In order to effectively solve the dead-zone and low-precision of T-shaped transmission line fault location,a new T-shaped transmission line fault location algorithm based on phase-angle jump checking is proposed in th...In order to effectively solve the dead-zone and low-precision of T-shaped transmission line fault location,a new T-shaped transmission line fault location algorithm based on phase-angle jump checking is proposed in this paper.Firstly,the 3-terminal synchronous fundamental positive sequence voltage and current phasors are extracted and substituted into the fault branch distance function to realize the selection of fault branch when the fault occurs;Secondly,use the condition of the fundamental positive sequence voltage phasor at the fault point is equal to calculate all roots(including real root and virtual roots);Finally,the phase-angle jump check function is used for checking calculation,and then the only real root can be determined as the actual fault distance,thereby achieving the purpose of high-precision fault location.MATLAB simulation results show that the proposed new algorithm is feasible and effective with high fault location accuracy and good versatility.展开更多
Droop-controlled voltage-source converters(VSCs)can provide frequency and voltage support to power grids.However,during a grid fault,VsCs may experience transient instability,which can be significantly affected by bot...Droop-controlled voltage-source converters(VSCs)can provide frequency and voltage support to power grids.However,during a grid fault,VsCs may experience transient instability,which can be significantly affected by both the control parameters and fault conditions.This mechanism has not been fully elucidated in previous studies.In particular,grid-voltage faults are commonly accompanied by a grid voltage phase-angle jump(VPAJ),which is typically ignored in the evaluation of the transient stability of VSCs.To address this issue,this study comprehensively assesses the impact of the VPAJ and key control parameters on the transient characteristics of VSCs.Furthermore,the critical clearing angle and critical clearing time are quantitatively calculated to define the transient stability boundary.In addition,a transient stability-enhancement control method that considers the transient stability constraints is proposed.Finally,simulations and experimental tests are conducted to validate both the theoretical analysis and proposed method.展开更多
This paper is concerned with the reflected stochastic Burgers equation driven both by the Brownian motion and by the Poisson random measure.The existence and uniqueness of solutions are established.The penalization me...This paper is concerned with the reflected stochastic Burgers equation driven both by the Brownian motion and by the Poisson random measure.The existence and uniqueness of solutions are established.The penalization method plays an important role.展开更多
In this study,we present a small,integrated jumping-crawling robot capable of intermittent jumping and self-resetting.Compared to robots with a single mode of locomotion,this multi-modal robot exhibits enhanced obstac...In this study,we present a small,integrated jumping-crawling robot capable of intermittent jumping and self-resetting.Compared to robots with a single mode of locomotion,this multi-modal robot exhibits enhanced obstacle-surmounting capabilities.To achieve this,the robot employs a novel combination of a jumping module and a crawling module.The jumping module features improved energy storage capacity and an active clutch.Within the constraints of structural robustness,the jumping module maximizes the explosive power of the linear spring by utilizing the mechanical advantage of a closed-loop mechanism and controls the energy flow of the jumping module through an active clutch mechanism.Furthermore,inspired by the limb movements of tortoises during crawling and self-righting,a single-degree-of-freedom spatial four-bar crawling mechanism was designed to enable crawling,steering,and resetting functions.To demonstrate its practicality,the integrated jumping-crawling robot was tested in a laboratory environment for functions such as jumping,crawling,self-resetting,and steering.Experimental results confirmed the feasibility of the proposed integrated jumping-crawling robot.展开更多
Cleat serves as the primary flow pathway for coalbed methane(CBM)and water.However,few studies consider the impact of local contact on two-phase flow within cleats.A visual generalized model of endogenous cleats was c...Cleat serves as the primary flow pathway for coalbed methane(CBM)and water.However,few studies consider the impact of local contact on two-phase flow within cleats.A visual generalized model of endogenous cleats was constructed based on microfluidics.A microscopic and mesoscopic observation technique was proposed to simultaneously capture gas-liquid interface morphology of pores and throat and the two-phase flow characteristics in entire cleat system.The local contact characteristics of cleats reduced absolute permeability,which resulted in a sharp increase in the starting pressure.The reduced gas flow capacity narrowed the co-infiltration area and decreased water saturation at the isotonic point in a hydrophilic environment.The increased local contact area of cleats weakened gas phase flow capacity and narrowed the co-infiltration area.Jumping events occurred in methane-water flow due to altered porosity caused by local contact in cleats.The distribution of residual phases changed the jumping direction on the micro-scale as well as the dominant channel on the mesoscale.Besides,jumping events caused additional energy dissipation,which was ignored in traditional two-phase flow models.This might contribute to the overestimation of relative permeability.The work provides new methods and insights for investigating unsaturated flow in complex porous media.展开更多
