Distributed learning consensus control based on neural networks for heterogeneous nonlinear multiagent systems

This paper considers a novel distributed iterative learning consensus control algorithm based on neural networks for the control of heterogeneous nonlinear multiagent systems. The system's unknown nonlinear function is approximated by suitable neural networks; the approximation error is countered by a robust term in the control. Two types of control algorithms, both of which utilize distributed learning laws, are provided to achieve consensus. In the provided control algorithms, the desired reference is considered to be an unknown factor and then estimated using the associated learning laws. The consensus convergence is proven by the composite energy function method. A numerical simulation is ultimately presented to demonstrate the efficacy of the proposed control schemes.     

Nb和时效时间对热轧中锰TRIP钢中P偏聚的影响

热轧态中锰TRIP钢首先经650 ℃退火2 h,随后在550 ℃进行等温时效热处理,采用场发射扫描电镜(FE-SEM)研究该钢中P的偏聚和时效析出行为的变化情况。结果表明,中锰TRIP钢中P在晶界的偏聚是一种非平衡偏聚现象,临界时间约为50 h,与理论计算结果48 h较为吻合。在局部偏聚区域内,C与P存在共偏聚的关系,即P偏聚量高的地方,C含量也高。而合金元素Nb具有抑制P偏聚的效果,在20~70 h时效时间内,可以相对降低6.57%~19.5%的最大P偏聚量。根据电子背散射衍射(EBSD)菊池线分析,P偏聚量低于2.28at%时,P为固溶状态,高于2.28at.%时,P为析出状态。     

叠合盆地凸起区多期复杂断裂特征及形成机制——以准噶尔盆地车排子凸起为例

以高精度三维地震资料为基础,结合构造演化恢复和区域构造背景,系统研究了准噶尔盆地车排子凸起断裂分布和形成机制。结果表明,车排子凸起发育深部和浅部2套断裂体系,深部断裂体系和浅部断裂体系分别发育3种断裂样式。车排子凸起共经历5个构造演化阶段,其中,晚二叠世挤压-逆冲控制了深部断裂体系的初始形成,晚侏罗世逆冲-走滑控制了深部断裂体系的最终定型,新近纪叠加掀斜、局部伸展控制了浅部断裂体系的形成。不同断裂体系在油气成藏过程中均起到了重要作用。其中:深部断裂体系的红车断裂是重要的油源断裂,低序级断层控制形成了石炭系火山岩优质储集体;浅部断裂体系使得油气向浅部层系运移调整,同时形成了断块圈闭、断鼻圈闭和断层-岩性圈闭等丰富的圈闭类型。     

Use of conditioning time to investigate the mechanisms of interactions of selected fatty acids on hematite Part II laboratory investigations

It is the aim of this paper to examine the effects of conditioning time on the flotation of hematite using three technical grade fatty acid reagents as providing additional evidence on their mechanism of interaction with the hematite surface. Various mechanisms have been postulated as occurring as conditioning time is increased. Both physical (e.g. conditioning time and power input) and chemical (nature, dispersion and solubility of the adsorbing species) contribute to the mechanisms of attachment of collector. In this paper, the mechanism of attachment of oleate to hematite can be readily explained by chemisorption, but the mechanism of attachment of lauric acid appears to be physical adsorption at neutral pH. The flotation of hematite with a mixture of tallow-type fatty acids (palmitic, stearic and oleic acids) is very sensitive to conditioning time, and suggests that, even though flotation is very effective at short conditioning times, it is very susceptible to the presence of fines and their associated high surface areas. It is therefore obvious that both the physical and chemical conditions contribute to the mechanisms of adsorption of fatty acids on iron-containing oxide minerals and must be understood in order to optimise the flotation of these minerals in an industrial situation.     

Multilevel adaptive control of nonlinear interconnected systems

This paper presents an adaptive backstepping-based multilevel approach for the first time to control nonlinear interconnected systems with unknown parameters. The system consists of a nonlinear controller at the first level to neutralize the interaction terms, and some adaptive controllers at the second level, in which the gains are optimally tuned using genetic algorithm. The presented scheme can be used in systems with strong couplings where completely ignoring the interactions leads to problems in performance or stability. In order to test the suitability of the method, two case studies are provided: the uncertain double and triple coupled inverted pendulums connected by springs with unknown parameters. The simulation results show that the method is capable of controlling the system effectively, in both regulation and tracking tasks.     

