aims to address these challenges by investigating distributed observers for nonlinear systems through the full-measured canonical form(FMCF), which is inspired by full-measured system(FMS) theory. To begin with, this study addresses the fact that the FMCF can only be obtained through the observable canonical form(OCF) in existing FMS theories.The paper demonstrates that a class of nonlinear systems can directly obtain FMCF through state space equations, independent of OCF. Also, a general method for solving FMCF in such systems is provided. Furthermore, based on the FMCF, A distributed observer is developed for nonlinear systems under two scenarios: Lipschitz conditions and open-loop bounded conditions.The paper establishes their asymptotic omniscience and demonstrates that the designed distributed observer in this study has fewer design parameters and is more convenient to construct than existing approaches. Finally, the effectiveness of the proposed methods is validated through simulation results on Van der Pol oscillators and microgrid systems.展开更多
Extended state observer(ESO)is heavily limited by the unknown disturbance and its derivative,which requires high observing gains to decrease estimating error,resulting in serious noise sensitivity.To modify the distur...Extended state observer(ESO)is heavily limited by the unknown disturbance and its derivative,which requires high observing gains to decrease estimating error,resulting in serious noise sensitivity.To modify the disturbance estimation characteristics encountered by the observer,the active compression extended state observer(ACESO)is proposed in this study.The ACESO decreases the bound of residual lumped disturbance and its derivative by actively compressing the initial lumped disturbance,without relying on prior knowledge.The stability constraint and convergence results of ACESO are analyzed and compared with ESO theoretically.The results show that the ACESO mitigates the trade-off between noise sensitivity and high-gain observation.Benefiting from active compression,the ACESO has substantially less noise sensitivity than the ESO,while obtaining the same and even better estimating performance than the ESO.In addition,the nonlinear ACESO is discussed,which automatically balances the contradiction between estimation and convergence.Simulations and experiments demonstrate the effectiveness of the proposed methods.展开更多
In this paper,we study the geometric ergodicity of continuous time Markov pro-cesses in general state space.For the geometric ergodic continuous time Markov processes,the condition π(f^(p))<∞,p>1 is added.Usin...In this paper,we study the geometric ergodicity of continuous time Markov pro-cesses in general state space.For the geometric ergodic continuous time Markov processes,the condition π(f^(p))<∞,p>1 is added.Using the coupling method,we obtain the existence of a full absorbing set on which continuous time Markov processes are f-geometric ergodic.展开更多
Background As visual simultaneous localization and mapping(SLAM)is primarily based on the assumption of a static scene,the presence of dynamic objects in the frame causes problems such as a deterioration of system rob...Background As visual simultaneous localization and mapping(SLAM)is primarily based on the assumption of a static scene,the presence of dynamic objects in the frame causes problems such as a deterioration of system robustness and inaccurate position estimation.In this study,we propose a YGC-SLAM for indoor dynamic environments based on the ORB-SLAM2 framework combined with semantic and geometric constraints to improve the positioning accuracy and robustness of the system.Methods First,the recognition accuracy of YOLOv5 was improved by introducing the convolution block attention model and the improved EIOU loss function,whereby the prediction frame converges quickly for better detection.The improved YOLOv5 was then added to the tracking thread for dynamic target detection to eliminate dynamic points.Subsequently,multi-view geometric constraints were used for re-judging to further eliminate dynamic points while enabling more useful feature points to be retained and preventing the semantic approach from over-eliminating feature points,causing a failure of map building.The K-means clustering algorithm was used to accelerate this process and quickly calculate and determine the motion state of each cluster of pixel points.Finally,a strategy for drawing keyframes with de-redundancy was implemented to construct a clear 3D dense static point-cloud map.Results Through testing on TUM dataset and a real environment,the experimental results show that our algorithm reduces the absolute trajectory error by 98.22%and the relative trajectory error by 97.98%compared with the original ORBSLAM2,which is more accurate and has better real-time performance than similar algorithms,such as DynaSLAM and DS-SLAM.Conclusions The YGC-SLAM proposed in this study can effectively eliminate the adverse effects of dynamic objects,and the system can better complete positioning and map building tasks in complex environments.展开更多