Bio-inspired jumping robots have emerged as a promising solution for traversing complex terrains inaccessible to conventional locomotion systems.Drawing upon the exceptional jumping kinematics observed in insects,rese...Bio-inspired jumping robots have emerged as a promising solution for traversing complex terrains inaccessible to conventional locomotion systems.Drawing upon the exceptional jumping kinematics observed in insects,researchers have developed multiple robotic prototypes mimicking biological propulsion mechanisms.However,the principal technological barrier resides in actuator systems,where current energy storage technologies suffer from inadequate energy density,fundamentally limiting takeoff velocity and jumping height.To overcome these limitations,we present a novel combustion-explosive propulsion system exhibiting high mass-specific energy release and rapid acceleration characteristics.By integrating this propulsion mechanism with a unique jumping leg structure,experimental validation through prototype testing demonstrated vertical leaps reaching 20 cm(1.67 times body length)under laboratory conditions,accompanied by comprehensive thermodynamic modeling using ABAQUS simulations that validated the effectiveness of this actuation system.The integrated design approach combines bionic structural design with combustible fuel formulations to offer new possibilities for the development of highly flexible robotic systems capable of negotiating obstacles in disaster response scenarios.展开更多
Jumping robots are highly capable of overcoming obstacles.However,their explosive force,short duration,and variable trajectories pose significant challenges in achieving stable landings in complex environments.Traditi...Jumping robots are highly capable of overcoming obstacles.However,their explosive force,short duration,and variable trajectories pose significant challenges in achieving stable landings in complex environments.Traditional approaches rely heavily on sophisticated algorithms and electronic sensor feedback systems to ensure landing stability,which increases the implementation complexity.Inspired by the process by which humans complete jumps and achieve stable landings in complex environments,this study proposes a novel landing control method for jumping robots.By designing a mechanically coupled perception-control structure based on mechanical logic computing,the robot simulates the real-time transmission of neural signals triggered by the ground reaction force(GRF)in human reflex loops,thereby simplifying traditional control approaches.Through the collaboration of a flexible mechanical spine and a bistable foot module,the robot achieves an average height of 16.8 cm and a distance of 25.36 cm in consecutive stable jumps.It also demonstrates reliable landing performance on challenging terrain including slopes and cobblestone surfaces.This paper proposes a novel landing control method for jumping robots that simplifies traditional control approaches.The method enables stable landings on complex terrain through a mechanically coupled perception-control structure.This approach has potential applications in tasks requiring mobility over uneven terrain,such as search and rescue.展开更多
A fault-tolerant permanent-magnet vernier(FT-PMV)machine incorporates the merits of high fault-tolerant capability and high torque density.In this paper,a remedial phase-angle control(RPAC)strategy is proposed for a f...A fault-tolerant permanent-magnet vernier(FT-PMV)machine incorporates the merits of high fault-tolerant capability and high torque density.In this paper,a remedial phase-angle control(RPAC)strategy is proposed for a five-phase FT-PMV machine with short-circuit fault.Firstly,the proposed strategy can reduce the amount of unknown quantities by structuring the phase-angles of the normal phases.It can simplify the calculation of the remedial currents.Then,in order to obtain the desired torque,only the amplitudes of the remedial currents need to be calculated.Based on the principle of instantaneous electrical input power and mechanical output power balance condition,the real components are used to maintain the torque capability,while the reactive components are limited zero to minimize the torque ripple.Both simulations and experiments are presented to verify the proposed RPAC strategy.展开更多
