Considering the challenges posed by external disturbances on carrier-based aircraft land-ing control,higher demands are required for the precision and convergence of the carrier landingcontrol system.First,this paper ...Considering the challenges posed by external disturbances on carrier-based aircraft land-ing control,higher demands are required for the precision and convergence of the carrier landingcontrol system.First,this paper proposes an Adaptive Terminal Sliding Combined Super TwistingControl(ATS-STC)method to address the issues of low precision,slow convergence,and poor dis-turbance rejection capability resulting from external disturbances,such as carrier air-wake and deckmotion.By introducing a nonlinear term into the sliding surface and employing an integralapproach,the proposed ATS-STC method can ensure finite-time convergence and mitigate the chat-tering problem.An adaptive law is also utilized to estimate the external disturbances,therebyenhancing the anti-disturbance performance.Then,the stability and convergence time analysis ofthe designed controller are conducted.Based on the proposed method,an Automatic Carrier Land-ing System(ACLS)is developed to perform the carrier landing control task.Furthermore,a multi-dimensional validation is carried out.For the numerical simulation test,the Terminal Sliding ModeControl(TSMC)method and Proportion Integration Differentiation(PID)method are introducedas comparison,the quantitative assessment results show that the tracking error of TSMC and PIDcan reach 1.5 times and 2 times that of the proposed method.Finally,the Hardware-in-the-Loop(HIL)test and real flight test are conducted.All the experimental results demonstrate that the pro-posed control method is more effective and precise.展开更多
A special tip of vortex twisting nozzle is designed and fastened at the exit out of the drafted reed space or shed. Compressed air is supplied by the tube near the last subnozzle, weft yarn is retwisted and twistloss ...A special tip of vortex twisting nozzle is designed and fastened at the exit out of the drafted reed space or shed. Compressed air is supplied by the tube near the last subnozzle, weft yarn is retwisted and twistloss can be totally compensated with slight excess of 0.74%.展开更多
When two layers of graphene are stacked with a twist angle of approximately 1.1°,strong interlayer coupling gives rise to a pair of flat bands in twisted bilayer graphene(TBG),resulting in pronounced electron–el...When two layers of graphene are stacked with a twist angle of approximately 1.1°,strong interlayer coupling gives rise to a pair of flat bands in twisted bilayer graphene(TBG),resulting in pronounced electron–electron interactions.At half filling of the flat bands,TBG exhibits correlated insulating states.Here,we investigate the electrical transport properties of heterostructures composed of TBG and the antiferromagnetic insulator chromium oxychloride(CrOCl),and propose a strategy to modulate the correlated insulating states in TBG.During the transition from a conventional phase to a strong interfacial coupling phase,kink-like features are observed in the charge neutrality point(CNP),correlated insulating state,and band insulating state.Under a perpendicular magnetic field,the system exhibits broadened quantum Hall plateaus in the strong interfacial coupling regime.Electrons localized in the CrOCl layer screen the bottom gate,rendering the carrier density in TBG less sensitive to variations in the bottom gate voltage.These phenomena are well captured by a charge-transfer model between TBG and CrOCl.Our results provide insights into the control of electronic correlations and topological states in graphene moirésystems via interfacial charge coupling.展开更多
This paper addresses mechanisms for active flapping and twisting of robotic wings and assesses flying effectiveness as a function of twist angle. Unlike the flapping motion of bird wings, insects generally make a twis...This paper addresses mechanisms for active flapping and twisting of robotic wings and assesses flying effectiveness as a function of twist angle. Unlike the flapping motion of bird wings, insects generally make a twisting motion at the root of their wings while flapping, which makes it possible for them to hover in midair. This work includes the development of a Voice Coil Motor （VCM） because a flapping-wing air vehicle should be assembled with a compact actuator to decrease size and weight. A linkage mechanism is proposed to transform the linear motion of the VCM into the flapping and twisting motions of wings. The assembled flapping-wing air vehicle, whose weight is 2.86 g, produces an average positive vertical force proportional to the twist angle. The force saturates because the twist angle is mechanically limited. This work demonstrates the possibility of developing a flapping-wing air vehicle that can hover in midair using a mechanism that actively twists the roots of wings during flapping.展开更多