When the proton exchange membrane fuel cell(PEMFC)system is running,there will be a condition that does not require power output for a short time.In order to achieve zero power output under low power consumption,it is...When the proton exchange membrane fuel cell(PEMFC)system is running,there will be a condition that does not require power output for a short time.In order to achieve zero power output under low power consumption,it is necessary to consider the diversity of control targets and the complexity of dynamic models,which brings the challenge of high-precision tracking control of the stack output power and cathode intake flow.For system idle speed control,a modelbased nonlinear control framework is constructed in this paper.Firstly,the nonlinear dynamic model of output power and cathode intake flow is derived.Secondly,a control scheme combining nonlinear extended Kalman filter observer and state feedback controller is designed.Finally,the control scheme is verified on the PEMFC experimental platform and compared with the proportion-integration-differentiation(PID)controller.The experimental results show that the control strategy proposed in this paper can realize the idle speed control of the fuel cell system and achieve the purpose of zero power output.Compared with PID controller,it has faster response speed and better system dynamics.展开更多
The structure and electronic properties of Co_(2)Ge_(10)^(-)anion and its neutral counterpart were investigated by anion photoelectron spectroscopy and theoretical calculations.The experimental vertical detachment ene...The structure and electronic properties of Co_(2)Ge_(10)^(-)anion and its neutral counterpart were investigated by anion photoelectron spectroscopy and theoretical calculations.The experimental vertical detachment energy of Co_(2)Ge_(10)^(-)was measured to be 2.86±0.08 eV.The lowest-energy isomer of Co_(2)Ge_(10)^(-)is in a doublet state and has a cage-like structure with Cs symmetry,which can be constructed by a tetragonal bipyramid on top of a pentagonal bipyramid and these two bipyramid structures share a common Co atom.The most stable structure of neutral Co_(2)Ge_(10)resembles its anionic counterpart and it is in a triplet state.The natural population analysis showed that the inner Co atom of both the anionic and neutral Co_(2)Ge_(10)acquires negative charge from the neighboring Ge atoms.The outer Co atom has a larger spin moment than the inner Co atom,indicating that the magnetic moments of Co_(2)Ge_(10)^(-/0)are mainly contributed by the outer Co atom.Analyses of the density of states and molecular orbitals indicated that there are a few highly delocalized molecular orbitals in Co_(2)Ge_(10)^(-),which are mainly contributed by Ge 4s atomic orbitals.展开更多
In this paper,we introduce a new geometric constant R_(X)(κ)based on isosceles orthogonality.First,we explore some basic properties of this new constant and then provide several examples to estimate its exact values ...In this paper,we introduce a new geometric constant R_(X)(κ)based on isosceles orthogonality.First,we explore some basic properties of this new constant and then provide several examples to estimate its exact values in certain specific Banach spaces.Next,we investigate the relationships between this new constant and other classical constants.Specifically,we establish an inequality relationship between it and the J(X)constant,as well as an identity relationship between it and theρX(t)constant.Furthermore,we characterize some geometric properties of Banach spaces by means of this new constant.Finally,by restricting the above-mentioned constant to the unit sphere,we introduce another new constant,calculate its upper and lower bounds,and present a relevant example.展开更多
In machine vision,elliptical targets frequently appear within the camera's region of interest(ROI).Ellipse detection is essential for shape detection and geometric measurements in machine vision.However,existing e...In machine vision,elliptical targets frequently appear within the camera's region of interest(ROI).Ellipse detection is essential for shape detection and geometric measurements in machine vision.However,existing ellipse detection algorithms often face issues such as high computational complexity,strong dependence on initial conditions,sensitivity to noise,and lack of robustness to occlusions.In this paper,we propose a fast and robust ellipse detection method to address these challenges.This method first utilizes edge gradient and curvature information to segment the curve into circular arcs.Next,based on the convexity of the arcs,it divides them into different quadrants of the ellipse,groups and fits the arcs according to multiple geometric constraints at a low computational cost.Finally,it reduces the parameter space for hierarchical clustering and then segments the complete ellipse into several sectors for verification.We compare our method across seven datasets,including five public image datasets and two from industrial camera scenes.Experimental results show that our method achieves a precision ranging from 67.1%to 98.9%,a recall ranging from 48.1%to 92.9%,and an F-measure ranging from 58.0%to 95.8%.The average execution time per image ranges from 25 ms to 192 ms,demonstrating both high accuracy and efficiency.展开更多