Electron density in fusion plasma is usually diagnosed using laser-aided interferometers. The phase difference signal obtained after phase demodulation is wrapped, which is also called a fringe jump. A method has been...Electron density in fusion plasma is usually diagnosed using laser-aided interferometers. The phase difference signal obtained after phase demodulation is wrapped, which is also called a fringe jump. A method has been developed to unwrap the phase difference signal in real time using FPGA, specifically designed to handle fringe jumps in the hydrogen cyanide(HCN) laser interferometer on the EAST superconducting tokamak. This method is designed for a phase demodulator using the fast Fourier transform(FFT) method at the front end. The method is better adapted for hardware implementation compared to complex mathematical analysis algorithms, such as field programmable gate array(FPGA). It has been applied to process the phase measurement results of the HCN laser interferometer on EAST in real time. Electron density results show good confidence in the fringe jump unwrapping method. Further possible application in other laser interferometers, such as the POlarimeter-INTerferometer(POINT)system on EAST tokamak is also discussed.展开更多
Legged robots show great potential for high-dynamic motions in continuous interaction with the physical environment,yet achieving animal-like agility remains significant challenges.Legged animals usually predict and p...Legged robots show great potential for high-dynamic motions in continuous interaction with the physical environment,yet achieving animal-like agility remains significant challenges.Legged animals usually predict and plan their next locomotion by combining high-dimensional information from proprioception and exteroception,and adjust the stiffness of the body’s skeletal muscle system to adapt to the current environment.Traditional control methods have limitations in handling high-dimensional state information or complex robot motion that are difficult to plan manually,and Deep Reinforcement Learning(DRL)algorithms provide new solutions to robot motioncontrol problems.Inspired by biomimetics theory,we propose a perception-driven high-dynamic jump adaptive learning algorithm by combining DRL algorithms with Virtual Model Control(VMC)method.The robot will be fully trained in simulation to explore its motion potential by learning the factors related to continuous jumping while knowing its real-time jumping height.The policy trained in simulation is successfully deployed on the bio-inspired single-legged robot testing platform without further adjustments.Experimental results show that the robot can achieve continuous and ideal vertical jumping motion through simple training.展开更多
In this paper, the issues of stochastic stability analysis and fault estimation are investigated for a class of continuoustime Markov jump piecewise-affine(PWA) systems against actuator and sensor faults. Firstly, a n...In this paper, the issues of stochastic stability analysis and fault estimation are investigated for a class of continuoustime Markov jump piecewise-affine(PWA) systems against actuator and sensor faults. Firstly, a novel mode-dependent PWA iterative learning observer with current feedback is designed to estimate the system states and faults, simultaneously, which contains both the previous iteration information and the current feedback mechanism. The auxiliary feedback channel optimizes the response speed of the observer, therefore the estimation error would converge to zero rapidly. Then, sufficient conditions for stochastic stability with guaranteed performance are demonstrated for the estimation error system, and the equivalence relations between the system information and the estimated information can be established via iterative accumulating representation.Finally, two illustrative examples containing a class of tunnel diode circuit systems are presented to fully demonstrate the effectiveness and superiority of the proposed iterative learning observer with current feedback.展开更多
In this study,the main properties of the hydraulic jump in an asymmetric trapezoidal flume are analyzed experimentally,including the so-called sequent depths,characteristic lengths,and efficiency.In particular,an asym...In this study,the main properties of the hydraulic jump in an asymmetric trapezoidal flume are analyzed experimentally,including the so-called sequent depths,characteristic lengths,and efficiency.In particular,an asymmetric trapezoidal flume with a length of 7 m and a width of 0.304 m is considered,with the bottom of the flume transversely inclined at an angle of m=0.296 and vertical lateral sides.The corresponding inflow Froude number is allowed to range in the interval(1.40<F1<6.11).The properties of this jump are compared to those of hydraulic jumps in channels with other types of cross-sections.A relationship for calculating hydraulic jump efficiency is proposed for the considered flume.For F1>5,the hydraulic jump is found to be more effective than that occurring in triangular and symmetric trapezoidal channels.Also,when■mes>8 and■>5,the hydraulic jump in the asymmetrical trapezoidal channel downstream of a parallelogram sluice gate is completely formed as opposed to the situation where a triangular sluice is considered.展开更多
This paper is concerned with the double sensitive fault detection filter for positive Markovian jump systems. A new hybrid adaptive event-triggered mechanism is proposed by introducing a non-monotonic adaptive law. A ...This paper is concerned with the double sensitive fault detection filter for positive Markovian jump systems. A new hybrid adaptive event-triggered mechanism is proposed by introducing a non-monotonic adaptive law. A linear adaptive event-triggered threshold is established by virtue of 1-norm inequality.Under such a triggering strategy, the original system can be transformed into an interval uncertain system. By using a stochastic copositive Lyapunov function, an asynchronous fault detection filter is designed for positive Markovian jump systems(PMJSs) in terms of linear programming. The presented filter satisfies both L_-gain(?_-gain) fault sensitivity and L_1(?_1)internal differential privacy sensitivity. The proposed approach is also extended to the discrete-time case. Finally, two examples are provided to illustrate the effectiveness of the proposed design.展开更多