The aerodynamic mechanism of the bat wing membrane Mong the lateral border of its body is studied. The twist-morphing that alters the angle of attack （AOA） along the span-wise direction is observed widely during bat...The aerodynamic mechanism of the bat wing membrane Mong the lateral border of its body is studied. The twist-morphing that alters the angle of attack （AOA） along the span-wise direction is observed widely during bat flapping flight. An assumption is made that the linearly distributed AOA is along the span-wise direction. The plate with the aspect ratio of 3 is used to model a bat wing. A three-dimensional （3D） unsteady panel method is used to predict the aerodynamic forces generated by the flapping plate with leading edge separation. It is found that, relative to the rigid wing flapping, twisting motion can increase the averaged lift by as much as 25% and produce thrust instead of drag. Furthermore, the aerodynamic forces （lift/drag） generated by a twisting plate-wing are similar to those of a pitching rigid-wing, meaning that the twisting in bat flight has the same function as the supination/pronation motion in insect flight.展开更多
In this paper, a sliding mode control with adaptive gain combined with a high-order sliding mode observer to solve the tracking problem for a quadrotor UAV is addressed, in presence of bounded external disturbances an...In this paper, a sliding mode control with adaptive gain combined with a high-order sliding mode observer to solve the tracking problem for a quadrotor UAV is addressed, in presence of bounded external disturbances and parametric uncertainties. The high order sliding mode observer is designed for estimating the linear and angular speed in order to implement the proposed scheme. Furthermore, a Lyapunov function is introduced to design the controller with the adaptation law, whereas an analysis of finite time convergence towards to zero is provided, where sufficient conditions are obtained. Regarding previous works from literature, one important advantage of proposed strategy is that the gains of control are parameterized in terms of only one adaptive parameter, which reduces the control effort by avoiding gain overestimation. Numerical simulations for tracking control of the quadrotor are given to show the performance of proposed adaptive control–observer scheme.展开更多
We investigate the dependence of the average parameter estimation precision （APEP）, which is defined by the quantum Fisher information, on the polar angle of the initial coherent spin state ｜θ0,φ0〉 in a one-axis...We investigate the dependence of the average parameter estimation precision （APEP）, which is defined by the quantum Fisher information, on the polar angle of the initial coherent spin state ｜θ0,φ0〉 in a one-axis twisting model. Jin et al. [New J. Phys. 11 （2009） 073049] found that the spin squeezing sensitively depends on the polar angle θ0 of the initial coherent spin state. We show explicitly that the APEP is robust to the initial polar angle θ0 in the vicinity of π/2 and a near- Heisenberg limit 2IN in quantum single-parameter estimation may still be achieved for states created with the nonlinear evolution of the nonideal coherent spin states θ0- π/2. Based on this model, we also consider the effects of the collective dephasing on spin squeezing and the APEE展开更多
The main aim of this paper is to study the twisting theory of weak Hopf algebras and give an equivalence between the （braided） monoidal categories of weak Hopf bimodules over the original and the twisted weak Hopf a...The main aim of this paper is to study the twisting theory of weak Hopf algebras and give an equivalence between the （braided） monoidal categories of weak Hopf bimodules over the original and the twisted weak Hopf algebra to generalize the result from Oeckl （2000）.展开更多
Designing a controller to stabilize maneuvering hovercrafts is an important challenge in amphibious vehicles.Hovercrafts are implemented in several applications,such as military missions,transportation,and scientific ...Designing a controller to stabilize maneuvering hovercrafts is an important challenge in amphibious vehicles.Hovercrafts are implemented in several applications,such as military missions,transportation,and scientific tasks.Thus.to improve their performance,it is crucial to control the system and compensate uncertainties and disruptions.In this paper,both classic and intelligent approaches are combined to design an observer-based controller.The system is assumed to be both controllable and observable.An adaptive neural network observer with guaranteed stability is derived for the nonlinear dynamics of a hovercraft,which is controlled via a nonsingular super-twisting terminal sliding-mode method.The main merits of the proposed method are as follows:(1) the Lyapunov stability of the overall closed-loop system,(2) the convergence of the tracking and observer errors to zero,(3) the robustness against uncertainties and disturbances,and(4) the reduction of the chattering phenomena.The simulation results validate the excellent performance of the derived method.展开更多
Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotio...Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion.A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems（ADAMS） and physical experiments verify the rationality and validity of this expression.展开更多
In this study,a novel series of chiral 1,2-propanediol derivatives with different electron-donating and electron-withdrawing groups were synthesized and characterized by FT-IR and ~1H NMR.The helical twisting properti...In this study,a novel series of chiral 1,2-propanediol derivatives with different electron-donating and electron-withdrawing groups were synthesized and characterized by FT-IR and ~1H NMR.The helical twisting properties of all the chiral dopants were investigated by doping the chiral dopants into a nematic liquid crystal host（SLC-1717）.The results indicate that the donor-acceptor electron effect have a prominent influence on helical twisting property of the chiral nematic phase induced by the chiral dopants. Introducing electron-withdrawing groups into the terminal ends of chiral 1,2-propanediol can decrease the absolute values of the helical twisting power.In addition,the helix inversion temperatures of the induced chiral nematic phase are variational with the change of terminal groups.展开更多
A dynamic analysis of both twisting and regular towers is carried out to determine the results of considering soil-structure interaction(SSI)on high-rise buildings.In addition,the difference between the seismic perfor...A dynamic analysis of both twisting and regular towers is carried out to determine the results of considering soil-structure interaction(SSI)on high-rise buildings.In addition,the difference between the seismic performance of using twisting towers over regular ones is investigated.The twisting tower is a simulation of the Evolution Tower(Moscow).The towers’skeletons consist of RC elements and rest on a reinforced concrete piled-raft foundation.The soil model is considered as multi-layered with the same soil properties as the zone chosen for the analysis(New Mansoura City,Egypt).The only difference between both towers is their shape in elevation.The whole system is modelled and analyzed in a single step as one full 3D model,which is known as the direct approach in SSI.All analyses are carried out using finite-element software(Midas GTS NX).Dynamic output responses due to three records of seismic loads are proposed and presented in some graphs.Based on the results,it is concluded that SSI has a considerable effect on the dynamic response of tall buildings mainly because of the foundation flexibility,as it leads to lengthening the vibration period,increasing the story drift and the base shear for both cases.展开更多
基金supported by the National Natural Science Foundation of China(No.T2288101)the National Key Research and Development Project,China(No.2020YFC1512500)the Academic Excellence Foundation of Beijing University of Aeronautics and Astronautics(BUAA)。
文摘Considering the challenges posed by external disturbances on carrier-based aircraft land-ing control,higher demands are required for the precision and convergence of the carrier landingcontrol system.First,this paper proposes an Adaptive Terminal Sliding Combined Super TwistingControl(ATS-STC)method to address the issues of low precision,slow convergence,and poor dis-turbance rejection capability resulting from external disturbances,such as carrier air-wake and deckmotion.By introducing a nonlinear term into the sliding surface and employing an integralapproach,the proposed ATS-STC method can ensure finite-time convergence and mitigate the chat-tering problem.An adaptive law is also utilized to estimate the external disturbances,therebyenhancing the anti-disturbance performance.Then,the stability and convergence time analysis ofthe designed controller are conducted.Based on the proposed method,an Automatic Carrier Land-ing System(ACLS)is developed to perform the carrier landing control task.Furthermore,a multi-dimensional validation is carried out.For the numerical simulation test,the Terminal Sliding ModeControl(TSMC)method and Proportion Integration Differentiation(PID)method are introducedas comparison,the quantitative assessment results show that the tracking error of TSMC and PIDcan reach 1.5 times and 2 times that of the proposed method.Finally,the Hardware-in-the-Loop(HIL)test and real flight test are conducted.All the experimental results demonstrate that the pro-posed control method is more effective and precise.