This paper investigates the development and performance of a new higher-order geometric stiffness matrix that more closely approximates the theoretically derived stiffness coefficients.Factors that influence the accur...This paper investigates the development and performance of a new higher-order geometric stiffness matrix that more closely approximates the theoretically derived stiffness coefficients.Factors that influence the accuracy of the solution are studied using two columns,two braced frames,and one unbraced frame.Discussion is provided when the new geometric stiffness matrix can be used to improve the buckling load analysis results and when it may provide only nominal additional benefit.展开更多
This study aimed to identify and compensate for the geometric errors of the double swiveling axes in a five-axis computer numerical control(CNC)machining center.Hence,a three-dimensional coordinate calculation algorit...This study aimed to identify and compensate for the geometric errors of the double swiveling axes in a five-axis computer numerical control(CNC)machining center.Hence,a three-dimensional coordinate calculation algorithm for a measured point with additional rotational rigid body motion constraints is proposed.The motion constraints of the rotational rigid body were analyzed,and a mathematical model of the measured point algorithm in the swiveling axes was established.The Levenberg-Marquard method was used to solve the nonlinear superstatically determined equations.The spatial coordinate error was used to separate the spatial deviation of the measured point.An identification model of the position-independent and position-dependent geometric errors was established.The three-dimensional coordinate-solving algorithm of the measured point in the swiveling axis and geometric error identification method based on the Monte Carlo method were analyzed numerically.Geometric error measurement and cutting experiments were performed on a VMC25100U five-axis machining center,which integrated two swiveling axes.Geometric errors of the A-and B-axes were identified and measured experimentally.The angular positioning errors before and after compensation were measured using a laser interferometer,which verified the effectiveness of the proposed algorithm.A cutting experiment of a round table part was performed.The shape and position accuracy of the processed part before and after compensation were detected using a coordinate measuring machine.It verified that the geometric error of the swiveling axis was effectively compensated by the algorithm proposed herein.展开更多
文摘For improving the performance of differential geometric guidance command(DGGC), a new formation of this guidance law is proposed, which can guarantee the finite time convergence(FTC) of the line of sight(LOS) rate to zero or its neighborhood against maneuvering targets in three-dimensional(3D) space. The extended state observer(ESO) is employed to estimate the target acceleration, which makes the new DGGC more applicable to practical interception scenarios. Finally, the effectiveness of this newly proposed guidance command is demonstrated by the numerical simulation results.
文摘Borrowing the framework of the geometric approach, this paper tries to analyze and explain why it is possible for the extended state observer (ESO) to estimate the state vector and total disturbance accurately. The geometric approach has provided an elegant and rigorous framework to redefine some key concepts in modern control theory, such as controllability and observability. Moreover, those concepts can be extended to deal with systems in the presence of inaccessible disturbances, such as controlled invariants and conditioned invariants. It is shown in this paper that the augmented system of the ESO is unknown-state unknown-input completely reconstructable in finite time interval. A numerical simulation is given to verify the state vector and total disturbance can be estimated accurately by the ESO if the augmented system is unknown-state unknown-input completely reconstructable.
基金supported in part by financial support from the National Key R&D Program of China(No.2023YFB3407003)the National Natural Science Foundation of China(No.52375378).