This paper presents an asynchronous output-feed-back control strategy of semi-Markovian systems via sliding mode-based learning technique.Compared with most literature results that require exact prior knowledge of sys...This paper presents an asynchronous output-feed-back control strategy of semi-Markovian systems via sliding mode-based learning technique.Compared with most literature results that require exact prior knowledge of system state and mode information,an asynchronous output-feedback sliding sur-face is adopted in the case of incompletely available state and non-synchronization phenomenon.The holonomic dynamics of the sliding mode are characterized by a descriptor system in which the switching surface is regarded as the fast subsystem and the system dynamics are viewed as the slow subsystem.Based upon the co-occurrence of two subsystems,the sufficient stochastic admissibility criterion of the holonomic dynamics is derived by utilizing the characteristics of cumulative distribution functions.Furthermore,a recursive learning controller is formulated to guarantee the reachability of the sliding manifold and realize the chattering reduction of the asynchronous switching and sliding motion.Finally,the proposed theoretical method is substantia-ted through two numerical simulations with the practical contin-uous stirred tank reactor and F-404 aircraft engine model,respectively.展开更多
To investigate the real-time mean orbital elements(MOEs)estimation problem under the influence of state jumping caused by non-fatal spacecraft collision or protective orbit trans-fer,a modified augmented square-root u...To investigate the real-time mean orbital elements(MOEs)estimation problem under the influence of state jumping caused by non-fatal spacecraft collision or protective orbit trans-fer,a modified augmented square-root unscented Kalman filter(MASUKF)is proposed.The MASUKF is composed of sigma points calculation,time update,modified state jumping detec-tion,and measurement update.Compared with the filters used in the existing literature on MOEs estimation,it has three main characteristics.Firstly,the state vector is augmented from six to nine by the added thrust acceleration terms,which makes the fil-ter additionally give the state-jumping-thrust-acceleration esti-mation.Secondly,the normalized innovation is used for state jumping detection to set detection threshold concisely and make the filter detect various state jumping with low latency.Thirdly,when sate jumping is detected,the covariance matrix inflation will be done,and then an extra time update process will be con-ducted at this time instance before measurement update.In this way,the relatively large estimation error at the detection moment can significantly decrease.Finally,typical simulations are per-formed to illustrated the effectiveness of the method.展开更多
The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adap...The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unstructured environments.However,achieving high-dynamic jumping control of humanoid robots has become a challenge due to the high degree of freedom and strongly coupled dynamic characteristics.The idea for this paper originated from the human response process to jumping commands,aiming to achieve online trajectory optimization and jumping motion control of humanoid robots.Firstly,we employ nonlinear optimization in combination with the Single Rigid Body Model(SRBM)to generate a robot’s Center of Mass(CoM)trajectory that complies with physical constraints and minimizes the angular momentum of the CoM.Then,a Model Predictive Controller(MPC)is designed to track and control the CoM trajectory,obtaining the required contact forces at the robot’s feet.Finally,a Whole-Body Controller(WBC)is used to generate full-body joint motion trajectories and driving torques,based on the prioritized sequence of tasks designed for the jumping process.The control framework proposed in this paper considers the dynamic characteristics of the robot’s jumping process,with a focus on improving the real-time performance of trajectory optimization and the robustness of controller.Simulation and experimental results demonstrate that our robot successfully executed high jump motions,long jump motions and continuous jump motions under complex working conditions.展开更多
In this paper, the inverse spectral problem of Sturm-Liouville operator with boundary conditions and jump conditions dependent on the spectral parameter is investigated. Firstly, the self-adjointness of the problem an...In this paper, the inverse spectral problem of Sturm-Liouville operator with boundary conditions and jump conditions dependent on the spectral parameter is investigated. Firstly, the self-adjointness of the problem and the eigenvalue properties are given, then the asymptotic formulas of eigenvalues and eigenfunctions are presented. Finally, the uniqueness theorems of the corresponding inverse problems are given by Weyl function theory and inverse spectral data approach.展开更多
基金supported by National Nature Science Foundation of China(51507031).