文摘A special tip of vortex twisting nozzle is designed and fastened at the exit out of the drafted reed space or shed. Compressed air is supplied by the tube near the last subnozzle, weft yarn is retwisted and twistloss can be totally compensated with slight excess of 0.74%.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.52225207 and 52350001)the Shanghai Pilot Program for Basic Research–Fudan University 21TQ1400100(Grant No.21TQ006)the Shanghai Municipal Science and Technology Major Project(Grant No.2019SHZDZX01)。
文摘When two layers of graphene are stacked with a twist angle of approximately 1.1°,strong interlayer coupling gives rise to a pair of flat bands in twisted bilayer graphene(TBG),resulting in pronounced electron–electron interactions.At half filling of the flat bands,TBG exhibits correlated insulating states.Here,we investigate the electrical transport properties of heterostructures composed of TBG and the antiferromagnetic insulator chromium oxychloride(CrOCl),and propose a strategy to modulate the correlated insulating states in TBG.During the transition from a conventional phase to a strong interfacial coupling phase,kink-like features are observed in the charge neutrality point(CNP),correlated insulating state,and band insulating state.Under a perpendicular magnetic field,the system exhibits broadened quantum Hall plateaus in the strong interfacial coupling regime.Electrons localized in the CrOCl layer screen the bottom gate,rendering the carrier density in TBG less sensitive to variations in the bottom gate voltage.These phenomena are well captured by a charge-transfer model between TBG and CrOCl.Our results provide insights into the control of electronic correlations and topological states in graphene moirésystems via interfacial charge coupling.
文摘This paper addresses mechanisms for active flapping and twisting of robotic wings and assesses flying effectiveness as a function of twist angle. Unlike the flapping motion of bird wings, insects generally make a twisting motion at the root of their wings while flapping, which makes it possible for them to hover in midair. This work includes the development of a Voice Coil Motor （VCM） because a flapping-wing air vehicle should be assembled with a compact actuator to decrease size and weight. A linkage mechanism is proposed to transform the linear motion of the VCM into the flapping and twisting motions of wings. The assembled flapping-wing air vehicle, whose weight is 2.86 g, produces an average positive vertical force proportional to the twist angle. The force saturates because the twist angle is mechanically limited. This work demonstrates the possibility of developing a flapping-wing air vehicle that can hover in midair using a mechanism that actively twists the roots of wings during flapping.
基金Project supported by the National Natural Science Foundation of China(No.10602061)
文摘The aerodynamic mechanism of the bat wing membrane Mong the lateral border of its body is studied. The twist-morphing that alters the angle of attack （AOA） along the span-wise direction is observed widely during bat flapping flight. An assumption is made that the linearly distributed AOA is along the span-wise direction. The plate with the aspect ratio of 3 is used to model a bat wing. A three-dimensional （3D） unsteady panel method is used to predict the aerodynamic forces generated by the flapping plate with leading edge separation. It is found that, relative to the rigid wing flapping, twisting motion can increase the averaged lift by as much as 25% and produce thrust instead of drag. Furthermore, the aerodynamic forces （lift/drag） generated by a twisting plate-wing are similar to those of a pitching rigid-wing, meaning that the twisting in bat flight has the same function as the supination/pronation motion in insect flight.
文摘In this paper, a sliding mode control with adaptive gain combined with a high-order sliding mode observer to solve the tracking problem for a quadrotor UAV is addressed, in presence of bounded external disturbances and parametric uncertainties. The high order sliding mode observer is designed for estimating the linear and angular speed in order to implement the proposed scheme. Furthermore, a Lyapunov function is introduced to design the controller with the adaptation law, whereas an analysis of finite time convergence towards to zero is provided, where sufficient conditions are obtained. Regarding previous works from literature, one important advantage of proposed strategy is that the gains of control are parameterized in terms of only one adaptive parameter, which reduces the control effort by avoiding gain overestimation. Numerical simulations for tracking control of the quadrotor are given to show the performance of proposed adaptive control–observer scheme.