文摘A new analytical model for geometric size and forming force prediction in incremental flanging(IF)is presented in this work.The complex deformation characteristics of IF are considered in the modeling process,which can accurately describe the strain and stress states in IF.Based on strain analysis,the model can predict the material thickness distribution and neck height after IF.By considering contact area,strain characteristics,material thickness changes,and friction,the model can predict specific moments and corresponding values of maximum axial forming force and maximum horizontal forming force during IF.In addition,an IF experiment involving different tool diameters,flanging diameters,and opening hole diameters is conducted.On the basis of the experimental strain paths,the strain characteristics of different deformation zones are studied,and the stable strain ratio is quantitatively described through two dimensionless parameters:relative tool diameter and relative hole diameter.Then,the changing of material thickness and forming force in IF,and the variation of minimum material thickness,neck height,maximum axial forming force,and maximum horizontal forming force with flanging parameters are studied,and the reliability of the analytical model is verified in this process.Finally,the influence of the horizontal forming force on the tool design and the fluctuation of the forming force are explained.
文摘The proposed hybrid optimization algorithm integrates particle swarm optimizatio(PSO)with Ant Colony Optimization(ACO)to improve a number of pitfalls within PSO methods traditionally considered and/or applied to industrial robots.Particle Swarm Optimization may frequently suffer from local optima and inaccuracies in identifying the geometric parameters,which are necessary for applications requiring high-accuracy performances.The proposed approach integrates pheromone-based learning of ACO with the D-H method of developing an error model;hence,the global search effectiveness together with the convergence accuracy is further improved.Comparison studies of the hybrid PSO-ACO algorithm show higher precision and effectiveness in the optimization of geometric error parameters compared to the traditional methods.This is a remarkable reduction of localization errors,thus yielding accuracy and reliability in industrial robotic systems,as the results show.This approach improves performance in those applications that demand high geometric calibration by reducing the geometric error.The paper provides an overview of input for developing robotics and automation,giving importance to precision in industrial engineering.The proposed hybrid methodology is a good way to enhance the working accuracy and effectiveness of industrial robots and shall enable their wide application to complex tasks that require a high degree of accuracy.
基金the support of the Key Research and Development Program of Shaanxi Province,China(No.2021GXLH-Z-049)。
文摘The influence of geometric configuration on the friction characteristics during incremental sheet forming of AA5052 was analyzed by integrating surface morphology and its characteristic parameters,along with plastic strain,contact pressure,and area.The interface promotes lubrication and support when wall angles were≤40°,a 0.5 mm-thin sheet was used,and a 10 mm-large tool radius was employed.This mainly results in micro-plowing and plastic extrusion flow,leading to lower friction coefficient.However,when wall angles exceed 40°,significant plastic strain roughening occurs,leading to inadequate lubrication on the newly formed surface.Increased sheet thickness and decreased tool radius elevate contact pressure.These actions trigger micro-cutting and adhesion,potentially leading to localized scuffing and dimple tears,and higher friction coefficient.The friction mechanisms remain unaffected by the part’s plane curve features.As the forming process progresses,abrasive wear intensifies,and surface morphology evolves unfavorably for lubrication and friction reduction.
基金supported by the National Natural Science Foundation of China(12072090).
文摘This work proposes the application of an iterative learning model predictive control(ILMPC)approach based on an adaptive fault observer(FOBILMPC)for fault-tolerant control and trajectory tracking in air-breathing hypersonic vehicles.In order to increase the control amount,this online control legislation makes use of model predictive control(MPC)that is based on the concept of iterative learning control(ILC).By using offline data to decrease the linearized model’s faults,the strategy may effectively increase the robustness of the control system and guarantee that disturbances can be suppressed.An adaptive fault observer is created based on the suggested ILMPC approach in order to enhance overall fault tolerance by estimating and compensating for actuator disturbance and fault degree.During the derivation process,a linearized model of longitudinal dynamics is established.The suggested ILMPC approach is likely to be used in the design of hypersonic vehicle control systems since numerical simulations have demonstrated that it can decrease tracking error and speed up convergence when compared to the offline controller.