文摘In order to effectively solve the dead-zone and low-precision of T-shaped transmission line fault location,a new T-shaped transmission line fault location algorithm based on phase-angle jump checking is proposed in this paper.Firstly,the 3-terminal synchronous fundamental positive sequence voltage and current phasors are extracted and substituted into the fault branch distance function to realize the selection of fault branch when the fault occurs;Secondly,use the condition of the fundamental positive sequence voltage phasor at the fault point is equal to calculate all roots(including real root and virtual roots);Finally,the phase-angle jump check function is used for checking calculation,and then the only real root can be determined as the actual fault distance,thereby achieving the purpose of high-precision fault location.MATLAB simulation results show that the proposed new algorithm is feasible and effective with high fault location accuracy and good versatility.
基金Supported in part by the National Natural Science Foundation of China under Grant 52307230the Natural Science Foundation of Shandong Province under Grant ZR2023QE156.
文摘Droop-controlled voltage-source converters(VSCs)can provide frequency and voltage support to power grids.However,during a grid fault,VsCs may experience transient instability,which can be significantly affected by both the control parameters and fault conditions.This mechanism has not been fully elucidated in previous studies.In particular,grid-voltage faults are commonly accompanied by a grid voltage phase-angle jump(VPAJ),which is typically ignored in the evaluation of the transient stability of VSCs.To address this issue,this study comprehensively assesses the impact of the VPAJ and key control parameters on the transient characteristics of VSCs.Furthermore,the critical clearing angle and critical clearing time are quantitatively calculated to define the transient stability boundary.In addition,a transient stability-enhancement control method that considers the transient stability constraints is proposed.Finally,simulations and experimental tests are conducted to validate both the theoretical analysis and proposed method.
文摘This paper is concerned with the reflected stochastic Burgers equation driven both by the Brownian motion and by the Poisson random measure.The existence and uniqueness of solutions are established.The penalization method plays an important role.
基金supported by the National Natural Science Foundation of China(Nos.51375383).
文摘In this study,we present a small,integrated jumping-crawling robot capable of intermittent jumping and self-resetting.Compared to robots with a single mode of locomotion,this multi-modal robot exhibits enhanced obstacle-surmounting capabilities.To achieve this,the robot employs a novel combination of a jumping module and a crawling module.The jumping module features improved energy storage capacity and an active clutch.Within the constraints of structural robustness,the jumping module maximizes the explosive power of the linear spring by utilizing the mechanical advantage of a closed-loop mechanism and controls the energy flow of the jumping module through an active clutch mechanism.Furthermore,inspired by the limb movements of tortoises during crawling and self-righting,a single-degree-of-freedom spatial four-bar crawling mechanism was designed to enable crawling,steering,and resetting functions.To demonstrate its practicality,the integrated jumping-crawling robot was tested in a laboratory environment for functions such as jumping,crawling,self-resetting,and steering.Experimental results confirmed the feasibility of the proposed integrated jumping-crawling robot.
基金the financial support from the National Natural Science Foundation of China (No.42102127)the Postdoctoral Research Foundation of China (No.2024 M751860)。
文摘Cleat serves as the primary flow pathway for coalbed methane(CBM)and water.However,few studies consider the impact of local contact on two-phase flow within cleats.A visual generalized model of endogenous cleats was constructed based on microfluidics.A microscopic and mesoscopic observation technique was proposed to simultaneously capture gas-liquid interface morphology of pores and throat and the two-phase flow characteristics in entire cleat system.The local contact characteristics of cleats reduced absolute permeability,which resulted in a sharp increase in the starting pressure.The reduced gas flow capacity narrowed the co-infiltration area and decreased water saturation at the isotonic point in a hydrophilic environment.The increased local contact area of cleats weakened gas phase flow capacity and narrowed the co-infiltration area.Jumping events occurred in methane-water flow due to altered porosity caused by local contact in cleats.The distribution of residual phases changed the jumping direction on the micro-scale as well as the dominant channel on the mesoscale.Besides,jumping events caused additional energy dissipation,which was ignored in traditional two-phase flow models.This might contribute to the overestimation of relative permeability.The work provides new methods and insights for investigating unsaturated flow in complex porous media.
