Inverted pendulum stabilization: Characterization of codimension-three triple zero bifurcation via multiple delayed proportional gains

The paper considers the problem of stabilization of systems possessing a multiple zero eigenvalue at the origin. The controller that we propose, uses multiple delayed measurements instead of derivative terms. Doing so, we increase the performances of the closed loop in presence of system uncertainties and/or noisy measurements. The problem formulation and the analysis is presented through a classical engineering problem which is the stabilization of an inverted pendulum on a cart moving horizontally. On one hand, we perform a nonlinear analysis of the center dynamics described by a three dimensional system of ordinary differential equations with a codimension-three triple zero bifurcation. On the other hand, we present the complementary stability analysis of the corresponding linear time invariant system with two delays describing the behavior around the equilibrium. The aim of this analysis is to characterize the possible local bifurcations. Finally, the proposed control scheme is numerically illustrated and discussed.     

The World robot summit disaster robotics category – achievements of the 2018 preliminary competition

The World Robot Summit is a robot Olympics and aims to be held in a different country every four years from 2020. The concept of the Plant Disaster Prevention challenge is daily inspections, checks, and emergency response in industrial plants, and in this competition, robots must carry out these types of missions in a mock-up plant. The concept of the Tunnel Disaster Response and Recovery challenge is emergency response to tunnel disasters, and is a simulation competition whereby teams compete to show their ability to deal with disasters, by collecting information and removing debris. The Standard Disaster Robotics challenge assesses, in the form of a contest, the standard performance levels of a robot that are necessary for disaster prevention and emergency response. The World Robot Summit Preliminary Competition was held at Tokyo Big Sight in October 2018, and 36 teams participated in the Disaster Robotics Category. UGVs and UAVs contended the merits of new technology for solving complex problems, using core technologies such as mobility, sensing, recognition, performing operations, human interface, autonomous intelligence etc., as well as system integration and implementation of strategies for completing missions, gaining high-level results.     

Strength and dilatancy behaviors of deep sands in Shanghai with a focus on grain size and shape effect

With rapid development of infrastructures like tunnels and open excavations in Shanghai, investigations on deeper soils have become critically important. Most of the existing laboratory works were focused on the clayey strata up to Layer 6 in Shanghai, i.e. at depth of up to 40 m. In this paper, Layers 7, 9, and 11, which were mostly formed of sandy soils at depth of up to 150 m, were experimentally investigated with respect to physico-mechanical behaviors. The stress–strain behaviors were analyzed by the consolidated drained/undrained (CD/CU) triaxial tests under monotonic loading. One-dimensional (1D) oedometer tests were performed to investigate the consolidation properties of the sandy soils. Specimens were prepared at three different relative densities for each layer. Also, the micro-images and particle size analyzers were used to analyze the shape and size of the sand grains. The influences of grain size, density, and angularity on the stress–strain behaviors and compressibility were also studied. Compared to the other layers, Layer 11 had the smallest mean grain size (D₅₀), highest compressibility, and lowest shear strength. In contrast, Layer 9 had the largest mean grain size, lowest compressibility, and highest shear strength. Layer 7 was of intermediate mean grain size, exhibiting more compressibility and less shear strength than that of Layer 9. Also, the critical state parameters and maximum dilatancy rate of different layers were discussed.     

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.     

WinCC中应用MATLAB开发模糊解耦控制的方法

详细阐述了将MATLAB中开发的模糊解耦控制算法改写成一个C函数,将其封装在动态连接库中.通过WinCC调用动态连接库,将模糊控制的输出通过MPI多点传输协议传递给PLC驱动执行器,实现电石炉控制系统电极调节的模糊解耦控制.     

试论融资租赁项下的进口贸易

阐述了当前跨国公司在合同中普遍采用的融资租赁的性质及融资租赁项下的进口贸易特点。     

Russian underwater tunnels in the system of international transportation ways

Sustained world economic development trends characteristic with international trade annual growth rate of 7–8% along with considerable dynamics in the interregional goods circulation sphere on one hand and vast territory of Russia combined with a relatively developed railway network on the other hand provide a unique chance for this country to arrange land transportation routes alternative and competitive in comparison with existing marine routes. Construction of rail tunnels seems to be most efficient means for transportation corridors to cross-wide water areas like Nevelsky Strait (10.5 km) between the mainland and the Sakhalin Island in Russia, Bering Strait (92 km) between Chukotka Peninsula (Russia) and Alaska (USA). The tunnels construction conditions, structures and technologies planned to be used are considered in the paper.     

An approach to efficient business intelligent system for financial prediction

A concept of business intelligent system for financial prediction is considered in this paper. It provides data needed for fast, precise and good business decision support to all levels of management. The aim of the project is the development of a new online analytical processing oriented on case-based reasoning (CBR) where a previous experience for every new problem is taken into account. Methodological aspects have been tested in practice as a part of the management information system development project of “Novi Sad Fair”. A case study of an improved application of CBR in prediction of future payments is discussed in the paper. This paper is originally presented at The International Conference on Hybrid Information Technology 2006, at the special session on “Intelligent Information Systems for Financial Engineering”, November 2006 in Cheju Island, Korea.     

图象中心加权中值滤波的改进与应用

中心加权中值滤波具有较好的边缘保持特性及快速实现的特点，但滤噪能力低于其它中值滤波。此文探 讨对中心加权中值滤波的改进方法，提出了中心加权分级实现的思想，使之同时具有边缘保持、快速滤波和噪声去 除的理想效果。     

历史中心区复兴中的地域性问题与对策

本文以上海思南路47～48街坊改造为例,探讨城市形态更新与居民外迁问题,并期待相关地域性社会对策的出现。