基金supported by the Key R&D Program of Zhejiang Province(Nos.2023C01166 and 2024SJCZX0046)the Zhejiang Provincial Natural Science Foundation of China(Nos.LDT23E05013E05 and LD24E050009)the Natural Science Foundation of Ningbo(No.2021J150),China.
文摘Accuracy allocation is crucial in the accuracy design of machining tools.Current accuracy allocation methods primarily focus on positional deviation,with little consideration for tool direction deviation.To address this issue,we propose a geometric error cost sensitivity-based accuracy allocation method for five-axis machine tools.A geometric error model consisting of 4l error components is constructed based on homogeneous transformation matrices.Volumetric points with positional and tool direction deviations are randomly sampled to evaluate the accuracy of the machine tool.The sensitivity of each error component at these sampling points is analyzed using the Sobol method.To balance the needs of geometric precision and manufacturing cost,a geometric error cost sensitivity function is developed to estimate the required cost.By allocating error components affecting tool direction deviation first and the remaining components second,this allocation scheme ensures that both deviations meet the requirements.We also perform numerical simulation of a BC-type(B-axis and C-axis type)five-axis machine tool to validate the method.The results show that the new allocation scheme reduces the total geometric error cost by 27.8%compared to a uniform allocation scheme,and yields the same positional and tool direction machining accuracies.
文摘We present a new perspective on the P vs NP problem by demonstrating that its answer is inherently observer-dependent in curved spacetime, revealing an oversight in the classical formulation of computational complexity theory. By incorporating general relativistic effects into complexity theory through a gravitational correction factor, we prove that problems can transition between complexity classes depending on the observer’s reference frame and local gravitational environment. This insight emerges from recognizing that the definition of polynomial time implicitly assumes a universal time metric, an assumption that breaks down in curved spacetime due to gravitational time dilation. We demonstrate the existence of gravitational phase transitions in problem complexity, where an NP-complete problem in one reference frame becomes polynomially solvable in another frame experiencing extreme gravitational time dilation. Through rigorous mathematical formulation, we establish a gravitationally modified complexity theory that extends classical complexity classes to incorporate observer-dependent effects, leading to a complete framework for understanding how computational complexity transforms across different spacetime reference frames. This finding parallels other self-referential insights in mathematics and physics, such as Gödel’s incompleteness theorems and Einstein’s relativity, suggesting a deeper connection between computation, gravitation, and the nature of mathematical truth.
基金Supported by the National Natural Science Foundation of China(Grant Nos.52375448,52275440).
文摘The CNC machine tool is the fundamental equipment of the manufacturing industry,particularly in sectors where achieving high levels of accuracy is crucial.Geometric accuracy design is an important step in machine tool design and plays an essential role in determining the machining accuracy of the workpiece.Researchers have extensively studied methods to model,extract,optimize,and measure the geometric errors that affect the geometric accuracy of machine tools.This paper provides a comprehensive review of the state-of-the-art approaches and an overview of the latest research progress associated with geometric accuracy design in CNC machine tools.This paper explores the interrelated aspects of CNC machine tool accuracy design:modeling,analysis and optimization.Accuracy analysis,which includes geometric error modeling and sensitivity analysis,determines a machine tool’s output accuracy through its volumetric error model,given the known accuracy of its individual components.Conversely,accuracy allocation designs the accuracy of the machine tool components according to given output accuracy requirements to achieve optimization between the objectives of manufacturing cost,quality,reliability,and environmental impact.In addition to discussing design factors and evaluation methods,this paper outlines methods for verifying the accuracy of design results,aiming to provide a practical basis for ensuring that the designed accuracy is achieved.Finally,the challenges and future research directions in geometric accuracy design are highlighted.