Systematic convergence of nonlinear stochastic estimators on the Special Orthogonal Group SO(3)

This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group with the tracking error of the normalized Euclidean distance meeting predefined transient and steady‐state characteristics. The tracking error is confined to initially start within a predetermined large set such that the transient performance is guaranteed to obey dynamically reducing boundaries and decrease smoothly and asymptotically to the origin in probability from almost any initial condition. The proposed estimators produce accurate attitude estimates with remarkable convergence properties using measurements obtained from low‐cost inertial measurement units. The estimators proposed in continuous form are complemented by their discrete versions for the implementation purposes. The simulation results illustrate the effectiveness and robustness of the proposed estimators against uncertain measurements and large initialization error, whether in continuous or discrete form.     

Control of self-assembly in micro- and nano-scale systems

Control of self-assembling systems at the micro- and nano-scale provides new opportunities for the engineering of novel materials in a bottom-up fashion. These systems have several challenges associated with control including high-dimensional and stochastic nonlinear dynamics, limited sensors for real-time measurements, limited actuation for control, and kinetic trapping of the system in undesirable configurations. Three main strategies for addressing these challenges are described, which include particle design (active self-assembly), open-loop control, and closed-loop (feedback) control. The strategies are illustrated using a variety of examples such as the design of patchy and Janus particles, the toggling of magnetic fields to induce the crystallization of paramagnetic colloids, and high-throughput crystallization of organic compounds in nanoliter droplets. An outlook of the future research directions and the necessary technological advancements for control of micro- and nano-scale self-assembly is provided.     

Detection of correlation characteristics between financial time series based on multi-resolution analysis

Interactions between financial time series are complex and changeable in both time and frequency domains. To reveal the evolution characteristics of the time-varying relations between bivariate time series from a multi-resolution perspective, this study introduces an approach combining wavelet analysis and complex networks. In addition, to reduce the influence the phase lag between the time series has on the correlations, we propose dynamic time-warping (DTW) correlation coefficients to reflect the correlation degree between bivariate time series. Unlike previous studies that symbolized the time series only based on the correlation strength, the second-level symbol is set according to the correlation length during the coarse-graining process. This study presents a novel method to analyze bivariate time series and provides more information for investors and decision makers when investing in the stock market. We choose the closing prices of two stocks in China’s market as the sample and explore the evolutionary behavior of correlation modes from different resolutions. Furthermore, we perform experiments to discover the critical correlation modes between the bull market and the bear market on the high-resolution scale, the clustering effect during the financial crisis on the middle-resolution scale, and the potential pseudo period on the low-resolution scale. The experimental results exactly match reality, which provides powerful evidence to prove that our method is effective in financial time series analysis.     

超深溜井爆破一次成井技术实践

为解决溜井掘进效率低、安全性差等问题，以柿竹园多金属矿掘进出矿溜井为例，提出了爆破一次成井技术，根据矿山具体爆破条件，设计了布孔参数、装药结构和起爆顺序等。实践表明，爆破一次成井技术施工天井效果良好，溜井贯穿上下2个分段，与设计相符，相较于普通法施工天井，节约成本30.7%，节约时间58.3%，经济效益显著，施工周期短，且安全性好，值得在其他类似矿山推广应用。     

Mining fleet management systems: a review of models and algorithms

The objective of this paper is to review and document the mine fleet management systems’ models and algorithms. The purpose is to understand the algorithms behind the fleet management systems and the proposed academic solutions in this area to identify any gaps in the current literature and to open up opportunities to establish research questions that need to be addressed in an integrated simulation and optimisation operational planning research framework. In this paper, we review industrial fleet management systems and the main academic algorithms behind such systems. The fleet management systems are divided into three subsequently related problems to review: shortest path, production optimisation and real-time dispatching. Finally, the limitations of current algorithms for fleet management systems are documented in terms of mining practice feasibility and optimality of the solution on large-scale problems. The results of this literature review enable us to evaluate the logical links between major components of an integrated simulation and optimisation operational planning framework with current theory of fleet management systems.