基金supported by the National Natural Science Foundation of China(No.32270460).
文摘Bio-inspired jumping robots have emerged as a promising solution for traversing complex terrains inaccessible to conventional locomotion systems.Drawing upon the exceptional jumping kinematics observed in insects,researchers have developed multiple robotic prototypes mimicking biological propulsion mechanisms.However,the principal technological barrier resides in actuator systems,where current energy storage technologies suffer from inadequate energy density,fundamentally limiting takeoff velocity and jumping height.To overcome these limitations,we present a novel combustion-explosive propulsion system exhibiting high mass-specific energy release and rapid acceleration characteristics.By integrating this propulsion mechanism with a unique jumping leg structure,experimental validation through prototype testing demonstrated vertical leaps reaching 20 cm(1.67 times body length)under laboratory conditions,accompanied by comprehensive thermodynamic modeling using ABAQUS simulations that validated the effectiveness of this actuation system.The integrated design approach combines bionic structural design with combustible fuel formulations to offer new possibilities for the development of highly flexible robotic systems capable of negotiating obstacles in disaster response scenarios.
基金Supported by New Chongqing Innovative Young Talent Project(Grant No.2024NSCQ-qncxX0468)Natural Science Foundation of Chongqing(Grant No.CSTB2022NSCQ-MSX1283)Dreams Foundation of Jianghuai Advanced Technology Center(Grant No.2023-ZM01Z007).
文摘Jumping robots are highly capable of overcoming obstacles.However,their explosive force,short duration,and variable trajectories pose significant challenges in achieving stable landings in complex environments.Traditional approaches rely heavily on sophisticated algorithms and electronic sensor feedback systems to ensure landing stability,which increases the implementation complexity.Inspired by the process by which humans complete jumps and achieve stable landings in complex environments,this study proposes a novel landing control method for jumping robots.By designing a mechanically coupled perception-control structure based on mechanical logic computing,the robot simulates the real-time transmission of neural signals triggered by the ground reaction force(GRF)in human reflex loops,thereby simplifying traditional control approaches.Through the collaboration of a flexible mechanical spine and a bistable foot module,the robot achieves an average height of 16.8 cm and a distance of 25.36 cm in consecutive stable jumps.It also demonstrates reliable landing performance on challenging terrain including slopes and cobblestone surfaces.This paper proposes a novel landing control method for jumping robots that simplifies traditional control approaches.The method enables stable landings on complex terrain through a mechanically coupled perception-control structure.This approach has potential applications in tasks requiring mobility over uneven terrain,such as search and rescue.
基金This work was supported by the National Natural Science Foundation of China(51422702)by the by the Qing Lan Project,and by the Priority Academic Program Development of Jiangsu Higher Education Institutions.
文摘A fault-tolerant permanent-magnet vernier(FT-PMV)machine incorporates the merits of high fault-tolerant capability and high torque density.In this paper,a remedial phase-angle control(RPAC)strategy is proposed for a five-phase FT-PMV machine with short-circuit fault.Firstly,the proposed strategy can reduce the amount of unknown quantities by structuring the phase-angles of the normal phases.It can simplify the calculation of the remedial currents.Then,in order to obtain the desired torque,only the amplitudes of the remedial currents need to be calculated.Based on the principle of instantaneous electrical input power and mechanical output power balance condition,the real components are used to maintain the torque capability,while the reactive components are limited zero to minimize the torque ripple.Both simulations and experiments are presented to verify the proposed RPAC strategy.
基金funded and supported by the Comprehensive Research Facility for Fusion Technology Program of China(No.2018-000052-73-01-001228)the HFIPS Director’s Fund(No.YZJJKX202301)+1 种基金Anhui Provincial Major Science and Technology Project(No.2023z020004)Task JB22001 from the Anhui Provincial Department of Economic and Information Technology。
文摘Electron density in fusion plasma is usually diagnosed using laser-aided interferometers. The phase difference signal obtained after phase demodulation is wrapped, which is also called a fringe jump. A method has been developed to unwrap the phase difference signal in real time using FPGA, specifically designed to handle fringe jumps in the hydrogen cyanide(HCN) laser interferometer on the EAST superconducting tokamak. This method is designed for a phase demodulator using the fast Fourier transform(FFT) method at the front end. The method is better adapted for hardware implementation compared to complex mathematical analysis algorithms, such as field programmable gate array(FPGA). It has been applied to process the phase measurement results of the HCN laser interferometer on EAST in real time. Electron density results show good confidence in the fringe jump unwrapping method. Further possible application in other laser interferometers, such as the POlarimeter-INTerferometer(POINT)system on EAST tokamak is also discussed.