基金supported by the National Natural Science Foundation of China(Grant Nos.12347104,U24A2017,12461160276,and 12175075)the National Key Research and Development Program of China(Grant No.2023YFC2205802)+1 种基金the Natural Science Foundation of Jiangsu Province(Grant Nos.BK20243060 and BK20233001)in part by the State Key Laboratory of Advanced Optical Communication Systems and Networks,China。
文摘The quantum geometric tensor(QGT)is a fundamental quantity for characterizing the geometric properties of quantum states and plays an essential role in elucidating various physical phenomena.The traditional QGT,defned only for pure states,has limited applicability in realistic scenarios where mixed states are common.To address this limitation,we generalize the defnition of the QGT to mixed states using the purifcation bundle and the covariant derivative.Notably,our proposed defnition reduces to the traditional QGT when mixed states approach pure states.In our framework,the real and imaginary parts of this generalized QGT correspond to the Bures metric and the mean gauge curvature,respectively,endowing it with a broad range of potential applications.Additionally,using our proposed mixed-state QGT,we derive the geodesic equation applicable to mixed states.This work establishes a unifed framework for the geometric analysis of both pure and mixed states,thereby deepening our understanding of the geometric properties of quantum states.
基金supported by the National Natural Science Foundation of China(62133008,62303273,62188101,62373226,62473173)Young Taishan Scholars Program of Shandong Province of China(tsqn202408206)+2 种基金a Project of Shandong Province Higher Educational Youth and Innovation Talent Introduction and Education Programthe Natural Science Foundation of Shandong Province,China(ZR2023QF072)China Postdoctoral Science Foundation(2022M721932)
文摘Driven by practical applications, the achievement of distributed observers for nonlinear systems has emerged as a crucial advancement in recent years. However, existing theoretical advancements face certain limitations: They either fail to address more complex nonlinear phenomena, rely on hard-to-verify assumptions, or encounter difficulties in solving system parameters.Consequently, this paper aims to address these challenges by investigating distributed observers for nonlinear systems through the full-measured canonical form(FMCF), which is inspired by full-measured system(FMS) theory. To begin with, this study addresses the fact that the FMCF can only be obtained through the observable canonical form(OCF) in existing FMS theories.The paper demonstrates that a class of nonlinear systems can directly obtain FMCF through state space equations, independent of OCF. Also, a general method for solving FMCF in such systems is provided. Furthermore, based on the FMCF, A distributed observer is developed for nonlinear systems under two scenarios: Lipschitz conditions and open-loop bounded conditions.The paper establishes their asymptotic omniscience and demonstrates that the designed distributed observer in this study has fewer design parameters and is more convenient to construct than existing approaches. Finally, the effectiveness of the proposed methods is validated through simulation results on Van der Pol oscillators and microgrid systems.
基金supported by the Special Research Assistant Program,Chinese Academy of Sciences,China(E329691C21)Sichuan Science and Technology Program,China(2024NSFSC1481)National Natural Science Foundation of China(92471204,62271109).
文摘Extended state observer(ESO)is heavily limited by the unknown disturbance and its derivative,which requires high observing gains to decrease estimating error,resulting in serious noise sensitivity.To modify the disturbance estimation characteristics encountered by the observer,the active compression extended state observer(ACESO)is proposed in this study.The ACESO decreases the bound of residual lumped disturbance and its derivative by actively compressing the initial lumped disturbance,without relying on prior knowledge.The stability constraint and convergence results of ACESO are analyzed and compared with ESO theoretically.The results show that the ACESO mitigates the trade-off between noise sensitivity and high-gain observation.Benefiting from active compression,the ACESO has substantially less noise sensitivity than the ESO,while obtaining the same and even better estimating performance than the ESO.In addition,the nonlinear ACESO is discussed,which automatically balances the contradiction between estimation and convergence.Simulations and experiments demonstrate the effectiveness of the proposed methods.
基金Supported by the Natural Science Foundation of Hubei Province(2021CFB275)National Natural Science Foundation of China(12301667).
文摘In this paper,we study the geometric ergodicity of continuous time Markov pro-cesses in general state space.For the geometric ergodic continuous time Markov processes,the condition π(f^(p))<∞,p>1 is added.Using the coupling method,we obtain the existence of a full absorbing set on which continuous time Markov processes are f-geometric ergodic.