基金supported by the National Basic Research Program of China(Grant No.2012CB921602)the National Natural Science Foundation of China(Grant Nos.11025527 and 10935010)
文摘We investigate the dependence of the average parameter estimation precision （APEP）, which is defined by the quantum Fisher information, on the polar angle of the initial coherent spin state ｜θ0,φ0〉 in a one-axis twisting model. Jin et al. [New J. Phys. 11 （2009） 073049] found that the spin squeezing sensitively depends on the polar angle θ0 of the initial coherent spin state. We show explicitly that the APEP is robust to the initial polar angle θ0 in the vicinity of π/2 and a near- Heisenberg limit 2IN in quantum single-parameter estimation may still be achieved for states created with the nonlinear evolution of the nonideal coherent spin states θ0- π/2. Based on this model, we also consider the effects of the collective dephasing on spin squeezing and the APEE
基金Partially supported by the Specialized Research Fund for the Doctoral Program of Higher Education(20060286006)the National Natural Science Foundation of China(10571026)the Southeast University Fund(XJ0707273).
文摘The main aim of this paper is to study the twisting theory of weak Hopf algebras and give an equivalence between the （braided） monoidal categories of weak Hopf bimodules over the original and the twisted weak Hopf algebra to generalize the result from Oeckl （2000）.
文摘Designing a controller to stabilize maneuvering hovercrafts is an important challenge in amphibious vehicles.Hovercrafts are implemented in several applications,such as military missions,transportation,and scientific tasks.Thus.to improve their performance,it is crucial to control the system and compensate uncertainties and disruptions.In this paper,both classic and intelligent approaches are combined to design an observer-based controller.The system is assumed to be both controllable and observable.An adaptive neural network observer with guaranteed stability is derived for the nonlinear dynamics of a hovercraft,which is controlled via a nonsingular super-twisting terminal sliding-mode method.The main merits of the proposed method are as follows:(1) the Lyapunov stability of the overall closed-loop system,(2) the convergence of the tracking and observer errors to zero,(3) the robustness against uncertainties and disturbances,and(4) the reduction of the chattering phenomena.The simulation results validate the excellent performance of the derived method.
基金supported by the State Key Laboratory of Robotics and System (HIT) (SKLRS-2009-MS-09)the National Natural Science Foundation of China (NSFC) (Grants 61503008, 51575005)the China Postdoctoral Science Foundation (Grant 2015M570013)
文摘Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion.A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems（ADAMS） and physical experiments verify the rationality and validity of this expression.
基金supported in part by the National Natural Science Foundation of China(No.51173155)the Hebei Province Science Foundation of China(No.E2010001182)
文摘In this study,a novel series of chiral 1,2-propanediol derivatives with different electron-donating and electron-withdrawing groups were synthesized and characterized by FT-IR and ~1H NMR.The helical twisting properties of all the chiral dopants were investigated by doping the chiral dopants into a nematic liquid crystal host（SLC-1717）.The results indicate that the donor-acceptor electron effect have a prominent influence on helical twisting property of the chiral nematic phase induced by the chiral dopants. Introducing electron-withdrawing groups into the terminal ends of chiral 1,2-propanediol can decrease the absolute values of the helical twisting power.In addition,the helix inversion temperatures of the induced chiral nematic phase are variational with the change of terminal groups.
文摘A dynamic analysis of both twisting and regular towers is carried out to determine the results of considering soil-structure interaction(SSI)on high-rise buildings.In addition,the difference between the seismic performance of using twisting towers over regular ones is investigated.The twisting tower is a simulation of the Evolution Tower(Moscow).The towers’skeletons consist of RC elements and rest on a reinforced concrete piled-raft foundation.The soil model is considered as multi-layered with the same soil properties as the zone chosen for the analysis(New Mansoura City,Egypt).The only difference between both towers is their shape in elevation.The whole system is modelled and analyzed in a single step as one full 3D model,which is known as the direct approach in SSI.All analyses are carried out using finite-element software(Midas GTS NX).Dynamic output responses due to three records of seismic loads are proposed and presented in some graphs.Based on the results,it is concluded that SSI has a considerable effect on the dynamic response of tall buildings mainly because of the foundation flexibility,as it leads to lengthening the vibration period,increasing the story drift and the base shear for both cases.