基金supported by the National Key Research Program of China 2018AAA0100103.
文摘Legged robots show great potential for high-dynamic motions in continuous interaction with the physical environment,yet achieving animal-like agility remains significant challenges.Legged animals usually predict and plan their next locomotion by combining high-dimensional information from proprioception and exteroception,and adjust the stiffness of the body’s skeletal muscle system to adapt to the current environment.Traditional control methods have limitations in handling high-dimensional state information or complex robot motion that are difficult to plan manually,and Deep Reinforcement Learning(DRL)algorithms provide new solutions to robot motioncontrol problems.Inspired by biomimetics theory,we propose a perception-driven high-dynamic jump adaptive learning algorithm by combining DRL algorithms with Virtual Model Control(VMC)method.The robot will be fully trained in simulation to explore its motion potential by learning the factors related to continuous jumping while knowing its real-time jumping height.The policy trained in simulation is successfully deployed on the bio-inspired single-legged robot testing platform without further adjustments.Experimental results show that the robot can achieve continuous and ideal vertical jumping motion through simple training.
基金supported in part by the National Natural Science Foundation of China (62222310, U1813201, 61973131, 62033008)the Research Fund for the Taishan Scholar Project of Shandong Province of China+2 种基金the NSFSD(ZR2022ZD34)Japan Society for the Promotion of Science (21K04129)Fujian Outstanding Youth Science Fund (2020J06022)。
文摘In this paper, the issues of stochastic stability analysis and fault estimation are investigated for a class of continuoustime Markov jump piecewise-affine(PWA) systems against actuator and sensor faults. Firstly, a novel mode-dependent PWA iterative learning observer with current feedback is designed to estimate the system states and faults, simultaneously, which contains both the previous iteration information and the current feedback mechanism. The auxiliary feedback channel optimizes the response speed of the observer, therefore the estimation error would converge to zero rapidly. Then, sufficient conditions for stochastic stability with guaranteed performance are demonstrated for the estimation error system, and the equivalence relations between the system information and the estimated information can be established via iterative accumulating representation.Finally, two illustrative examples containing a class of tunnel diode circuit systems are presented to fully demonstrate the effectiveness and superiority of the proposed iterative learning observer with current feedback.
文摘In this study,the main properties of the hydraulic jump in an asymmetric trapezoidal flume are analyzed experimentally,including the so-called sequent depths,characteristic lengths,and efficiency.In particular,an asymmetric trapezoidal flume with a length of 7 m and a width of 0.304 m is considered,with the bottom of the flume transversely inclined at an angle of m=0.296 and vertical lateral sides.The corresponding inflow Froude number is allowed to range in the interval(1.40<F1<6.11).The properties of this jump are compared to those of hydraulic jumps in channels with other types of cross-sections.A relationship for calculating hydraulic jump efficiency is proposed for the considered flume.For F1>5,the hydraulic jump is found to be more effective than that occurring in triangular and symmetric trapezoidal channels.Also,when■mes>8 and■>5,the hydraulic jump in the asymmetrical trapezoidal channel downstream of a parallelogram sluice gate is completely formed as opposed to the situation where a triangular sluice is considered.
基金supported by the National Natural Science Foundation of China (62073111,62073167)the Natural Science Foundation of Hainan Province (621QN212)Science Research Funding of Hainan University (KYQD(ZR)22180)。
文摘This paper is concerned with the double sensitive fault detection filter for positive Markovian jump systems. A new hybrid adaptive event-triggered mechanism is proposed by introducing a non-monotonic adaptive law. A linear adaptive event-triggered threshold is established by virtue of 1-norm inequality.Under such a triggering strategy, the original system can be transformed into an interval uncertain system. By using a stochastic copositive Lyapunov function, an asynchronous fault detection filter is designed for positive Markovian jump systems(PMJSs) in terms of linear programming. The presented filter satisfies both L_-gain(?_-gain) fault sensitivity and L_1(?_1)internal differential privacy sensitivity. The proposed approach is also extended to the discrete-time case. Finally, two examples are provided to illustrate the effectiveness of the proposed design.