基金Supported by Jiangsu Key R&D Program(BE2021622)Jiangsu Postgraduate Practice and Innovation Program(SJCX23_0395).
文摘Background As visual simultaneous localization and mapping(SLAM)is primarily based on the assumption of a static scene,the presence of dynamic objects in the frame causes problems such as a deterioration of system robustness and inaccurate position estimation.In this study,we propose a YGC-SLAM for indoor dynamic environments based on the ORB-SLAM2 framework combined with semantic and geometric constraints to improve the positioning accuracy and robustness of the system.Methods First,the recognition accuracy of YOLOv5 was improved by introducing the convolution block attention model and the improved EIOU loss function,whereby the prediction frame converges quickly for better detection.The improved YOLOv5 was then added to the tracking thread for dynamic target detection to eliminate dynamic points.Subsequently,multi-view geometric constraints were used for re-judging to further eliminate dynamic points while enabling more useful feature points to be retained and preventing the semantic approach from over-eliminating feature points,causing a failure of map building.The K-means clustering algorithm was used to accelerate this process and quickly calculate and determine the motion state of each cluster of pixel points.Finally,a strategy for drawing keyframes with de-redundancy was implemented to construct a clear 3D dense static point-cloud map.Results Through testing on TUM dataset and a real environment,the experimental results show that our algorithm reduces the absolute trajectory error by 98.22%and the relative trajectory error by 97.98%compared with the original ORBSLAM2,which is more accurate and has better real-time performance than similar algorithms,such as DynaSLAM and DS-SLAM.Conclusions The YGC-SLAM proposed in this study can effectively eliminate the adverse effects of dynamic objects,and the system can better complete positioning and map building tasks in complex environments.
基金Supported by the Major Science and Technology Projects in Jilin Province and Changchun City(20220301010GX).
文摘When the proton exchange membrane fuel cell(PEMFC)system is running,there will be a condition that does not require power output for a short time.In order to achieve zero power output under low power consumption,it is necessary to consider the diversity of control targets and the complexity of dynamic models,which brings the challenge of high-precision tracking control of the stack output power and cathode intake flow.For system idle speed control,a modelbased nonlinear control framework is constructed in this paper.Firstly,the nonlinear dynamic model of output power and cathode intake flow is derived.Secondly,a control scheme combining nonlinear extended Kalman filter observer and state feedback controller is designed.Finally,the control scheme is verified on the PEMFC experimental platform and compared with the proportion-integration-differentiation(PID)controller.The experimental results show that the control strategy proposed in this paper can realize the idle speed control of the fuel cell system and achieve the purpose of zero power output.Compared with PID controller,it has faster response speed and better system dynamics.
基金supported by the National Natural Science Foundation of China(Nos.92461313,12074387,and 92161114)the Innovation Capability Support Program of Shaanxi Province(No.2023-CX-TD-49).
文摘The structure and electronic properties of Co_(2)Ge_(10)^(-)anion and its neutral counterpart were investigated by anion photoelectron spectroscopy and theoretical calculations.The experimental vertical detachment energy of Co_(2)Ge_(10)^(-)was measured to be 2.86±0.08 eV.The lowest-energy isomer of Co_(2)Ge_(10)^(-)is in a doublet state and has a cage-like structure with Cs symmetry,which can be constructed by a tetragonal bipyramid on top of a pentagonal bipyramid and these two bipyramid structures share a common Co atom.The most stable structure of neutral Co_(2)Ge_(10)resembles its anionic counterpart and it is in a triplet state.The natural population analysis showed that the inner Co atom of both the anionic and neutral Co_(2)Ge_(10)acquires negative charge from the neighboring Ge atoms.The outer Co atom has a larger spin moment than the inner Co atom,indicating that the magnetic moments of Co_(2)Ge_(10)^(-/0)are mainly contributed by the outer Co atom.Analyses of the density of states and molecular orbitals indicated that there are a few highly delocalized molecular orbitals in Co_(2)Ge_(10)^(-),which are mainly contributed by Ge 4s atomic orbitals.
基金Supported by the Higher Education Science Research Project(Natural Science)of Anhui Province(Grant No.2023AH050487)。
文摘In this paper,we introduce a new geometric constant R_(X)(κ)based on isosceles orthogonality.First,we explore some basic properties of this new constant and then provide several examples to estimate its exact values in certain specific Banach spaces.Next,we investigate the relationships between this new constant and other classical constants.Specifically,we establish an inequality relationship between it and the J(X)constant,as well as an identity relationship between it and theρX(t)constant.Furthermore,we characterize some geometric properties of Banach spaces by means of this new constant.Finally,by restricting the above-mentioned constant to the unit sphere,we introduce another new constant,calculate its upper and lower bounds,and present a relevant example.
基金supported by National Major Scientific Research Instrument Development Project of China(No.51927804)Science Fund for Shaanxi Provincial Department of Education's Youth Innovation Team Research Plan under Grant(No.23JP169).
文摘In machine vision,elliptical targets frequently appear within the camera's region of interest(ROI).Ellipse detection is essential for shape detection and geometric measurements in machine vision.However,existing ellipse detection algorithms often face issues such as high computational complexity,strong dependence on initial conditions,sensitivity to noise,and lack of robustness to occlusions.In this paper,we propose a fast and robust ellipse detection method to address these challenges.This method first utilizes edge gradient and curvature information to segment the curve into circular arcs.Next,based on the convexity of the arcs,it divides them into different quadrants of the ellipse,groups and fits the arcs according to multiple geometric constraints at a low computational cost.Finally,it reduces the parameter space for hierarchical clustering and then segments the complete ellipse into several sectors for verification.We compare our method across seven datasets,including five public image datasets and two from industrial camera scenes.Experimental results show that our method achieves a precision ranging from 67.1%to 98.9%,a recall ranging from 48.1%to 92.9%,and an F-measure ranging from 58.0%to 95.8%.The average execution time per image ranges from 25 ms to 192 ms,demonstrating both high accuracy and efficiency.
文摘This paper investigates the development and performance of a new higher-order geometric stiffness matrix that more closely approximates the theoretically derived stiffness coefficients.Factors that influence the accuracy of the solution are studied using two columns,two braced frames,and one unbraced frame.Discussion is provided when the new geometric stiffness matrix can be used to improve the buckling load analysis results and when it may provide only nominal additional benefit.
基金Supported by Shanxi Provincial Natural Science Foundation(Grant No.2021JM010)The Youth Innovation Team of Shaanxi Universities.
文摘This study aimed to identify and compensate for the geometric errors of the double swiveling axes in a five-axis computer numerical control(CNC)machining center.Hence,a three-dimensional coordinate calculation algorithm for a measured point with additional rotational rigid body motion constraints is proposed.The motion constraints of the rotational rigid body were analyzed,and a mathematical model of the measured point algorithm in the swiveling axes was established.The Levenberg-Marquard method was used to solve the nonlinear superstatically determined equations.The spatial coordinate error was used to separate the spatial deviation of the measured point.An identification model of the position-independent and position-dependent geometric errors was established.The three-dimensional coordinate-solving algorithm of the measured point in the swiveling axis and geometric error identification method based on the Monte Carlo method were analyzed numerically.Geometric error measurement and cutting experiments were performed on a VMC25100U five-axis machining center,which integrated two swiveling axes.Geometric errors of the A-and B-axes were identified and measured experimentally.The angular positioning errors before and after compensation were measured using a laser interferometer,which verified the effectiveness of the proposed algorithm.A cutting experiment of a round table part was performed.The shape and position accuracy of the processed part before and after compensation were detected using a coordinate measuring machine.It verified that the geometric error of the swiveling axis was effectively compensated by the algorithm proposed herein.