基金supported in part by the National Science Fund for Excellent Young Scholars of China(62222317)the National Science Foundation of China(62303492)+3 种基金the Major Science and Technology Projects in Hunan Province(2021GK1030)the Science and Technology Innovation Program of Hunan Province(2022WZ1001)the Key Research and Development Program of Hunan Province(2023GK2023)the Fundamental Research Funds for the Central Universities of Central South University(2024ZZTS0116)。
文摘This paper presents an asynchronous output-feed-back control strategy of semi-Markovian systems via sliding mode-based learning technique.Compared with most literature results that require exact prior knowledge of system state and mode information,an asynchronous output-feedback sliding sur-face is adopted in the case of incompletely available state and non-synchronization phenomenon.The holonomic dynamics of the sliding mode are characterized by a descriptor system in which the switching surface is regarded as the fast subsystem and the system dynamics are viewed as the slow subsystem.Based upon the co-occurrence of two subsystems,the sufficient stochastic admissibility criterion of the holonomic dynamics is derived by utilizing the characteristics of cumulative distribution functions.Furthermore,a recursive learning controller is formulated to guarantee the reachability of the sliding manifold and realize the chattering reduction of the asynchronous switching and sliding motion.Finally,the proposed theoretical method is substantia-ted through two numerical simulations with the practical contin-uous stirred tank reactor and F-404 aircraft engine model,respectively.
基金This work was supported by National Natural Science Foundation of China(12372045)Shanghai Aerospace Science and Technology Program(SAST2021-030).
文摘To investigate the real-time mean orbital elements(MOEs)estimation problem under the influence of state jumping caused by non-fatal spacecraft collision or protective orbit trans-fer,a modified augmented square-root unscented Kalman filter(MASUKF)is proposed.The MASUKF is composed of sigma points calculation,time update,modified state jumping detec-tion,and measurement update.Compared with the filters used in the existing literature on MOEs estimation,it has three main characteristics.Firstly,the state vector is augmented from six to nine by the added thrust acceleration terms,which makes the fil-ter additionally give the state-jumping-thrust-acceleration esti-mation.Secondly,the normalized innovation is used for state jumping detection to set detection threshold concisely and make the filter detect various state jumping with low latency.Thirdly,when sate jumping is detected,the covariance matrix inflation will be done,and then an extra time update process will be con-ducted at this time instance before measurement update.In this way,the relatively large estimation error at the detection moment can significantly decrease.Finally,typical simulations are per-formed to illustrated the effectiveness of the method.
基金supported in part by the National Key Research and Development Program of China(2020YFB13134)Major Project of National Natural Science Foundation of China(U2013602)+2 种基金The National Nature Science Foundation of China(52075115)HIT Major Campus Cultivation Project(2023FRFK01001)National independent project(SKLRS202301A12).
文摘The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unstructured environments.However,achieving high-dynamic jumping control of humanoid robots has become a challenge due to the high degree of freedom and strongly coupled dynamic characteristics.The idea for this paper originated from the human response process to jumping commands,aiming to achieve online trajectory optimization and jumping motion control of humanoid robots.Firstly,we employ nonlinear optimization in combination with the Single Rigid Body Model(SRBM)to generate a robot’s Center of Mass(CoM)trajectory that complies with physical constraints and minimizes the angular momentum of the CoM.Then,a Model Predictive Controller(MPC)is designed to track and control the CoM trajectory,obtaining the required contact forces at the robot’s feet.Finally,a Whole-Body Controller(WBC)is used to generate full-body joint motion trajectories and driving torques,based on the prioritized sequence of tasks designed for the jumping process.The control framework proposed in this paper considers the dynamic characteristics of the robot’s jumping process,with a focus on improving the real-time performance of trajectory optimization and the robustness of controller.Simulation and experimental results demonstrate that our robot successfully executed high jump motions,long jump motions and continuous jump motions under complex working conditions.
文摘In this paper, the inverse spectral problem of Sturm-Liouville operator with boundary conditions and jump conditions dependent on the spectral parameter is investigated. Firstly, the self-adjointness of the problem and the eigenvalue properties are given, then the asymptotic formulas of eigenvalues and eigenfunctions are presented. Finally, the uniqueness theorems of the corresponding inverse problems are given by Weyl function theory and inverse spectral data approach.
